Carla

Goal:

setup Carla in Docker as server
setup Python client to connect to Carla server
setup autonomous agent to control the vehicle in Carla and render

Examples

The Carla leadboard library has set up a few scenarios to run customized agents for performance comparison. We can start from there.

setup environment: check this out.

Shapely library has an error on Windows 11. need a fresh installation, probably using conda install instead of pip

conda install -c conda-forge shapely==1.7.1 numpy==1.18.4

Run Carla in Docker

The followings steps are for running Carla 0.9.14 in a docker container, and connect to it using Python client in local.

open a terminal, and run one server using the scripts in ./run_server.
```
  bash ./run_server/run_carla_0.9.14.sh
```

open another terminal to run a client code in local

conda activate carla-py37
source setup.sh
python run_agent.py

Run Leaderboard 2.0

The following steps are for runing Carla Leaderboard 2.0 examples in local:

open a terminal, and run one server using the scripts in ./run_server.

  source setup_leaderboard2.0.sh
  bash ./run_server/run_carla_leaderboard2.0.sh

open another terminal to run the client code in local
- activate local conda environment, e.g.,
```
conda activate carla-py37
```
- set up necessary environment variables
```
source setup_leaderboard2.0.sh
```
- run a human agent example using
```
bash run_agent.sh
```

open a third terminal to run manual control

conda activate carla-py37
python ./scenario_runner/manual_control.py

Carla in Docker

Ubuntu 20.04

If we want to run Carla in Docker, and render the GUI on the display in the host machine:

0.9.10.1:

0.9.12: the command on the homepage as follows, does not work

sudo docker run --privileged --gpus all --net=host -e DISPLAY=$DISPLAY carlasim/carla:0.9.12 /bin/bash ./CarlaUE4.sh

This is no error message, but just not running.

If we simply use off-screen mode,

0.9.10.1:

0.9.12: the following command from homepage will work

sudo docker run --privileged --gpus all --net=host -v /tmp/.X11-unix:/tmp/.X11-unix:rw carlasim/carla:0.9.12 /bin/bash ./CarlaUE4.sh -RenderOffScreen

Windows

Carla on Windows SUCKS.

-0.9.14: The shipped binaries from github release cannot load Town06/06 and Town12 and maybe others. It seems one has to build Carla from source to get it working according to this.

SETUP

if needed, carla_birdeye_view library is outdated.
- the map name in Carla 0.9.1 has changed to Carla/Maps/TownXX/TownXX instead of TownXX (as programmed). The map name in parametrized_cache_path() should be updated so that this can be taken care of.

Todos

set up simulation environment
collect training data
- collect future way points
- collect bounding box
- how to remove bounding boxes that are for occuluded objects

YangyangFu/self-driving-agents