From fd793c2a4b0dfc56e8a31b1aee5b8d5ecb84206d Mon Sep 17 00:00:00 2001 From: Alexander Koufos Date: Tue, 3 Nov 2020 16:07:51 -0800 Subject: [PATCH] Issue #3: Updates README - Updates the README to document the way to run the AV stack with the recent additions. --- README.md | 55 +++++++++++++++++++++++++++++++++++++++++++------------ 1 file changed, 43 insertions(+), 12 deletions(-) diff --git a/README.md b/README.md index 848d171..52f6e57 100644 --- a/README.md +++ b/README.md @@ -1,24 +1,55 @@ # carla_circle +Workspace for ROS and scripts to work with Carla MCity Event 1. -workspace for ros and scripts to work with Carla Event 5 +## carla version / carla ros version +For this challenge we use a special MCity binaries provided by Michigan. The +binaries use Carla version 0.9.9.4 and have a special map designed for the +challenges. -*Stage 1*: - Each team will have a single agent only. - No bot cars. - Your agent will enter the roundabout, drive for 5 minutes, then leave. Entry/exit points are similar to the previous CARLA event. - Success is determined by how long you can sustain driving on the roundabout without collisions. +## Setup your Catkin workspace -*Stage 2*: +Start by creating a new catkin workspace directory. Something like - Similar to Stage 1. However, each university is expected to instantiate and run two agents, instead of a single agent. +```bash +source /opt/ros/melodic/setup.bash +mkdir -p ~/Catkin_Workspace/tri-carla-challenges/src +cd ~/Catkin_Workspace/tri-carla-challenges +``` -### carla version / carla ros version -0.9.5 +We need to clone our repositories to the `src` directory +```bash +cd ~/Catkin_Workspace/tri-carla-challenges/src +git clone git@github.com:StanfordMSL/carla_circle.git -b update_planners +git clone https://github.com/carla-simulator/ros-bridge.git +cd ~/Catkin_Workspace/tri-carla-challenges/src/ros-bridge +git reset --hard 1096747a6e84bf01ea1a859b9a0f6d01e0304ef6 +git submodule update --init +cd ~/Catkin_Workspace/tri-carla-challenges/src +git clone git@github.com:StanfordMSL/uav_game.git -b carla +``` +Then we need to compile our Catkin workspace -### to run simulation -see wiki +```bash +cd ~/Catkin_Workspace/tri-carla-challenges +catkin clean --yes +export GUROBI_HOME=/opt/gurobi811/linux64 +catkin build uavgame +catkin build carla_ackermann_control carla_circle carla_ego_vehicle carla_infrastructure carla_manual_control carla_msgs carla_ros_bridge carla_waypoint_publisher +catkin build rqt_carla_control +``` + +## Run the AV client + +We should now be able to run the AV client on the server. In a terminal enter +the following: + +```bash +export PYTHONPATH=$PYTHONPATH:/opt/Carla/MCity/PythonAPI/carla/dist/carla-0.9.9-py2.7-linux-x86_64.egg +source ~/Catkin_Workspace/tri-carla-challenges/devel/setup.bash +roslaunch carla_circle mcity_event1.launch host:=localhost port:=2000 max_speed:=5.0 opp_vel:=5.0 plan_steps:=10 plan_horizon:=3.0 +```