- If you want to build the CarlaRosBridge Docker Container yourself you can use the scripts in docker/carla-ros-bridge; note that we use the tag 0.9.5.1 of the carla-ros-bridge as the latest version is not compatible with Carla 0.9.5 anymore.
You can edit your IP adress in the Dockerfile.
# How to run it on Linux
## How to execute the code for the bumper bot and read the collision sensor?
## Steps to build a component:
- Start Carla by executing: `CarlaUE4.sh`
- Start the ego-vehicle: `docker/egovehicle.sh`
It executes `python manual_control.py --rolename=ego_vehicle` in PythonAPI/examples to create a vehicle for the ros-bridge.
- To start the container execute inside the project folder:
`docker/Linux/carla-ros-bridge.sh`
1. Move **mw-generator.jar** to the directory of the component you wish to build.
2. Open shell, cd to the directory of the component and execute:
Then execute in a new terminal to compile and execute the generated code for the bumpbot:
`docker/Linux/bumpbot.sh`
java -jar mw-generator.jar [component].json
3. Switch to the target directory:
If you want to read additional messages from a rostopic you can execute:
`docker/Linux/open_shell.sh` and inside the container read the topic with e.g. `rostopic echo /carla/ego_vehicle/collision`
cd target/
4. Execute compile.sh:
# Running with docker on Windows
I tested this code in a Command Prompt/Power Shell. For the use of other consoles the commands might need to be adjusted for example with winpty.
./compile.sh
5. If the generator can't find carla_msgs message type: execute the following command and retry step 4:
Similarly to how you run it on Linux, there are shell scripts for Windows: carla-ros-bridge.sh, [component].sh and open_shell.sh. Depending on your system, these might need to be edited.
The scripts worked on the Setup: Windows 10 Home, Docker Toolbox, executed in git-bash.
To copy the assets into the docker container, I had to have the project folder in an shared-drive (you need to edit the carla-ros-bridge.sh). For me the output in `rostopic echo /carla/ego_vehicle/collision` was with great delay (~1 minute) or none at all, which just might be because of my slow system vs the Carla-simulator.
