I use Carla manual control to see all positional data on one screen when controlling the ego vehicle through ROS.

But I was really confused by the coordinate systems. I thought heading 0 is x direction and North GNSS direction (increasing latitude).

Actually, moving in the x direction is heading 0, but East (increasing longitude) and HUD is saying North.

After turning right -> moving in -y direction is heading -90, South (decreasing latitude), and HUD is saying West (which is 100% problem, when after going North and turning right, I should be heading East)

Summary image here

Good to point out that ROS-bridge transforms the left-handed coordinate system of CARLA into the right-handed coordinate system of ROS, so the y direction mismatch Python-API. carla_common/src/carla_common/transforms.py