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adore_if_carla

An interface package, which enables ADORe to control CARLA autonomous vehicles via carla-ros-bridge.

Note: adore_if_carla is experimental

Prerequsits

The following tools must be installed and configured for your system: - nvida-docker2 nvidia-docker2 must be installed on the host system. Instructions can be found here: https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html

Alternatively, you can run the provided setup target to install nvidia-docker2 on ubuntu:

make install_nvidia_docker2
  • make
  • docker

Getting Started

  1. Install nvida-docker2
  2. Source the adore environment:
cd ../
source adore.env

Alternatively, you can directly provide the SUBMODULES_PATH such as the following: 

SUBMODULES_PATH="$(realpath ../)" make <target>
  1. Build adore_if_carla with provided build target:
make build

During build, the Dockerfile of the carlasimulator/ros-bridge is built and the carlasim/carla:0.9.13 docker image is pulled from dockerhub. Grab a coffee, carla is >17GB.

  1. Start the adore_if_carla docker context with the provided target:
make up
  1. Run a scenario
  2. There is a demo scenario provided: adore_scenarios/demo014_adore_if_carla.launch. This demo can be run with: 
make run_demo_carla_scenario

or ```bash cd .. make cli cd adore_scenarios roslaunch .launch