OVERVIEW

1. HDMAP DATA
2. ROSBAG DATA
   1. Development Environment
   2. Carla installation

1. HDMAP DATA

• Using OpenDrive Map (folder name : OpenDrive)

2. ROSBAG DATA

• Doing Carla Simulator
• Link : https://carla.readthedocs.io/en/latest/

1. Development Environment

• os : Ubuntu 18.04, Ubuntu 16.04
• package : pygame, numpy
• version : pip3, python3.7

2. Carla Installation

1. Install pygame

$ pip install --user pygame numpy

2. deb package installation of CARLA 0.9.9 (only Linux)

$ sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 92635A407F7A020C

$ sudo add-apt-repository "deb [arch=amd64 trusted=yes] http://dist.carla.org/carla-0.9.9/ all main"

$ sudo apt-get update

$ sudo apt-get install carla-simulator

$ cd /opt/carla-simulator/bin

$ ./CarlaUE4.sh

3. Carla Running

• Spawn people & vehicles.

$ cd PythonAPI/examples

$ python3 spawn_npc.py

3. Carla-ros-bridge Installation

1. add the apt repository

$ sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 1AF1527DE64CB8D9
$ sudo add-apt-repository "deb [arch=amd64] http://dist.carla.org/carla $(lsb_release -sc) main"

2. simply install the ROS bridge

$ sudo apt-get update
$ sudo apt-get install carla-ros-bridge

• This will install carla-ros-bridge in /opt/carla-ros-bridge.

3. add the PYTHONPATH & setup source file

$ export PYTHONPATH=/opt/carla-simulator/PythonAPI/carla/dist/carla-0.9.10-py2.7-linux-x86_64.egg
$ python -c 'import carla;print("Success")'

$ source /opt/carla-ros-bridge/kinetic/setup.bash

4. start the RosBridge

• Before we start the RosBridge, we already start the Carla-simulator.

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

# Option 2: start the ros bridge together with an example ego vehicle
roslaunch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch

4. CarlaViz Installation

1. Installation docker

$ sudo apt update
$ sudo apt install apt-transport-https ca-certificates curl software-properties-common
$ curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -
$ sudo add-apt-repository "deb [arch=amd64] https://download.docker.com/linux/ubuntu bionic stable"
$ sudo apt update
$ apt-cache policy docker-ce
$ sudo apt install docker-ce

2. Pull docker image

$ docker pull mjxu96/carlaviz:0.9.9

3. Run Example

1. launch carla simulator

$ cd CARLA_SIMULATOR_PATH
$ ./CarlaUE4.sh -opengl

2. launch the docker image

if you are using docker on Linux and Carla server is running on localhost:2000, based on your carla version

$ docker run -it --network="host" -e CARLAVIZ_HOST_IP=localhost -e CARLA_SERVER_IP=localhost -e CARLA_SERVER_PORT=2000 mjxu96/carlaviz:0.9.9

3. run this script

$ python3 example.py

4. open your browser and go to localhost:8080 or CARLAVIZ_HOST_IP:8080

Result Image

5. CarlaViz Diagram