global waypoints about carla-autoware HOT 6 CLOSED

@jS5t3r maybe not an issue per se, but dont know where else to get information about this. I saw you have ros melodic, 1.12 and carla 0.97 on ubuntu 18.04, but it says carla 0.9.6 and kinetic required. Did you change the dockerfile or have you installed any other way(like build from source)? I am currently struggling so your help would be massive ot connect autoware + carla with ubuntu 18.04 and melodic(so your current setup).

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No, I did not change the docker filer.

nvidia-docker run -p 2000-2001:2000-2001 -it --rm carlasim/carla:0.9.7 ./CarlaUE4.sh
roslaunch $CARLA_AUTOWARE_ROOT/devel.launch role_name:=ego_vehicle
rviz  # load the config from ~/autoware/Autoware/ros/src/.config/rviz/default.rviz

@dmatos2012 on the discord channel I wrote with one of the carla developers and "there should not be any major problems."

1. CUDA 10.0 must be installed. In the .zshrc I added:

export PATH=/usr/local/cuda-10.0/bin${PATH:+:${PATH}}$ 
export LD_LIBRARY_PATH=/usr/local/cuda-10.0/lib64${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}

2. I installed from source version v1.12.0: https://gitlab.com/autowarefoundation/autoware.ai/autoware/-/wikis/Source-Build

You can also use: (https://github.com/carla-simulator/carla-autoware/tree/master/docker)

I added these lines to my ~/.zshrc

source /opt/ros/melodic/setup.zsh
source ~/autoware.ai/install/setup.zsh
export CARLA_AUTOWARE_ROOT=~/carla-autoware/autoware_launch
export CARLA_MAPS_PATH=~/carla-autoware/autoware_data/maps
source $CARLA_AUTOWARE_ROOT/../catkin_ws/devel/setup.zsh
export PYTHONPATH=$PYTHONPATH:~/carla-python/carla/dist/carla-0.9.7-py2.7-linux-x86_64.egg:~/carla-python/carla/

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@dmatos2012 could you manage to get something run?

You have to change the role name from hero to ego_vehicle:
roslaunch $CARLA_AUTOWARE_ROOT/devel.launch role_name"=ego_vehicle

But it does not work all the time. I sometime I click select a new 2D Pose Estimate 20 times...
The global waypoints are shown randomly, but if they are shown (fixed frame: world), I can calculate some routes...

@felipecode will this carla-autoware repository updated? I saw that for Autoware1.14 is planned to have carla bridge inside: https://gitlab.com/vimalrajliya/simulation/-/tree/68afbc8a68ba13fc7fa67ce21e567c6943068ce7/carla_simulator_bridge

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@jS5t3r Our plan is to move the content of this repo into autoware.

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@jS5t3r Thanks man, thats a huge help! I have not been able to get it working yet, because we are still deciding what final setup we are gonna use. But at least i know its doable with your setup. and with Autoware 1.14!.

Let us know if you change something else to get it fully working.

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I needed to download these https://bitbucket.org/carla-simulator/autoware-contents/src/master/maps/
into ~/carla-autoware/autoware_data/maps then it was fully working...

and I use carla 0.9.6

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