carla-autoware
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开发工具：Dockerfile
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上传日期：2022-03-06 17:10:38
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sh-1993
说明： AutoWare AV软件与CARLA模拟器的集成
(Integration of AutoWare AV software with the CARLA simulator)
文件列表:
.dockerignore (25, 2020-12-15)
CHANGELOG.md (305, 2020-12-15)
Dockerfile (2433, 2020-12-15)
LICENSE (1062, 2020-12-15)
autoware-contents/ (0, 2020-12-15)
build.sh (63, 2020-12-15)
carla-autoware-agent/ (0, 2020-12-15)
carla-autoware-agent/CMakeLists.txt (312, 2020-12-15)
carla-autoware-agent/agent/ (0, 2020-12-15)
carla-autoware-agent/agent/bridge.launch (2858, 2020-12-15)
carla-autoware-agent/agent/config/ (0, 2020-12-15)
carla-autoware-agent/agent/config/sensors.json (4411, 2020-12-15)
carla-autoware-agent/agent/launch/ (0, 2020-12-15)
carla-autoware-agent/agent/launch/my_detection.launch (4390, 2020-12-15)
carla-autoware-agent/agent/launch/my_localization.launch (2219, 2020-12-15)
carla-autoware-agent/agent/launch/my_map.launch (1841, 2020-12-15)
carla-autoware-agent/agent/launch/my_mission_planning.launch (4021, 2020-12-15)
carla-autoware-agent/agent/launch/my_motion_planning.launch (5255, 2020-12-15)
carla-autoware-agent/agent/launch/my_sensing.launch (1450, 2020-12-15)
carla-autoware-agent/agent/my_agent.launch (2346, 2020-12-15)
carla-autoware-agent/agent/rviz/ (0, 2020-12-15)
carla-autoware-agent/agent/rviz/config.rviz (24897, 2020-12-15)
carla-autoware-agent/launch/ (0, 2020-12-15)
carla-autoware-agent/launch/carla_autoware_agent.launch (2721, 2020-12-15)
carla-autoware-agent/package.xml (383, 2020-12-15)
docs/ (0, 2020-12-15)
docs/images/ (0, 2020-12-15)
docs/images/carla_autoware.png (1417602, 2020-12-15)
run.sh (466, 2020-12-15)
update_sim.patch (55, 2020-12-15)
# Autoware in CARLA
The carla autoware bridge is now hosted and maintained [here](https://github.com/Autoware-AI/simulation/tree/master/carla_simulator_bridge).
This repository contains a demonstrator of an autoware agent ready to be executed with CARLA.
**The carla autoware integration requires CARLA 0.9.10.1. You can download it from [here](https://github.com/carla-simulator/carla/releases/tag/0.9.10.1)**
## CARLA autoware agent
The autoware agent is provided as a ROS package. All the configuration can be found inside the `carla-autoware-agent` folder.
The easiest way to run the agent is by building and running the provided docker image.
### Requirements
- Docker (19.03+)
- Nvidia docker (https://github.com/NVIDIA/nvidia-docker)
### Setup
Firstly clone the carla autoware repository, where additional [autoware contents](https://bitbucket.org/carla-simulator/autoware-contents.git) are included as a submodule:
```sh
git clone --recurse-submodules https://github.com/carla-simulator/carla-autoware
```
Afterwards, build the image with the following command:
```sh
cd carla-autoware && ./build.sh
```
This will generate a `carla-autoware:latest` docker image.
### Run the agent
1. Run a CARLA server.
```
./CarlaUE4.sh
```
2. Run the `carla-autoware` image:
```sh
./run.sh
```
This will start an interactive shell inside the container. To start the agent run the following command:
```sh
roslaunch carla_autoware_agent carla_autoware_agent.launch town:=Town01
```
## CARLA Autoware contents
The [autoware-contents](https://bitbucket.org/carla-simulator/autoware-contents.git) repository contains additional data required to run Autoware with CARLA, including the point cloud maps, vector maps and configuration files.
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