| name | carmaker-ros2-bridge-skill |
| description | Use when migrating, validating, documenting, or operating the CarMaker 15.1 ROS2 bridge; triggers include ROS2Bridge.cpp, CarMaker 14.1.1 to 15.1 bridge migration, /chcnav/devpvt, /perception/curb_boundaries, /control/control_cmd, msg_interfaces, autoware_control_msgs, AMENT_PREFIX_PATH, LD_LIBRARY_PATH, RUNPATH, and CarMaker.linux64 bridge validation. |
CarMaker ROS2 Bridge Skill
Core principle
Prove the runtime first: the executable must report linux64-15.1, shared libraries must resolve, and live ROS2 traffic must be observed. A linux64-14.1.1/install RUNPATH can be valid when it only supplies ROS2 message libraries.
Verified local baseline
- Project:
/home/cqx/CM_Projects/cm151_gpu_demo
- Executable:
/home/cqx/CM_Projects/cm151_gpu_demo/src/CarMaker.linux64
- Bridge files:
src/ROS2Bridge.cpp, src/ROS2Bridge.h, src/User.cpp, src/Makefile
- ROS2 distro: Humble
- Message prefix:
/opt/ipg/carmaker/linux64-14.1.1/install
- Optional launcher:
/home/cqx/CM_Projects/cm151_gpu_demo/start_carmaker15_gpu_todesk.sh
- Probe binary:
/tmp/carmaker_ros2_probe
Topic contract
| Direction | Topic | Type |
|---|
| CarMaker -> ROS2 | /chcnav/devpvt | msg_interfaces/msg/Hcinspvatzcb |
| CarMaker -> ROS2 | /perception/curb_boundaries | msg_interfaces/msg/CurbBoundaries |
| CarMaker -> ROS2 | /perception/curb_diagnostics | msg_interfaces/msg/CurbDiagnostics |
| CarMaker -> ROS2 | /control/runtime_log_stop | nav_msgs/msg/Odometry |
| ROS2 -> CarMaker | /control/control_cmd | autoware_control_msgs/msg/Control |
Standard validation workflow
- Check version:
./src/CarMaker.linux64 -help | head -5 must show linux64-15.1.
- Check dependencies:
ldd ./src/CarMaker.linux64 | rg "not found" must produce no output.
- Check RUNPATH: it should include
/opt/ros/humble/lib, autoware_control_msgs/lib, and msg_interfaces/lib.
- Export ROS2 env (
ROS_DISTRO=humble, RMW_IMPLEMENTATION=rmw_fastrtps_cpp, AMENT_PREFIX_PATH, COLCON_PREFIX_PATH, LD_LIBRARY_PATH).
- Run the 20s CLI TestRun and confirm
ROS2 bridge initialized for CarMaker 15.1.
- Run
/tmp/carmaker_ros2_probe during simulation; success requires chc_count > 0 and curb_count > 0.
- Confirm CarMaker logs show
ROS2 control: target=... steer_tire=....
Use scripts/check_carmaker_ros2_bridge.sh for read-only checks. Use --run-smoke only when it is acceptable to launch a short CarMaker CLI simulation.
Success indicators
APPLICATION ... (linux64-15.1).- No
ldd missing libraries.
- Bridge initialization logs for
/chcnav/devpvt and /perception/curb_boundaries.
- Probe output like
chc_count=308 curb_count=303 ....
- Control logs change vehicle throttle/brake/steer state.
Vehicle leaves road after a fixed steering command is expected in the probe scenario; it indicates control affected vehicle motion, not that the bridge failed.
References and tools
- Load
references/carmaker15_ros2_bridge.md for exact commands, expected logs, troubleshooting notes, and Apollo/Autoware integration caveats.
- Run
scripts/check_carmaker_ros2_bridge.sh for local structural validation.
