[CARLA] CARLA Simulator Twist to control

[김위제]

ubuntu 24.04 Desktop
ROS2 jazzy

ROS2 dynmixel_workbench_operator를 사용하여 차량을 조종

ROS2 패키지를 사용해서
twist 형식인 /cmd_vel을 carla 형식에 맞게 /carla/ego_vehicle/vehicle_control_cmd으로
변환하여 조종하려 했지만 carla에서 vehicle 토픽을 subscribe하지 않은 것을 확인
아직 구현이 안되있는것 같다. <<---수정됨

https://github.com/wijekim/CARLA-simulator

GitHub - wijekim/CARLA-simulator: CARLA

*** 수정 ***

기존 문제였던 carla에서 vehicle 토픽을 subscribe하지 않았던 문제를 해결

id를 ego_vehicle로 지정시 vehicle_control_cmd를 subscribe 하는 토픽이 나오지 않는 것을 확인 하였지만
id를 hero로 지정하였을 때 vehicle_control_cmd를 subscribe하는 토픽이 나오는것을 확인

stack.json 설정 파일에서 hero로 id 변경

# 1. 패키지 디렉토리 생성
cd ~/ros2_ws/src
mkdir -p twist_to_carla_control/{src,launch}



# 3. CARLA ROS Bridge 설치 (carla_msgs 필요)
git clone https://github.com/carla-simulator/ros-bridge.git

# 4. 빌드
cd ~/ros2_ws
colcon build --packages-select twist_to_carla_control

# 5. 실행
source install/setup.bash

ros2 launch twist_to_carla_control twist_to_carla.launch.py

/home/airlab/ros2_ws/src/twist_to_carla_control/launch/twist_to_carla.launch.py

from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from ament_index_python.packages import get_package_share_directory
import os


def generate_launch_description():
pkg_share = get_package_share_directory('twist_to_carla_control')

# Launch arguments
max_steering_arg = DeclareLaunchArgument(
'max_steering_angle',
default_value='0.7',
description='Maximum steering angle in radians'
)

max_speed_arg = DeclareLaunchArgument(
'max_speed',
default_value='10.0',
description='Maximum speed in m/s'
)

wheelbase_arg = DeclareLaunchArgument(
'wheelbase',
default_value='2.87',
description='Vehicle wheelbase in meters'
)

# Node
twist_to_carla_node = Node(
package='twist_to_carla_control',
executable='twist_to_carla_control_node',
name='twist_to_carla_control',
output='screen',
parameters=[{
'max_steering_angle': LaunchConfiguration('max_steering_angle'),
'max_throttle': 1.0,
'max_brake': 1.0,
'wheelbase': LaunchConfiguration('wheelbase'),
'max_speed': LaunchConfiguration('max_speed'),
}],
remappings=[
('/cmd_vel', '/cmd_vel'),
('/carla/hero/vehicle_control_cmd', '/carla/hero/vehicle_control_cmd'),
]
)

return LaunchDescription([
max_steering_arg,
max_speed_arg,
wheelbase_arg,
twist_to_carla_node,
])

/home/airlab/ros2_ws/src/twist_to_carla_control/src/twist_to_carla_control.cpp

#include <rclcpp/rclcpp.hpp>
#include <geometry_msgs/msg/twist.hpp>
#include <carla_msgs/msg/carla_ego_vehicle_control.hpp>

class TwistToCarlaControl : public rclcpp::Node
{
public:
TwistToCarlaControl() : Node("twist_to_carla_control")
{
// 파라미터 선언
this->declare_parameter("max_steering_angle", 0.7); // 최대 조향각 (라디안)
this->declare_parameter("max_throttle", 1.0);
this->declare_parameter("max_brake", 1.0);
this->declare_parameter("wheelbase", 2.87); // 차량 축거 (m)
this->declare_parameter("max_speed", 10.0); // 최대 속도 (m/s)

// 파라미터 가져오기
max_steering_ = this->get_parameter("max_steering_angle").as_double();
max_throttle_ = this->get_parameter("max_throttle").as_double();
max_brake_ = this->get_parameter("max_brake").as_double();
wheelbase_ = this->get_parameter("wheelbase").as_double();
max_speed_ = this->get_parameter("max_speed").as_double();

// Subscriber 생성
twist_sub_ = this->create_subscription<geometry_msgs::msg::Twist>(
"/cmd_vel", 10,
std::bind(&TwistToCarlaControl::twistCallback, this, std::placeholders::_1));

// Publisher 생성
control_pub_ = this->create_publisher<carla_msgs::msg::CarlaEgoVehicleControl>(
"/carla/hero/vehicle_control_cmd", 10);

RCLCPP_INFO(this->get_logger(), "Twist to CARLA Control Node Started");
RCLCPP_INFO(this->get_logger(), "Subscribing to: /cmd_vel");
RCLCPP_INFO(this->get_logger(), "Publishing to: /carla/hero/vehicle_control_cmd");
}

private:
void twistCallback(const geometry_msgs::msg::Twist::SharedPtr msg)
{
auto control_msg = carla_msgs::msg::CarlaEgoVehicleControl();

// Linear velocity (x) -> Throttle/Brake
double desired_speed = msg->linear.x;

if (desired_speed > 0.0) {
// 전진: Throttle 계산
control_msg.throttle = std::min(desired_speed / max_speed_, max_throttle_);
control_msg.brake = 0.0;
} else if (desired_speed < 0.0) {
// 후진: Reverse와 Throttle 사용
control_msg.throttle = std::min(std::abs(desired_speed) / max_speed_, max_throttle_);
control_msg.brake = 0.0;
control_msg.reverse = true;
} else {
// 정지: Brake 적용
control_msg.throttle = 0.0;
control_msg.brake = 0.5;
control_msg.reverse = false;
}

// Angular velocity (z) -> Steering
// Ackermann 조향 모델 사용
double angular_vel = msg->angular.z;

if (std::abs(desired_speed) > 0.01) {
// 회전 반경 계산: R = v / ω
double turning_radius = desired_speed / angular_vel;

// Ackermann 조향각 계산: δ = atan(L / R)
double steering_angle = std::atan(wheelbase_ / turning_radius);

// 조향각 정규화 [-1, 1]
control_msg.steer = std::clamp(steering_angle / max_steering_, -1.0, 1.0);
} else {
// 제자리 회전
control_msg.steer = (angular_vel > 0) ? 1.0 : -1.0;
}

// Hand brake는 기본적으로 사용 안 함
control_msg.hand_brake = false;
control_msg.manual_gear_shift = false;
control_msg.gear = 0;

// 메시지 발행
control_pub_->publish(control_msg);

// 디버그 정보 출력 (주기적으로)
static int count = 0;
if (++count % 20 == 0) {
RCLCPP_DEBUG(this->get_logger(),
"Twist: linear=%.2f, angular=%.2f -> Control: throttle=%.2f, brake=%.2f, steer=%.2f",
msg->linear.x, msg->angular.z,
control_msg.throttle, control_msg.brake, control_msg.steer);
}
}

// Subscriber & Publisher
rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr twist_sub_;
rclcpp::Publisher<carla_msgs::msg::CarlaEgoVehicleControl>::SharedPtr control_pub_;

// 파라미터
double max_steering_;
double max_throttle_;
double max_brake_;
double wheelbase_;
double max_speed_;
};

int main(int argc, char** argv)
{
rclcpp::init(argc, argv);
auto node = std::make_shared<TwistToCarlaControl>();
rclcpp::spin(node);
rclcpp::shutdown();
return 0;
}

/home/airlab/ros2_ws/src/twist_to_carla_control/CMakeLists.txt

cmake_minimum_required(VERSION 3.8)
project(twist_to_carla_control)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(carla_msgs REQUIRED)

# Add executable
add_executable(twist_to_carla_control_node src/twist_to_carla_control.cpp)

ament_target_dependencies(twist_to_carla_control_node
rclcpp
geometry_msgs
carla_msgs
)

# Install targets
install(TARGETS
twist_to_carla_control_node
DESTINATION lib/${PROJECT_NAME}
)

# Install launch files
install(DIRECTORY
launch
DESTINATION share/${PROJECT_NAME}
)

if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
endif()

ament_package()

/home/airlab/ros2_ws/src/twist_to_carla_control/package.xml

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>twist_to_carla_control</name>
<version>1.0.0</version>
<description>Convert geometry_msgs/Twist to CARLA EgoVehicleControl</description>
<maintainer email="your.email@example.com">Your Name</maintainer>
<license>MIT</license>

<buildtool_depend>ament_cmake</buildtool_depend>

<depend>rclcpp</depend>
<depend>geometry_msgs</depend>
<depend>carla_msgs</depend>

<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>

<export>
<build_type>ament_cmake</build_type>
</export>
</package>

사용방법

dynamixel_workbench_operator를 실행후 
또 다른 터미널을 열어 
ros2 launch twist_to_carla_control twist_to_carla.launch.py 실행

operator로 2.5까지 올렸을때 앞으로 가기 시작함

wist_to_carla_control에서 수정해주면 될것 같다.

carla 라이브를 사용할때

pkg 작성

ros-bridg를 사용하지 않을것이기 때문에  
carla library를 사용하여 ROS2 패키지를 작성함

패키지 만들기

# 1. 패키지 구조 생성
cd ~/ros2_ws/src
mkdir -p twist_carla_direct_control/{twist_carla_direct_control,launch,config,resource}

# 2. 파일들 생성 (위 내용 복사)

# 3. CARLA Python 설치
pip3 install carla

# 4. 빌드
cd ~/ros2_ws
colcon build --packages-select twist_carla_direct_control
source install/setup.bash

# 5. 실행
# Terminal 1: CARLA
./CarlaUnreal.sh --ross

# Terminal 2: 컨트롤러
ros2 launch twist_carla_direct_control twist_carla_control.launch.py

패키지 구조

twist_carla_direct_control/
├── twist_carla_direct_control/
│   ├── __init__.py
│   └── twist_carla_controller.py
├── launch/
│   └── twist_carla_control.launch.py
├── config/
│   └── params.yaml
├── package.xml
├── setup.py
├── setup.cfg

twist_carla_direct_control/twist_carla_controller.py

#!/usr/bin/env python3
"""
Twist to CARLA Direct Controller
ROS2 Twist 메시지를 받아서 CARLA Python API로 직접 차량 제어
"""

import rclpy
from rclpy.node import Node
from geometry_msgs.msg import Twist
import carla
import sys
import math


class TwistCarlaController(Node):
def __init__(self):
super().__init__('twist_carla_controller')

# 파라미터 선언
self.declare_parameter('carla_host', 'localhost')
self.declare_parameter('carla_port', 2000)
self.declare_parameter('role_name', 'ego_vehicle')
self.declare_parameter('timeout', 10.0)
self.declare_parameter('max_steering_angle', 0.7) # 라디안
self.declare_parameter('max_speed', 10.0) # m/s
self.declare_parameter('wheelbase', 2.87) # m
self.declare_parameter('update_rate', 50.0) # Hz

# 파라미터 가져오기
host = self.get_parameter('carla_host').value
port = self.get_parameter('carla_port').value
self.role_name = self.get_parameter('role_name').value
timeout = self.get_parameter('timeout').value
self.max_steering = self.get_parameter('max_steering_angle').value
self.max_speed = self.get_parameter('max_speed').value
self.wheelbase = self.get_parameter('wheelbase').value
update_rate = self.get_parameter('update_rate').value

# CARLA 연결
self.get_logger().info(f'Connecting to CARLA at {host}:{port}...')
try:
self.client = carla.Client(host, port)
self.client.set_timeout(timeout)
self.world = self.client.get_world()
self.get_logger().info(f'✓ Connected to CARLA: {self.world.get_map().name}')
except Exception as e:
self.get_logger().error(f'✗ Failed to connect to CARLA: {e}')
self.get_logger().error('Make sure CARLA is running!')
sys.exit(1)

# Ego vehicle 찾기
self.vehicle = None
self.find_ego_vehicle()

if self.vehicle is None:
self.get_logger().error(f'✗ No vehicle with role_name "{self.role_name}" found!')
self.get_logger().info('Spawning new ego_vehicle...')
self.spawn_ego_vehicle()

if self.vehicle is None:
self.get_logger().error('Failed to spawn vehicle. Exiting.')
sys.exit(1)

# Vehicle 설정
self.vehicle.set_autopilot(False)
self.vehicle.set_simulate_physics(True)
self.get_logger().info(f'✓ Found ego_vehicle: {self.vehicle.id}')
self.get_logger().info(f' Type: {self.vehicle.type_id}')
self.get_logger().info(f' Location: {self.vehicle.get_location()}')

# 마지막 제어 명령 저장
self.last_twist = Twist()
self.msg_count = 0

# ROS2 Subscriber 생성
self.subscription = self.create_subscription(
Twist,
'/cmd_vel',
self.twist_callback,
10
)

# 타이머로 주기적으로 제어 명령 전송 (제어 안정성 향상)
self.timer = self.create_timer(1.0 / update_rate, self.control_timer_callback)

self.get_logger().info('='*60)
self.get_logger().info('Twist to CARLA Direct Controller Started')
self.get_logger().info('='*60)
self.get_logger().info('Subscribing to: /cmd_vel')
self.get_logger().info('Ready to receive Twist commands!')
self.get_logger().info('='*60)

def find_ego_vehicle(self):
"""role_name이 ego_vehicle인 차량 찾기"""
for actor in self.world.get_actors().filter('vehicle.*'):
if 'role_name' in actor.attributes:
if actor.attributes['role_name'] == self.role_name:
self.vehicle = actor
return

def spawn_ego_vehicle(self):
"""Ego vehicle 자동 스폰"""
try:
blueprint_library = self.world.get_blueprint_library()
vehicle_bp = blueprint_library.filter('vehicle.tesla.model3')[0]
vehicle_bp.set_attribute('role_name', self.role_name)

spawn_points = self.world.get_map().get_spawn_points()
if len(spawn_points) == 0:
self.get_logger().error('No spawn points available!')
return

spawn_point = spawn_points[0]
self.vehicle = self.world.spawn_actor(vehicle_bp, spawn_point)
self.get_logger().info(f'✓ Spawned ego_vehicle at {spawn_point.location}')

except Exception as e:
self.get_logger().error(f'Failed to spawn vehicle: {e}')

def twist_callback(self, msg):
"""Twist 메시지 수신 콜백"""
self.last_twist = msg

def control_timer_callback(self):
"""주기적으로 제어 명령 적용"""
if self.vehicle is None:
self.get_logger().warn('Vehicle not found, searching again...')
self.find_ego_vehicle()
return

msg = self.last_twist

try:
# CARLA VehicleControl 생성
control = carla.VehicleControl()

# Linear velocity (x) -> Throttle/Brake/Reverse
desired_speed = msg.linear.x * 100

if desired_speed > 0.01: # 전진
# Throttle 계산 (0.0 ~ 1.0)
control.throttle = min(abs(desired_speed) / self.max_speed, 1.0)
control.brake = 0.0
control.reverse = False

elif desired_speed < -0.01: # 후진
control.throttle = max(abs(desired_speed) / self.max_speed, 1.0)
control.brake = 0.0
control.reverse = True

else: # 정지
control.throttle = 0.0
control.brake = 0.5
control.reverse = False

# Angular velocity (z) -> Steering
angular_vel = -(msg.angular.z)*10

if abs(desired_speed) > 0.01:
# Ackermann 조향 모델
# 회전 반경: R = v / ω
if abs(angular_vel) > 0.001:
turning_radius = desired_speed / angular_vel
# 조향각: δ = atan(L / R)
steering_angle = math.atan(self.wheelbase / turning_radius)
# 정규화 [-1, 1]
control.steer = max(-1.0, min(1.0, steering_angle / self.max_steering))
else:
control.steer = 0.0
else:
# 제자리 회전
if abs(angular_vel) > 0.01:
control.steer = 1.0 if angular_vel > 0 else -1.0
else:
control.steer = 0.0

# Hand brake 및 기타 설정
control.hand_brake = False
control.manual_gear_shift = False

# 차량에 제어 적용
self.vehicle.apply_control(control)

# 주기적 로그 출력
self.msg_count += 1
if self.msg_count % 100 == 0: # 2초마다 (50Hz 기준)
vel = self.vehicle.get_velocity()
speed = math.sqrt(vel.x**2 + vel.y**2 + vel.z**2)
self.get_logger().info(
f'Twist: linear={msg.linear.x:.2f}, angular={msg.angular.z:.2f} | '
f'Control: throttle={control.throttle:.2f}, steer={control.steer:.2f}, '
f'brake={control.brake:.2f}, reverse={control.reverse} | '
f'Speed: {speed:.2f} m/s'
)

except Exception as e:
self.get_logger().error(f'Error applying control: {e}')
self.vehicle = None

def destroy(self):
"""종료 시 정리"""
if self.vehicle is not None:
# 차량 정지
control = carla.VehicleControl()
control.throttle = 0.0
control.brake = 1.0
control.hand_brake = True
self.vehicle.apply_control(control)
self.get_logger().info('Vehicle stopped')


def main(args=None):
rclpy.init(args=args)

node = None
try:
node = TwistCarlaController()
rclpy.spin(node)
except KeyboardInterrupt:
pass
except Exception as e:
print(f'Error: {e}')
finally:
if node is not None:
node.destroy()
node.destroy_node()
rclpy.shutdown()


if __name__ == '__main__':
main()

package.xml

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>twist_carla_direct_control</name>
<version>1.0.0</version>
<description>Direct CARLA vehicle control from ROS2 Twist messages using CARLA Python API</description>
<maintainer email="your.email@example.com">Your Name</maintainer>
<license>MIT</license>

<exec_depend>rclpy</exec_depend>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>python3-carla</exec_depend>

<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257</test_depend>
<test_depend>python3-pytest</test_depend>

<export>
<build_type>ament_python</build_type>
</export>
</package>

setup.py

from setuptools import setup
import os
from glob import glob

package_name = 'twist_carla_direct_control'

setup(
name=package_name,
version='1.0.0',
packages=[package_name],
data_files=[
('share/ament_index/resource_index/packages',
['resource/' + package_name]),
('share/' + package_name, ['package.xml']),
(os.path.join('share', package_name, 'launch'), glob('launch/*.py')),
(os.path.join('share', package_name, 'config'), glob('config/*.yaml')),
],
install_requires=['setuptools'],
zip_safe=True,
maintainer='Your Name',
maintainer_email='your.email@example.com',
description='Direct CARLA vehicle control from ROS2 Twist messages',
license='MIT',
tests_require=['pytest'],
entry_points={
'console_scripts': [
'twist_carla_controller = twist_carla_direct_control.twist_carla_controller:main',
],
},
)

setup.cfg

[develop]
script-dir=$base/lib/twist_carla_direct_control
[install]
install-scripts=$base/lib/twist_carla_direct_control

launch/twist_carla_control.launch.py

from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration


def generate_launch_description():
# Launch arguments
carla_host_arg = DeclareLaunchArgument(
'carla_host',
default_value='localhost',
description='CARLA server host'
)

carla_port_arg = DeclareLaunchArgument(
'carla_port',
default_value='2000',
description='CARLA server port'
)

role_name_arg = DeclareLaunchArgument(
'role_name',
default_value='ego_vehicle',
description='Vehicle role name'
)

max_speed_arg = DeclareLaunchArgument(
'max_speed',
default_value='10.0',
description='Maximum speed in m/s'
)

wheelbase_arg = DeclareLaunchArgument(
'wheelbase',
default_value='2.87',
description='Vehicle wheelbase in meters'
)

# Node
twist_carla_node = Node(
package='twist_carla_direct_control',
executable='twist_carla_controller',
name='twist_carla_controller',
output='screen',
parameters=[{
'carla_host': LaunchConfiguration('carla_host'),
'carla_port': LaunchConfiguration('carla_port'),
'role_name': LaunchConfiguration('role_name'),
'timeout': 10.0,
'max_steering_angle': 0.7,
'max_speed': LaunchConfiguration('max_speed'),
'wheelbase': LaunchConfiguration('wheelbase'),
'update_rate': 50.0,
}],
remappings=[
('/cmd_vel', '/cmd_vel'),
]
)

return LaunchDescription([
carla_host_arg,
carla_port_arg,
role_name_arg,
max_speed_arg,
wheelbase_arg,
twist_carla_node,
])

config/params.yaml

twist_carla_controller:
  ros__parameters:
    carla_host: "localhost"
    carla_port: 2000
    role_name: "ego_vehicle"
    timeout: 10.0
    max_steering_angle: 0.7  # radians
    max_speed: 10.0  # m/s
    wheelbase: 2.87  # meters
    update_rate: 50.0  # Hz

resource/twist_carla_direct_control

# Empty marker file for package resource
indexing

twist_carla_direct_control/init.py

비어있음

빌드 할때 주의

ros2 jazzy에서 실행하려면 
carla 라이브러리를 install 해야하는데 

pip3 install carla

carla 예제를 사용하던 가상환경을 사용하면 라이브러리를 install 하지 않아도 된다.

carla 경로를 찾을 수 없는 문제가 생겼을때 

# CARLA 경로를 PYTHONPATH에 추가
export PYTHONPATH=$PYTHONPATH:~/carla/carla_venv/lib/python3.12/site-packages

이러한 형태로 경로를 지정해주면된다.
export PYTHONPATH=$PYTHONPATH:<가상환경 경로>/lib/python3.12/site-packages

실행 영상

launch 파일 생성

dynamixel_workbench_operators
twist_carla_direct_control
두개의 패키지를 동시에 실행하는 론치파일 생성

cd ~/ros2_ws/src

ros2 pkg create carla_twist_launch --build-type ament_python --dependencies dynamixel_workbench_operators twist_carla_direct_control

mkdir -p ~/ros2_ws/src/carla_twist_launch/launch

xterm을 사용할 것이기 때문에
sudo apt update && sudo apt install xterm

colcon build --packages-select carla_twist_launch

source install/setup.bash

ros2 launch  carla_twist_launch combined_launch.py

carla_twist_launch/launch/combined_launch.py

import os
from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():
# 1. Dynamixel Workbench 노드 (C++)
# 'xterm'을 사용하여 별도의 터미널 창에서 실행되도록 설정합니다.
dynamixel_node = Node(
package='dynamixel_workbench_operators',
executable='dynamixel_workbench_operators', # 실제 실행 파일 이름으로 확인 필요
name='dynamixel_manager',
output='screen',
prefix='xterm -hold -e', # 별도 창 생성 및 종료 후 창 유지
parameters=[{
# 'usb_port': '/dev/ttyUSB0',
# 'baud_rate': 57600,
}]
)

# 2. Twist Carla Direct Control 노드 (Python)
carla_control_node = Node(
package='twist_carla_direct_control',
executable='twist_carla_controller', # 실제 실행 파일 이름으로 확인 필요
name='carla_twist_controller',
output='screen'
)

return LaunchDescription([
dynamixel_node,
carla_control_node
])

setup.py

import os
from glob import glob
from setuptools import find_packages, setup

package_name = 'carla_twist_launch'

setup(
name=package_name,
version='0.0.0',
packages=find_packages(exclude=['test']),
data_files=[
('share/ament_index/resource_index/packages',
['resource/' + package_name]),
('share/' + package_name, ['package.xml']),
(os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*launch.[pxy][yma]*')))
],
install_requires=['setuptools'],
zip_safe=True,
maintainer='airlab',
maintainer_email='airlab@todo.todo',
description='TODO: Package description',
license='TODO: License declaration',
extras_require={
'test': [
'pytest',
],
},
entry_points={
'console_scripts': [
],
},
)

setup.cfg

[develop]
script_dir=$base/lib/carla_twist_launch
[install]
install_scripts=$base/lib/carla_twist_launch