ROS bridge notes (01) - APT installation, source code compilation and installation, installation dependency, and operation display

Official website ：https://carla.readthedocs.io/projects/ros-bridge/en/latest/ros_installation_ros1/

1. Installation premise

• Ubuntu 18.04
• ROS already installed
• CARLA 0.9.8+ already installed

have access to apt install （ Support only Ubuntu 18.04）, Or use the source code to compile and install , Recommended source code compilation and installation .

2. apt install

2.1 Add image source

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 1AF1527DE64CB8D9
sudo add-apt-repository "deb [arch=amd64] http://dist.carla.org/carla $(lsb_release -sc) main"

2.2 install ROS bridge

• Install the latest version

sudo apt-get update # Update the Debian package index
sudo apt-get install carla-ros-bridge # Install the latest ROS bridge version, or update the current installation

• Install the specified version

apt-cache madison carla-ros-bridge # List the available versions of the ROS bridge
sudo apt-get install carla-ros-bridge=0.9.10-1 # In this case, "0.9.10" refers to the ROS bridge version, and "1" to the Debian revision

After successful installation , Can be in /opt Directory to see the installed files .

3. Source code compilation and installation

3.1 Create a workspace

mkdir -p ~/carla-ros-bridge/catkin_ws/src

3.2 clone ROS Bridge Libraries and submodules

cd ~/carla-ros-bridge
git clone --recurse-submodules https://github.com/carla-simulator/ros-bridge.git catkin_ws/src/ros-bridge

3.3 Import ROS environment variable

source /opt/ros/melodic/setup.bash

Be careful ： Installed here by default ROS Version is melodic

3.4 Installation dependency

cd catkin_ws
rosdep update
rosdep install --from-paths src --ignore-src -r

3.5 Compilation and installation

 catkin build   
 #  perhaps  
 catkin_make

4. function

4.1 start-up CARLA

according to CARLA The installation is different , Select the corresponding command to start CARLA：

# Package version in carla root folder
./CarlaUE4.sh

# Debian installation in `opt/carla-simulator/`
./CarlaUE4.sh

# Build from source version in carla root folder
make launch

4.2 Creating a virtual environment

install miniconda , Access address ：https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh

conda After the environment is installed , establish Python A virtual environment

conda create -n py27 python=2.7
conda create -n py37 python=3.7

Here you can choose to install different versions , Be careful ：

ros-bridge Need to install to python2.7 In the environment of .

Use the following command to view the virtual environment that the current environment already has

conda info -e

Optional commands ：

conda config --set auto_activate_base false
conda config --set report_errors false

Activate 、 To activate a version of the environment

conda activate py27
conda deactivate

be based on Python2.7 Environmental Science , To configure ROS Bridge Needed Python Dependency Library

conda create -n py27 python=2.7
conda activate py27

Set permanently in the virtual environment pip Source

pip config set global.index-url https://pypi.tuna.tsinghua.edu.cn/simple

Install dependency library

pip install opencv-python==4.2.0.32 
pip install networkx
pip install rospkg
pip install rospy
pip install simple_pid
pip install transforms3d
pip install networkx
pip install enum
pip install pygame

4.3 take CARLA The path is added to Python In the environment variables

export CARLA_ROOT=<path-to-carla> 
export PYTHONPATH=$PYTHONPATH:$CARLA_ROOT/PythonAPI/carla/dist/carla-<carla_version_and_arch>.egg:$CARLA_ROOT/PythonAPI/carla

among ：

• <path-to-carla> by CARLA Installation path for ;
• <carla_version_and_arch> by CARLA Corresponding Python Version pack ;

Created in the previous step Python2.7 Execute the following commands in the virtual environment ：

(py27) [email protected]:~/tool$ export PYTHONPATH=$PYTHONPATH:/home/wohu/tool/CARLA_0.9.13/PythonAPI/carla/dist/carla-0.9.13-py2.7-linux-x86_64.egg:/home/wohu/tool/CARLA_0.9.13/PythonAPI/carla
(py27) [email protected]:~/tool$  python -c 'import carla;print("Success")' 
Success
(py27) [email protected]:~/tool$

explain Python The related dependent libraries are installed normally .

4.4 Import ROS bridge environment variable

According to different installation methods , Select the corresponding command to import ros bridge environment variable

# For debian installation of ROS bridge. Change the command according to your installed version of ROS.
source /opt/carla-ros-bridge/<melodic/noetic>/setup.bash

# For GitHub repository installation of ROS bridge
source ./carla-ros-bridge/catkin_ws/devel/setup.bash

Each run ROS bridge You need to execute the above commands , You can also add the above command to ~/.bashrc in .

4.5 function ROS Bridge

Choose either of the following two commands , You can't do it at the same time .

# Option 1: start the ros bridge
roslaunch carla_ros_bridge carla_ros_bridge.launch

# Option 2: start the ros bridge together with an example ego vehicle
roslaunch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch