carla_ros_bridge_docker

Introduction

This is a Dockerfile to use CARLA ROS bridge on Docker container.

Current carla-simulator/ros-bridge supports to CARLA 0.9.11. So, I used CARLA 0.9.11 in this Dockerfile. And, base image of this Docker file is nvidia/cudagl:11.4.2-devel-ubuntu18.04. Because, there is the following description in official document(https://carla.readthedocs.io/en/0.9.13/start_quickstart/).

The Debain package is available for both Ubuntu 18.04 and Ubuntu 20.04, however the officially supported platform is Ubuntu 18.04.

Requirements

• NVIDIA graphics driver
• Docker
• nvidia-docker2

Preparation

Download CARLA

Please download the package of CARLA 0.9.11 from https://github.com/carla-simulator/carla/releases/tag/0.9.11. And, please put the package of CARLA 0.9.11 in the same directory as the Dockerfile. This time, I used CARLA_0.9.11.tar.gz.

Build Docker image

docker build -t carla:0.9.11 --build-arg GID=$(id -g) --build-arg UID=$(id -u) -f Dockerfile.melodic .

Create Docker container

./launch_container.sh

Usage

CARLA ROS bridge

1. Launch CARLA Simulator

Please launch CARLA Simulator by the following command.

/opt/carla-simulator/CarlaUE4.sh -windowed -ResX=160 -ResY=120

2. Set the configuration of CARLA Simulator

cd /opt/carla-simulator/PythonAPI
python util/config.py -m Town03 --fps 10

3. Launch CARLA ROS bridge

roslaunch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch vehicle_filter:='vehicle.toyota.prius*'

CARLA AD Demo

1. Launch CARLA Simulator

Please launch CARLA Simulator by the following command.

/opt/carla-simulator/CarlaUE4.sh -windowed -ResX=160 -ResY=120

2. Set the configuration of CARLA Simulator

cd /opt/carla-simulator/PythonAPI
python util/config.py -m Town01 --fps 10

3. Launch CARLA AD Demo

roslaunch carla_ad_demo carla_ad_demo_with_scenario.launch vehicle_filter:='vehicle.toyota.prius*'

And, please push Execute button from RViz panel.