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multicarlasevers

使用简介：

  1. 开启CarlaUE并运行。
  2. 在控制台下运行Mult-carla/client下的客户端程序
   python3 manual_control_selg.py
  1. 配置carlaservers.yaml文件，其中需要同步的服务器CarlaUE的ip和端口。（至少一台）
  2. 在控制台下运行Mult-carla下的同步服务器程序
   python3 synchronization.py

如果提示找不到carla包

cd ~/carla/PythonAPI/carla/dist/
unzip carla-0.9.13-py3.8-linux-x86_64.egg -d carla-0.9.13-py3.8-linux-x86_64
cd carla-0.9.13-py3.8-linux-x86_64

接下来打开你的文档编辑器，建立一个setup.py, 将以下内容复制进去。

from distutils.core import setup
setup(name='carla',
      version='0.9.13', 
      py_modules=['carla'],
      )

然后通过pip安装到你的python3当中，从此可以直接import carla了。

pip3 install -e ~/carla/PythonAPI/carla/dist/carla-0.9.13-py3.8-linux-x86_64

设置服务器日志为DEBUG级别可以运行

python3 synchronization.py --debug

在运行CarlaUE的机子上运行Mult-carla/viewer下的程序可以轮流查看服务器内车辆

python3 clientview.py

使用util/下的文件可以更改地图配置

python3 config.py --map Town04

使用Carla-SUMO/下的文件可以运行Carla-SUMO协同仿真。详细见Carla官方文档

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