1.Carla的编译
由于ROS Melodic基于python2,因此在编译CARLA的Python API时,需要采用python2.7环境进行编译:
make PythonAPI ARGS="--python-version=2"
2. Bridge 安装编译
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 1AF1527DE64CB8D9
sudo add-apt-repository "deb [arch=amd64] http://dist.carla.org/carla $(lsb_release -sc) main"
sudo apt-get update
sudo apt-get install carla-ros-bridge
3.运行ROS
首先,在后台运行CARLA:
SDL_VIDEODRIVER=offscreen ./CarlaUE4.sh /Game/Carla/Maps/Town02 -opengl
然后在PythonAPI/examples中运行:
python manual_control.py
以启动控制界面,可以另外打开终端,进行
python spawn_npc.py
以添加车辆和行人
然后运行ROS bridge:
source ~/carla-ros-bridge/catkin_ws/devel/setup.bash
roslaunch carla_ros_bridge carla_ros_bridge.launch
运行中若出现ImportError: no module named CARLA
的错误:
添加路径,注意是编译过的2.7的路径
export PYTHONPATH=$PYTHONPATH:<path/to/carla/>/PythonAPI/<your_egg_file>
在终端中运行rviz
打开ros rviz,可以将获得的数据进行可视化,并进行保存
rosbag record -o lidardata.bag /carla/hero/lidar/front/point_cloud