autoware_carla_interface in the pre-built humble Docker image is missing the `modules` Python subpackage and calibration map CSVs

[Chelvy]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

In the pre-built Docker image ghcr.io/autowarefoundation/autoware:latest-humble-autoware-universe-cuda-amd64 (pulled 2026-08-12), the installed autoware_carla_interface package is broken in two independent ways:

1. The entire autoware_carla_interface.modules Python subpackage is missing from /opt/autoware/lib/python3.10/site-packages/autoware_carla_interface/. Only the top-level modules (carla_autoware.py, carla_ros.py, etc.) are installed; the modules/ directory (carla_data_provider.py, carla_utils.py, carla_wrapper.py, sensor_manager.py, …) is absent. Launching the interface fails immediately with ModuleNotFoundError: No module named 'autoware_carla_interface.modules'.

2. The calibration map CSVs are missing from /opt/autoware/share/autoware_carla_interface/. The shipped config/raw_vehicle_cmd_converter.param.yaml references

   csv_path_accel_map: $(find-pkg-share autoware_carla_interface)/accel_map.csv
   csv_path_brake_map: $(find-pkg-share autoware_carla_interface)/brake_map.csv
   csv_path_steer_map: $(find-pkg-share autoware_carla_interface)/steer_map.csv

   but none of the three CSVs (from calibration_maps/ in the source tree) are present in the image, so the raw_vehicle_cmd_converter node dies at startup with Accel map is invalid.

Notably, the rest of the package is installed: the launch file, the config YAMLs, and the top-level Python files are all there, and the package is registered in the ament index. So the omissions look like a packaging/pipeline artifact rather than a missing package.

Expected behavior

ros2 launch autoware_carla_interface autoware_carla_interface.launch.xml starts inside the container using only the files shipped in the image:

• python3 -c "import autoware_carla_interface.modules.carla_wrapper" succeeds.
• accel_map.csv, brake_map.csv, steer_map.csv exist in $(ros2 pkg prefix --share autoware_carla_interface)/, so raw_vehicle_cmd_converter can load them.

This matches what the source tree's CMakeLists.txt installs at both main and humble (ament_python_install_package(${PROJECT_NAME} PACKAGE_DIR src/${PROJECT_NAME}) and install(DIRECTORY calibration_maps/ DESTINATION share/${PROJECT_NAME}/)), so a from-source build does not have this problem — only the pre-built image does.

Actual behavior

1. Launch fails immediately:

   ModuleNotFoundError: No module named 'autoware_carla_interface.modules'
   

   and indeed:

   $ ls /opt/autoware/lib/python3.10/site-packages/autoware_carla_interface/
   __init__.py  carla_autoware.py  carla_ros.py  multi_camera_combiner_node.py  ...
   # no modules/ directory
   

2. After working around (1) by bind-mounting modules/ from a source checkout, the pipeline gets further but raw_vehicle_cmd_converter exits with:

   Accel map is invalid.
   

   and indeed:

   $ ls /opt/autoware/share/autoware_carla_interface/
   config  launch  package.xml ...
   # no accel_map.csv / brake_map.csv / steer_map.csv
   

Steps to reproduce

Observed via Apptainer/Singularity on an HPC cluster, but the missing files are in the image itself, so Docker shows the same thing.

1. docker pull ghcr.io/autowarefoundation/autoware:latest-humble-autoware-universe-cuda-amd64 (or apptainer pull the same reference).

2. Inspect the installed package — both checks fail:

   docker run --rm ghcr.io/autowarefoundation/autoware:latest-humble-autoware-universe-cuda-amd64 \
     ls /opt/autoware/lib/python3.10/site-packages/autoware_carla_interface/modules
   docker run --rm ghcr.io/autowarefoundation/autoware:latest-humble-autoware-universe-cuda-amd64 \
     ls /opt/autoware/share/autoware_carla_interface/accel_map.csv

3. Or reproduce at launch time (CARLA server not required to hit the first error — the import fails before anything connects):

   apptainer exec <image>.sif bash -c \
     "source /opt/autoware/setup.bash && ros2 launch autoware_carla_interface autoware_carla_interface.launch.xml"
   # -> ModuleNotFoundError: No module named 'autoware_carla_interface.modules'

4. Bind-mount simulator/autoware_carla_interface/src/autoware_carla_interface/modules from an autoware_universe checkout into the site-packages path and relaunch (with a CARLA 0.9.15 server up) → raw_vehicle_cmd_converter dies with Accel map is invalid.

Versions

• OS: Ubuntu 22.04 (container); host: Rocky Linux HPC node via Apptainer
• ROS 2: Humble
• Autoware: ghcr.io/autowarefoundation/autoware:latest-humble-autoware-universe-cuda-amd64, pulled 2026-08-12

Possible causes

The package source is fine: at both main and humble, simulator/autoware_carla_interface/CMakeLists.txt installs the Python package recursively and the calibration maps, and src/autoware_carla_interface/modules/__init__.py exists. So the loss appears to happen in the image build/packaging pipeline that produces /opt/autoware, not in the package itself.

One observation that may help: the package migrated from build_type: ament_python to ament_cmake in #11706 (Feb 2026). The old ament_python setup.py used find_packages() + build-time glob("calibration_maps/*.csv") for its data files. If the image pipeline still builds (or caches) the package via the old setup.py path — or was built from a snapshot mid-migration — that would produce exactly this partial install (top-level modules and launch/config present, modules/ subpackage and CSVs absent).

If this actually belongs in the autowarefoundation/autoware repo (where the Docker images are built), feel free to transfer it.

Additional context

Workaround that makes the shipped image usable without modifying it — bind-mount the missing files from a source checkout of autoware_universe (simulator/autoware_carla_interface/):

• src/autoware_carla_interface/modules → /opt/autoware/lib/python3.10/site-packages/autoware_carla_interface/modules
• calibration_maps/accel_map.csv, brake_map.csv, steer_map.csv → /opt/autoware/share/autoware_carla_interface/

With those two mounts (plus a carla==0.9.15 client on PYTHONPATH), the interface launches and exchanges sensor/vehicle topics with a CARLA 0.9.15 server normally.