feat(ros2): add ROS2 native example scripts and update build system

Update ROS2 example files from ue4-dev reference: add GNSS and IMU
sensors to stack.json configuration, update rviz config with new sensor
frames and correct lidar topic path, sync ros2_native.py with upstream,
and update README with launch instructions.

Build system (CMakeLists.txt) uses dynamic file globs so no changes
needed for renamed/added/removed source files.

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

Author: youtalk

PythonAPI/examples/ros2/README.md

@@ -13,7 +13,11 @@ To run this example, ensure `docker` is installed in your system, which is used
 Launch the CARLA simulator with the ROS 2 integration enabled:
 
 ```bash
-./CarlaUnreal.sh --ros2
+# If running a package:
+./CarlaUE4sh --ros2
+
+# If running the editor:
+make launch ARGS="--ros2 --editor-flags='--ros2'"
 ```
 
 ### Step 2: Run the ROS2 Example

PythonAPI/examples/ros2/ros2_native.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python
 
-# Copyright (c) 2026 Computer Vision Center (CVC) at the Universitat Autonoma de
+# Copyright (c) 2025 Computer Vision Center (CVC) at the Universitat Autonoma de
 # Barcelona (UAB).
 #
 # This work is licensed under the terms of the MIT license.
@@ -9,6 +9,18 @@
 # Allows controlling a vehicle with a keyboard. For a simpler and more
 # documented example, please take a look at tutorial.py.
 
+import glob
+import os
+import sys
+
+try:
+    sys.path.append(glob.glob('../../carla/dist/carla-*%d.%d-%s.egg' % (
+        sys.version_info.major,
+        sys.version_info.minor,
+        'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
+except IndexError:
+    pass
+
 import argparse
 import json
 import logging
@@ -24,7 +36,7 @@ def _setup_vehicle(world, config):
 
     bp = bp_library.filter(config.get("type"))[0]
     bp.set_attribute("role_name", config.get("id"))
-    bp.set_attribute("ros_name", config.get("id")) 
+    bp.set_attribute("ros_name", config.get("id"))
 
     return  world.spawn_actor(
         bp,
@@ -40,8 +52,8 @@ def _setup_sensors(world, vehicle, sensors_config):
         logging.debug("Spawning sensor: {}".format(sensor))
 
         bp = bp_library.filter(sensor.get("type"))[0]
-        bp.set_attribute("ros_name", sensor.get("id")) 
-        bp.set_attribute("role_name", sensor.get("id")) 
+        bp.set_attribute("ros_name", sensor.get("id"))
+        bp.set_attribute("role_name", sensor.get("id"))
         for key, value in sensor.get("attributes", {}).items():
             bp.set_attribute(str(key), str(value))
 
@@ -72,7 +84,7 @@ def main(args):
 
     try:
         client = carla.Client(args.host, args.port)
-        client.set_timeout(60.0)
+        client.set_timeout(10.0)
 
         world = client.get_world()
 

PythonAPI/examples/ros2/rviz/ros2_native.rviz

@@ -48,8 +48,12 @@ Visualization Manager:
       Frame Timeout: 15
       Frames:
         All Enabled: true
+        gnss:
+          Value: true
         hero:
           Value: true
+        imu:
+          Value: true
         lidar:
           Value: true
         rgb:
@@ -61,6 +65,10 @@ Visualization Manager:
       Show Names: true
       Tree:
         hero:
+          gnss:
+            {}
+          imu:
+            {}
           lidar:
             {}
           rgb:
@@ -102,9 +110,9 @@ Visualization Manager:
           Enabled: true
           Invert Rainbow: false
           Max Color: 255; 255; 255
-          Max Intensity: 0.9900385737419128
+          Max Intensity: 0.9897720217704773
           Min Color: 0; 0; 0
-          Min Intensity: 0.7121721506118774
+          Min Intensity: 0.7122171521186829
           Name: PointCloud
           Position Transformer: XYZ
           Selectable: true
@@ -117,7 +125,7 @@ Visualization Manager:
             Filter size: 10
             History Policy: Keep Last
             Reliability Policy: Reliable
-            Value: /carla/hero/lidar
+            Value: /carla/hero/lidar/point_cloud
           Use Fixed Frame: true
           Use rainbow: true
           Value: true

PythonAPI/examples/ros2/stack.json

@@ -1,14 +1,14 @@
 {
-    "type": "vehicle.lincoln.mkz",
+    "type": "vehicle.lincoln.mkz_2017",
     "id": "hero",
     "sensors": [
         {
             "type": "sensor.camera.rgb",
             "id": "rgb",
             "spawn_point": {"x": -4.5, "y": 0.0, "z": 2.5, "roll": 0.0, "pitch": 20.0, "yaw": 0.0},
             "attributes": {
-                "image_size_x": 400,
-                "image_size_y": 200,
+                "image_size_x": 600,
+                "image_size_y": 400,
                 "fov": 90.0
             }
         },
@@ -28,6 +28,35 @@
                 "dropoff_intensity_limit": 0.8,
                 "dropoff_zero_intensity": 0.4
             }
+        },
+        {
+            "type": "sensor.other.gnss",
+            "id": "gnss",
+            "spawn_point": {"x": 1.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0},
+            "attributes": {
+                "noise_alt_stddev": 0.0,
+                "noise_lat_stddev": 0.0,
+                "noise_lon_stddev": 0.0,
+                "noise_alt_bias": 0.0,
+                "noise_lat_bias": 0.0,
+                "noise_lon_bias": 0.0
+            }
+        },
+        {
+            "type": "sensor.other.imu",
+            "id": "imu",
+            "spawn_point": {"x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0},
+            "attributes": {
+                "noise_accel_stddev_x": 0.0,
+                "noise_accel_stddev_y": 0.0,
+                "noise_accel_stddev_z": 0.0,
+                "noise_gyro_stddev_x": 0.0,
+                "noise_gyro_stddev_y": 0.0,
+                "noise_gyro_stddev_z": 0.0,
+                "noise_gyro_bias_x": 0.0,
+                "noise_gyro_bias_y": 0.0,
+                "noise_gyro_bias_z": 0.0
+            }
         }
     ]
-}
+}