Merge pull request #4 from SEAME-TEAM01/docs-project-environment/issu…

…e-#1

Documents for Ros bridge installation, example, error fixes, ...

docs/installation.md

@@ -1,27 +1,27 @@
 # Project Environment & Installation
 
-Our project is based on **`Carla 0.9.15`** version, so other components are based on Carla's system requirements. You can check informatoins about Carla 0.9.15 installation and requirements at [this link](https://carla.readthedocs.io/en/0.9.15/start_quickstart/).
+Our project is based on **`Carla 0.9.14`** version, so other components are based on Carla's system requirements. You can check informatoins about Carla 0.9.14 installation and requirements at [this link](https://carla.readthedocs.io/en/0.9.14/start_quickstart/).
 
 
-## OS: Ubuntu 20.04 focal
+# OS: Ubuntu 20.04 focal
 ```shell
 # Carla's official supported platform is 18.04, but it was EOL at May 31 2023. So we've chosen 20.04 instead of.
 ```
 
 
-## Python: 3.8
+# Python: 3.8
 ```shell
 # Carla library is compatiable with Python 2.7, 3.6, 3.7, and 3.8.
 ```
 
-### Install Python
+## Install Python
 
 I've installed python by ppa.
 ```shell
 sudo apt update
 sudo apt install software-properties-common
 sudo add-apt-repository ppa:deadsnakes/ppa
-sudo apt install python3.7 pip
+sudo apt install python3.8 python3-pip
 ```
 
 If you wanna check is python ready, please run this command and check the result.
@@ -38,27 +38,30 @@ You need 20.3 or higher for pip to install carla api. So if your pip version is
 sudo apt upgrade pip
 ```
 
-### Install Python Libraries and venv
+If your pip is still old version after update, your new pip is in `~/.local/bin/`. So update $PATH or override pip command by alias.
+
+## Install Python Libraries and venv
 
 If your OS and Python is ready to go, you need to install numpy and pygame to use Carla Client.
 
 ```shell
 # If pip doesn't work, first try pip3. Still not working? Check did you installed pip correctly.
 pip install numpy pygame
+sudo apt install python3-venv
 ```
 
 
-## Carla: 0.9.15
+# Carla: 0.9.14
 
-### Install Carla
+## Install Carla
 
-#### 1. Tips
-There are two way of installing Carla. First is by Debian package, second is downloading it from github. In this document, I wrote the second way only. Move to [carla's installation document](https://carla.readthedocs.io/en/0.9.15/start_quickstart/#carla-installation) to check the Debian package way.
-#### 2. Downloading & Unzip
-Move to this **[link](https://github.com/carla-simulator/carla/releases/tag/0.9.15/)** and download Carla compressed file and Additional Maps too. The Carla package is 7.8Gb and 6.2Gb to Additional Maps, so let your environment have good network conditions.
-#### 3. Env setting
+### 1. Tips
+There are two way of installing Carla. First is by Debian package, second is downloading it from github. In this document, I wrote the second way only. Move to [carla's installation document](https://carla.readthedocs.io/en/0.9.14/start_quickstart/#carla-installation) to check the Debian package way.
+### 2. Downloading & Unzip
+Move to this **[link](https://github.com/carla-simulator/carla/releases/tag/0.9.14/)** and download Carla compressed file and Additional Maps too. The Carla package is 7.8Gb and 6.2Gb to Additional Maps, so let your environment have good network conditions.
+### 3. Env setting
 After download, move them to certain location and unzip. Remember where did you cloned and unziped, and put the location at variable `CARLA` of [`env.template`](/settings/env.template).
-#### 4. Import AdditionalAssets
+### 4. Import AdditionalAssets
 - Linux  
     move the package to the Import folder and run the following script to extract the contents:
     ```shell
@@ -68,11 +71,193 @@ After download, move them to certain location and unzip. Remember where did you
 - Windows  
     Extract the contents directly in the root folder
 
-### Install Carla Client Library
+## Error solve
+
+<img src="./assets/carla-error/situation.png">
+
+If your Carla is too bright and blue, this command will help. Don't forget to put this line in your rc file. `ex: zshrc`
+```
+export VK_ICD_FILENAMES="/usr/share/vulkan/icd.d/nvidia_icd.json"
+```
+
+## Install Carla Client Library
 
-Several ways to install carla library was introduced in [official document](https://carla.readthedocs.io/en/0.9.15/start_quickstart/#carla-installation). But installing by whl and egg didn't worked, so I used venv and pip way.
+Several ways to install carla library was introduced in [official document](https://carla.readthedocs.io/en/0.9.14/start_quickstart/#carla-installation). But installing by whl and egg didn't worked, so I used venv and pip way.
 
 ```shell
 # This script create and call .env, create venv and install libraries for carla.
 ./init.sh
-```
+```
+
+
+# ROS Bridge Installation
+
+You can see full document [here](https://carla.readthedocs.io/projects/ros-bridge/en/latest/ros_installation_ros2/).
+
+## Prerequisite
+- (ROS2 Foxy)[https://docs.ros.org/en/foxy/Installation.html]
+- Additional ROS packages(ex: rviz)
+- CARLA 0.9.11 or later (We already have done! 😄)
+
+### ROS2 Foxy
+Follow this documentation. [Link](https://docs.ros.org/en/foxy/Installation/Alternatives/Ubuntu-Development-Setup.html)
+
+1. Locale setting
+```shell
+locale  # check for UTF-8
+
+sudo apt update && sudo apt install locales
+
+sudo locale-gen en_US en_US.UTF-8
+
+sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+
+export LANG=en_US.UTF-8
+
+locale  # verify settings
+```
+
+2. Add ROS2 repository
+```shell
+sudo apt install software-properties-common
+
+sudo add-apt-repository universe
+
+sudo apt update && sudo apt install curl -y
+
+sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+
+echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+```
+
+3. Install development tools and ROS tools
+```shell
+sudo apt update && sudo apt install -y \
+  libbullet-dev \
+  python3-pip \
+  python3-pytest-cov \
+  ros-dev-tools
+
+# install some pip packages needed for testing
+python3 -m pip install -U \
+  argcomplete \
+  flake8-blind-except \
+  flake8-builtins \
+  flake8-class-newline \
+  flake8-comprehensions \
+  flake8-deprecated \
+  flake8-docstrings \
+  flake8-import-order \
+  flake8-quotes \
+  pytest-repeat \
+  pytest-rerunfailures \
+  pytest
+
+# install Fast-RTPS dependencies
+sudo apt install --no-install-recommends -y \
+  libasio-dev \
+  libtinyxml2-dev
+
+# install Cyclone DDS dependencies
+sudo apt install --no-install-recommends -y \
+  libcunit1-dev
+```
+
+4. Get ROS2 Code
+```shell
+mkdir -p ~/ros2_foxy/src
+
+cd ~/ros2_foxy
+
+vcs import --input https://raw.githubusercontent.com/ros2/ros2/foxy/ros2.repos src
+```
+
+5. Install dependencies using rosdep
+```shell
+sudo apt upgrade
+
+sudo rosdep init
+
+rosdep update
+
+rosdep install --from-paths src --ignore-src -y --skip-keys "fastcdr rti-connext-dds-5.3.1 urdfdom_headers"
+
+colcon build --symlink-install
+```
+
+### RVIZ2 install
+```
+sudo apt install ros-foxy-rviz2
+```
+
+## Install ROS Bridge
+```shell
+mkdir -p ~/carla-ros-bridge && cd ~/carla-ros-bridge
+
+git clone --recurse-submodules https://github.com/carla-simulator/ros-bridge.git src/ros-bridge
+
+source /opt/ros/foxy/setup.zsh
+
+sudo apt install ros-foxy-pcl-conversions
+
+rosdep update
+
+rosdep install --from-paths src --ignore-src -r
+
+colcon build
+```
+
+## Run ROS Bridge
+
+1. Run your Carla.
+```shell
+carla 
+```
+
+2. Add the correct CARLA modules to your Python path
+```shell
+export CARLA_ROOT=<path-to-carla>
+
+export PYTHONPATH=$PYTHONPATH:$CARLA_ROOT/PythonAPI/carla/dist/carla-<carla_version_and_arch>.egg:$CARLA_ROOT/PythonAPI/carla
+```
+Don't forget to put this to your rc file. `ex: zshrc`
+
+3. Add the source path for the ROS bridge workspace
+```shell
+ros-init # custom alias command
+```
+
+4. Examples
+```shell
+ros2 launch carla_ros_bridge carla_ros_bridge.launch.py
+ros2 launch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch.py
+```
+
+- If your ros2 cannot find the packages, try to run `/opt/ros/$VERSION/setup.zsh`. `~/ros2_foxy/install/local_setup.zsh`, and `~/carla_ros_bridge/install/setup.zsh`. I recommend you to set these in `~/.zshrc` to automate. Here is my zshrc file. (Just as an example)
+```shell
+# ...
+
+# CARLA Custom command and vars
+alias  dev=~/dev
+export CARLA=~/dev/CarlaUE4
+export ROS_VERSION=foxy
+export ROS2=~/ros2_$ROS_VERSION
+alias  carla="$CARLA/CarlaUE4.sh"
+alias  pip3="~/.local/bin/pip3.11"
+alias  pip="~/.local/bin/pip3.11"
+alias  ros-init-local="source $ROS2/install/local_setup.zsh"
+alias  ros-init-opt="source /opt/ros/$ROS_VERSION/setup.zsh"
+alias  ros-init-bridge="source ~/carla_ros_bridge/install/setup.zsh"
+
+# CARLA error solve
+export VK_ICD_FILENAMES="/usr/share/vulkan/icd.d/nvidia_icd.json"
+
+# CARLA ROS BRIDGE
+export CARLA_ROOT=$CARLA
+export PYTHONPATH=$PYTHONPATH:$CARLA_ROOT/PythonAPI/carla/dist/carla-0.9.14-py2.7-linux-x86_64.egg:$CARLA_ROOT/PythonAPI/carla:$ROS2/install
+
+ros-init-opt
+ros-init-local
+```
+
+- Check `CARLA_VERSION` file in `~/carla-ros-bridge/install/carla_ros_bridge/lib/python3.8/site-packages/carla_ros_bridge`. If the version is different with your CARLA, just change as your carla. (0.9.14 in case of this tutorial)