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‎simulator/autoware_carla_interface/README.md‎

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All the key parameters can be configured in `autoware_carla_interface.launch.xml`.
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| Name | Type | Default Value | Description |
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| ------------------------ | ------ | --------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| `host` | string | "localhost" | Hostname for the CARLA server |
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| `port` | int | "2000" | Port number for the CARLA server |
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| `timeout` | int | 20 | Timeout for the CARLA client |
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| `ego_vehicle_role_name` | string | "ego_vehicle" | Role name for the ego vehicle |
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| `vehicle_type` | string | "vehicle.toyota.prius" | Blueprint ID of the vehicle to spawn. The Blueprint ID of vehicles can be found in [CARLA Blueprint ID](https://carla.readthedocs.io/en/latest/catalogue_vehicles/) |
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| `spawn_point` | string | None | Coordinates for spawning the ego vehicle (None is random). Format = [x, y, z, roll, pitch, yaw] |
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| `sync_mode` | bool | True | Boolean flag to set synchronous mode in CARLA |
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| `fixed_delta_seconds` | double | 0.05 | Time step for the simulation (related to client FPS) |
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| `use_traffic_manager` | bool | False | Boolean flag to set traffic manager in CARLA |
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| `max_real_delta_seconds` | double | 0.05 | Parameter to limit the simulation speed below `fixed_delta_seconds` |
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| `sensor_kit_name` | string | "carla_sensor_kit_description" | Name of the sensor kit package to use for sensor configuration. Should be the \*\_description package containing config/sensor_kit_calibration.yaml |
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| `use_light_weight_sensor_mapping` | bool | False | If True, uses `sensor_mapping_light_weight.yaml` instead of the default `sensor_mapping.yaml` to reduce simulator load. See [Sensor Mapping (CARLA-specific)](#2-sensor-mapping-carla-specific) for details. |
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| `sensor_mapping_file` | string | "$(find-pkg-share autoware_carla_interface)/config/sensor_mapping.yaml" | Path to sensor mapping YAML configuration file. When `use_light_weight_sensor_mapping` is True, this defaults to `config/sensor_mapping_light_weight.yaml`. |
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| `config_file` | string | "$(find-pkg-share autoware_carla_interface)/raw_vehicle_cmd_converter.param.yaml" | Control mapping file to be used in `autoware_raw_vehicle_cmd_converter`. Current control are calibrated based on `vehicle.toyota.prius` Blueprints ID in CARLA. Changing the vehicle type may need a recalibration. |
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| Name | Type | Default Value | Description |
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| --------------------------------- | ------ | --------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| `host` | string | "localhost" | Hostname for the CARLA server |
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| `port` | int | "2000" | Port number for the CARLA server |
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| `timeout` | int | 20 | Timeout for the CARLA client |
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| `ego_vehicle_role_name` | string | "ego_vehicle" | Role name for the ego vehicle |
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| `vehicle_type` | string | "vehicle.toyota.prius" | Blueprint ID of the vehicle to spawn. The Blueprint ID of vehicles can be found in [CARLA Blueprint ID](https://carla.readthedocs.io/en/latest/catalogue_vehicles/) |
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| `spawn_point` | string | None | Coordinates for spawning the ego vehicle (None is random). Format = [x, y, z, roll, pitch, yaw] |
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| `sync_mode` | bool | True | Boolean flag to set synchronous mode in CARLA |
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| `fixed_delta_seconds` | double | 0.05 | Time step for the simulation (related to client FPS) |
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| `use_traffic_manager` | bool | False | Boolean flag to set traffic manager in CARLA |
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| `max_real_delta_seconds` | double | 0.05 | Parameter to limit the simulation speed below `fixed_delta_seconds` |
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| `sensor_kit_name` | string | "carla_sensor_kit_description" | Name of the sensor kit package to use for sensor configuration. Should be the \*\_description package containing config/sensor_kit_calibration.yaml |
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| `use_light_weight_sensor_mapping` | bool | False | If True, uses `sensor_mapping_light_weight.yaml` instead of the default `sensor_mapping.yaml` to reduce simulator load. See [Sensor Mapping (CARLA-specific)](#2-sensor-mapping-carla-specific) for details. |
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| `sensor_mapping_file` | string | "$(find-pkg-share autoware_carla_interface)/config/sensor_mapping.yaml" | Path to sensor mapping YAML configuration file. When `use_light_weight_sensor_mapping` is True, this defaults to `config/sensor_mapping_light_weight.yaml`. |
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| `config_file` | string | "$(find-pkg-share autoware_carla_interface)/raw_vehicle_cmd_converter.param.yaml" | Control mapping file to be used in `autoware_raw_vehicle_cmd_converter`. Current control are calibrated based on `vehicle.toyota.prius` Blueprints ID in CARLA. Changing the vehicle type may need a recalibration. |
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### Sensor Configuration
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‎simulator/autoware_carla_interface/config/sensor_mapping_light_weight.yaml‎

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image_size_y: 720
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fov: 120.0
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# IMU sensor
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tamagawa/imu_link:
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carla_type: sensor.other.imu

‎simulator/autoware_carla_interface/launch/autoware_carla_interface.launch.xml‎

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<log message="[CARLA Interface] Map Path: '$(var map_path)' -> Loading CARLA Map: '$(var carla_map)'"/>
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<!-- Sensor Configuration -->
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<arg name="use_light_weight_sensor_mapping" default="False" description="Whether to use the light-weight sensor mapping YAML that reduces the number of sensors and their frequencies for performance optimization"/>
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<arg
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name="use_light_weight_sensor_mapping"
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default="False"
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description="Whether to use the light-weight sensor mapping YAML that reduces the number of sensors and their frequencies for performance optimization"
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/>
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<arg name="sensor_kit_name" default="carla_sensor_kit_description" description="Name of the sensor kit package containing calibration"/>
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<let name="sensor_mapping_file_default" value="$(find-pkg-share autoware_carla_interface)/config/sensor_mapping_light_weight.yaml" if="$(var use_light_weight_sensor_mapping)"/>
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<let name="sensor_mapping_file_default" value="$(find-pkg-share autoware_carla_interface)/config/sensor_mapping.yaml" unless="$(var use_light_weight_sensor_mapping)"/>

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