usdotfhwastoldev/carma-carla-integration repository overview

⁠CARMA-CARLA Integration Tool

This user guide provides step-by-step user instructions on how to build CARMA-CARLA integration tool on Docker, setup configuration for both CARMA platform and CARMA-CARLA integration tool and run that with CARMA platform.

⁠Requirement

• Docker (19.03+)
• Nvidia Docker⁠
• CARMA Platform⁠ (3.9.0)
• CARLA Simulation⁠ (0.9.10.1)

⁠Setup

⁠CARMA-CARLA Integration Setup

1. Getting CARMA-CARLA integration docker mage:

There are two ways to get CARMA-CARLA docker image. You can either choose to pull the co-simulation tool docker image from DockerHub or build the image by yourself.

git clone https://github.com/usdot-fhwa-stol/carma-carla-integration.git

Option 1. Build image from Dockerfile by using following command:

cd docker && ./build-image.sh -v [version]

Option 2. Pull image from DockerHub by using following command:

docker pull usdotfhwastol/carma-carla-integration:[tag]

The tag information could be found from usdotfhwastol Dockerhub⁠

1. Modify CARLA ROS bridge (skipped if running with co-simulation tool): If the CAMRA-CARLA integration is runing alone without co-simulation tool. The synchronous mode parameter should be enabled.

⁠Step 1: Launched the CARMA-CARLA docker container:

cd <path-to-carma-carla-integration>/docker && ./run.sh -v [version]

⁠Step 2: Modify the parameter synchronous_mode value to true

sudo nano ros-bridge/carla_ros_bridge/config/settings.yaml

⁠CARMA Platform Config

CARMA Config for the simulation currently cannot be pulled from docker hub. It requires local docker build for the image.

1. Clone the source code of CARMA config from github:

git clone https://github.com/usdot-fhwa-stol/carma-config.git

1. Switch branch.

git switch Update/carla_integration

1. Go to the directory /carla_integration under CARMA config and build the docker image. Remember the image name

cd carla_integration/ && ./build-image.sh

1. Setup CARMA config of the simulation

carma config set usdotfhwastol/carma-config:[tag]

⁠Run CARMA-CARLA Integration Tool with CARMA Platform

1. Run CARMA Platform with separated terminal

carma start all

1. Run CARLA server

./CarlaUE4.sh

1. Change the map to match with CARMA Platform vector map (initial setting is Town02) by using the python script provided by CARLA in the path : CARLA_0.9.10/PythonAPI/util/config.py.

python config.py -m <map>

 4.1 Run carma-carla docker container

cd <path-to-carma-carla-integration>/docker && ./run.sh -v [version]

 4.2 Set the catkin source and CARLA python path

export PYTHONPATH=$PYTHONPATH:/home/PythonAPI/carla-0.9.10-py2.7-linux-x86_64.egg && source /home/carma_carla_ws/devel/setup.bash

 4.3 Launch CARMA-CARLA integration tool

roslaunch carma_carla_agent carma_carla_agent.launch town:='your_map_name' spawn_point:='spawn_point_info'

Note: step 3 must be completed within 20 seconds after step 2 being completed

1. Open CARMA-Web-UI to select route and plugins via Chromium Web Browser incognito window then click the circle button at the left bottom corner.

Afterward, the corresponding CARLA vehicle will start to receive control command from CARMA-Platform and start to following the selected route to move

⁠Run CARMA-CARLA Integration Tool with CARMA Platform and Co-Simulation tool

1. To run the with the co-simulation tool, the carma-xil-cosimulation docker image must be pulled firstly.

docker pull usdotfhwastol/carma-xil-cosimulation:[tag]

The tag information could be found from carma-xil-cosimulation docker repositories⁠

1. Run CARMA platform

carma start all

1. Run docker-compose.yml at the directory <path-to-carma-carla-integration>/docker/.

docker-compose up

The default setting of the scenario in docker-compose.yml is Town04 for both CARMA-CARLA and co-simulation. It must be edited to test different scenario

⁠Usage Instruction

The usage instruction includes what parameter could be parsed to CARMA-CARLA integration, the description of these parameters and CARMA parameters

⁠CARMA-CARLA Integration Parameters

⁠CARMA Maps

After CARMA platform installed successfully, the default vector_map.osm and pcd_map.pcd are Town02 stored in the folder /opt/carma/maps/. CARMA platform will load vector map (lanelet) and point cloud map when it has been launched. The vector map could be converted from open drive (.xodr) by using the opendrive2lanelet⁠ tool. Also, CARLA simulation provides several available Town maps to download from autoware-contents⁠

⁠CARMA Routes

After CARMA platform installed successfully, there is a default Town02 route file located in the folder /opt/carma/route/. To customize a route, here is the instruction of creating a new route file⁠