成都网站建设低价,天津正规制作网站公司,千卓品牌策划,虚拟主机网站建设步骤一、服务器跑carla
详见Carla学习笔记#xff08;一#xff09;服务器跑carla本地显示窗口_Zero_979的博客-CSDN博客
只需要启动服务器端就行#xff1a;
./CarlaUE4.sh -carla-rpc-port2000 -RenderOffScreen -graphicsadaper1
二、本地下载 carla-ros-bridge
官方库一服务器跑carla本地显示窗口_Zero_979的博客-CSDN博客
只需要启动服务器端就行
./CarlaUE4.sh -carla-rpc-port2000 -RenderOffScreen -graphicsadaper1
二、本地下载 carla-ros-bridge
官方库https://github.com/carla-simulator/ros-bridge
下载完后编译一下
具体操作参考官方文档Install ROS Bridge for ROS 1 - CARLA Simulator
1. Create a catkin workspace: mkdir -p ~/carla-ros-bridge/catkin_ws/src2. Clone the ROS Bridge repository and submodules: cd ~/carla-ros-bridgegit clone --recurse-submodules https://github.com/carla-simulator/ros-bridge.git catkin_ws/src/ros-bridge5. Set up the ROS environment according to the ROS version you have installed: source /opt/ros/melodic/noetic/setup.bash6. Install the required ros-dependencies: cd catkin_wsrosdep updaterosdep install --from-paths src --ignore-src -r7. Build the ROS bridge: catkin build # alternatively catkin_make三、运行carla-ros-bridge里的demo
下载并且编译完成后我们来启动运行 vi ~/carla-ros-bridge/catkin_ws/devel/setup.bash
然后在这个文件里添加两行
export CARLA_ROOT/你的路径/CARLA_0.9.13也可能是其它版本 export PYTHONPATH$PYTHONPATH:$CARLA_ROOT/PythonAPI/carla/dist/carla-0.9.13-py3.7-linux-x86_64.egg替换成你egg文件:$CARLA_ROOT/PythonAPI/carla 进入到carla_ad_demo文件夹里修改代码里的Host为你服务器的地址
source ~/carla-ros-bridge/catkin_ws/devel/setup.bash roslaunch carla_ad_demo carla_ad_demo.launch 不出意外的话就会弹出窗口按P进入自动驾驶模式。 四、启动rviz
在~/catkin_ws/src/ros-bridge/carla_ad_demo/config下启动 rviz carla_ad_demo.rviz 点击左下角的add 就能看到camera成像啦也可以自己加一些其他的监视。
