CARLA——基于Ubuntu18.04安装CARLA Simulator

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环境准备

基础软件安装

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

sudo apt-get install build-essential clang-8 lld-8 cmake ninja-build libvulkan1 python python-pip 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-8/bin/clang++ 180 &&
sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-8/bin/clang 180

Python依赖

创建carla python虚拟环境

防止损坏系统相关python依赖软件

conda create -n carla python=3.7
conda activate carla

pip install --user -Iv setuptools==47.3.1 &&
pip install --user distro &&
pip install --user wheel auditwheel

pip install --user pygame numpy

安装CARLA

下载最新预编译库

6.2G，比较大，可以耐心等待，如果想自己在本机编译，参考链接：Linux build

wget https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/Dev/CARLA_Latest.tar.gz

mkdir CARLA
tar -zxvf CARLA_Latest.tar.gz -C CARLA
cd CARLA
./ImportAssets.sh

启动 CARLA 服务器

cd ../../.. # 回到根目录
./CarlaUE4.sh

此时会弹出页面（旁观者画面）：

注意，需要在刚使用Conda建立的python3.7虚拟环境中运行：

cd PythonAPI/examples
python -m pip install -r requirements.txt # Support for Python2 is provided

安装Python包：

cd PythonAPI/carla/dist
ls # 查看python包
pip install carla-0.9.13-cp37-cp37m-manylinux_2_27_x86_64.whl

打开一个终端运行：

# Terminal A
conda activate carla
python generate_traffic.py  

再打开一个终端运行：

# Terminal B
conda activate carla
cd CARLA/PythonAPI/examples
python manual_control.py 

现在就可以开始你的开车之旅啦~