How to connect Apollo with Carla?

[AminoACID123]

Hi, I am new to Apollo and I want to use Carla as the simulator to run Apollo. Is there any tutorial I can get start with?

[daohu527]

There is a carla bridge, but it may be in disrepair. We may consider fixing or rewriting a bridge in the future. There is currently no ready-made code!

[CesarLiu]

https://github.com/AuroAi/carla_apollo_bridge, @daohu527 may refer to this one. @AminoACID123 when you have time, please try it out. I planned to bridge apollo 5.5 to the latest carla but haven't yet time to try it out.

[daohu527]

@CesarLiu Thanks for your attention, actually I'm going to write a carla_bridge based on https://github.com/carla-simulator/ros-bridge because we already have pycyber.

we can use carla.client to communicate with carla and use pycyber to communicate with apollo

[meua]

we can use carla.client to communicate with carla and use pycyber to communicate with apollo

You can pay attention to the https://github.com/guardstrikelab/carla_apollo_bridge project, which is trying to support the latest co-simulation of apollo and carla, and plans to support OpenScenario 2.0.