Firmino is expected to battle it out with Manchester City striker Gabriel Jesus for a starting role at the tournament following an impressive club campaign which saw him score 26 goals and create 14 more.
The 26-year-old has also impressed in Brazil's warm-up friendlies, scoring against Croatia before setting up former Liverpool teammate Philippe Coutinho against Austria, and Carlos was full of praise for his compatriot.
"Roberto Firmino has got great technical ability," Carlos is quoted as saying by Liverpool's official website.
"He is fast and intelligent. He takes up good positions. He has real quality as well."
Brazil begin their World Cup campaign against Switzerland on Sunday.