- 官网下载Carla 0.9.14源码:
git clone --branch 0.9.14 https://github.com/carla-simulator/carla.git
- 源码解压到指定目录下
- 安装依赖项:
sudo apt-get update &&
sudo apt-get install wget software-properties-common &&
sudo add-apt-repository ppa:ubuntu-toolchain-r/test &&
wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key|sudo apt-key add - &&
sudo apt-add-repository "deb http://apt.llvm.org/xenial/ llvm-toolchain-xenial-8 main" &&
sudo apt-get update
- 安装集成编译环境:
sudo apt-get install build-essential clang-8 lld-8 g++-7 cmake ninja-build libvulkan1 python python-pip python-dev python3-dev python3-pip libpng-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-8/bin/clang++ 180 &&
sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-8/bin/clang 180
- 更新pip/pip3:
# For Python 3
pip3 install --upgrade pip
# For Python 2
pip install --upgrade pip
- 安装python依赖项:
pip install --user setuptools &&
pip3 install --user -Iv setuptools==47.3.1 &&
pip install --user distro &&
pip3 install --user distro &&
pip install --user wheel &&
pip3 install --user wheel auditwheel
- 安装UnrealEngine_4.26:
git clone --depth 1 -b carla https://github.com/CarlaUnreal/UnrealEngine.git
ps: git clone过程中需要验证git账号access token
将生成的access token(仅可见一次,后续如果仍需使用同一token需要自己保存好!)用作password,username为github用户名,即可开始clone。
- 编译UnrealEngine_4.26:
cd /UnrealEngine_4.26-PATH
./Setup.sh && ./GenerateProjectFiles.sh && make
ps:如果从win系统git clone文件则可能遇到dos字符问题,需要使用下列命令修复目标文件:
// 单文件转换
sed -i 's/\r$//' your-shell-file.sh
// 文件夹遍历转换
find /UnrealEngine_4.26-PATH -type f -exec dos2unix {} \;
- 检查UnrealEngine能否正常启动:
cd /UnrealEngine_4.26-PATH/Engine/Binaries/Linux && ./UE4Editor
- 更新Carla资源库:
cd /Carla-ROOTPATH && ./Update.sh
- 配置UnrealEngine环境变量:
sudo vim ~/.bashrc
// 文件末尾添加如下内容:
export UE4_ROOT=/YOUR-UnrealEngine_4.26-PATH
// 刷新环境变量
source ~/.bashrc
- 编译Python API client:
cd /carla-root-path
make PythonAPI
- 编译server:
make launch