记录：CARLA-autoware-bridge

https://github.com/carla-simulator/carla-autoware
环境：CARLA0.9.7，autoware1.12.0，Ubuntu16.04，ros kinetic

四个文件：CARLA0.9.7、autoware、carla-autoware、carla-python

1、安装CARLA0.9.7，下载编译好的包 或 docker安装
2、源码编译autoware1.12.0 或 docker
3、配置环境变量

#配置bashrc
export ROS_DISTRO=kinetic
source /opt/ros/kinetic/setup.bash
source ~/autoware.ai/install/setup.bash

export CARLA_AUTOWARE_ROOT=~/carla-autoware/autoware_launch
export CARLA_MAPS_PATH=~/carla-autoware/autoware_data/maps
source $CARLA_AUTOWARE_ROOT/../catkin_ws/devel/setup.bash

export CARLA_ROOT=~/CARLA_0.9.7
export PYTHONPATH=$PYTHONPATH:${
    
    CARLA_ROOT}/PythonAPI/carla/dist/carla-0.9.7-py2.7-linux-x86_64.egg:${
    
    CARLA_ROOT}/PythonAPI/carla/agents:${
    
    CARLA_ROOT}/PythonAPI/carla

4、连接bridge

#运行carla
cd CARLA_0.9.7
./CarlaUE4.sh
#可以选择不启动runtime manager，先打开可视界面
#（optional1）开两个teminal
roscore #第一个启动roscore
rviz #第二个启动rviz，连接bridge后，可再启动runtime manager
#（optional2）再开一个terminal，运行autoware，可在autoware中启动rviz
source ~/autoware.ai/install/setup.bash
roslaunch runtime_manager runtime_manager.launch
#再开一个terminal，连接bridge
cd /carla-autoware/autoware_launch
roslaunch devel.launch