Note: This project is adapted from Coursera, which handles most of the code interacting with CARLA. This way we were able to focus on the vehicle operability.

This project uses CARLA 0.8.4 for its work. You can download a zip file of the binary with the following link:

CARLA_0.8.4_Windows_Download.zip

Note: this is a Windows 10 binary. We were unable to work CARLA on an EC2 linux instance.

After the zip file is finished installing, unzip it to your directory of choice. For the remainder of the README, we will assume you have the CarlaUE4.exe executable under C:/CarlaSimulator/

To ensure the CARLA installation worked correctly, open up a terminal and navigate to where you have CARLA installed (C:/CarlaSimulator/)

From the command line, type:

CarlaUE4.exe -windowed -carla-no-networking

This should load up the default town map of CARLA.

We were only able to work our scripts with Python 3.6. If you don't have python 3.6 downloaded, install it and add it to your system's PATH variable.

Install all python requirements by navigating to C:/CarlaSimulator/ and running this command:

python -m pip install -r requirements.txt --user

This will install all dependencies we will use in our project.

Navigate to the folder C:/CarlaSimulator/PythonClient and then run the following command:

python manual_control.py

This should boot up that town map we saw earlier and you should be able to control your vehicle with your arrow keys (GTA style).

Inside the directory C:/CarlaSimulator/, enter the following command:

CarlaUE4.exe /Game/Maps/RaceTrack -windowed -carla-server -benchmark -fps=30

This will load up the race track map at 30 frames per second. As of right now, CARLA is in server mode, waiting for you to interact with it in a python script. Let's do that now.

Download the source code files here. Then create a new directory under C:/CarlaSimulator/PythonClient, you can name this directory as you please, just make sure to place all files from this repo inside that directory.

Now, downgrade your version of matplotlib to 3.0.0, after doing so you should be able to run our script fine.

Navigate to the folder where the source code is and enter the following command:

python module_7.py

This should cause the vehicle to start moving around on its own and driving down the race track!

Feel free to play with the code and modify the vehicle's controller algorithm. Have fun!

CARLA Overview