Mobile System Control (ROS 2)

This repository is for the ROS 2 version of the Mobile System Control lecture.
For the ROS 1 version, please refer to Mobile_System_Control.

Prerequisites

This repository has been tested on Ubuntu 20.04 with ROS 2 Foxy.
Before building, please ensure your environment meets the prerequisites listed below.

Note: It was also successfully tested on Ubuntu 22.04 with ROS 2 Humble as of 2025-08-18.

1. ROS 2 Foxy Installation

• Installation guide: ROS 2 Foxy Official Installation Docs
• You must source the ROS 2 environment in every new terminal:

  source /opt/ros/foxy/setup.bash

Launching CARLA

1. Download CARLA: Mobile System Control package version of CARLA simulator
2. Launch CARLA

   ./CarlaUE4.sh

Set CARLA API

1. Check the directory of Python API in CARLA simulator

2. Add PYTHONPATH in ~/.bashrc or ~/.zshrc

   The following is just an example. Make sure to modify the path according to your own CARLA PythonAPI location.

• bash

  echo "PYTHONPATH=$PYTHONPATH:~/Downloads/CARLA_package/CARLA/PythonAPI/carla/dist/carla-0.9.15-py3.8-linux-x86_64.egg:~/Downloads/CARLA_package/CARLA/PythonAPI/carla/" >> ~/.bashrc

• zsh

  echo "PYTHONPATH=$PYTHONPATH:~/Downloads/CARLA_package/CARLA/PythonAPI/carla/dist/carla-0.9.15-py3.8-linux-x86_64.egg:~/Downloads/CARLA_package/CARLA/PythonAPI/carla/" >> ~/.zshrc

Build ROS 2 Packages

Create a ROS 2 Workspace

1. Create a ROS 2 workspace named your workspace name.

   mkdir -p ~/carla_ws_ros2/src
   cd ~/carla_ws_ros2/src

2. Clone this repository into the src folder.

   git clone https://github.com/rise-lab-skku/Mobile_System_Control_ROS2

Install Dependencies

1. Install External Libraries (e.g., QP Solver)

   Run the provided install.sh script to install optimization libraries required for controllers like MPC.

   cd ~/carla_ws_ros2/src/Mobile_System_Control_ROS2
   sudo ./install.sh

Build the Packages

1. Navigate to the workspace root directory and build all packages

   cd ~/carla_ws_ros2
   colcon build

2. After the build is complete, you must source the setup file in every new terminal to use the packages.

• bash

  source ~/carla_ws_ros2/install/setup.bash

• zsh

  source ~/carla_ws_ros2/install/setup.zsh

Launch Control Examples

1. Launch carla_ros_bridge

   ros2 launch carla_ros_bridge carla_ros_bridge.launch.py

2. Launch mobile_system_control

   ros2 launch mobile_system_control mobile_system.launch.py

   ros2 launch mobile_system_control_vis mobile_system_control_vis.launch.py

3. Spawn vehicle and control window

   ros2 launch carla_spawn_objects carla_spawn_objects.launch.py object_name:=ego

   ros2 launch carla_manual_control carla_manual_control.launch.py role_name:=ego_vehicle
   

4. Launch control examples

• PID controller

  ros2 launch pid_control_ex pid_control_ex.launch.py
  

• Pure Pursuit controller

  ros2 launch purepursuit_control_ex purepursuit_control_ex.launch.py
  

• Kanayama controller

  ros2 launch kanayama_control_ex kanayama_control_ex.launch.py
  

• MPC controller

  ros2 launch mpc_control_ex mpc_control_ex.launch.py
  

• Lap timer (pygame view)

  ros2 launch carla_lap_timer carla_lap_timer.launch.py role_name:=ego_vehicle
  

Download Link

1. RoadRunner Map Files
2. ERP42 model (.dae)
3. Blender Project File
4. ERP42 model from Blender (.fbx)