We provide an example bridge for connecting MetaDrive and ROS2 using zmq sockets, which publishes messages for camera images, LiDAR point clouds, and object 3D bounding boxes.
To install the bridge, first install ROS2 humble and follow the scripts below:
cd bridges/ros_bridge
# activate env, ${ROS_DISTRO} is something like foxy, iron, humble
source /opt/ros/${ROS_DISTRO}/setup.bash
# You may need to run init, if you are installing ros2 for the first time
sudo rosdep init
# zmq should be installed with system python interpreter
pip install pyzmq
rosdep update
rosdep install --from-paths src --ignore-src -y
# build
colcon build
source install/setup.bash# Terminal 1, launch ROS publishers
ros2 launch metadrive_example_bridge metadrive_example_bridge.launch.py
# Terminal 2, launch socket server
python ros_socket_server.py
If you are using the conda, it is very likely that the interpreter will not match the system interpreter
and will be incompatible with ROS 2 binaries.