carla_ros_bridge_docker

Introduction

This is a Dockerfile to use CARLA ROS bridge on Docker container.

See the devel branch for carla 0.9.9

Requirements

• NVIDIA graphics driver
• Docker
• nvidia-docker2

Preparation

Download CARLA Simulator

Please download the CARLA Simulator and addtional map file from https://github.com/carla-simulator/carla/releases/tag/0.9.8.
And, please put CARLA Simulator in the same directory as the Dockerfile.
This time, I used the following package.

• CARLA_0.9.8.tar.gz
• AdditionalMaps_0.9.8.tar.gz

Build Docker image

$ docker build -t carla:0.9.8 -f Dockerfile.melodic .

Create Docker container

$ ./launch_container.sh

Usage

CARLA ROS bridge

Launch CARLA Simulator

Please launch CARLA Simulator by the following command.

$ cd CARLA_0.9.8
$ ./CarlaUE4.sh -windowed -ResX=160 -ResY=120

Set the configuration of CARLA Simulator

$ cd CARLA_0.9.8/PythonAPI
$ python util/config.py -m Town03 --fps 10

Launch CARLA ROS bridge

$ roslaunch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch vehicle_filter:='vehicle.toyota.prius*'

CARLA AD Demo

Launch CARLA Simulator

Please launch CARLA Simulator by the following command.

$ cd CARLA_0.9.8
$ ./CarlaUE4.sh -windowed -ResX=160 -ResY=120

Set the configuration of CARLA Simulator

$ cd CARLA_0.9.8/PythonAPI
$ python util/config.py -m Town01 --fps 10

Launch CARLA AD Demo

$ roslaunch carla_ad_demo carla_ad_demo_with_rviz.launch vehicle_filter:='vehicle.toyota.prius*'