1. Environment construction
1.1 Hardware environment
Based on Docker installation
system environment: ubuntu18.04, nvidia-470, cuda-11.1
1.2.Carla environment construction
1. Pull the image
docker pull carlasim/carla:latest
2.
There are two main ways to run the image:
- 1. Run docker to run UE4 directly
# 代显示运行
docker run --privileged --gpus all --net=host -e DISPLAY=$DISPLAY carlasim/carla:latest /bin/bash ./CarlaUE4.sh
# 不显示运行
docker run --privileged --gpus all --net=host -v /tmp/.X11-unix:/tmp/.X11-unix:rw carlasim/carla:latest /bin/bash ./CarlaUE4.sh -RenderOffScreen
# 用vulkan显示运行
docker run --privileged --gpus all --net=host -e DISPLAY=$DISPLAY -e SDL_VIDEODRIVER=x11 -v /tmp/.X11-unix:/tmp/.X11-unix:rw carlasim/carla:latest /bin/bash ./CarlaUE4.sh -vulkan
#用opengl显示运行(已经被vulkan替代)
docker run -e DISPLAY=$DISPLAY --net=host --gpus all --runtime=nvidia carlasim/carla:latest /bin/bash CarlaUE4