Autoware Maintainer · Open Source

Upstream maintainership, code, and technical review

Maintainer of Autoware Universe autoware_carla_interface. Eight changes merged into the package, four proposals still open across Autoware Universe and Spark FAST-LIO, and two technical reviews on other contributors' Autoware PRs.

Maintainer · Autoware Universe

autoware_carla_interface CARLA ↔ Autoware bridge

Listed as a package maintainer in simulator/autoware_carla_interface/package.xml (#13449) and as a code owner in .github/CODEOWNERS, alongside the TIER IV maintainers, following a proposal backed by an existing maintainer (#13439). Announced in the Korean Society of Automotive Engineers (KSAE) member news and covered by TU Korea, Money Today, Korea University News, Kyosu Shinmun, and Unimate Alpha. Eight merged changes to the package's sensor timing, capture-rate, timestamp, camera-output, noise, and vehicle-control paths.

Package maintainer 8 merged changes Covered by 5 outlets + KSAE

Path to Maintainer · Merged Changes

• #13149 · Sensor publish timing — corrected a floating-point boundary that dropped equal-period frames; the measured 20 Hz and 10 Hz cases went from 134/200 to 200/200 published frames.
• #13151 · Mono camera output — made mono8 selectable while retaining the original default; serialized image payload was 4× smaller at 960×540.
• #13154 · IMU/GNSS noise — added configurable noise and bias parameters with zero-valued defaults.
• #13407 · Sensor capture rate — let a mapping set CARLA's sensor_tick and aligned the publish throttle; a requested 25 Hz camera measured 24.95 Hz, up from 19.92 Hz.
• #13408 · Capture-frame timestamps — preserved each measurement's CARLA frame through publication, avoiding overwritten measurements and late-callback timestamps.
• #13411 · BGR camera output — added selectable bgr8 output, removing the unused alpha channel and reducing color-image payload by 25%.
• #13409 · All camera types — matched every sensor.camera.* blueprint in publisher creation and dispatch, so depth and semantic-segmentation cameras publish image and camera-info streams instead of being dropped.
• #13150 · Gear commands — reverse selection, non-driving-gear braking, and gear-status reporting for the CARLA vehicle interface.

Open Proposals

Autoware Universe

• #13406 · Physics substeps — proposes a bounded CARLA substep to reduce disagreement between reported angular velocity and vehicle rotation.
• #13410 · External ego attachment — proposes attaching sensors to a vehicle owned and driven by another CARLA client.

Spark FAST-LIO

• #19 · Velodyne point times — proposes normalizing centered point timestamps to zero-based sweep offsets.
• #20 · Odometry twist — proposes publishing frame-correct linear and angular velocity, including the offset-point term.

Technical Reviews

• #13372 · Ego pose at base_link — measured a turning-case mismatch between the shifted pose and odometry twist, including 0.6993 m/s RMS lateral-velocity error, and suggested a follow-up correction.
• #13433 · Initial-pose spawning (since merged) — checked the pose subscription path and reproduced a spawn-height failure mode with ground snapping disabled; requested validation on a higher-terrain map for the realistic RViz case.