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carla-interface

The carla-interface is adapted to the latest release of carla (0.9.13) and master branch of BARK.

Screenshot

example

Requirement

This repository has the same environment with BARK. If you haven't yet used BARK, check here to install BARK

  • Ubuntu 18.04 or later
  • Nvidia driver
  • OpenGL (to run with CPU only)
  • Bazel
  • virtualenv

Installation

bazel install instruction
Install carla latest version or (0.9.13) using deb installation
Install dependencies

sudo apt-get update
sudo apt-get install libglu1-mesa-dev freeglut3-dev mesa-common-dev
sudo apt-get install python3.7 python3.7-dev python3.7-tk
pip3 install virtualenv==16.7.8

We then call the install script, that will install a virtual environment with all required dependencies. (Only once!)

bash install.sh

Run examples

We then go into the virtual environment (Execute every time after openning a new terminal!)

source dev_into.sh
# Execute at project root directory
bazel run //examples:fill_world_with_npc

Examples

  • fill_world_with_npc: spawn npc agents in Carla and Bark simultaneously, which controlled by Carla autopilot, the states/actions are mirrored into Bark
  • fill_world_with_bark_ego: spawn npc agents and one ego agent simultaneously, ego agent is controlled/palnned from Bark
  • simulate_on_Crossing8Course : simulate on custom opendrive map
  • simulate_on_city_highway_straight: simulate on custom opendrive map, with limited range

Known issue

  • Ego agent cannot drive through some junction