Ubuntu20.04 carla0.9.14build apollov8.0.0 install

1.install carla

   sudo apt-add-repository "deb http://apt.llvm.org/focal/ llvm-toolchain-focal main"
   sudo apt-get install build-essential clang-10 lld-10 g++-7 cmake ninja-build libvulkan1 python   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-10/bin/clang++ 180 &&
   sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-10/bin/clang 180

pip3 install --user pygame numpy
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

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

 cd ~/UnrealEngine_4.26
 ./Setup.sh && ./GenerateProjectFiles.sh && make
 cd ~/UnrealEngine_4.26/Engine/Binaries/Linux && ./UE4Editor

sudo apt-get install aria2
 cd ~
git clone https://github.com/carla-simulator/carla

#首先直接升级 pip3，这里虽然升级后查询版本没有改变，但在后续操作会解决
sudo pip3 install --upgrade pip
#修改 .bashrc 文件
sudo gedit ~/.bashrc
#在文件末尾添加如下字段
export PATH=/home/smy/.local/bin/:$PATH
#保存后执行刷新调用
source ~/.bashrc

cd ~/UnrealEngine_4.26
./Setup.sh && ./GenerateProjectFiles.sh && make
cd ~/UnrealEngine_4.26/Engine/Binaries/Linux && ./UE4Editor

Carla安装

# 直接拉master
git clone git@github.com:carla-simulator/carla.git

# 切到0.9.13
git checkout 0.9.14 -b my14 

sudo apt-get install aria2
# get asset 耗时较久
./Update.sh

# make
make PythonAPI
# boost 那里报错的话 看下clang设置
#编译成功后，会在 PythonAPI\carla\dist 下面生成.whl的安装包,安装好以后 就可以import carla了
pip install XXX.whl

make launch

remember to use "git checkout" to change zhe vision of carla so that "./Update.sh"could pull the correct assets of carla.

if everything goes well you will see

2.install apollo

my environment is as follows,remember GTX 40series can not be used in apollo v8.0.0,so i use the GTX 3060ti instead.

#Using HTTPS
git clone -b v8.0.0 https://github.com/ApolloAuto/apollo.git

Build Apollo

cd apollo
echo "export APOLLO_ROOT_DIR=$(pwd)" >> ~/.bashrc  && source ~/.bashrc

sudo rm -rf /apollo/.cache
bash docker/scripts/dev_start.sh

bash docker/scripts/dev_into.sh

in the container

./apollo.sh build_gpu

./scripts/bootstrap.sh

if everything goes well you will see

open the localhost

3.install apollo_carla_bridge

Clone the carla_apollo_bridge project outside Apollo container

# Using SSH
git clone git@github.com:guardstrikelab/carla_apollo_bridge.git

#Using HTTPS
git clone https://github.com/guardstrikelab/carla_apollo_bridge.git

Run carla_apollo_bridge

1. Copy the src folder into Apollo container

   docker cp carla_bridge <apollo_container_name>:/apollo/modules/carla_bridge

Install carla_bridge

Enter the Apollo container and run:

in the apollo container

cd /apollo/modules/carla_bridge
chmod +x install.sh
./install.sh
source ~/.bashrc

Start the bridge

in the apollo container

python main.py

above all

1.install carla linux build 0.9.14

2.install apollo v 8.0.0

3.open carla and apollo

4.open the bridge (python main.py)

安装docker nvidia toolkit时报错E: Conflicting values set for option Signed-By_conflicting values set for option signed-by regard-CSDN博客Build Apollo中的报错解决-CSDN博客

UE4+Carla源码编译 （for Ubuntu 20.04） - 知乎

https://github.com/guardstrikelab/carla_apollo_bridge/blob/master/docs/GettingStarted.md