My modifications to the examples from CARLA 0.9.13 PythonAPI.

You can change --gpus 0 to --gpus all or ---gpus <some_number> if you have more than one GPU.

docker run --rm -it --name carla-container -u carla -p 2000-2002:2000-2002 --gpus 0 ricardodeazambuja/carlasim:0.9.13_headless ./launch_headless.sh

Press ENTER to kill the simulator (it takes some seconds until it dies...).

docker cp carla-container:/home/carla/PythonAPI .

conda create --name carla-simulator python=3.7

conda activate carla-simulator

pip install --upgrade pip

cd PythonAPI/examples/

pip install -r requirements.txt 

cd ../carla/dist/  #it's inside PythonAPI/carla/dist

pip install carla-0.9.13-cp37-cp37m-manylinux_2_27_x86_64.whl

If pip complains and you are sure the Python version is correct, one possible cause is that you forgot to upgrade pip

python generate_traffic.py 

It should print spawned 30 vehicles and 10 walkers, press Ctrl+C to exit.

Open a new terminal (don't forget to run conda activate carla-simulator) the and type:

python synchronous_mode.py

It should open a pygame display with a random vehicle moving through the town (with the focus on the pygame display, press ESC to exit).