made it run on humble and carla 0.9.15

carla_ros_bridge/launch/carla_ros_bridge.launch

@@ -6,7 +6,7 @@
   <!-- the network connection for the python connection to CARLA -->
   <arg name='host' default='localhost'/>
   <arg name='port' default='2000'/>
-  <arg name='timeout' default='2'/>
+  <arg name='timeout' default='20'/>
   <!-- 
     enable/disable synchronous mode. If enabled ros-bridge waits until
     expected data is received for all sensors

carla_ros_bridge/launch/carla_ros_bridge.launch.py

@@ -16,7 +16,7 @@ def generate_launch_description():
         ),
         launch.actions.DeclareLaunchArgument(
             name='timeout',
-            default_value='2',
+            default_value='20',
             description='Time to wait for a successful connection to the CARLA server'
         ),
         launch.actions.DeclareLaunchArgument(

carla_ros_bridge/src/carla_ros_bridge/CARLA_VERSION

@@ -1 +1 @@
-0.9.13
+0.9.15

carla_ros_bridge/src/carla_ros_bridge/collision_sensor.py

@@ -50,7 +50,7 @@ def __init__(self, uid, name, parent, relative_spawn_pose, node, carla_actor, sy
                                               is_event_sensor=True)
 
         self.collision_publisher = node.new_publisher(CarlaCollisionEvent,
-                                                      self.get_topic_prefix(),
+                                                      self.get_topic_prefix() + "_collision",
                                                       qos_profile=10)
         self.listen()
 

carla_ros_bridge/src/carla_ros_bridge/imu.py

@@ -49,7 +49,7 @@ def __init__(self, uid, name, parent, relative_spawn_pose, node, carla_actor, sy
                                         carla_actor=carla_actor,
                                         synchronous_mode=synchronous_mode)
 
-        self.imu_publisher = node.new_publisher(Imu, self.get_topic_prefix(), qos_profile=10)
+        #self.imu_publisher = node.new_publisher(Imu, self.get_topic_prefix(), qos_profile=10)
         self.listen()
 
     def destroy(self):
@@ -85,4 +85,4 @@ def sensor_data_updated(self, carla_imu_measurement):
         imu_msg.orientation.y = quat[2]
         imu_msg.orientation.z = quat[3]
 
-        self.imu_publisher.publish(imu_msg)
+        #self.imu_publisher.publish(imu_msg)