Installation Instructions

Prerequisites

The instructions provided on this page are for Ubuntu 20.04 and ROS 2 Galactic.

See the Ubuntu 20.04 installation instructions for more information.

See the ROS2 Galactic installation instructions for more information.
We will use the following directory structure in this tutorial:
~
├── nist_seri_ws
|   └── src
|       └──seri_workshop_demo
|          └── nist_demo
├── autoware_carla_launch
└── autoware_carla
    ├── autoware
    └── <carla folder>

Nist Demo Package

Create the nist_seri_ws directory:
cd ~
mkdir -p nist_seri_ws/src
Clone the seri_workshop_demo package:
cd ~/nist_seri_ws/src
git clone https://github.com/zeidk/seri_workshop_demo.git
Build the seri_workshop_demo package:
cd ~/nist_seri_ws
colcon build --symlink-install

Carla Simulator

Carla 0.9.13 is used in the demo.
- Create the autoware_carla directory:
cd ~ mkdir autoware_carla
- Get one of the two following pre-built binaries from here.
  Download one of the following pre-built versions in autoware_carla :
  
  CARLA_0.9.13.tar.gz
  
  CARLA_0.9.13_RSS.tar.gz
- Extract the archive to a directory of your choice. We will use the following directory in this example: ~/dev/carla_simulator/
- Check the the simulator can run:
  cd ~/autoware_carla/<carla folder> ./CarlaUE4.sh -quality-level=Epic -prefernvidia
  
  Note: Options to CarlaUE4.sh can be found here.

Autoware

Autoware (version Galactic) is used in the demo. The following instructions are taken from the Autoware Source Installation.

Install Git

sudo apt-get -y update
sudo apt-get -y install git

Install Autoware

Clone autowarefoundation/autoware:

cd ~/autoware_carla
git clone https://github.com/autowarefoundation/autoware.git -b galactic

Pull the dependencies:

cd ~/autoware_carla/autoware
mkdir src
vcs import src < autoware.repos

Install dependent ROS packages:

source /opt/ros/galactic/setup.bash
cd ~/autoware_carla/autoware
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

Build the workspace:
cd ~/autoware_carla/autoware colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
Note: colcon build builds all packages in the workspace. This can take a long time (approximately 20-30 min).

Requirements

~/autoware_carla/autoware is a ROS 2 workspace. Each time a modification is made to any file in the src folder, the workspace must be rebuilt with colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release.
Test Autoware:
- Follow the instructions found here to test the planning simulation in Autoware.

Carla Autoware Bridge

Clone the autoware_carla_launch package:

cd ~
git clone https://github.com/evshary/autoware_carla_launch.git -b galactic

Build the autoware_carla_launch package:

cd ~/autoware_carla_launch
make clean
source env.sh
make prepare
source ~/autoware_carla/autoware/install/setup.bash
make build

Test the bridge:

Terminal 1: Run Carla

cd ~/autoware_carla/<carla folder>
./CarlaUE4.sh -quality-level=Epic -prefernvidia

Terminal 2: Run the bridge

cd ~/autoware_carla_launch
source env.sh
ros2 launch autoware_carla_launch autoware_carla.launch.xml

Run Multiple Vehicles

Since running two Autoware will cause port conflict, we need to do some modifications.

Modify the file behavior_planning.launch.py

~
└── autoware_carla
    └── autoware
        └── src
            └── universe
                └── autoware.universe
                    └── launch
                        └── tier4_planning_launch
                            └── launch
                                └── scenario_planning
                                    └── lane_driving
                                        └── behavior_planning
                                            └── behavior_planning.launch.py

import random # Add this line
...
    {
        "bt_tree_config_path": [
            FindPackageShare("behavior_path_planner"),
            "/config/behavior_path_planner_tree.xml",
        ],
        "groot_zmq_publisher_port": random.randint(2000, 4000), # Add this line
        "groot_zmq_server_port": random.randint(2000, 4000), # Add this line
        "planning_hz": 10.0,
    },

Able to spawn a second vehicle into Carla.

Modify ~/autoware_carla_launch/src/autoware_carla_launch/launch/carla_bridge.launch.xml (About line 7)

Remove the following line:

<executable cmd="poetry run python3 main.py --host $(env CARLA_SIMULATOR_IP) --rolename $(env VEHICLE_NAME)" cwd="$(env AUTOWARE_CARLA_ROOT)/external/zenoh_carla_bridge/carla_agent" output="screen" />

Add the following lines:

<executable cmd="poetry run python3 main.py --host $(env CARLA_SIMULATOR_IP) --rolename 'v1' --position 87.687683,145.671295,0.300000,0.000000,90.000053,0.000000" cwd="$(env AUTOWARE_CARLA_ROOT)/external/zenoh_carla_bridge/carla_agent" output="screen" />
<executable cmd="poetry run python3 main.py --host $(env CARLA_SIMULATOR_IP) --rolename 'v2' --position 92.109985,227.220001,0.300000,0.000000,-90.000298,0.000000" cwd="$(env AUTOWARE_CARLA_ROOT)/external/zenoh_carla_bridge/carla_agent" output="screen" />

Spawn two vehicles.

Run Carla:

cd ~/autoware_carla/<carla folder>
./CarlaUE4.sh -quality-level=Epic -prefernvidia -RenderOffScreen

Run the bridge:

cd ~/autoware_carla_launch
source env.sh
ros2 launch autoware_carla_launch carla_bridge.launch.xml

Run Autoware for the first vehicle:

cd ~/autoware_carla_launch
source env.sh
ROS_DOMAIN_ID=1 VEHICLE_NAME="v1" ros2 launch autoware_carla_launch autoware_zenoh.launch.xml

Run Autoware for the second vehicle:

cd ~/autoware_carla_launch
source env.sh
ROS_DOMAIN_ID=2 VEHICLE_NAME="v2" ros2 launch autoware_carla_launch autoware_zenoh.launch.xml