Run Carla with one Autoware

The section shows how to run Autoware in Carla simulator.

  1. Run Carla simulator (In native host)

./CarlaUE4.sh -quality-level=Epic -world-port=2000 -RenderOffScreen -prefernvidia

  1. Run zenoh_carla_bridge and Python Agent (In Carla bridge container)

# Go inside "Carla bridge container"
./container/run-bridge-docker.sh
# Run zenoh_carla_bridge and Python Agent
cd autoware_carla_launch
source env.sh
./script/run-bridge.sh

  1. Run zenoh-bridge-ros2dds and Autoware (In Autoware container)

# Go inside "Autoware container"
./container/run-autoware-docker.sh
# Run zenoh-bridge-ros2dds and Autoware
cd autoware_carla_launch
source env.sh
./script/run-autoware.sh

# (Optional) If you want to drive manually, split the terminal and run the following command
source env.sh
ros2 run autoware_manual_control keyboard_control