GettingStarted.md

Getting Started

Prerequisites

We will run Carla and Apollo in docker. Furthermore, NVIDIA Container Toolkit is needed. You can refer to the following link to install NVIDIA Container Toolkit:

• https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html

Alternatively, simply perform the following steps：

• docker

  sudo apt-get install docker.io

• NVIDIA Container Toolkit

  curl https://get.docker.com | sh \
  && sudo systemctl --now enable docker

  distribution=$(. /etc/os-release;echo $ID$VERSION_ID) \
      && curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \
      && curl -s -L https://nvidia.github.io/libnvidia-container/$distribution/libnvidia-container.list | \
            sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \
            sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list

  sudo apt-get update

  sudo apt-get install -y nvidia-docker2

  sudo systemctl restart docker

• docker-compose

     sudo curl -L "https://github.com/docker/compose/releases/download/v2.0.1/docker-compose-$(uname -s)-$(uname -m)" -o /usr/local/bin/docker-compose

• Change File Permission:

  sudo chmod +x /usr/local/bin/docker-compose 

Apply executable permissions to the standalone binary in the target path for the installation. Test and execute compose commands using docker-compose. Note: If the command docker-compose fails after installation, check your path. You can also create a symbolic link to /usr/bin or any other directory in your path. For example:

 sudo ln -s /usr/local/bin/docker-compose /usr/bin/docker-compose

Build And Run Apollo

• Refer to this link：
  https://github.com/ApolloAuto/apollo/blob/master/docs/01_Installation%20Instructions/apollo_software_installation_guide.md

1. Clone apollo v8.0.0

   # Using SSH
   git clone -b v8.0.0 git@github.com:ApolloAuto/apollo.git
   
   #Using HTTPS
   git clone -b v8.0.0 https://github.com/ApolloAuto/apollo.git

2. Build Apollo

   cd apollo
   echo "export APOLLO_ROOT_DIR=$(pwd)" >> ~/.bashrc  && source ~/.bashrc

   Then, run:

   sudo rm -rf /apollo/.cache
   bash docker/scripts/dev_start.sh

   Upon successful execution, you will see the following message

   [ OK ] Congratulations! You have successfully finished setting up Apollo Dev Environment.
   [ OK ] To login into the newly created apollo_dev_lei container, please run the following command:
   [ OK ]   bash docker/scripts/dev_into.sh
   [ OK ] Enjoy!

   Above If you occured error as "ERROR: Config value 'cuda' is not defined in any .rc file",you can try

   ./apollo.sh config -n

   Run this command to enter the container

   bash docker/scripts/dev_into.sh

   Make the GPU version:

   ./apollo.sh build_gpu

   After successful compilation, the following will be printed:

   ==============================================
   [ OK ] Done building apollo. Enjoy!
   ==============================================

   Run this command in the container to start Dreamview

   ./scripts/bootstrap.sh

   Finally, open the link in your browser

   http://localhost:8888/

Refined Controller

Note that this project provides a refined MPC controller that improves the performance of the Apollo MPC controller in this co-simulation. Please refer to RefinedController.md for details.

Run Carla

• Clone the carla_apollo_bridge project outside Apollo container

  # Using SSH
  git clone git@github.com:guardstrikelab/carla_apollo_bridge.git
  
  #Using HTTPS
  git clone https://github.com/guardstrikelab/carla_apollo_bridge.git

• Pull carla image and run

  cd carla_apollo_bridge
  ./scripts/docker_run_carla.sh

Run carla_apollo_bridge

1. Copy the src folder into Apollo container

   docker cp carla_bridge <apollo_container_name>:/apollo/modules/carla_bridge

2. Install carla_bridge

   Enter the Apollo container and run:

   cd /apollo/modules/carla_bridge
   chmod +x install.sh
   ./install.sh
   source ~/.bashrc

3. Start the bridge

   python main.py

Result

If everything above goes well, you should see this in Apollo client:

and this in Carla:

Example: start a co-simulation

1. Open apollo client: http://localhost:8888
2. If dreamview doesn't display the map, switch to carla_town04 and then switch back.
3. (Optional) Select "Task" in the sidebar and turn on "Camera Sensor" in "Others".
4. (Optional) Select "Layer Menu" in the sidebar and turn on "Point Cloud" in "Perception".
5. Select "Module Controller" in the sidebar and turn on "Routing", "Localization", "Planning", "Control", "Predict" module.
6. Select "Route Editing" in the sidebar.
7. Click "Add Point of Interest" and left click at any point on the road to set the destination.
8. Click "Send Routing Request".