How can you connect the CARLA autonomous driving simulator with simulink?

I am using the CARLA autonomous driving simulator and have an autonomous driving software in simulink. How can I control the autonomous vehicle in CARLA with my simulink model?

[Masoomeh Kavoosi]

I am currently also looking for the answer to this question, did you manage?

Answer 1

[MathWorks Support Team]

The connection could be established using CARLA ROS Bridge and MATLAB ROS toolbox. MATLAB ROS toolbox will give you the ability to create customized ROS messages to exchange data between MATLAB/Simulink and CARLA Simulator via CARLA ROS Bridge. Once that connection is established, you will be able to send commands to the ego vehicle\CARLA simulation environment and read information from the said environment.

Visit the links below for more information:

https://carla.readthedocs.io/en/latest/

https://www.mathworks.com/products/ros.html

[Remo Pillat]

There are two more recent examples in ROS Toolbox that show the CARLA connection more explicitly:

• Set Up and Connect to CARLA Simulator
• Emergency Braking of Ego Vehicle in CARLA Simulator Using Simulink and CARLA ROS Bridge

Answer 2

[SeasonedLeo]

I found this helpful . https://github.com/darkscyla/MATLAB-Carla-Interface

Answer 3

[Mehrdad Moradi]

You need to use the Python API in Carla and Matlab. Then you run the simulation step by step and exchange the data between Carla and Matlab.