4.Ubuntu22+wsl2.0实现Autoware.universe(ROS2 Humble)与Carla 0.9.15仿真(中文首发！！)

接第三章内容

3.wsl2+Ubuntu22安装Autowae.universe
版本要求：
CARLA Simulator 0.9.15 release
Autoware Universe (Release 2023.10)！！！！必须
Python 3.10
ROS2 Humble
OpenPlanner.Universe
Linux 22.04

1.下载carla

#下载安装carla 0.9.13或者0.9.15
https://github.com/carla-simulator/carla/releases
#下载linux系统下，对应python版本的egg文件
https://github.com/gezp/carla_ros/releases/
#将 egg 文件添加到对应文件夹：../CARLA_0.9.15/PythonAPI/carla/dist下

2.资源下载准备

cd ~/autoware
mkdir op_carla && cd op_carla/
git clone https://github.com/hatem-darweesh/op_bridge.git -b ros2-humble
git clone https://github.com/hatem-darweesh/op_agent.git -b ros2-humble
git clone https://github.com/hatem-darweesh/scenario_runner.git

chmod -R a+x ~/autoware/op_carla

pip install py_trees
pip install networkx
pip install tabulate
pip install transforms3d

3.复制雷达文件

cd ~/autoware/src/param/autoware_individual_params/individual_params/config/default
mkdir carla_sensor_kit

把~/autoware/src/universe/external/open_planner/op_carla_bridge/carla_sensor_kit_launch/carla_sensor_kit_description/config
下的所有文件copy到下面目录
~/autoware/src/param/autoware_individual_params/individual_params/config/default/carla_sensor_kit

4.修改配置脚本文件

 打开 op_carla/op_agent/start_ros2.sh
 
 #16行替换成下面，主要是修改地图位置路径
 
 ros2 launch ${OP_AGENT_ROOT}/autoware_carla_launch/carla_simulator.launch.xml map_path:=$HOME/autoware/map_data/$map_name vehicle_model:=sample_vehicle sensor_model:=carla_sensor_kit
 
 打开op_carla/op_bridge/op_scripts/run_exploration_mode_ros2.sh
 #修改33、34行，改成zsh的脚本

5.修改环境变量

#打开zshrc，根据实际位置调节
export AUTOWARE_ROOT=/home/user/carla/autoware
export CARLA_ROOT=/home/user/carla/CARLA_0.9.15
export SCENARIO_RUNNER_ROOT=/home/user/carla/scenario_runner
export OP_BRIDGE_ROOT=/home/user/carla/op_bridge
export OP_AGENT_ROOT=/home/user/carla/op_agent
export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI
export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/util
export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/carla
export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/carla/agents
export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/carla/dist/carla-0.9.15-py3.10-linux-x86_64.egg


#我的配置，仅供参考
alias carlaEnv='export AUTOWARE_ROOT=~/autoware && export CARLA_ROOT=/mnt/d/CARLA_0.9.13/WindowsNoEditor && export SCENARIO_RUNNER_ROOT=~/autoware/op_carla/scenario_runner && export OP_BRIDGE_ROOT=~/autoware/op_carla/op_bridge && export OP_AGENT_ROOT=~/autoware/op_carla/op_agent && export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI && export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/util && export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/carla && export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/carla/agents && export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/carla/dist/carla-0.9.13-py3.10-linux-x86_64.egg'

6.执行

# 首先windows系统打开carla
 #source刷新autoware资源
 . ~/autoware/op_carla/op_bridge/op_scripts/run_exploration_mode_ros2.sh

bug1

[10]    543589 segmentation fault  python3 ${OP_BRIDGE_ROOT}/op_bridge/op_bridge_ros2.py

解决方案

 python -X faulthandler op_bridge_ros2.py
 #检查错误
pip install py_trees
pip install networkx
pip install tabulate
pip install transforms3d

#[INFO] [1703646661.523387867] [rviz2]: Stereo is NOT SUPPORTED
#更新OpenGL  其实也可以忽略，不好处理
sudo add-apt-repository ppa:kisak/kisak-mesa
sudo apt update && sudo apt upgrade

bug2

./run_exploration_mode_ros2.sh: 31: gnome-terminal: not found

解决方法

sudo apt install gnome-terminal

最终效果

总结：

可以跑，但是很吃性能，16g以下内存直接双系统吧。两个问题：第一启动特别特别慢（应该是wsl的关系，双系统会改善很多），第二。启动之后，矢量图覆盖在所有涂层之上，可能跟wsl有关，但不影响功能。

切换到双系统后解决以上问题，电脑性能一定程度决定其反应速度。

点赞+收藏，好运连连!!!

5.Ubuntu18 安装Autoware.ai 1.13 cpu版本

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