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
- Install nvida-docker2
- 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>
- 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.
- Start the adore_if_carla docker context with the provided target:
make up
- 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
```bash
cd ..
make cli
cd adore_scenarios
roslaunch