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ERA using CARLA Simulator
Running EPOCHS Reference Application (ERA) on Ubuntu 18.04 with ROS Melodic and with CARLA Simulator
This is the package to get if you want to install ERA. The rosinstall script will fetch the necessary packages in the catkin workspace. This version is used to install the ERA application on Ubuntu 18.04 LTS using ROS Melodic.
ERA requires:
- Ubuntu 18.04
- CARLA 0.9.9
- python-wstool
- ROS Melodic
- GNU Radio 3.7.3+
- gr-ieee802-11
- Swig 3.0
- LZ4 1.7.0+
Note that gr-ieee802-11 is included as a package in this project (i.e. no need to clone it separately).
To include some of these, use the following commands:
sudo apt-get install swig
sudo apt-get install doxygen
sudo apt-get install gnuradio
sudo apt-get install python-wstool
Follow these instructions to install CARLA.
Follow these instructions in ROS' official website to install ROS Melodic on Ubuntu 18.04. We recommend installing desktop-full install (sudo apt-get install ros-melodic-desktop-full).
We will get to the installation of the remaining packages below (by bringing the appropriate package sources into the catkin workspace and compiling them there).
If not done yet, source the ROS environment setup file:
source /opt/ros/melodic/setup.bash
cd ~
mkdir -p catkin_ws/src
cd catkin_ws/src
catkin_init_workspace
git clone https://github.com/IBM/era.git
cd ..
wstool init src src/era/era.rosinstall
catkin_make
source devel/setup.bash
We also recommend putting . ~/catkin_ws/devel/setup.bash into the .bashrc file.
cd catkin_ws/src
git clone https://github.com/IBM/era.git
cd ..
wstool merge -t src src/era/era.rosinstall
catkin_make
source devel/setup.bash
ERA includes components implemented in GNU Radio (gr-ros_interface, gr-foo and gr-ieee802-11) that have to be built and installed separately as explained next. The gr-ieee802-11 project is the GNU Radio-based implementation of an IEEE 802.11p transceiver while the gr-foo project includes a collection of custom blocks that are used by gr-ieee802-11. The gr-ros_interface project implements the interface to connect together the ROS and GNU Radio "worlds".
Build and install gr-ros_interface:
cd ~/catkin_ws/src/dsrc/gr-ros_interface/
mkdir build
cd build
cmake ..
make
sudo make install
sudo ldconfig
Build and install gr-foo:
cd ~/catkin_ws/src/dsrc/gr-foo/
mkdir build
cd build
cmake ..
make
sudo make install
sudo ldconfig
Build and install gr-ieee802-11:
cd ~/catkin_ws/src/dsrc/gr-ieee802-11/
mkdir build
cd build
cmake ..
make
sudo make install
sudo ldconfig
Finally, the GNU Radio-based implementation of the IEEE 802.11p transceiver has to be generated using the GNU Radio Companion compiler (grcc):
cd ~/catkin_ws/src/dsrc/gr-ieee802-11/examples
grcc ./wifi_transceiver.grc -d .
Carla-ros-bridge is a ROS package that communicates with the CARLA server and links ROS world to CARLA world.
Download and install carla-ros-bridge with the following commands:
cd ~/catkin_ws/src
git clone https://github.com/carla-simulator/ros-bridge.git
cd ~/catkin_ws
catkin_make
Refer to the main README.md file at The ERA Git Repository for the rest of the use of ERA. Note: for the Melodic build, the "launch" files (e.g. those ending in .launch) should use the versions that have "melodic" in their name, e.g. where the initial launch of the era_gazebo model is invoked as:
roslaunch era_gazebo carla_with_two_cars.launch
Augusto Vega (IBM)
Akin Sisbot (IBM)
J-D Wellman (IBM)