CARLA is an open-source simulator for autonomous driving research.

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Additional information

Version 0.3.1
Input ports
  • Vehicle Control (yonoarc_msgs/VehicleControl) - The throttle, brake, handbrake, and reverse signals to control the vehicle
  • Steering Angle (yonoarc_msgs/Float64) - The steering angle of the vehicle
Output Ports
  • Image (sensor_msgs/Image) - The image from a camera mounted on the vehicle
  • Speed (yonoarc_msgs/Float64) - The speed of the vehicle
  • Autopilot Mode - Whether the autopilot mode is enabled or not. This will cause the vehicle to drive itself autonomously and ignore the inputs of the block.
  • Episode Length - The episode length in terms of number of frames
  • Number of Pedestrians - Determines how crowded (with pedestrians) the scene is
  • Number of Vehicles - Determines how crowded (with vehicles) the scene is
  • Quality - The rendering quality
  • Synchronized - Determines the synchronization mode for running CARLA
  • Weather Conditions - The weather conditions of the scene


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