When using Carla 0.9.16 Ros2 native, the vehicle cannot be controlled

Setup Describe the setup you are using to run CARLA along with its version:

• CARLA version: 0.9.16
• Platform: Ubuntu 24.04.3
• Python version: python3.12.3
• GPU: NVIDIA GeForce RTX 3050
• GPU Drivers: Driver Version: 570.195.03
• ROS2: jazzy

Describe the bug The simulation car in Carla can run and read relevant topic information. But the vehicle cannot be controlled by ros2 topic.

Steps to reproduce step1: run carla ~/CARLA_0.9.16/CarlaUE4.sh --ros2

step2: run ros2 example. source ~/carla_venv/bin/activate cd ~/CARLA_0.9.16/PythonAPI/examples/ros2/ python3 ros2_native.py --file stack.json

step3: Create a node to control vehicle. source ~/carla_venv/bin/activate source ~/carla_simulation/install/setup.bash ros2 run control control_node

Expected behavior The simulation car in Carla can respond to topic commands sent by ROS2.

Logs Paste the server and client logs. Server ones can be found at:

• Unreal Engine 4: Unreal/CarlaUE4/Saved/Logs
• Unreal Engine 5: Unreal/CarlaUnreal/Saved/Logs Unable to find log, the current simulation is directly using the Carla release package.

Scripts no.

Screenshots The simulation car in Carla can run and read relevant topic information.

ros2 topic list /carla/hero/ackermann_control_cmd /carla/hero/gnss /carla/hero/imu /carla/hero/lidar/point_cloud /carla/hero/rgb/camera_info /carla/hero/rgb/image /carla/hero/vehicle_control_cmd /clicked_point /clock /initialpose /move_base_simple/goal /parameter_events /rosout /tf

ros2 topic echo /carla/hero/imu header: stamp: sec: 259 nanosec: 259998736 frame_id: imu orientation: x: 0.0 y: 0.0 z: 0.3785052001476288 w: 0.9255991578102112

ros2 topic echo /carla/hero/vehicle_control_cmd header: stamp: sec: 1762302174 nanosec: 677851254 frame_id: '' throttle: 100.0 steer: 10.0 brake: 0.0 hand_brake: false reverse: false gear: 1 manual_gear_shift: false

Additional context Add any other context about the problem here.