Hello delevopers, I followed your guide and ran the bridge successfully. However, the traffic light perception module seemed to not be working. Therefore, the ego vehicle stopped at any crossing with a traffic light, even when the light was green. Could you tell me how to enable traffic light perception? Thank you very much!

I wonder how can I display the information of camera and lidar on the apollo (localhost:8888)
After finish the tutorial, my apollo can successfully connect to carla, but it does not display the "camera" block
Also, I want to see lidar on apollo, could you please tell me how to do this, thx

the instruction before Runing carla_apollo_bridge works well,
but after i perform these

cd /apollo/cyber/carla_bridge
python carla_cyber_bridge/bridge.py

error as follows:

[2023-04-24 12:27:33,509] [carla_bridge] [ERROR]: Error: time-out of 30000ms while waiting for the simulator, make sure the simulator is ready and connected to 172.17.0.1:2000
^CTraceback (most recent call last):
  File "carla_cyber_bridge/bridge.py", line 485, in <module>
    main()
  File "carla_cyber_bridge/bridge.py", line 471, in main
    carla_world = carla_client.get_world()
RuntimeError: time-out of 30000ms while waiting for the simulator, make sure the simulator is ready and connected to 172.17.0.1:2000

Can use apollo agent in carla leaderboard? help~~~

Hello again,

After I get Apollo working, when I follow all the steps in the documentation to run the example.

I get this error and can't get the car to follow the defined route. Has anyone had this problem or have any suggestions on how I can solve this problem?

E0403 22:18:33.270490 6624 channel_manager.cc:326] [spawn_objects] newly added writer(belongs to node[conti_radar_front])'s message type[apollo.drivers.ContiRadar] does not match the exsited writer(belongs to node[cyber_bridge_node])'s message type[apollo.drivers.PointCloud].

Best Regards

My apollo version is 6.0 (Actually I don't know why even if I have cloned the newest Apollo version, the ./dev_start.sh would direct to 6.0). And when I build the apollo and enter the dreamview, the page says the lidar and GPS are not activated. Interestingly, this error is missing in the official apollo.

Hello developers,

Huge thanks for the efforts! I followed your doc and can successfully run the co-simulation.

Currently the Readme is about using Dreamview to config a task, send routing request, etc. I was wondering whether we users can leverage the existing Carla Python API to communicate with carla simulator and take apollo program as an agent.

If so, we can write python code to do automatic interaction and configuration, rather than manually clicking on Dreamview webpage.

Thanks!

execute the command python carla_spawn_objects/carla_spawn_objects.py cause exception

I followed the steps below, but the operation failed；

1. Using RoadRunner: Imported Carla_town02.xodr map and exported base_map.bin,base_map.txt and base_map.xml;
2. Place the above files in /apollo/modules/map/data/carla_town02
3. Generated routing_map.txt,routing_map.bin,sim_map.bin and sim_map.txt, using the bazel-bin/modules/map/tools/sim_map_generator, bash scripts/generate_routing_topo_graph.sh
4. Place the above files in /apollo/modules/map/data/carla_town02
5. ./apollo.sh build_gpu
6. I have tried restarting dreamview and adding file paths to global_flagfile.txt, but it still doesn't work
   

当一次模拟结束的时候，当我不关闭bridge，仅仅是ctrl+c关掉carla_spawn_objects来关掉自己的ego_vehicle时，当我再次重新启动carla_spawn_object，bridge会报如下错误，但是apollo和carla中都是能正常显示ego_vehicle的，但是apollo无法在send routing request之后按照路径行驶车辆。与此同时，我想使用set_initial_pose来重置车辆位置时，似乎是因为模拟carla-ros-bridge的不完全，无法使用这个脚本来重置位置，所以请问bridge能否重置自己车辆位置。（目前我的方式是重启bridge以及carla_spawn_object来重新进行模拟）

The demo link in the readme seems to be not working:

I have been trying to build the apollo docker according to your instructions. Encountered an error

(20:59:29) ERROR: /apollo/modules/drivers/camera/BUILD:80:11: C++ compilation of rule '//modules/drivers/camera:camera' failed 
(Exit 1): crosstool_wrapper_driver_is_not_gcc failed: error executing command external/local_config_cuda/crosstool/clang/bin/crosstool_wrapper_driver_is_not_gcc -MD -MF bazel-out/k8-fastbuild/bin/modules/drivers/camera/_objs/camera/util.pic.d ... (remaining 97 argument(s) skipped)
In file included from /usr/lib/gcc/x86_64-linux-gnu/7/include/immintrin.h:43:0,
                 from ./modules/drivers/camera/util.h:34,
                 from modules/drivers/camera/util.cc:17:
/usr/lib/gcc/x86_64-linux-gnu/7/include/avx2intrin.h: In function '__m256i apollo::drivers::camera::SaturateI16ToU8(__m256i)':
/usr/lib/gcc/x86_64-linux-gnu/7/include/avx2intrin.h:398:1: error: inlining failed in call to always_inline '__m256i _mm256_min_epi16(__m256i, __m256i)': target specific option mismatch
 _mm256_min_epi16 (__m256i __A, __m256i __B)

When using the bridge in asynchronous mode, vehicle control is still based on synchronous settings (read from buffer queue and applied) resulting in the simulator vehicle crashing.

Hello guys,
When I try to build the environment till ./apollo.sh build_gpu, I check the Network to make sure I can download file from dl.google.com. But I still have problem finishing the building process.

Thanks for your patience.

When I try to do the step Make the GPU version: and run the following command:

./apollo.sh build_gpu

I get this error :

(09:59:17) ERROR: /apollo/modules/perception/camera/lib/obstacle/detector/smoke/BUILD:7:13: C++ compilation of rule '//modules/perception/camera/lib/obstacle/detector/smoke:smoke_region_output_cuda' failed (Exit 1): crosstool_wrapper_driver_is_not_gcc failed: error executing command external/local_config_cuda/crosstool/clang/bin/crosstool_wrapper_driver_is_not_gcc -MD -MF ... (remaining 151 argument(s) skipped)
nvcc fatal   : Unsupported gpu architecture 'compute_89'
(09:59:17) INFO: Elapsed time: 25.692s, Critical Path: 18.82s
(09:59:17) INFO: 1548 processes: 1005 internal, 543 local.
(09:59:17) FAILED: Build did NOT complete successfully

What changes can I do to fix it?

The steps of installing Carla and the bridge worked correctly, I just can't do the build of Apollo to get it working.

At the moment my system has the following cuda version.

OS Version

Ubuntu Server 20.04.6

Nvcc Version

nvcc: NVIDIA (R) Cuda compiler driver
Copyright (c) 2005-2020 NVIDIA Corporation
Built on Mon_Oct_12_20:09:46_PDT_2020
Cuda compilation tools, release 11.1, V11.1.105
Build cuda_11.1.TC455_06.29190527_0

[+] Building 36.8s (3/3) FINISHED
=> [internal] load build definition from Dockerfile 0.0s
=> => transferring dockerfile: 1.08kB 0.0s
=> [internal] load .dockerignore 0.1s
=> => transferring context: 2B 0.0s
=> ERROR [internal] load metadata for docker.io/auroai/cyber:v5.0.0 36.7s

[internal] load metadata for docker.io/auroai/cyber:v5.0.0:

Dockerfile:1

1 | >>> FROM auroai/cyber:v5.0.0
2 | # cyber / bridge requirements
3 | RUN apt update && \

ERROR: failed to solve: DeadlineExceeded: DeadlineExceeded: auroai/cyber:v5.0.0: failed to copy: httpReadSeeker: failed open: failed to do request: Get "https://production.cloudflare.docker.com/registry-v2/docker/registry/v2/blobs/sha256/2a/2a3554af161b8086fc06c5b1a242eb3f3766d3211ee331e3701925170f26be73/data?verify=1677235646-Vqw5Oc0yw2zsYRsm0nkn28qg3SI%3D": dial tcp 104.18.125.25:443: i/o timeout

Hello developers,

I have noticed that your carla_town01 map consisted of these files:
base_map.bin base_map.xml routing_map.txt sim_map.txt base_map.txt routing_map.bin sim_map.bin

And in my carla's HDMaps, I got:
Town02.pcd Town04.pcd Town06.pcd Town01.pcd Town03.pcd Town05.pcd Town07.pcd

Because I am planning to test apollo's obstacle avoidance algorithm, I need more roads contains more than 2 lanes. Therefore, could you please tell me your ideas to transfer these .pcd maps to apollo's .txt and .bin maps?

Thanks a lot!

Hi, developers, when I used your bridge these days, I found some problems and I would like to know whether it is a bug.
The first question is when I use keyboard interrupt ctrl+c to shut down the bridge. I cannot shut down and the log shows as follow:

I found that why it cannot be shut down is due to line 387 in the picture below. Maybe the synchronous_mode has something wrong? I am not for sure about that but it stuck.

Another question is when I use ctrl+c to stop the carla_spawn_objects.py (without shutting down the bridge), it stops right. But when I run this script again and try to send routing request to start co-simulation. Although the bridge shows it can create the ego control both in carla and Apollo, something wrong happens to the bridge.

The bridge cannot apply control to the ego vehicle in carla. I would like to know why.
Thanks for your patience.

when i run "./run_docker.sh", the terminator shows "access control disabled, clients can connect from any host
024c762facf2c1bf78c431c297a7d3c4275692d290fb17e6d48ff2668cda55ba"

follow the guide of Getting Started, when execute the “cd carla_apollo_bridge/scripts
./docker_run_carla.sh” command in terminater，the program stop and pop out “can not find compatible vulkan driver”

Describe the bug

newly added writer(belongs to node[conti_radar_front])'s message type[apollo.drivers.ContiRadar] does not match the exsited writer(belongs to node[cyber_bridge_node])'s message type[apollo.drivers.PointCloud].

jarvis@jia:~/coding/pyhome/github.com/guardstrike/carla_apollo_bridge/docker$ docker exec -ti carla_cyber_0.9.14 bash
root@d2b06ffc80d4:/apollo# cd /apollo/cyber/carla_bridge
root@d2b06ffc80d4:/apollo/cyber/carla_bridge# python carla_spawn_objects/carla_spawn_objects.py
WARNING: Logging before InitGoogleLogging() is written to STDERR
I0428 01:48:30.823490  6376 cyber_time_wrap.cc:338] [] init _cyber_time
I0428 01:48:30.826615  6376 cyber_timer_wrap.cc:164] [] init _cyber_timer
I0428 01:48:30.830492  6376 cyber_parameter_wrap.cc:639] [] init _cyber_parameter
I0428 01:48:30.834767  6376 global_data.cc:119] [spawn_objects] host ip: 172.17.0.2
[2023-04-28 01:48:31,051] [carla_bridge] [INFO]: Object (type='sensor.pseudo.traffic_lights', id='traffic_lights') spawned successfully as 10000.
[2023-04-28 01:48:31,052] [carla_bridge] [INFO]: Object (type='sensor.pseudo.actor_list', id='actor_list') spawned successfully as 10001.
[2023-04-28 01:48:31,053] [carla_bridge] [INFO]: Object (type='sensor.pseudo.opendrive_map', id='map') spawned successfully as 10002.
[2023-04-28 01:48:31,053] [carla_bridge] [DEBUG]: None
[2023-04-28 01:48:31,053] [carla_bridge] [INFO]: Spawn point selected at random
[2023-04-28 01:48:31,058] [carla_bridge] [INFO]: Object (type='vehicle.tesla.model3', id='ego_vehicle') spawned successfully as 197.
[2023-04-28 01:48:31,063] [carla_bridge] [INFO]: Object (type='sensor.camera.rgb', id='front_6mm') spawned successfully as 198.
[2023-04-28 01:48:31,071] [carla_bridge] [INFO]: Object (type='sensor.camera.rgb', id='front_12mm') spawned successfully as 199.
[2023-04-28 01:48:31,097] [carla_bridge] [INFO]: Object (type='sensor.lidar.ray_cast', id='lidar128') spawned successfully as 200.
[2023-04-28 01:48:31,100] [carla_bridge] [INFO]: Object (type='sensor.other.radar', id='radar/front') spawned successfully as 201.
[2023-04-28 01:48:31,101] [carla_bridge] [INFO]: Object (type='sensor.other.gnss', id='gnss') spawned successfully as 202.
[2023-04-28 01:48:31,102] [carla_bridge] [INFO]: Object (type='sensor.other.imu', id='gnss/imu') spawned successfully as 203.
[2023-04-28 01:48:31,103] [carla_bridge] [INFO]: Object (type='sensor.pseudo.objects', id='obstacles') spawned successfully as 10003.
[2023-04-28 01:48:31,103] [carla_bridge] [INFO]: Object (type='sensor.pseudo.odom', id='odometry') spawned successfully as 10004.
[2023-04-28 01:48:31,104] [carla_bridge] [INFO]: Object (type='sensor.pseudo.speedometer', id='speedometer') spawned successfully as 10005.
[2023-04-28 01:48:31,104] [carla_bridge] [INFO]: Object (type='actor.pseudo.control', id='control') spawned successfully as 10006.
[2023-04-28 01:48:31,104] [carla_bridge] [INFO]: All objects spawned.
E0428 01:50:05.097400  6409 channel_manager.cc:326] [spawn_objects] newly added writer(belongs to node[conti_radar_front])'s message type[apollo.drivers.ContiRadar] does not match the exsited writer(belongs to node[cyber_bridge_node])'s message type[apollo.drivers.PointCloud].
E0428 01:51:52.920289  6409 channel_manager.cc:326] [spawn_objects] newly added writer(belongs to node[conti_radar_front])'s message type[apollo.drivers.ContiRadar] does not match the exsited writer(belongs to node[cyber_bridge_node])'s message type[apollo.drivers.PointCloud].
E0428 01:52:35.792332  6409 channel_manager.cc:326] [spawn_objects] newly added reader(belongs to node[FrontRadarDetection])'s message type[apollo.drivers.ContiRadar] does not match the exsited writer(belongs to node[cyber_bridge_node])'s message type[apollo.drivers.PointCloud].
E0428 01:53:23.572337  6409 channel_manager.cc:326] [spawn_objects] newly added writer(belongs to node[conti_radar_front])'s message type[apollo.drivers.ContiRadar] does not match the exsited writer(belongs to node[cyber_bridge_node])'s message type[apollo.drivers.PointCloud].
E0428 01:53:30.447875  6409 channel_manager.cc:326] [spawn_objects] newly added writer(belongs to node[conti_radar_front])'s message type[apollo.drivers.ContiRadar] does not match the exsited writer(belongs to node[cyber_bridge_node])'s message type[apollo.drivers.PointCloud].
E0428 01:55:19.322607  6409 channel_manager.cc:326] [spawn_objects] newly added writer(belongs to node[conti_radar_front])'s message type[apollo.drivers.ContiRadar] does not match the exsited writer(belongs to node[cyber_bridge_node])'s message type[apollo.drivers.PointCloud].
E0428 01:56:10.576053  6409 channel_manager.cc:326] [spawn_objects] newly added writer(belongs to node[conti_radar_front])'s message type[apollo.drivers.ContiRadar] does not match the exsited writer(belongs to node[cyber_bridge_node])'s message type[apollo.drivers.PointCloud].
E0428 01:57:12.527468  6409 channel_manager.cc:326] [spawn_objects] newly added writer(belongs to node[conti_radar_front])'s message type[apollo.drivers.ContiRadar] does not match the exsited writer(belongs to node[cyber_bridge_node])'s message type[apollo.drivers.PointCloud].
E0428 02:03:52.734864  6409 channel_manager.cc:326] [spawn_objects] newly added writer(belongs to node[conti_radar_front])'s message type[apollo.drivers.ContiRadar] does not match the exsited writer(belongs to node[cyber_bridge_node])'s message type[apollo.drivers.PointCloud].
E0428 02:07:52.057538  6409 channel_manager.cc:326] [spawn_objects] newly added writer(belongs to node[conti_radar_front])'s message type[apollo.drivers.ContiRadar] does not match the exsited writer(belongs to node[cyber_bridge_node])'s message type[apollo.drivers.PointCloud].
E0428 02:07:55.158016  6409 channel_manager.cc:326] [spawn_objects] newly added writer(belongs to node[conti_radar_front])'s message type[apollo.drivers.ContiRadar] does not match the exsited writer(belongs to node[cyber_bridge_node])'s message type[apollo.drivers.PointCloud].

Steps to Reproduce the Problem

Steps to reproduce the behavior:

1. Start the bridge and spawn the ego vehicle: python carla_cyber_bridge/bridge.py and python carla_spawn_objects/carla_spawn_objects.py
2. Start a co-simulation: Open apollo client: http://localhost:8888
3. Open apollo client: http://localhost:8888/
4. (Optional) Select "Task" in the sidebar and turn on "Camera Sensor" in "Others".
5. (Optional) Select "Layer Menu" in the sidebar and turn on "Point Cloud" in "Perception".
6. Select "Module Controller" in the sidebar and turn on "Routing" module.
7. Select "Route Editing" in the sidebar.
8. Click "Add Point of Interest" and left click at any point on the road to set the destination.
9. Click "Send Routing Request".
10. Select "Tasks" and click "Setup" to start co-simulation.

Expected Behavior

Click to setup, the vehicle runs according to the planning.

Actual Behavior

Click to setup, the vehicle does not respond.

Hi,

I was following setup instructions, and on this line:
cd carla_apollo_bridge/scripts ./docker_run_carla.sh

I am getting the following error:

Option is set to nvidia by default:

Now there is only a town01 map in Apollo. Does anyone know how to import other maps?
Another question is that the existing town01 map doesn't have traffic light information. How to add traffic light information to the map?
Thanks for help.

I am getting the following error when trying to clone:

17:01:39.705971 trace git-lfs: HTTP: {"message":"This repository is over its data quota. Account responsible for LFS bandwidth should purchase more data packs to restore access.","documentation_url":"https://docs.github.com/articles/purchasing-additional-storage-and-bandwidth-for-an-organization/"}

I met error messages as below when running apollo-carla co-simulation following the steps in Readme.

You haven't selected a vehicle yet!
GPS trigers safe mode.
Raw IMU Message Delay. IMU message is 168126848847 cycle 1.68127e+09 sec behind current time.
Raw GPS Message Delay. GPS message is 168126848847 cycle 1.68127e+09 sec behind current time.

And the lidar point-cloud shown is Dreamview seems not right, either.

The page of module controller is shown below. I cannot open the GPS and Velodyne module, and the status of GPS is always FATAL or ERROR.

By the way, the vehicle can run automatically, though often hitting obstacles road-side.

This problem has been reported in #30 , but it hasn't been solved yet. Can anyone help? Thanks a lot!

Log of python carla_cyber_bridge/bridge.py.

[2023-04-02 03:03:43,291] [carla_bridge] [INFO]: Loading town 'Town01' (previous: 'Carla/Maps/Town01').

At https://github.com/guardstrikelab/carla_apollo_bridge/blob/master/src/carla_cyber_bridge/bridge.py#L454

if carla_world.get_map().name != parameters["town"]:

carla_world.get_map().name is in format Carla/Maps/TownXXX while the parameters["town"] is in TownXXX. The check does not work even if the same map is loaded.

When using Bridge, in DreamView, vehicles sometimes disturb, and when turning, sometimes it will collide to the roadside or encounter another lane. I want to know if this is a problem with Bridge.

Describe the bug

ERROR: ld.so: object 'libcaffe2_gpu.so' from LD_PRELOAD cannot be preloaded (cannot open shared object file): ignored.

Steps to Reproduce the Problem

1. execute the command cd carla_apollo_bridge/docker && ./build_docker.sh && ./run_docker.sh
2. enter cyber container : docker exec -ti carla_cyber_0.9.13 bash

Screenshots or Video

Environments (please complete the following information):

• System info: Linux jia 5.15.0-69-generic #76~20.04.1-Ubuntu SMP Mon Mar 20 15:54:19 UTC 2023 x86_64 x86_64 x86_64 GNU/Linux
• Cuda version: NVIDIA-SMI 525.105.17 Driver Version: 525.105.17 CUDA Version: 12.0
• Docker version: Docker version 20.10.17, build 100c701
• Docker-compose version: Docker Compose version v2.0.1

Thanks for your shared codes!
I have run the commands, and everything is ok.
But when I open the dreamview, no "Town01" showing in the map option.
could you plz help me to analyze where the problem is? And thanks a lot!

I installed the carla debian in /opt/carla-simulator/ and also installed apollo master branch using a docker. Do I need to install them again according to your instructions? I see you installed carla in a docker too and also used a different branch of apollo repo. My carla is working fine with the Python api and apollo waypoint demo is also working. I just need the bridge.

Hi,

I am following the quickstart guide. When I run
cd /apollo/cyber/carla_bridge
python carla_cyber_bridge/bridge.py
I get this result:
I0205 06:55:27.050416 6706 global_data.cc:119] [cyber_py] host ip: 172.17.0.2 [2023-02-05 06:55:27,052] [carla_bridge] [INFO]: The config file path is carla_cyber_bridge/config/settings.yaml. [2023-02-05 06:55:27,055] [carla_bridge] [INFO]: Trying to connect to 172.17.0.2:8888 [2023-02-05 06:56:27,065] [carla_bridge] [ERROR]: Error: time-out of 60000ms while waiting for the simulator, make sure the simulator is ready and connected to 172.17.0.2:8888

I also tried with 0.1, but the issue is when I grep the IP address of the carla docker container it says: "SecondaryIPAddresses": null, "IPAddress": "172.17.0.2", "IPAMConfig": null, "IPAddress": "172.17.0.2",.

This is why I tried running the config with both 0.1 and 0.2, however neither connected.
However, I can only connect to Apollo on 172.17.0.1:8888, not 172.17.0.2:8888, even when I rebuild with CYBER_IP=172.17.0.2 in apollo/cyber/setup.bash

Is there a way to change the carla docker IP to use 0.1? That is the only thing I can think of but I don't know how to try.

Hello, I have followed the installation guide and the bridge builds and runs properly, however, I can't activate some of the modules, specifically the sensor modules (Camera, Radar, Lidar, GPS, etc.). Showing Carla sensor information in Dreamview works correctly, like showing the camera feed or the pointcloud layer. However the corresponding modules themselves are off and deactivate if I try to activate them.

In the picture above, I can't activate any of the deactivated modules, but the car still moves and drives the right way. The only major problem here is the GPS not being found.

Is this a bug, or these modules are Apollo exclusive and overwritten by Carla sensors?

Thank you in advance.

lack of licence for this project.

Discussed in https://github.com/orgs/guardstrikelab/discussions/40

>>> from cyber_py3 import cyber, cyber_time, cyber_timer, parameter

Traceback (most recent call last):
File "", line 1, in
File "/apollo/cyber/python/cyber_py3/cyber.py", line 39, in
_CYBER = importlib.import_module('_cyber_wrapper')
File "/usr/lib/python3.6/importlib/init.py", line 126, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
ModuleNotFoundError: No module named '_cyber_wrapper'

Hi! I'm trying to run Apollo on Carla as an agent via bridge, and I can successfully run Apollo 7.0 with Carla.
However, I want to run the latest version of Apollo(version 8.0), but I have some trouble during the trials.
So I want to ask if there are any formal instructions to run latest version of Apollo on Carla with the bridge.
For the reference, here are the descriptions on my trials.

1. Cloning Apollo from main repository instead of the modified one.

I do know that there are some modifications on Apollo side for bridging. So I changed the code manually following the commit logs(6 commits), after cloning the main repository.
There were no errors during the installation and I followed the instruction(running DreamView and Carla simulator), but after running bridge on a terminal and python carla_spawn_objects/carla_spawn_objects.py on another terminal, Segmentation fault occurs on the terminal running the bridge.

2. Cloning modified repository and pull modifications for bridging by changing remote origin.

I saw the issue here, and I also tried to apply the modifications by changing remote origin, which means 1) cloning main repository and 2) changing remote origin to git remote set-url origin https://github.com/guardstrikelab/carla_apollo_bridge.git and pull) There are no errors during the installation, but after following the instructions(run DreamView, run Carla, run bridge, run spawning), I could see the spawned ego vehicle on Carla, but there are no changes on DreamView UI (which means a black screen with a message 'Please send car initial position and map data.').

there are many security issues alert by dependabot, we should try to fix that. Security Tab has more the details.

hello, I followed your guide and finished building carla_apollo bridge. But when i did as your Usage part said, and click setup to start cosimulation. the car won't move neither in the dreamview nor in the carla simulator. Sometimes, when i select some points in dreamview and send routing request, the red apollo routing line is even not correct. It looks like it has some mistakes with the point i chose in dreamview.

In the container I run this:
root@59dc9f58b601:/apollo/cyber/carla_bridge# python carla_cyber_bridge/bridge.py

Below is the error:

WARNING: Logging before InitGoogleLogging() is written to STDERR
I0304 14:33:41.795066 6354 cyber_time_wrap.cc:338] [] init _cyber_time
I0304 14:33:41.799541 6354 cyber_timer_wrap.cc:164] [] init _cyber_timer
I0304 14:33:41.804082 6354 cyber_parameter_wrap.cc:639] [] init _cyber_parameter
I0304 14:33:41.906601 6354 global_data.cc:119] [cyber_py] host ip: 172.17.0.2
[2023-03-04 14:33:41,910] [carla_bridge] [INFO]: The config file path is carla_cyber_bridge/config/settings.yaml.
[2023-03-04 14:33:41,913] [carla_bridge] [INFO]: Trying to connect to 172.17.0.1:2000
[2023-03-04 14:33:41,916] [carla_bridge] [ERROR]: Error: rpc::rpc_error during call in function version
Traceback (most recent call last):
File "carla_cyber_bridge/bridge.py", line 485, in
main()
File "carla_cyber_bridge/bridge.py", line 471, in main
carla_world = carla_client.get_world()
RuntimeError: rpc::rpc_error during call in function version

I followed the instructions. Unfortunately, the car is not moving at all. Two messages are being shown on Dreamviewer console. Carla server is running and also carla-apollo bridge has been installed properly. I tried to run two python codes (bridge.py and carla_spawn_objects.py) you mentioned.

Failed to load default routing. Please make sure the file exists at /apollo/modules/map/data/carla_town01_default_cycle_routing.txt

Failed to load default POI. Please make sure the file exists at /apollo/modules/map/data/carla_town01/default_end_way_point.txt

I could not find those two txt files in the directory.

Discussed in https://github.com/orgs/guardstrikelab/discussions/24

When I run manual control.py in docker, I will encounter the problem in the picture above. Is there anyone who can help me?SOS！！！

关于bridge的关闭，最后destroy的时候，bridge.py的第384行如下
self.synchronous_mode_update_thread.join()
这会一直阻塞主线程，导致无法正常关闭bridge。同时第156行的Thread的daemon是否打错让其没有成为守护线程？不过暂时我尝试了修改这个线程成为守护线程，但是一样暂时无法正常关闭bridge、所以我想问这里是否需要改动。

Failed when running bridge.py. This issue can be fixed by typing pip install carla==0.9.13,but every time after building the container I need to install carla again. Is there any way to fix this problem permanently?