/dockerfile_carla_ros-bridge

Dockerfiler for Carla simulator and Carla-Ros-Bridge

Primary LanguageDockerfile

dockerfile_carla_ros-bridge

Dockerfile for creating a docker image including Carla Simulator and Carla-ros-bridge-Melodic. Please install and setup NVIDIA Container Toolkit before.

Build and run image

Create the docker image: carlasim/carla-ros:local.

docker build -t carlasim/carla-ros:local .

Note that the image name carlasim/carla-ros:local will be used for run the image using run.sh. To confirm the created docker image

$ docker images
REPOSITORY           TAG                             IMAGE ID            CREATED             SIZE
carlasim/carla-ros   local                           eb2c38f0a4cb        57 minutes ago      11.7GB

After built the image, you may use run.sh to create the container

$ ./run.sh

The user name is carla with same password carla. sudo is available.

For open another terminal

$ docker exec -it <CONTAINER ID> bash

Run Carla simulator

$ cd /opt/carla-simulator/bin
$ ./CarlaUE4.sh

For other information, please view Carla/Quick Start.

Run Carla-ros-bridge

$ cd /opt/carla-ros-bridge/melodic/share/carla_ros_bridge
$ roslaunch carla-ros-bridge carla-ros-bridge.launch

See Carla/Ros bridge installation for more information.

Some other issues

  • Cannot show xwindow Please confirm if you disabled access control using xhost +.

  • Cannot show pygame screen When run manual_control.py, the window could be open, but the screen is black. (Same when using ros-bridge) Please try to reinstall pygame for user.

$ pip install pygame
  • Cannot find roslaunch command Reset the system environment variables.
$ source /opt/ros/melodic/setup.bash
$ source /opt/carla-ros-bridge/melodic/setup.bash
  • Cannot launch 'carla-waypoint-publish'
    1. Edit $PYTHONPATH
    $ export PYTHONPATH=$PYTHONPATH:/opt/carla-simulator/PythonAPI/carla
    1. install networkx
    $ pip install -U networkx
    1. Edit carla-waypoint-publish.py The function GlobalRoutePlannerDAO has been changed, which need one more option. (It has been correct in newest version in carla's github)
    $ cd /opt/carla-ros-bridge/melodic/lib/carla-waypoint-publish/
$ [edit] carla-waypoint-publish.py
    Change line 217 as follows: 
    < dao = GlobalRoutePlannerDAO(self.world.get_map())
> dao = GlobalRoutePlannerDAO(self.world.get_map(), hop_resolution=1.0)