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:

• GNU make
• Docker
• 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

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>

3. 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.

4. Start the adore_if_carla docker context with the provided target:

make up

5. Run a scenario

• 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

cd ..
make cli
cd adore_scenarios
roslaunch <desired scenario launch file>.launch