This repo used CARLA 0.9.13
Maybe you have to export the Vulkan environment variable if you get a X11 error. Be aware.
export VK_ICD_FILENAMES="/usr/share/vulkan/icd.d/nvidia_icd.json"
Start the server.
/opt/carla-simulator/CarlaUE4.sh -quality-level=Low
Instantiate Town02 on the CARLA server and generate trafic. Go to /opt/carla-simulator/PythonAPI/
cd /opt/carla-simulator/PythonAPI/
python util/config.py --map Town02
python examples/generate_traffic.py
Now, in the directory level of this repo, run it as module.
python -m aes2.carla.main