Autoware-CARLA

This repository is installation guide for integrates Autoware with CARLA

Reference

• Autoware version is 1.15 + openplanner2.5 by Hatem-darweesh https://github.com/hatem-darweesh/autoware.ai.openplanner
• CARLA-Autoware bridge by carla-simulator https://github.com/carla-simulator/carla-autoware

Docker and NVIDIA-container-runtime Installation for run Autoware 1.15 docker image

If you have already installed docker and nvidia-container-runtime, this process is not necessary

Docker Installation

$ sudo apt update
$ sudo apt-get install apt-transport-https ca-certificates curl gnupg lsb-release
$ curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /usr/share/keyrings/docker-archive-keyring.gpg
$ echo \
  "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/docker-archive-keyring.gpg] https://download.docker.com/linux/ubuntu \
  $(lsb_release -cs) stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
$ sudo apt update
$ sudo apt-get install docker-ce docker-ce-cli containerd.io

if above process is unavailable, try docker official installation reference https://docs.docker.com/engine/install/ubuntu/

nvidia-container-runtime Installation

$ curl -s -L https://nvidia.github.io/nvidia-container-runtime/gpgkey | \
  sudo apt-key add - distribution=$(. /etc/os-release;echo $ID$VERSION_ID)
$ curl -s -L https://nvidia.github.io/nvidia-container-runtime/$distribution/nvidia-container-runtime.list | sudo tee /etc/apt/sources.list.d/nvidia-container-runtime.list
$ sudo apt-get update
$ sudo apt-get install nvidia-container-runtime

if above process is unavailable, try nvidia-container-runtime official installation reference https://github.com/NVIDIA/nvidia-container-runtime

Download CARLA Simulator and CARLA Contents

CARLA simulator

Download CARLA simulator CARLA_0.9.10.1.tar.gz

• CARLA official download page, for more information, read https://github.com/carla-simulator/carla

$ mkdir $HOME/shared_dir
$ cd $HOME/shared_dir
$ tar xfvz <CARLA_0.9.10.1.tar.gz PATH>
$ mv <your_CARLA_directory> CARLA
**make sure that untar CARLA_0.9.10.1.tar.gz in shared_dir directory**

CARLA contents(Map, Config ...)

Install git lfs(Large File System)

$ curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | sudo bash
$ sudo apt-get install git-lfs

Get the contents from git

$ cd $HOME/shared_dir
$ mkdir data
$ git lfs clone https://github.com/carla-simulator/carla-autoware.git
$ cd carla-autoware
$ git submodule update --init
$ mv autoware-contents carla
$ mv carla $HOME/shared_dir/data
** make sure that map files in $HOME/shared_dir/data/carla/maps and config files in $HOME/shared_dir/data/carla/configs**

Pull Autoware Bleedingedge Image From DockerHub

$ sudo docker pull autoware/autoware:bleedingedge-melodic-base-cuda

Run Autoware 1.15 Docker Container using Custom Script

$ cd $HOME/shared_dir
$ git clone https://github.com/sethut1224/Autoware-CARLA
$ cd Autoware-CARLA
$ sudo ./run_autoware_docker_container.sh bleedingedge-melodic-base-cuda
> usage : ./run_autoware_docker_container.sh <IMAGE_TAG>

now, you will be inside the container!

Container Setting

$ cp -arp shared_dir/Autoware-CARLA/Autoware $HOME
$ ./install_dependencies.sh
$ ./setting.sh

Build Autoware packages

you can use build alias cc, ccu, cuda_ccu

• $ cc <package_name>: colcon build --packages-select <package_name>
• $ ccu <package_name>: colcon build --packages-up-to <package_name>
• $ cu : AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to
• $ cu <package_name> : AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to <package_name>

Autoware-CARLA Design

The bridge contains three Carla Clients.

1. ROS Bridge - Monitors existing actors in Carla, publishes changes on ROS Topics (e.g. new sensor data)
2. Ego Vehicle - Instantiation of the ego vehicle with its sensor setup.
3. Waypoint Calculation - Uses the Carla Python API to calculate a route.

Scenario Execution

It is possible to use CARLA scenario runner in conjunction with autoware: Documentation.

Run CARLA-Autoware

Run CARLA Simulator

• $cd $HOME/shared_dir/CARLA
• $./CarlaUE4._sh -opengl

Run CARLA Autoware Agent

• $roslaunch autoware_carla_agent autoware_carla_agent.launch