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casperauto's Introduction

Casper Auto

TODO: Description.

Folder Structure

Quick Setup

Under Ubuntu 20.04 and ROS Noetic (with Python 3.8 kernel in default),

Download Carla simulator (version 0.9.11 release)[https://github.com/carla-simulator/carla/releases/tag/0.9.11].
Setup environment variables for Carla.

Include CARLA Python API to the Python path:

export CARLA_ROOT=/path/to/your/carla/installation
export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/carla
export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/carla/agents
export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/carla/dist/carla-0.9.11-py3.7-linux-x86_64.egg

To setup Carla Simulator using Docker please refer to "Setup_Carla_Simulator".

Setup the workspace

For your convenience, a quick setup script is provided. Simply run

./setup_workspace.sh

This script will create the catkin_ws folder, create a symbolic link to the source folder src, and build everything with catkin build.

Unlike catkin_make, the catkin command-line tool is not just a thin wrapper around a the cmake and make commands. The catkin build command builds each package in a workspace’s source space in isolation in order to prevent build-time cross-talk. As such, in its simplest use, catkin build behaves similarly to a parallelized version of catkin_make_isolated.