Open Source Contributions
Merged upstream work · Autoware Universe
Contributions made while integrating CARLA-based vehicle and perception workflows. Both changes were reviewed and merged upstream, with existing behavior preserved by default.
Configurable CARLA Camera Encoding
Added a configurable image encoding path to the CARLA camera interface so luminance-only consumers can request
mono8 instead of always transporting bgra8. The original encoding remains the default.
- Measured payload: 2,073,672 bytes → 518,472 bytes at 960×540.
- Effect: exactly 4× less serialized image payload for the mono8 path.
- Compatibility: existing configurations keep their previous output unless the new option is selected.
Configurable IMU and GNSS Noise
Replaced the CARLA interface's zero-only sensor-noise behavior with configurable IMU/GNSS noise and bias parameters while keeping zero-valued defaults for compatibility.
- Added configurable noise and bias parameters for simulation and integration testing.
- Used attribute guards so the interface remains compatible across sensor variants.
- Preserved the previous zero-noise behavior as the default configuration.
Why These Changes Matter
The changes came from practical integration pressure: camera bandwidth affected the vision pipeline, while configurable sensor noise was needed for realistic evaluation. They turn local workarounds into reusable, backward-compatible upstream capabilities.