NTU IoT 2022 Course Final Project

Preparation

This Git repository has git-submodules. Please initialize them if you haven't done it yet.

git submodule update --init --recursive

The src/ directory should look like this. Please explicitly check each directory listed below must contain files and must not be empty.

src/
├── iot_agent/
├── carla_autoware_bridge_plus/
├── carla-ros-bridge/
│   └── carla_msgs/
└── astuff_sensor_msgs/

Before compilation, please run this command to install dependencies. It only needs to be done once.

make prepare

Build

Build the Autoware repository first. Say it's at /path/to/autoware. Remember to source the setup script. The step must be done once whenever you start a new shell.

source /path/to/autoware/install/setup.bash

Go to this final project directory. Build the packages in the project.

make

The end of build message should look like this if it's successful.

Summary: 29 packages finished [7.94s]
cd judge && \
poetry install
Installing dependencies from lock file

No dependencies to install or update

Installing the current project: judge (0.1.0)

Launch a Simulation

Start Carla Simulator

Launch the Carla simulator first. To open simulation server on port 2005 on workstation for example:

/opt/carla-simulator/CarlaUE4.sh -carla-port=2005 -quality-level=Low

If the simulator crash occasionally, you can use a loop to restart automatically.

while true; do
    /opt/carla-simulator/CarlaUE4.sh -carla-port=2005 -quality-level=Low
    sleep 1
done

Run Simulation

If you're on SSH, remember to set DISPLAY to :N, where N is the number provided by VNC server.

export DISPLAY=:N

Suppose that your Carla server port is 2005. Launch the simulation like this:

./launch.sh 2005

Write Your Car Agent

The car agent source code is located at src/iot_agent/iot_agent/agent.py, which controls the car in the simulator through ROS topics.

It's not required to make again after the code is changed. Simply run ./launch.sh 2005 to test your agent.

During simulation, you may run ros2 topic list commands to inspect available topics.