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installation.md

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Required libraries and packages:

  1. NUMBA sudo apt-get install python-numba After installation, Run numba_test.py in scripts/support directory (The script should run without any error and should show elapsed time)

  2. Scenario-runner (0.9.8) https://github.com/carla-simulator/scenario_runner

  3. CARLA Simulator (0.9.8)

  4. ROS (melodic)

  5. Python (3.6.9)

  6. grid_map package: sudo apt-get install ros-$ROS_DISTRO-grid-map or visit: https://github.com/ANYbotics/grid_map

  7. others: argparse, CSV, Matplotlib

Note: 2, 3 are needed only for creating new scenarios. One may use recorded bags. 6 is necessary for better visualisation of grid with color map. (GridMap causes lag in the simulation, so for good performance use OccupancyGrid message)

Steps to use the repository:

  1. Clone the repository

  2. Download bagfiles: https://drive.google.com/drive/folders/14noRPVw5wNrb6D1mwjnRfd1XXu-LsA7W?usp=sharing

  3. Install prerequisites

  4. roscore

  5. robag play -----

  6. python rosnode.py

  7. open rviz and open relevant config file (Unless you are running scripts from carla folder, you can use kitti_related.config)