CarlaFSD

The package for Carla simulation of self-driving car.

Note: All instructions below is given for Ubuntu 18.04 or 20.04.

Installation

First create carla workspace folder e.g.:

mkdir ~/carla_workspace
cd carla_workspace

Than clone CarlaFSD repository into this folder.

Python environment

1. Open linux shell and install virtualenv as following:

   sudo apt install virtualenv
   sudo apt install  python3.7

2. Create python3 virtualenv inide carla_workspace folder as follows (tested with python 3.7):

   virtualenv ~/carla_workspace/carla_venv -p python3.7

3. Activate virtualenv

   source ~/carla_workspace/carla_venv/bin/activate

4. Install necessary requirements

   cd ~/carla_workspace/CarlaFSD
   pip install -r requirements.txt

5. If you want to deactivate virtualenvironment use:

   deactivate

Carla installation

Go to the page with releases and upload latest release tar archive for Linux and additional maps into ~/carla_workspace/archive folder.

1. Create floder to extract:

   mkdir -p ~/carla_workspace/CARLA

2. Unpack tar archive (tested for carla 0.9.15 version):

   tar -xvzf ~/carla_workspace/archive/CARLA_0.9.15.tar.gz -C ~/carla_workspace/CARLA

3. Move the package with additional maps into ~/carla_workspace/CARLA/Import and unpack as follows:

   mv ~/carla_workspace/archive/AdditionalMaps_0.9.14.tar.gz ~/carla_workspace/CARLA/Import/
   cd ~/carla_workspace/CARLA
   bash ImportAssets.sh

4. Finally install carla into python environment:

   pip install ~/carla_workspace/CARLA/PythonAPI/carla/dist/carla-0.9.15-cp37-cp37m-manylinux_2_27_x86_64.whl
   pip install -r  ~/carla_workspace/CARLA/PythonAPI/examples/requirements.txt

Git lfs installation

Install git lfs:

cd ~/carla_workspace/CarlaFSD
git lfs install

pull the lfs files by next command:

git lfs fetch
git pull origin main

Run CARLA

Before strating any script below first run carla simulator by the following command:

cd ~/carla_workspace/CARLA

bash CarlaUE4.sh

This command should run simulator server.

Run fisheye drive

Check medium blog for implementation details In order to run fisheye camera drive apply command:

source ~/carla_workspace/carla_venv/bin/activate
cd ~/carla_workspace/CarlaFSD
python -m carla_fsd.camera_fisheye.drive

Note: since we are not building package the run command should be invoked from CarlaFSD folder.