This code demonstrates how to share carla data between different python processes via a shared memory dictionary.

Features

• Supports xbox one controller
• Supports Fanatec DD1 base & Wheels
• Mirror sensor camera images are processed and stored in a shared memory object
• Main simulation thread uses pygame window.
• Share memory is accessed by the mirror view routines and displayed using opencv

• Download and Install Carla Simualtor 0.9.13
  • (https://carla.org/)
  • (https://github.com/carla-simulator/carla)
  • (https://github.com/carla-simulator/carla/releases/tag/0.9.13)
• Download and Install AdditionalMaps_0.9.13.zip
• Install Python 3.8.10
• Install Poetry Dependency Management (https://python-poetry.org/docs/)

• poetry install - setup the environment
• Ensure the Carla Simulator is running on localhost and listening to port 2000
  • .\CarlaUE4.exe -windowed -ResX=1024 -ResY=786 -carla-rpc-port=2000 -quality-level=High
• Set simulation parameters in config.yaml
• poetry run python sim_main.py - main simulation thread
• poetry run python mirror_views.py - dual mirror views
• poetry run python right_mirror_view.py - rigth mirror only
• poetry run python left_mirror_view.py - left mirror only

NOTE: So far only testing on Windows 10.

• poetry run python util_get_joystick_values.py - Display joystick values untility tool

• Left Stick - Steering
• Right Trigger - Accelerate
• Left Trigger - Brake
• A - Toggle Reverse
• B - Hand Brake

• Wheel - Steering
• Accelerator Pedal - Accelerate
• Brake Pedal - Brake
• A - Toggle Reverse
• B - Hand Brake

• W - Left Mirror Rotate Up
• X - Left Mirror Rotate Down
• A - Left Mirror Rotate away from car
• B - Left Mirror Rotate towards car

• T - Right Mirror Rotate Up
• B - Right Mirror Rotate Down
• H - Right Mirror Rotate away from car
• F - Right Mirror Rotate towards car