search

carla-simulator / carla

Open-source simulator for autonomous driving research.
http://carla.org
MIT License
11.11k stars 3.58k forks source link

A simple tutorial for Carla #194

Closed xfqbuaa closed 4 years ago

xfqbuaa commented 6 years ago

I am Frank from China and very interested in Carla Simulator. Thanks for Carla team hard work. I want to do some self-driving car simulation in Chinese traffic scenes based on Carla.

From my side, a simple tutorial is appreciated for a new user to know: 1, how to set start points 2, how to set goal points 3, how to use map data 4, a simple straight path planning using existing API

I spent some time on documents and python client code but still have no idea to integrate my modular pipeline self-driving car algorithm into Carla. These tasks may be very basic but really important for a beginner. This simple tutorial will benefit for a beginner a lot to know how to use Carla soon.
Please consider this suggestion. Thanks a lot.

felipecode commented 6 years ago

Hey @xfqbuaa.

We are working on improving the documentation. Thanks for the feedback, we will take this into account

Cheers

AftermathK commented 6 years ago

@xfqbuaa makes a very good point. When I first built Carla, I edited the original maps and created my own; however, I noticed that during simulation the cars that would spawn would just go around in circles. Are these cars part of Carla's framework or are they part of the UE4? It would be great to figure out how to control their behavior. Thank you!

nsubiron commented 6 years ago

Hi @AftermathK, the vehicles are part of CARLA. They follow the road map generated by the Carla Map Generator, but you need to trigger the map generation after editing the road by clicking at "Trigger Road Map Generation". The road map created it's serialized together with the road to speed up loading the map. If there is no map, the cars can't find the road and drive in circles. Their behaviour is coded in the AWheeledVehicleAIController C++ class.

AftermathK commented 6 years ago

@nsubiron Thank you for your response. Given that the vehicles are part of CARLA and follow the map generated by the Carla Map Generator, if I wanted to completely customize my own roads and wanted to use vehicle models, do you think it would be better to design my own roads using UE4 and then to modify AWheeledVehicleAIController class, or would it be better to modify the Carla Map Generator directly?

nsubiron commented 6 years ago

@AftermathK If you just want to change the meshes or textures of the road you can reuse our Map Generator. But otherwise this class is not very flexible, it is not going to be easy to add curves, elevation and such.

A workaround for now to use your own roads with the AWheeledVehicleAIController is to set RoutePlanners along your roads (you do so by dragging a spline). When the vehicles enter the trigger box they get a route assigned that they'll try to follow. (RoutePlanner is used for instance for intersections).

For something more complex I'm guessing modifying the AWheeledVehicleAIController is still the easiest.

AftermathK commented 6 years ago

@nsubiron Very helpful; thank you. I noticed that on your latest release, it is mentioned that the basic planner is a temporary solution until the map generator is upgraded. What kind of upgrades are you planning on doing to the generator? is this going to be part of the next release or the idea still being developed?

nsubiron commented 6 years ago

@AftermathK We plan to do major changes to the map generator; curvy roads, elevation, better customization. But this is something to do in the long run as it requires a considerable amount of work.

xfqbuaa commented 6 years ago

@AftermathK, @felipecode and @nsubiron Before formal document tutorial, can you share some hints or idea about: 1, python client to set start point and end point 2, how to transfer map data to waypoints during path planning.

Thanks a lot. My goal is to reproduce modular pipeline method in Carla and only 1 scenario with set start point and end point.

albe81x commented 6 years ago

Hi, is there any update on how managing trips (start/goal points) and eventually to provide a playback of a registered trip in CARLA?

Thanks for your support. Alberto

NozomiWyane commented 6 years ago

I have the same question...but building the python environment confused me a lot...hoping using this soft could be really useful,thanks for the carla team.

felipecode commented 6 years ago

The driving benchmark module already provides a way to set goal and start points. Please, check out the new documentation http://carla.readthedocs.io/en/latest/benchmark_start/ We are still improving it. I am sure a way to set start points in command line would be also cool for some quick tests.

albe81x commented 6 years ago

Hi Felipe, thanks for your reply. I have a question (not directly) related to benchmarking. My goal is to define some customized hazard-scenarios (i.e. pedestrian being hit by the player) to use Carla as a test-bench for ROS algorithms. In this case I need to keep the other variables (like a pedestrian or non-player vehicle path) to be always the same to accomplish this task. I have read in your documentation that Carla does not provide trajectory or carries any geometric info (like for GPS navigators). Does it mean that they will always follow a random path or can we preset a pose (start-end tuple) for a non-player agent in the scenario?

Thanks in advance for your availability and support

Regards, Alberto

2018-04-23 11:50 GMT+02:00 Felipe Codevilla notifications@github.com:

The driving benchmark module already provides a way to set goal and start points. Please, check out the new documentation http://carla.readthedocs.io/ en/latest/benchmark_start/ We are still improving it. I am sure a way to set start points in command line would be also cool for some quick tests.

— You are receiving this because you commented. Reply to this email directly, view it on GitHub https://github.com/carla-simulator/carla/issues/194#issuecomment-383519117, or mute the thread https://github.com/notifications/unsubscribe-auth/AkFtLncxJudn3ulxkVXt2XOhOHHBTRdcks5traPugaJpZM4R3GCx .

kartik144 commented 5 years ago

The driving benchmark module already provides a way to set goal and start points. Please, check out the new documentation http://carla.readthedocs.io/en/latest/benchmark_start/ We are still improving it. I am sure a way to set start points in command line would be also cool for some quick tests.

I am not able to access this page. Is the page removed?

nsubiron commented 5 years ago

@kartik144 It was moved to its own repo https://github.com/carla-simulator/driving-benchmarks

eds89 commented 5 years ago

I'm a bit confused on how to use CARLA for training and validation. The best turoail I found was this one: https://medium.com/asap-report/introduction-to-the-carla-simulator-training-a-neural-network-to-control-a-car-part-1-e1c2c9a056a5

Are there plans to release an 'official' tutorial?

liuhe005 commented 4 years ago

@xfqbuaa how can I set routes for a vehicle ? I am beginner in Carla.

germanros1987 commented 4 years ago

All the problems mentioned in this thread are solved in the current version of CARLA. Please read the documentation for further information: https://carla.readthedocs.io/en/latest

KasraMokhtari2112 commented 4 years ago

All the problems mentioned in this thread are solved in the current version of CARLA. Please read the documentation for further information: https://carla.readthedocs.io/en/latest

I still have the issue with local_planner.py written for the latest version which is the command can't move the ego car. Have any idea why? the controller is working but It can't move the car at all! I really appreciate your help!