Carla-ros-bridge download and installation, carla comes with the import of additional maps

1. Download and installation of Carla-ROS-Bridge

1. Go to the carla directory

cd ~/carla

2. Download

git clone https://github.com/carla-simulator/ros-bridge.git --recursive

Note: You can hang a ladder if you can’t download it

3. Create ros_ws/src

mkdir -p ros_ws/src
cd ros_ws/src
ln -s ../../ros-bridge carla-ros-bridge

4. compile

cd ..
catkin_make

Encountered the following error: Could not find a package configuration file provided by " ackernann_nsgs" with any of the following names:
ackermann_msgsConfig.cnake
ackermann_msgs-config.cnake

Solution:
Install the following:
ros-melodic-tf2-geometry-msgs
ros-melodic-ackermann-msgs
ros-melodic-joy
ros-melodic-map-server

sudo apt-get install ros-melodic-tf2-geometry-msgs ros-melodic-ackermann-msgs ros-melodic-joy ros-melodic-map-server

After the installation is complete, continue to compile and report an error: Could not find a package configuration file provided by "derived_object_msgs" with any of the following names:
derived_object_msgsConfig.cmake
derived_object_msgs-config.cmake

Solved by installing the following:

sudo apt-get install ros-melodic-astuff-sensor-msgs

Continue to recompile, success!

run ad_demo

source devel/setup.bash
roslaunch carla_ad_demo carla_ad_demo.launch 

An error occurs, missing carla and transforms3d modules
ImportError: No module named transforms3d.euler
ImportError: No module named carla

Enter the following command to install

sudo pip install carla
sudo pip install transforms3d

And add the specified path to the global

export PYTHONPATH=$PYTHONPATH:/home/car/Downloads/CARLA_0.9.13/PythonAPI/carla/dist/carla-0.9.13-py2.7-linux-x86_64.egg

Error resolved successfully.
Continue to roslaunch

roslaunch carla_ad_demo carla_ad_demo.launch 

run successfully

2. Import additional maps that come with it

1. Open carla under the path of ~/CARLA_0.9.13

./CarlaUE4.sh 

2. View the map under the ~/CARLA_0.9.13/PythonAPI/util path

python config.py --list

Only 1, 2, 3, 4, 5
, 10 go to the official website to download additional maps
additional maps

Put the compressed package into the ~/CARLA_0.9.13/Import folder
Open the terminal under the ~/CARLA_0.9.13 path

./ImportAssets.sh

After the loading is complete, there are maps 6 and 7

Check the map information again and find that there are 6 and 7

python config.py --list

Enter the following command in the ~/CARLA_0.9.13/PythonAPI/util path to replace the new map (such as map 6)

python config.py -m Town06

Map loaded successfully!