carla-ai

AI for Carla Simulator

Installation

Install ROS Noetic
Follow the official guide to install Carla

Install Carla ROS Bridge. The following changes should be made in order to compile it on Ubuntu 20.04

diff --git a/carla_ros_bridge/src/carla_ros_bridge/bridge.py b/carla_ros_bridge/src/carla_ros_bridge/bridge.py
index dd7838b..0a7683d 100755
--- a/carla_ros_bridge/src/carla_ros_bridge/bridge.py
+++ b/carla_ros_bridge/src/carla_ros_bridge/bridge.py
@@ -531,7 +531,7 @@ def main():
                CarlaRosBridge.CARLA_VERSION, dist.version))
            sys.exit(1)

-        if LooseVersion(carla_client.get_server_version()) < \
+        if False and LooseVersion(carla_client.get_server_version()) < \
            LooseVersion(CarlaRosBridge.CARLA_VERSION):
            rospy.logfatal("CARLA Server version {} required. Found: {}".format(
                CarlaRosBridge.CARLA_VERSION, carla_client.get_server_version()))
diff --git a/carla_ros_bridge/src/carla_ros_bridge/lidar.py b/carla_ros_bridge/src/carla_ros_bridge/lidar.py
index cd920d1..0201f88 100644
--- a/carla_ros_bridge/src/carla_ros_bridge/lidar.py
+++ b/carla_ros_bridge/src/carla_ros_bridge/lidar.py
@@ -57,7 +57,7 @@ class Lidar(Sensor):
        ]

        lidar_data = numpy.fromstring(
-            carla_lidar_measurement.raw_data, dtype=numpy.float32)
+            carla_lidar_measurement.raw_data.tobytes(), dtype=numpy.float32)
        lidar_data = numpy.reshape(
            lidar_data, (int(lidar_data.shape[0] / 4), 4))
        # we take the oposite of y axis
diff --git a/pcl_recorder/CMakeLists.txt b/pcl_recorder/CMakeLists.txt
index 068ed8b..f6a8fc1 100644
--- a/pcl_recorder/CMakeLists.txt
+++ b/pcl_recorder/CMakeLists.txt
@@ -1,7 +1,7 @@
cmake_minimum_required(VERSION 2.8.3)
project(pcl_recorder)

-add_compile_options(-std=c++11)
+add_compile_options(-std=c++14)

find_package(catkin REQUIRED COMPONENTS pcl_conversions pcl_ros roscpp
                                        sensor_msgs roslaunch)

Install the following libraries

sudo apt install python-is-python3 python3-rosdep libsdl-image1.2-dev libsdl-mixer1.2-dev libsdl-ttf2.0-dev libsdl1.2-dev libsmpeg-dev python-numpy subversion libportmidi-dev ffmpeg libswscale-dev libavformat-dev libavcodec-dev

Install libxerces-c v3.1

git clone git@github.com:apache/xerces-c.git -v v3.1.4
cd xerces-c
./reconf
./configure
make
cp src/.libs/libxerces-c-3.1.so /usr/lib/

Create a conda environment from the environment.yaml file in this repository and activate it
```
conda env create -f environment.yaml
conda activate carla-ai
```

Create a catkin workspace

mkdir catkin_ws/src
cd catkin_ws/src
ln -s /path/to/ros-bridge
ln -s /path/to/carla-ai
cd ..
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -r
catkin_make

Define the following environment variables

export ACADOS_HOME="/path/to/acados"
export CARLA_HOME="/path/to/carla"
export CARLA_CATKIN_WS_PATH="/path/to/catkin_ws"

Source the development script

source /path/to/carla-ai/scripts/devel.zsh

Running

Run Carla For headless mode execute

DISPLAY= /opt/carla-0.9.10.1/CarlaUE4.sh -opengl

or for normal mode execute

/opt/carla-0.9.10.1/CarlaUE4.sh

Run ros-bridge

roslaunch carla_ros_bridge carla_ros_bridge.launch town:=Town06

Run the Carla AI module
```
roslaunch carla_ai carla_ai.launch
```

Run waypoint-publisher

roslaunch carla_waypoint_publisher carla_waypoint_publisher.launch

nyukhalov/carla-ai

carla-ai

Installation

Running