Carla:ROS bridge installation for ROS 1

官方教程：Install ROS Bridge for ROS 1 - CARLA Simulator

A. 使用 Debian 存储库

1. Set up the Debian repository in your system:

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 1AF1527DE64CB8D9
Executing: /tmp/apt-key-gpghome.T4HvNcJyic/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys 1AF1527DE64CB8D9
gpg: 从公钥服务器接收失败：无效的参数

把我的V2ray关闭以下就成功了，之前有按网上教程修改无效。

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 1AF1527DE64CB8D9
Executing: /tmp/apt-key-gpghome.3vuISpcnKv/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-keys 1AF1527DE64CB8D9
gpg: 密钥 1AF1527DE64CB8D9：公钥“Carla Simulator Team <carla.simulator@gmail.com>”已导入
gpg: 合计被处理的数量：1
gpg:               已导入：1

$ sudo add-apt-repository "deb [arch=amd64] http://dist.carla.org/carla $(lsb_release -sc) main"

2. Install the ROS bridge:

sudo apt-get update

sudo apt-get install carla-ros-bridge

apt-cache madison carla-ros-bridge

sudo apt-get install carla-ros-bridge=0.9.10-1

3. Check the ROS bridge has been installed successfully in the /opt/ folder.

B. 源码安装

按照官方教材操作即可

rosdep install --from-paths src --ignore-src -r

出现bug：报错显示是transforms3d的问题，按照报错中的链接，下载transforms3d压缩文件，解压文件运行指令：

pip install transforms3d

git issue里有一个相同错误，他改用最新版本的ros bridge解决了问题。

 ERROR: the following rosdeps failed to install
  pip: command [sudo -H pip2 install -U transforms3d] failed
  pip: Failed to detect successful installation of [transforms3d]