Carla release与ros-bridge

Carla_0.9.10.1 rrelease版本（支持python2.7）

注意更新$\sim$/.bashrc和$\sim$/.profile中的路径

ros-bridge (tag: 0.9.10.1) 源码编译安装

源码地址：https://github.com/carla-simulator/ros-bridge/tree/0.9.10.1
安装说明： https://github.com/carla-simulator/ros-bridge/tree/0.9.10.1#setup

具体编译步骤：

#setup folder structure
mkdir -p ~/carla-ros-bridge/catkin_ws/src
cd ~/carla-ros-bridge
git clone https://github.com/carla-simulator/ros-bridge.git
cd ros-bridge
git checkout tags/0.9.10.1 -b 0.9.10.1 #检查一下是否有carla_ego_vehicle
#不直接下载carla_msgs
#git submodule update --init
#手动git clone 1.1.0版本的ros-carla-msgs到ros-bridge目录下
git clone https://github.com/carla-simulator/ros-carla-msgs.git
cd ros-carla-msgs
#版本切换
git checkout tags/1.1.0 -b 1.1.0  #检查是否正确切换
cd ..
cd ../catkin_ws/src
ln -s ../../ros-bridge
source /opt/ros/melodic/setup.bash
cd ..

#install required ros-dependencies
rosdep update
rosdep install --from-paths src --ignore-src -r

#build
catkin_make

打开UE4

cd CARLA_0.9.10.1
./CarlaUE4.sh

测试ros-bridge是否能运行成功

For Developers

source ~/carla-ros-bridge/catkin_ws/devel/setup.bash

Start the ros bridge (选择其中一个即可)

# Option 1: start the ros bridge
roslaunch carla_ros_bridge carla_ros_bridge.launch

# Option 2: start the ros bridge together with an example ego vehicle
roslaunch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch

导入新的项目

https://github.com/patrickcleeve2/safety_score

• 如果遇到地图问题，修改：
  safety_score/safety_score/launch/carla_ros_bridge_with_example_ego_vehicle_demo.launch 中的第15行，将Town10HD_Opt改为Town01

Carla_0.9.12 + ros_bridge 0.9.10.1

能够复现safety score项目，但是UI无法更新。