Carla_Installation

Thanks for Mr. Gu Yang and Mr. Xu Minghong's contribution to this installation tutorial!

Prerequisites

System requirements:

Ubuntu 18.04. CARLA provides support for previous Ubuntu versions up to 16.04. However proper compilers are needed for Unreal Engine to work properly. Dependencies for Ubuntu 18.04 and previous versions are listed separatedly below. Make sure to install the ones corresponding to your system.
130 GB disk space. Carla will take around 31 GB and Unreal Engine will take around 91 GB so have about 130 GB free to account for both of these plus additional minor software installations.
An adequate GPU. CARLA aims for realistic simulations, so the server needs at least a 6 GB GPU although 8 GB is recommended. A dedicated GPU is highly recommended for machine learning.
Two TCP ports and good internet connection. 2000 and 2001 by default. Make sure that these ports are not blocked by firewalls or any other applications.

references:
```
https://zhuanlan.zhihu.com/p/338927297

https://carla.readthedocs.io/en/0.9.10/build_linux/

https://carla.readthedocs.io/en/0.9.10/ros_installation/
```

Docker Version Installation

Docker Installation

references:

Install Docker Engine on Ubuntu: https://docs.docker.com/engine/install/ubuntu/

NVIDIA Container Toolkit

references:

https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html

Docker Env Build (CARLA and CARLA-ROS-bridge)

references:
```
https://github.com/MinghongAlexXu/CARLA-ROS-dev-env
```

Desktop Version Installation

Install dependency packages

sudo apt-get update &&
sudo apt-get install wget software-properties-common &&
sudo add-apt-repository ppa:ubuntu-toolchain-r/test &&
wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key|sudo apt-key add - &&
sudo apt-add-repository "deb http://apt.llvm.org/$(lsb_release -c --short)/ llvm-toolchain-$(lsb_release -c --short)-14 main" &&
sudo apt-get update

sudo apt-get install build-essential clang-8 lld-8 g++-7 cmake ninja-build libvulkan1 python python-pip python-dev python3-dev python3-pip libpng-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev &&
sudo apt install python-distro
pip2 install --user setuptools &&
pip3 install --user setuptools

Env configuration

make sure that CARLA and UE use the same Clang version

sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-8/bin/clang++ 180 &&
sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-8/bin/clang 180

install git

sudo apt install git
register UE account and connect to your github

you can verify your connection by checking if you can see the private repository UnrealEngine

Build Unreal engine and CARLA

install Unreal engine

git clone --depth=1 -b 4.24 https://github.com/EpicGames/UnrealEngine.git ~/UnrealEngine_4.24
cd ~/UnrealEngine_4.24
./Setup.sh && ./GenerateProjectFiles.sh && make

If fail to clone, you need to generate a Personal access tokens to log in in Settings -> Developer settings -> Personal access tokens. If you prefer .zip file, you could download and extract 4.24.3 then rename it to UrealEngine_4.24 and make.

check Unreal engine

cd ~/UnrealEngine_4.24/Engine/Binaries/Linux && ./UE4Editor

Please be careful at the first launch, it will take some time to finish compiling shaders. Then export your path to unreal engine to UE4_ROOT

export UE4_ROOT=~/UnrealEngine_4.24 #(change to your path to UE4)

Clone Carla Github

cd ~
git clone https://github.com/carla-simulator/carla
cd ~/carla
git checkout tags/0.9.10.1
./Update.sh

Make Carla
```
make PythonAPI #(complie Python API for client)
make launch #(complie server)
make LibCarla #(prepare the CARLA library to be imported anywhere)
```
Alternatively, you can make PythonAPI with the python version you like,
```
make PythonAPI ARGS="--python-version=x.x"
```
Causion: ROS Melodic(for ubuntu 16.04)/Kinetic(for ubuntu 18.04) users cannot use the latest CARLA release packages. Since 0.9.10 (included), CARLA does not provide support for Python2, so users will have to make the build from source, and compile the PythonAPI for Python2.
export .egg file

when you successfully make Python API, you will find a .egg file according to your python version at carla/PythonAPI/carla/dist, export the .egg to your PYTHONPATH will enable programs to import carla
```
export PYTHONPATH = PTATH_TO_CARLA/PythonAPI/carla/dist/carla-0.9.10-py3.x-linux-x86_64.egg
```

Alternatively, it can be installed with easy_install

easy_install2 --user --no-deps PythonAPI/carla/dist/carla-0.9.10-py2.x-linux-x86_64.egg
easy_install3 --user --no-deps PythonAPI/carla/dist/carla-0.9.10-py3.x-linux-x86_64.egg

the relationships in carla

test

Start the server simulation
```
cd ~/carla
make launch
```
press play in carla UE4, and open another terminal window to run the example
```
cd ~/carla/PythonAPI/examples
python3 automatic_control.py
```
If the simulation is running at very low FPS rates, go to Edit/Editor preferences/Performance in the UE editor and disable Use less CPU when in background.

common issues in building

ERROR: 'memory' file not found #include // boost.TR1 include order fix

It may caused by ROS. If you have fully installed ROS in your system, maybe you are unable to make PthonAPI. This issue has been disscussed in carla-simulator/carla#2792 and carla-simulator/carla#4933.
ERROR: 'pyconfig.h' file not found

it may caused by conda environment, the issue is sovled by carla-simulator/carla#199. If you do not install miniconda or anaconda before installation, I highly recommend not to install them before bulding carla.

ROS bridge installation for ROS 1

install ROS according to operating system
- ROS Kinetic — For Ubuntu 16.04 (Xenial)
- ROS Melodic — For Ubuntu 18.04 (Bionic)
- ROS Noetic — For Ubuntu 20.04 (Focal)
The version of Python needed to run the ROS bridge depends on the ROS version being used.
- ROS Melodic and ROS Kinetic — Python2.
- ROS Noetic — Python3.

Bridge installation Using source repository

A catkin workspace is needed to use the ROS bridge. It should be cloned and built in there. The following code creates a new workspace, and clones the repository in there.

  # Setup folder structure
  mkdir -p ~/carla-ros-bridge/catkin_ws/src
  cd ~/carla-ros-bridge
  git clone https://github.com/carla-simulator/ros-bridge
  cd ros-bridge
  git checkout tags/0.9.10.1 #match your CARLA version
  git submodule update --init
  cd ../catkin_ws/src
  ln -s ../../ros-bridge
  source /opt/ros/melodic/setup.bash # Watch out, this sets ROS Melodic
  cd ..
  
  
  # Install required ros-dependencies
  rosdep update
  rosdep install --from-paths src --ignore-src -r
  
  # Build
  catkin_make

Run the ROS bridge

Run CARLA. The way to do so depends on the CARLA installation.
- Quick start/release package. ./CarlaUE4.sh in carla/.
- Build installation. make launch in carla/.
Add the correct CARLA modules to your Python path
```
export CARLA_ROOT=<path-to-carla>
export PYTHONPATH=$PYTHONPATH:$CARLA_ROOT/PythonAPI/carla/dist/carla-<carla_version_and_arch>.egg:$CARLA_ROOT/PythonAPI/carla
```
You will need to add the appropriate .egg file to your Python path. You will find the file in either /PythonAPI/ or /PythonAPI/dist/ depending on the CARLA installation. Choose 2.x.egg file for ROS melodic and ROS Kinetic, 3.x.egg file for ROS Noetic.

To check the CARLA library can be imported correctly, run the following command and wait for a success message:
```
 python3 -c 'import carla;print("Success")' # python3

 or

 python -c 'import carla;print("Success")' # python2
```
Add the source path. The source path for the workspace has to be added, so that the ROS bridge can be used from a terminal.

Source for apt ROS bridge

source /opt/ros/melodic/setup.bash #for ROS melodic

Source for ROS bridge repository download.

source ~/carla-ros-bridge/catkin_ws/devel/setup.bash

Important: The source path can be set permanently, but it will cause conflict when working with another workspace. Before launch ros, make sure your default python(2.x or 3.x) fit your ros version

 # you could check your default python version by
 python --version
         
 # your all python versions and their alternative
 sudo update-alternatives --config python
     
 # assign a larger weight than your default python
 sudo update-alternatives --install /usr/bin/python python /usr/bin/python2 x # x represnts the weight
         or 
 sudo update-alternatives --install /usr/bin/python python /usr/bin/python3 x # x represnts the weight

Start the ROS bridge. Use any of the different launch files available to check the installation. Here are some suggestions.

# Option 1: start the ros bridge
roslaunch carla_ros_bridge carla_ros_bridge.launch

# Option 2: start the ros bridge together with RVIZ
roslaunch carla_ros_bridge carla_ros_bridge_with_rviz.launch

# Option 3: start the ros bridge together with an example ego vehicle
roslaunch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch

Cautious

After installation, sometimes it may occur automatic withdrawal situation. To solve this, we should increase the swap space to at least 8G

reference: https://cloud.tencent.com/developer/article/1631696

a. Create a file as swap file

  sudo fallocate -l 8G /swapfile

b. set chmod 600 to avoid read and write from the normal user

  sudo chmod 600 /swapfile

c. based on this file create a Linux swap space

  sudo mkswap /swapfile

output as below:

  Setting up swapspace version 1, size = 2 GiB (2147479552 bytes)
  no label, UUID=fde7d2c8-06ea-400a-9027-fd731d8ab4c8

d. activate swap space

  sudo swapon /swapfile

e. in order make it work all the time, open /etc/fstab

  sudo nano /etc/fstab

and copy this command inside

  /swapfile swap swap defaults 0 0

f. use swapon or free command to verify whether successful

  sudo swapon --show

  
  NAME      TYPE      SIZE  USED PRIO

  /swapfile file        2G    0B   -1
  

  sudo free -h


                total        used        free      shared  buff/cache   available

  Mem:          981Mi        97Mi        68Mi       0.0Ki       814Mi       735Mi

  Swap:         2.0Gi        10Mi       1.9Gi

WilliamWu96/Carla_Installation