/carla-autoware

Integration of AutoWare AV software with the CARLA simulator
  1. Python 87.2%
  2. C++ 4.1%
  3. Dockerfile 4.0%
  4. Shell 2.4%
  5. CMake 2.3%
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@fpasch
fpasch Merge pull request #11 from carla-simulator/feature/roslaunch_carla_c… 
…lients

Include carla client in roslaunch
Latest commit 9d96425 Feb 19, 2019
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autoware_data/map Initial version Jan 31, 2019
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docker Add Docker image build and execute Feb 13, 2019
docs Include carla client in roslaunch Feb 19, 2019
.gitattributes Initial version Jan 31, 2019
.gitmodules Add Docker image build and execute Feb 13, 2019
CHANGELOG.md Add carla client to carla_autoware_bridge launch file Feb 14, 2019
LICENSE Initial commit Jan 28, 2019
README.md Include carla client in roslaunch Feb 19, 2019

README.md

Autoware in Carla

Integration of AutoWare AV software with the CARLA simulator

Requirements

  • ROS kinetic
  • Autoware (tested with 1.9.1)
  • PointCloud Map (see Map Creation)

Opens

  • object detection (especially traffic lights)
  • no compliance with traffic rules (due to missing vector map)
  • vehicle control is not optimal yet (depending on vehicle)

Setup

Autoware

Setup/build Autoware as described here: https://github.com/CPFL/Autoware

Carla

Download version of Carla from here: https://github.com/carla-simulator/carla

Carla Autoware Bridge

The Carla Autoware Bridge is a ROS package. Therefore we create a catkin workspace (containing all relevant packages). The generic Carla ROS bridge (https://github.com/carla-simulator/ros-bridge.git) is included as GIT submodule and has to be initialized ("git submodule update --init") and updated ("git submodule update").

cd ~
git lfs clone https://github.com/carla-simulator/carla-autoware.git
cd carla-autoware
git submodule update --init
cd catkin_ws
catkin_init_workspace src/
cd src
ln -s <path-to-autoware>/ros/src/msgs/autoware_msgs
cd ..
catkin_make

Run

To run Autoware within Carla please use the following execution order:

  1. Carla Server
  2. Autoware Runtime Manager
  3. Carla Autoware Bridge
  4. Autoware Stack

You need two terminals:

#Terminal 1

#execute Carla
SDL_VIDEODRIVER=offscreen <path-to-carla>/CarlaUE4.sh /Game/Carla/Maps/Town01 -benchmark -fps=10


#Terminal 2

export CARLA_AUTOWARE_ROOT=~/carla-autoware

#execute Autoware (forks into background)
<path-to-autoware>/ros/run

#execute carla-autoware-bridge and carla-autoware-bridge
export PYTHONPATH=<path-to-carla>/PythonAPI/carla-<version_and_arch>.egg:<path-to-carla>/PythonAPI/
source $CARLA_AUTOWARE_ROOT/catkin_ws/devel/setup.bash
#either execute a headless Carla client
roslaunch carla_autoware_bridge carla_autoware_bridge.launch
#or
roslaunch carla_autoware_bridge carla_autoware_bridge_with_manual_control.launch

In Autoware Runtime Manager, select the customized launch files:

Autoware Runtime Manager Settings

In Autoware Runtime Manager, start rviz and open the configuration /ros/src/.config/rviz/default.rviz

Now you can start the Autoware Stack by starting all launch files from top to bottom. The car should start moving.

Autoware Runtime Manager Settings

A special camera is positioned behind the car to see the car and its environment. You can subscribe to it via /carla/ego_vehicle/camera/rgb/viewFromBehind/image_color.