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System Requirements:

OS: Ubuntu 18.04

GPU: A dedicated GPU with a minimum of 6GB VRAM (8GB or more is recommended for optimal performance)

Clone ICSFuzz

git clone https://github.com/AOOOOOA/ICSFuzz.git

Install Carla 0.9.13

  1. Download Carla

Go to https://github.com/carla-simulator/carla/releases/tag/0.9.13 and download CARLA_0.9.13.tar.gz.

  1. Move Carla_0.9.13.tar.gz under the ICSFuzz folder and extract the tar
tar -xzvf CARLA_0.9.13.tar.gz
mv CARLA_0.9.13 carla
  1. Setting the environment variable for Carla in ~/.bashrc
vim ~/.bashrc 
or
gedit ~/.bashrc

Adding:

export CARLA_ROOT=xx/xx/CARLA_0.9.13   # here the xx/xx/ is the path of your Carla 
export SCENARIO_RUNNER_ROOT=xx/xx/ICSFuzz/scenario_runner    # here the xx/xx/ is the path of ICSFuzz on your PC
export PYTHONPATH=$PYTHONPATH:xx/xx/CARLA_0.9.13/PythonAPI/carla/dist/carla-0.9.13-py3.7-linux-x86_64.egg      # here the xx/xx/ is the path of your Carla

After adding the environment paths, remember to run:

source ~/.bashrc
  1. Installing the Carla Client
pip3 install carla==0.9.13

or 

pip3 install xx/xx/CARLA_0.9.13/PythonAPI/carla/dist/carla-0.9.13-py3.7-linux-x86_64.whl        
# here the xx/xx/ is the path of your Carla

Launch ICSFuzz

  1. Installing the requirements
pip install -r requirements.txt
  1. Testing scenario Follow Leading Bicycle
sh launch_all_FLB.sh

Note: This configuration runs Carla in windowed mode. For headless operation, modify the launch_all_FLB.sh script by replacing '-windowed' with '-RenderOffScreen'.

Output will be displayed both in the terminal and saved to result_txt/FLB.txt for you to refer.

  1. Testing scenario Lane Change:
sh launch_all_LC.sh

We currently offer two sample scenarios for demonstration. Upon acceptance of our paper, we will release additional commands and comprehensive results.

Note:

If you encounter an error related to launching Carla when running either launch_all_FLB.sh or launch_all_LC.sh, please make the following adjustment:

In both launch_all_FLB.sh and launch_all_LC.sh scripts, locate the launch_carla function. Within this function, find the line that reads "sh carla/CarlaUE4.sh". Replace this line with the full, correct path to your Carla installation path.

For example, if Carla is installed in /home/user/CARLA_0.9.13, you would modify the line to: sh /home/user/CARLA_0.9.13/CarlaUE4.sh

Following the installation steps carefully will greatly reduce the chance of encountering this issue. If you still face any problems, please report them, and I'll assist you promptly!