carla-加载场景并运行控制脚本

指令

更新API的路径

export CARLA_ROOT=/opt/carla
export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/carla/dist/carla-0.9.8-py3.5-linux-x86_64.egg:${CARLA_ROOT}/PythonAPI/carla/agents:${CARLA_ROOT}/PythonAPI/carla

打开终端，运行carla服务端

./CARLA_0.9.8/CarlaUE4.sh

打开另一个终端，运行示例场景

cd  /opt/carla/scenario_runner
export CARLA_ROOT=/opt/carla
export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/carla/dist/carla-0.9.8-py3.5-linux-x86_64.egg:${CARLA_ROOT}/PythonAPI/carla/agents:${CARLA_ROOT}/PythonAPI/carla
python3 scenario_runner.py --scenario FollowLeadingVehicle_1 --reloadWorld

打开第三个终端，运行控制脚本

cd  /opt/carla/scenario_runner
export CARLA_ROOT=/opt/carla
export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/carla/dist/carla-0.9.8-py3.5-linux-x86_64.egg:${CARLA_ROOT}/PythonAPI/carla/agents:${CARLA_ROOT}/PythonAPI/carla
python3 manual_control.py

打开其它的openscenario场景

python scenario_runner.py --scenario group:FollowLeadingVehicle