打开文件：

carla_ros_bridge/src/carla_ros_bridge/actor_factory.py

在class ActorFactory(object):中添加函数：

    def set_spectator(self, world, actor, height):
        spectator = world.get_spectator()
        transform = actor.get_transform()
        spectator.set_transform(
            carla.Transform(
                transform.location + carla.Location(z=height),
                carla.Rotation(pitch=-90),
            )
        )

在update_available_objects(self):函数中最后面添加：

        actors = self.world.get_actors()
        actor = actors.filter('*imu*')
        if len(actor) != 0:
            self.set_spectator(self.world, actor[0], height=self.camera_height)

打开文件：

carla_ros_bridge/src/carla_ros_bridge/bridge.py

在CarlaRosBridge类中添加了一个camera_height的属性。可以在430行

carla_bridge = CarlaRosBridge(camera_height=300)

中传入高度参数。