Autoware-carla

gistfile1.txt

#CARLA launch
SDL_VIDEODRIVER=offscreen ./CarlaUE4.sh -opengl

#CARLA-ROSBridge --> Not required for Integration
#https://github.com/carla-simulator/ros-bridge

export PYTHONPATH=$PYTHONPATH:<path-to-carla>/PythonAPI/carla/dist/carla-<carla_version_and_arch>.egg

#CARLA-Autoware Bridge
https://gitlab.com/autowarefoundation/autoware.ai/simulation/-/tree/master/carla_simulator_bridge


export CARLA_MAPS_PATH=/opt/carla-simulator/HDMaps
export CARLA_AUTOWARE_ROOT=/home/asyin/catkin_ws_src/src/carla_autoware_bridge
export CARLA_ROOT=/opt/carla-simulator/bin
export PYTHONPATH=$PYTHONPATH:/home/asyin/Downloads/CARLA/PythonAPI/carla/dist/carla-0.9.7-py2.7-linux-x86_64.egg
source /opt/ros/melodic/setup.bash
source /opt/carla-ros-bridge/$ROS_DISTRO/setup.bash
source ~/autoware.ai/install/setup.bash

 

CARLA Simulator
roscore
rviz (don’t use rviz from runtime manager)
a. custom rviz config is provided with this presentations.
b. Sometimes rviz needs to be started after the carla-autoware-bridge.
carla-autoware-bridge
autoware-runtime-manager.
a. If all nodes launch files are included in the bridge launch command,
you don’t need to launch the runtime manager.