Set up ROS Bridge

[shineyruan]

Set up ROS Bridge; write a demo from ROS to talk with CARLA.

[shineyruan]

ROS bridge demo runs successfully. @voyager1998 @LejunJiang

For all users running CUDA 11 and above: By default, ROS Bridge on Noetic depends on OpenCV 4.2 and CUDA 10 (details see python3-opencv and libopencv-dev). One using CUDA 11 who would like to run ROS Bridge should compile OpenCV with CUDA 11 from source. As a reference, I downloaded OpenCV 4.4.0, OpenCV_Contrib 4.4.0 and compiled it with the following arguments:

cd ~/opencv-4.4.0
mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=Release \
              -DWITH_QT=ON \
              -DWITH_CUDA=ON \
              -DOPENCV_EXTRA_MODULES_PATH=/home/ryan/opencv_contrib-4.4.0/modules/ \
              -DBUILD_opencv_python=ON \
              -DWITH_PYTHON=ON \
              -DCUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda-11.1
make -j
sudo make install

Building OpenCV would possibly take 30min to 1 hr. Note that sudo make install would replace python3-opencv with OpenCV 4.4.0 under the system root directory.

Building OpenCV with Qt is optional but recommended. One can always install a stable version of Qt 5 with the following command:

sudo apt-get install qt5-default

After installing OpenCV successfully, one can then rebuild Catkin workspace according to this tutorial and run ROS bridge with the following:

# Add CARLA Python API egg file to PYTHONPATH
# Replace ${CARLA_ROOT} with your own path to CARLA root dir
export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/carla/dist/carla-0.9.10-py3.8-linux-x86_64.egg:${CARLA_ROOT}/PythonAPI/carla/

# Option 1: start the ros bridge
roslaunch carla_ros_bridge carla_ros_bridge.launch

# Option 2: start the ros bridge together with RVIZ
roslaunch carla_ros_bridge carla_ros_bridge_with_rviz.launch

# Option 3: start the ros bridge together with an example ego vehicle
roslaunch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch

[shineyruan]

@voyager1998 @LejunJiang Please review and close this issue