Install Carla Simulator following this article https://francismaria.medium.com/install-carla-simulator-in-ubuntu-18-04-ada78159bc4f
sudo docker run -d -p 2000-2002:2000-2002 --runtime=nvidia -e NVIDIA_VISIBLE_DEVICES=0 carlasim/carla:0.9.9 /bin/bash CarlaUE4.sh