op_bridge - CARLA OpenPlanner Bridge

OpenPlanner ROS based bridge for CARLA Simulator and Scenario Runner

Support:

• CARLA Simulator 0.9.13 release
• Python 2.7
• ROS 1
• OpenPlanner.1.13
• Linux 18.04
• To use traffic light detector: CUDA 11.1 + cudnn 8.0.4

Environment setup (bashrc):

export CARLA_ROOT=/home/user/carla-0.9.13/CARLA_0.9.13_RSS
export SCENARIO_RUNNER_ROOT=/home/user/carla-0.9.13/scenario_runner
export LEADERBOARD_ROOT=/home/user/carla-0.9.13/op_bridge
export TEAM_CODE_ROOT=/home/user/carla-0.9.13/op_agent
export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI
export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/util
export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/carla
export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/carla/agents
export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/carla/dist/carla-0.9.13-py2.7-linux-x86_64.egg

How to run the bridge:

1-Run CARLA simulator 0.9.13

2-Run one of the following options.

3-In case of run_srunner_agent.sh, scneario must be started before running the bridge.

4-The bridge run script will run the op_agent

Three options:

./op_scripts/run_exploration_mode.sh
./op_scripts/run_srunner_agent.sh
./op_scripts/run_route_scenarios.sh