Question About Carla’s Synchronous Mode about carla HOT 2 CLOSED

Hello @YuqiHuai.

In order to interact with the CARLA simulator, you have to use the PythonAPI, which connects to the CARLA server through the client class. This is client that the documentation talks about.

All the different bridge implementations with ROS / Autoware / Apollo... make use of this Python API to transform data into something that can be consumed by the third party. (i.e. the ROS bridge getting the ego vehicle's data and publishing it in a specific ROS topic).

As such, the client will always refer to the CARLA client, never to the third party program, and their data will be automatically synchronized with CARLA only if the bridge has been prepared to do so. I don't know whether or not Autoware/Apollo automatically synchronizes their clock, though I'd bet they do.

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Hi @glopezdiest , thank you for your detailed answer! This is very helpful to me!
Just to confirm with you again regarding Q2, using Carla's synchronized mode does not automatically guarantee synchronization of Carla's simulation clock with the ADS's clock, and I have to verify the implementation of the "bridge" to see if any synchronization is done, would this understanding be correct?

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