Multi Ego Vehicles support in CARLA

[mounalbaccouch]

Hi,

can CARLA support multi Ego Vehicles ?
I am trying to simulate a cooperative autonomous driving scenario, thus I need to simulate multiple Ego Vehicles and get their sensors data via ROS topics.

Thanks in advance.

[ralwing]

Yes it can,
You just need to use a different role_name e.g. hero_1, hero_2 etc. for Your vehicles. Then You'll see /carla/hero_1/*, /carla/hero_2/*' like topics.

[ghost]

Hello,
I am currently using caral for my research. I would like to know where I can find the corresponding configuration where I can set the different role_names?

Thanks in advance!

[ghost]

Hello @ralwing do you have any ideas?

[ralwing]

Search for it in the repository sources:
https://github.com/carla-simulator/carla/search?q=role_name

[ghost]

"While CARLA supports multi-agent environment, the Leaderboard is thought as a traffic scenario simulation around only one agent, so it doesn't support a multi-agent environment."
See also : carla-simulator/leaderboard#132