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https://github.com/hofbi/telecarla
TELECARLA: An Open Source Extension of the CARLA Simulator for Teleoperated Driving Research Using Off-the-Shelf Components
https://github.com/hofbi/telecarla
carla-driving-simulator carla-simulator gstreamer ros telecarla teleoperation
Last synced: about 17 hours ago
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TELECARLA: An Open Source Extension of the CARLA Simulator for Teleoperated Driving Research Using Off-the-Shelf Components
- Host: GitHub
- URL: https://github.com/hofbi/telecarla
- Owner: hofbi
- License: mit
- Created: 2020-06-09T09:21:36.000Z (over 4 years ago)
- Default Branch: master
- Last Pushed: 2024-12-02T20:28:40.000Z (about 2 months ago)
- Last Synced: 2024-12-02T21:30:44.023Z (about 2 months ago)
- Topics: carla-driving-simulator, carla-simulator, gstreamer, ros, telecarla, teleoperation
- Language: C++
- Homepage:
- Size: 830 KB
- Stars: 51
- Watchers: 5
- Forks: 15
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# TELECARLA
[](https://github.com/hofbi/telecarla)
[](https://github.com/hofbi/telecarla)
[](https://results.pre-commit.ci/latest/github/hofbi/telecarla/master)
[](https://github.com/psf/black)
TELECARLA is an extension of the [CARLA simulator](https://carla.org/) for teleoperated driving. We use [GStreamer](https://gstreamer.freedesktop.org/) for compression and transmission of camera data. [ROS](https://www.ros.org/) acts as interface between our framework and CARLA.
## Paper
If you use TELECARLA please cite our paper.
*TELECARLA: An Open Source Extension of the CARLA Simulator for Teleoperated Driving Research Using Off-the-Shelf Components, Markus Hofbauer, Christopher B. Kuhn, Goran Petrovic, Eckehard Steinbach; IV 2020* [[PDF](https://www.researchgate.net/publication/341293636_TELECARLA_An_Open_Source_Extension_of_the_CARLA_Simulator_for_Teleoperated_Driving_Research_Using_Off-the-Shelf_Components)]
```tex
@inproceedings{hofbauer_2020,
title = {TELECARLA: An Open Source Extension of the CARLA Simulator for Teleoperated Driving Research Using Off-the-Shelf Components},
booktitle = {31st IEEE Intelligent Vehicles Symposium 2020 (IV)},
publisher = {IEEE},
address = {Las Vegas, NV, USA},
author = {Hofbauer, Markus and Kuhn, Christopher B. and Petrovic, Goran and Steinbach, Eckehard},
month = {Oct},
year = {2020},
pages = {1--6},
}
```
## Setup
TELECARLA so far has been tested on
| OS | ROS Version |
| --- | ----------- |
| Ubuntu 18.04 | Melodic |
| Ubuntu 20.04 | Noetic |
1. Download [CARLA](https://github.com/carla-simulator/carla/releases/latest)
1. Install [ROS](http://wiki.ros.org/ROS/Installation) and [catkin_tools](https://catkin-tools.readthedocs.io/en/latest/installing.html#installing-catkin-tools)
1. Create a workspace with e.g. `mkdir -p ~/catkin_ws_teleop/src && cd ~/catkin_ws_teleop/src`
1. Clone this repository into the workspace's `src` folder with `git clone https://github.com/hofbi/telecarla.git`
1. Run the install script: `./install.sh`
1. Build the workspace: `catkin build`
1. Source your workspace `source ~/catkin_ws_teleop/devel/setup.`
## Run
See the main module for running the application: [telecarla](telecarla/README.md#Run)
## Development
To install the additional tools required for the development, call
```shell
python3 -m pip install -r requirements.txt
sudo apt install -y clang-format clang-tidy-10
sudo snap install shfmt
```
### pre-commit git hooks
We use [pre-commit](https://pre-commit.com/) to manage our git pre-commit hooks.
`pre-commit` is automatically installed from `requirements.txt`.
To set it up, call
```sh
git config --unset-all core.hooksPath # may fail if you don't have any hooks set, but that's ok
pre-commit install --overwrite
```
#### Usage
With `pre-commit`, you don't use your linters/formatters directly anymore, but through `pre-commit`:
```sh
pre-commit run --file path/to/file1.cpp tools/second_file.py # run on specific file(s)
pre-commit run --all-files # run on all files tracked by git
pre-commit run --from-ref origin/master --to-ref HEAD # run on all files changed on current branch, compared to master
pre-commit run --file # run specific hook on specific file
```