C-V2X Enabled Collaborative Autonomous Driving - Simulation Ground (CARLA+ROS2+Autoware)

[Croquembouche]

Hi All,

We are in the process of creating a C-V2X enabled collaborative autonomous driving simulation ground in CALRA.
What we have now:

• All of the C-V2X messages have been recreated in ROS2 and CARLA.
• We can now publish CARLA data via ROS2 nodes.
• We can control vehicles and traffic lights in CARLA with ROS2 messages.

What we need to do moving forward:

• Integrate the simulation ground with Autoware.auto.
• Experiment on how Autoware.auto can leverage C-V2X messages for safer autonomous driving.
• We are planning on submitting a paper to IEEE Transactions on Vehicular Technology for Spring 2023.

Since we just joined, we will be presenting these ideas in the ADKit and Simulation WG meeting.
If you have any questions or would like to be a part of this, please leave a comment below!

Thanks!

[hatem-darweesh]

Hi @Croquembouche
I am working on exactly that, perhaps if we collaborate, we can achieve a common goal.
This is my first results:
Video Demo
Bridge source
Client source

Also we can discuss in details in the Autoware-OpenPlanner working group meeting. Next meeting is on Tuesday 9th 4 pm Japan Time.
we have meeting same time every two weeks.

Regards,

[Croquembouche]

Wonderful! Is that ODD group meeting?

[hatem-darweesh]

No, It is OpenPlanner working group meeting.