Create a wrapper emam component to reuse the autopilot component
The model can be found here: https://git.rwth-aachen.de/monticore/EmbeddedMontiArc/utilities/EMAStudioBuilder/tree/master/EmbeddedMontiArcStudio/model/autopilot/de/rwth/armin/modeling/autopilot you can copy it into your project. Main Component: Autopilot.emam First impression: velocity: estimate from 2 or more datapoints of /carla//odometry OR use /carla/objects OR find other topic containing the velocity x,y, compas: /carla//odometry currentEngine,currentStearing,currentBrakes:?, possibly calculate/hard set in the wrapper/heurisic trajectory_lenght,trajectory_x,trajectory_y: Use carla_waypoint_publisher: https://github.com/carla-simulator/ros-bridge/blob/master/carla_waypoint_publisher/README.md You will need to writte a small python or c++ ros program that converts the nav_msgs.Path Message to the required format and outputs it on 3 new topics