carla+ros+autoware

一、ubuntu 20.04+python3.7安装教程

1、下载carla_ros_bridge并配置环境

mkdir -p ~/carla-ros-bridge/catkin_ws/src
cd ~/carla-ros-bridge
git clone --recurse-submodules https://github.com/carla-simulator/ros-bridge.git catkin_ws/src/ros-bridge
source /opt/ros/noetic/setup.bash
cd catkin_ws

2、安装ros依赖项目

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

3、激活anaconda环境

conda activate carla37

4、安装conda依赖项目

conda install -c conda-forge empy

5、安装python依赖项目

pip install pyyaml
pip install opencv-python
pip install catkin_pkg
pip install rospkg -i https://pypi.tuna.tsinghua.edu.cn/simple
pip install pygame=1.9.6  #(0.9.10的carla版本建议装pygame的1.9.6版本)

6、编译ros包

catkin build

二、ubuntu 18.04+python2.7安装教程

1、下载carla_ros_bridge并配置环境（指定0.9.10版本）

mkdir -p ~/carla-ros-bridge/catkin_ws/src
cd ~/carla-ros-bridge
#要下载 ros-bridge 的 0.9.10 版本，你需要在克隆时指定标签（tag）。可以使用以下命令：
git clone --recurse-submodules -b 0.9.10.1 https://github.com/carla-simulator/ros-bridge.git catkin_ws/src/ros-bridge 
source /opt/ros/melodic/setup.bash
cd catkin_ws

2、不用安装ros依赖项，直接创建conda环境并安装依赖项

​​conda create -n carla27 python=2.7
conda install -c conda-forge empy
pip install catkin_pkg 
#(确保当前的conda环境是py2.7的环境，# 验证当前环境是否正确（应显示Python 2.7）
#python --version  # 预期输出：Python 2.7.x
#which python      # 预期输出：/anaconda3/envs/carla27/bin/python
#which pip         # 预期输出：/anaconda3/envs/carla27/bin/pip

3、编译ros空间

catkin_make

4、安装依赖项

pip install pyyaml
pip install rospkg
pip install numpy
pip install pygame==1.9.6
pip install opencv-python==4.2.0.32 -i https://pypi.tuna.tsinghua.edu.cn/simple 

pip install pyyaml
pip install rospkg
pip install numpy
pip install pygame==1.9.6
pip install opencv-python==4.2.0.32 -i https://pypi.tuna.tsinghua.edu.cn/simple 

5、运行carla_ros_bridge

source devel/setup.bash
roslaunch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch

一些bug解决，比如catkin_make:Command ‘catkin_make‘ not found

 source /opt/ros/melodic/setup.bash
 echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
 source ~/.bashrc

比如当Python 解释器仍然在加载 Python 3.7 版本的 CARLA 库时，可以清除 Python 缓存
rm -rf __pycache__/

#比如在终端临时设置 PYTHONPATH
export PYTHONPATH=~/CARLA_0.9.10.1/PythonAPI/carla/dist/carla-0.9.10-py2.7-linux-x86_64.egg
python
import carla

常用命令

sudo gedit ~/.bashrc
source ~/.bashrc
# anaconda源
sudo gedit ~/.condarc
编辑源配置文件
sudo gedit  /etc/apt/sources.list
pkg-config --modversion python/ eigen3/eigen3 #查看环境版本
rm -rf install/ build/ log/ #清除之前编译的旧文件

bashrc环境