CARLA Simulation — Automatic Control L6

This project enables a CARLA simulation for automatic vehicle control along a predefined route, using Docker containers and a web interface to visualize the front camera. Refer to Group07_Report.pdf for detailed explaination of the entire system.

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Project Setup

1. Start the Docker containers (CARLA server + client):

   ./docker_run_server.sh
   ./docker_run_client.sh
   docker attach <CONTAINER ID client>

2. Extract the Progetto folder into the following path:

   /workspace/team_code/carlaContolL6
   

3. Navigate to the Progetto folder:

   cd workspace/team_code/carlaContolL6/Progetto
   

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Route Modification

To set or modify the vehicle route:

• You can change the XML file path directly in:

  run_test.sh

• Alternatively, you can edit the existing XML file:

  Progetto/routes/route_controlling.xml
  

• All the routes used to test the agent in simulation are avaiable in the "routes" directory.

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Cleaning Outputs

Before each simulation, clean the output from previous runs using:

./clean.sh

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Starting the Simulation

Start the test

Launch the simulation:

nohup python3 server_http.py > ./log/output_server.log 2>&1 &

nohup ./run_test.sh > ./log/output_run_test.log 2>&1 &

Make sure port 9818 is free for the HTTP server. To view the front camera stream from a browser:

http://172.16.174.233:9818/

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Modifying Paths

To modify file paths or references, check and edit:

run_test.sh

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Simulation Outputs

The outputs generated by the simulation are saved in the folders:

Progetto/results
Progetto/log