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Update changelog for 0.9.8 tag and cleanup README #249

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Mar 24, 2020
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Update changelog for 0.9.8 tag and cleanup README #249

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Update changelog for 0.9.8 tag
fred-labs Mar 23, 2020
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Merge branch 'master' into changelog_098
fpasch Mar 24, 2020
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2 changes: 2 additions & 0 deletions CHANGELOG.md
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## Latest changed

## CARLA-ROS-Bridge 0.9.8

* change Lidar range in meters
* add new attributes for Gnss and Camera sensor
* add IMU and Radar sensor
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56 changes: 26 additions & 30 deletions README.md
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This ROS package aims at providing a simple ROS bridge for CARLA simulator.

**Important Note:**
This documentation is for CARLA versions _newer_ than 0.9.4.

![rviz setup](./docs/images/rviz_carla_default.png "rviz")
![depthcloud](./docs/images/depth_cloud_and_lidar.png "depthcloud")

![short video](https://youtu.be/S_NoN2GBtdY)

## Features

- [x] Cameras (depth, segmentation, rgb) support
- [x] Transform publications
- [x] Manual control using ackermann msg
- [x] Handle ROS dependencies
- [x] Marker/bounding box messages for cars/pedestrian
- [x] Lidar sensor support
- [x] Support CARLA synchronous mode
- [ ] Add traffic light support
- Provide Sensor Data (Lidar, Cameras (depth, segmentation, rgb), GNSS, Radar, IMU)
- Provide Object Data (Transforms (via [tf](http://wiki.ros.org/tf)), Traffic light status, Visualization markers, Collision, Lane invasion)
- Control AD Agents (Steer/Throttle/Brake)
- Control CARLA (Support synchronous mode, Play/pause simulation, Set simulation parameters)

### Additional Functionality

Beside the bridging functionality, there are many more features provided in separate packages.

| Name | Description |
| --------------------------------- | ------------------------------------------------------------------------------------------------------- |
| [Carla Ego Vehicle](carla_ego_vehicle/README.md) | Provides a generic way to spawn an ego vehicle and attach sensors to it. |
| [Carla Manual Control](carla_manual_control/README.md) | A ROS-based visualization and control tool for an ego vehicle (similar to carla_manual_control.py provided by CARLA) |
| [Carla Infrastructure](carla_infrastructure/README.md) | Provides a generic way to spawn a set of infrastructure sensors defined in a config file. |
| [Carla Waypoint Publisher](carla_waypoint_publisher/README.md) | Provide routes and access to the Carla waypoint API |
| [Carla ROS Scenario Runner](carla_ros_scenario_runner/README.md) | ROS node that wraps the functionality of the CARLA [scenario runner](https://github.com/carla-simulator/scenario_runner) to execute scenarios. |
| [Carla Ackermann Control](carla_ackermann_control/README.md) | A controller to convert ackermann commands to steer/throttle/brake|
| [Carla AD Agent](carla_ad_agent/README.md) | A basic AD agent, that follows a route, avoids collisions with other vehicles and stops on red traffic lights. |
| [RVIZ Carla Plugin](rviz_carla_plugin/README.md) | A [RVIZ](http://wiki.ros.org/rviz) plugin to visualize/control CARLA. |
| [RQT Carla Plugin](rqt_carla_plugin/README.md) | A [RQT](http://wiki.ros.org/rqt) plugin to control CARLA. |

For a quick overview, after following the [Setup section](#setup), please run the [CARLA AD Demo](carla_ad_demo/README.md). It provides a ready-to-use demonstrator of many of the features.


## Setup

### For User
### For Users

First add the apt repository:

First add the apt repository:
##### For ROS Melodic Users
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 81061A1A042F527D &&
sudo add-apt-repository "deb [trusted=yes] http://dist.carla.org/carla-ros-bridge-melodic/ bionic main"
Expand Down Expand Up @@ -292,20 +302,6 @@ The following markers are supported in 'map'-frame:
| ---------------------------------- | ------------------------------------------------------------------------------------------------------ | --------------------------- |
| `/carla/debug_marker` (subscriber) | [visualization_msgs.MarkerArray](http://docs.ros.org/api/visualization_msgs/html/msg/MarkerArray.html) | draw markers in CARLA world |


## Additional Functionality

| Name | Description |
| --------------------------------- | ------------------------------------------------------------------------------------------------------- |
| [Carla Ego Vehicle](carla_ego_vehicle/README.md) | Provides a generic way to spawn an ego vehicle and attach sensors to it. |
| [Carla Infrastructure](carla_infrastructure/README.md) | Provides a generic way to spawn a set of infrastructure sensors defined in a config file. |
| [Carla Waypoint Publisher](carla_waypoint_publisher/README.md) | Provide routes and access to the Carla waypoint API |
| [Carla ROS Scenario Runner](carla_ros_scenario_runner/README.md) | ROS node that wraps the functionality of the CARLA [scenario runner](https://github.com/carla-simulator/scenario_runner) to execute scenarios. |
| [Carla AD Agent](carla_ad_agent/README.md) | A basic AD agent, that can follow a route and avoid collisions with other vehicles and stop on red traffic lights. |
| [Carla AD Demo](carla_ad_demo/README.md) | A meta package that provides everything to launch a CARLA ROS environment with an AD vehicle. |
| [RVIZ Carla Plugin](rviz_carla_plugin/README.md) | A [RVIZ](http://wiki.ros.org/rviz) plugin to visualize/control CARLA. |
| [RQT Carla Plugin](rqt_carla_plugin/README.md) | A [RQT](http://wiki.ros.org/rqt) plugin to control CARLA. |

## Troubleshooting

### ImportError: No module named carla
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