tiev-sim-cppClient

a cpp bridge between Carla and tiev-plus

dependencis

1. GeographicLib for caluculating the UTM and GPS coordinates
2. rapidjson (already in src) for setting parameters
3. clang++-8.01 (the same as you compiled carla and LibCaral)
4. cmake after version 3.0
5. zeocm

tips

1. ubuntu default udp buffer is too small to run tiev-sim effciently, to enlarge kernel buffer size:

# sudo vi /etc/sysctl.conf and add below sentences to the bottom
net.core.rmem_max=104857600
net.core.rmem_default=104857600
net.core.wmem_max=104857600
net.core.wmem_default=104857600

2. when compiled carla from source, do NOT use sudo or there may be some errors which need to change files' owner to fix.
3. when compiled carla, if make launch throw an error that shows UE4_ROOT cannot be found but it has indeed already be set in ~/.bashrc correctly, add UE4_ROOT=PATH.../UnrealEngine-4.24 to the first line of Carla/Util/BuildTools/BuildCarlaUE4.sh

build

1. clone this repo to the carla installation path, such as ~/carla/
2. make sure LibCarla been built and can be found in ....../carla/PythonAPI/carla/dependencies, there shall be include and lib folder
3. cmake and make, compiler should be assigned to clang++-8
4. several macros to control this bridge

to change between LCM and ZCM, in MessageManager/MessageManger.h

#define USE_LCM
#define USE_ZCM

to change ego car's controller between carla default agent and tiev-plus, in tiev-sim.cpp

#define HIL_MODE
#define AUTOPILOT_MODE

to change message publishing mode between async and sync, or to test how much time spent for packing and publishing of every message (sync mode)

#define ASYNC_MODE
#define SYNC_MODE
#define OPT_TIME_TEST

develop

to add a new feature supporting a new message, follow belowing guide:

Here we assume that the new zcm/lcm message named new_msg

1. in MessageManger.h and MessageManger.cpp, add pub_new_msg_loop(int freq) and publish_new_msg(), in publish_all_async(), add a new line to rigitster the thread function.
2. using CarlaLib API to implement the pack_new_msg() function for packing new message.
3. if you have used a carla virtual sensor to implement pack_new_msg(), in tiev-sim.cpp a callback function for listening sensor data is needed.
4. if you haved used carla::client::World's method such as GetActors() to implement your packing function, you need to call this GetActors() in tick() function of MyWorld.

Todo

1. adjust coordinates from rear-axle to front axle.
2. point cloud based fusionmap
3. additional messages: roadmarking, traffic sign, traffic light, rain detection.
4. how to create a display window like pygame in c++? or use a python script to get ego car's ID and attach a spectator?