CARLA Setup

CARLA Setup

1. Download the following zip files. They should be unzipped within the same directory.

https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/CARLA_0.9.8.tar.gz
https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/AdditionalMaps_0.9.8.tar.gz

2. Add the following environment variables:

export PYTHONPATH=$PYTHONPATH:/home/CARLA_0.9.8/PythonAPI
export PYTHONPATH=$PYTHONPATH:/home/CARLA_0.9.8/PythonAPI/carla
export PYTHONPATH=$PYTHONPATH:/home/CARLA_0.9.8/PythonAPI/carla/dist/carla-0.9.8-py3.5-linux-x86_64.egg

3. Install the following extra libraries

pip install pygame
pip install networkx
pip install dotmap

4. Open a new terminal session, and run the CARLA simulator:

bash CarlaUE4.sh -fps 20

In a second terminal window, run

./PythonAPI/util/config.py --map Town03 --delta-seconds 0.05

Use the Town03 map for carla-town-v0, and Town04 for carla-lane-v0.