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Setting Up Your Environment

Before using the toolbox, you must setup your environment. In order to use all the toolbox's functionality, you must follow the entire procedure. More information for setting up Julia and Python environments can be found online. These instructions are to get you going in the same development environment the toolbox was created. All instructions assume you have already downloaded and extracted the Carla Binaries and installed the correct versions of Julia and Python found under the prerequisites section.

Note: This setup assumes you are working on a Linux machine.

Carla Binaries

We'll assume the binary has been extracted to the location ~/Simulators/Carla-0.9.7. If you have extracted the binaries to another location, simply replace this location with yours.

Python

In order to use the Carla PythonAPI, you must update the PYTHONPATH environment variable to include the correct egg file. in order to do this simply add the following line to your ~/.bashrc file or run the command directly in the terminal you will be interacting with the toolbox.

export PYTHONPATH=~/Simulators/Carla-0.9.7/PythonAPI/carla/dist/carla-0.9.7-py3.5-linux-x86_64.egg:$PYTHONPATH

Note: Adding the line to your ~/.bashrc file will load this path on every new terminal instance, but will be persistent for any other Python REPL.

Julia

You can setup your Julia environment to constantly update to the working directory of this toolbox. In other words, if you make changes in this repo locally, they will be present in the next run of any Julia program using the toolbox. The following is how the environment was setup during development. Once again, it is assumed the locations referenced exist on your system. If you would like to use different locations, simply update the location with your preference.

Note: If your not familiar with Julia pkg, the ] below must be manually typed to enter pkg mode before the following text.

julia
] activate ~/Development/VirtualEnvironments/Julia/sct-testing
] dev ~/Development/stanford-carla-toolbox
] add AutomotiveSimulator
] add PyCall

This will create a "virtual environment" specifically for development, testing or just using the toolbox in the state cloned from GitHub.