CARLA PRACTICE (on going)

Introduction

In this repository, I will try simulate object detection with 3D LiDAR sensor. For the simulator, CARLA Simulator 0.9.9 ver. will be used. And I'm planning to utilize connection between CARLA and ROS, especially for ROS melodic. Guess it will be long-term work for me, hope to be steady with it.

Prerequisites

• CARLA 0.9.9
• Ubuntu 18.04
• ROS melodic

Practice

Launch CARLA simulator server

At ~/CARLA_0.9.9:

./CarlaUE4.sh # add -windowed -ResX=N -ResY=N for windowed mode

Launching the simulator in server mode, by using -carla-server argument, can launch CARLA simulator in server mode.

Connecting Python Client

Launching the client, data will be saved at _out folder.

./client_example.py --autopilot # --images-to-disk

Can run manual_control.py for GUI interface.

some commands,

export CARLA_ROOT=/home/psx/Documents/CARLA_0.9.10

export PYTHONPATH=$PYTHONPATH:$CARLA_ROOT/PythonAPI/carla/dist/carla-0.9.10-py3.7-linux-x86_64.egg:$CARLA_ROOT/PythonAPI/carla

source /opt/carla-ros-bridge/melodic/setup.bash

roslaunch carla_ros_bridge carla_ros_bridge.launch