carla_sim_digital_mirrors - A Carla Simulator Client with Digital Mirrors

Xbox One controller, Fanatec DD1 wheels, adjustable rear view mirrors, share memory model between process routines.

Introduction

This code demonstrates how to share carla data between different python processes via a shared memory dictionary.

Features

• Supports xbox one controller
• Supports Fanatec DD1 base & Wheels
• Mirror sensor camera images are processed and stored in a shared memory object
• Main simulation thread uses pygame window.
• Share memory is accessed by the mirror view routines and displayed using opencv

---

Prerequisites

• Download and Install Carla Simualtor 0.9.13
  • (https://carla.org/)
  • (https://github.com/carla-simulator/carla)
  • (https://github.com/carla-simulator/carla/releases/tag/0.9.13)
• Download and Install AdditionalMaps_0.9.13.zip
• Install Python 3.8.10
• Install Poetry Dependency Management (https://python-poetry.org/docs/)

Setup and Execute

• poetry install - setup the environment
• Ensure the Carla Simulator is running on localhost and listening to port 2000
  • .\CarlaUE4.exe -windowed -ResX=1024 -ResY=786 -carla-rpc-port=2000 -quality-level=High
• Set simulation parameters in config.yaml
• poetry run python sim_main.py - main simulation thread
• poetry run python mirror_views.py - dual mirror views
• poetry run python right_mirror_view.py - rigth mirror only
• poetry run python left_mirror_view.py - left mirror only

NOTE: So far only testing on Windows 10.

Utilities

• poetry run python util_get_joystick_values.py - Display joystick values untility tool

---

Controls

Xbox One Controller

• Left Stick - Steering
• Right Trigger - Accelerate
• Left Trigger - Brake
• A - Toggle Reverse
• B - Hand Brake

Fanatec DD1 Wheel Controller

• Wheel - Steering
• Accelerator Pedal - Accelerate
• Brake Pedal - Brake
• A - Toggle Reverse
• B - Hand Brake

---

Mirror Adjustment Keys

Left Mirror Controls

• W - Left Mirror Rotate Up
• X - Left Mirror Rotate Down
• A - Left Mirror Rotate away from car
• B - Left Mirror Rotate towards car

Right Mirror Controls

• T - Right Mirror Rotate Up
• B - Right Mirror Rotate Down
• H - Right Mirror Rotate away from car
• F - Right Mirror Rotate towards car

---

Screenshot