Running Carla on Nuvo-9160GC with Ubuntu 22.04

Overview

• CARLA introduction. https://carla.org/

• CARLA doesn't have native Ubuntu 22 support, so we will benefit from CARLA docker

• CARLA is based on a server-client architecture. We will run CARLA server in docker, and run CARLA client outside the docker.

• CARLA v0.9.12 client requires Python 3.7, so we will use conda to create a clean Python 3.7 environment for it.

Install NVIDIA GPU Driver

# Update the package lists for available software packages
sudo apt-get update
# List recommended driver versions
ubuntu-drivers devices

# == /sys/devices/pci0000:00/0000:00:01.0/0000:01:00.0 ==
# modalias : pci:v000010DEd00002507sv00001462sd00008E99bc03sc00i00
# vendor   : NVIDIA Corporation
# driver   : nvidia-driver-515-server - distro non-free
# driver   : nvidia-driver-525-open - distro non-free recommended
# driver   : nvidia-driver-470-server - distro non-free
# driver   : nvidia-driver-510 - distro non-free
# driver   : nvidia-driver-525-server - distro non-free
# driver   : nvidia-driver-525 - third-party non-free
# driver   : nvidia-driver-515-open - distro non-free
# driver   : nvidia-driver-515 - distro non-free
# driver   : nvidia-driver-470 - distro non-free
# driver   : xserver-xorg-video-nouveau - distro free builtin

# Choose a recommended driver version, e.g., nvidia-driver-525
# !!!!!do not choose "-open" version!!!!!
sudo apt-get install nvidia-driver-XXX

Install Docker

### Install Docker ###
sudo apt install -y curl
curl -fsSL https://get.docker.com -o get-docker.sh
sudo sh get-docker.sh
### sudo docker info ###

### Install NVIDAIA Docker container ###
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-container-toolkit

### Bind docker with GPU support ###
sudo nvidia-ctk runtime configure --runtime=docker
sudo systemctl restart docker

Run CARLA server in Docker

# With Internet connected, and run the following command on Nuvo-9160.
# This command will grab files around 7GB


sudo docker run \
 -p 2000-2002:2000-2002 \
 --cpuset-cpus="0-5" \
 --runtime=nvidia \
 --gpus 'all,"capabilities=graphics,utility,display,video,compute"' \
 -e DISPLAY=$DISPLAY \
 -v /tmp/.X11-unix:/tmp/.X11-unix \
 -it \
 carlasim/carla \
 ./CarlaUE4.sh -vulkan $1

Then you will see a CARLA world! (By default, no traffic and no weather control)

Run CARLA Client

Copy CARLA sample code from CARLA Docker Image

Once you have CARLA server running, you will find a docker record, e.g.,

sudo docker ps
# CONTAINER ID   IMAGE            COMMAND                  CREATED             STATUS             PORTS                                                           NAMES
# b8c5a057f8bf   carlasim/carla   "./CarlaUE4.sh -vulk…"   About an hour ago   Up About an hour   0.0.0.0:2000-2002->2000-2002/tcp, :::2000-2002->2000-2002/tcp   nostalgic_buck

We will use the container ID: b8c5a057f8bf to copy sample file from Docker image.

sudo docker cp b8c5a057f8bf:/home/carla/PythonAPI ~/Desktop/

Then you will find some CARLA python example on ~/Desktop/PythonAPI

Prepare a Pure Python 3.7 Environment

CARLA v0.9.12 needs pure python 3.7 environment. We will use conda to create a virtual environment

conda Installation

wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh
bash Miniconda3-latest-*.sh
# You might need to enter some [yes] during the installation process 

source ~/.bashrc
# Then you will find your command line has a (base) to indicate current enviroment
# (base) dvt@dvt-Nuvo-9000-Series:~$

Create a Pure Python 3.7 Environment

# Create a Python 3.7 environment
conda create -n p3.7-carla python=3.7

# Jump into the Python 3.7 environment
conda activate p3.7-carla
# (p3.7-carla) dvt@dvt-Nuvo-9000-Series:~$

# Check current package version
pip --version
# pip 22.3.1 from /home/dvt/miniconda3/envs/p3.7-carla/lib/python3.7/site-packages/pip (python 3.7)

python --version
# Python 3.7.15

# Install dependency package for CARLA client example
pip3 install pygame numpy shapely networkx

Run CARLA examples

There are a few CARLA examples we copied from Docker image previously.

conda activate p3.7-carla
cd ~/Desktop/PythonAPI/examples

# Random Traffic
python generate_traffic.py

# Random Weather
python dynamic_weather.py

# 1st view automatic driving. 
python generate_traffic.py &
python automatic_control.py

Script to Keep Automatic Control Running

sudo pkill generate_traffic.py

conda activate p3.7-carla
cd ~/Desktop/PythonAPI/examples

python generate_traffic.py &

while true
do
    RUNNING=$(ps auxww  | grep -c automatic_control.py)    
    if [ $RUNNING -lt '2' ]; then
      python automatic_control.py &
    fi
      sleep 1
done

Reference

• https://antc2lt.medium.com/carla-on-ubuntu-20-04-with-docker-5c2ccdfe2f71