{"id":16448,"date":"2025-04-18T22:57:08","date_gmt":"2025-04-18T14:57:08","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/16448.html"},"modified":"2025-04-18T22:57:08","modified_gmt":"2025-04-18T14:57:08","slug":"carla-i-ubuntu20-04-%e6%9c%8d%e5%8a%a1%e5%99%a8%e5%ae%89%e8%a3%85-carla_0-9-13%e6%9c%8d%e5%8a%a1%e7%ab%af%e5%92%8c%e5%ae%a2%e6%88%b7%e7%ab%af%e8%af%a6%e7%bb%86%e6%ad%a5%e9%aa%a4","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/16448.html","title":{"rendered":"CARLA (I)--Ubuntu20.04 \u670d\u52a1\u5668\u5b89\u88c5 CARLA_0.9.13\u670d\u52a1\u7aef\u548c\u5ba2\u6237\u7aef\u8be6\u7ec6\u6b65\u9aa4"},"content":{"rendered":"<\/p>\n<h4>\u76ee\u5f55<\/h4>\n<ul>\n<li>0. \u8bf4\u660e<\/li>\n<li>\n<ul>\n<li>0.1 \u5e94\u7528\u573a\u666f&#xff1a;<\/li>\n<li>0.2 \u672c\u6587\u52a8\u673a&#xff1a;<\/li>\n<\/ul>\n<\/li>\n<li>1. \u51c6\u5907\u5de5\u4f5c<\/li>\n<li>2. \u5b89\u88c5 CARLA \u670d\u52a1\u7aef\u8f6f\u4ef6\u3010\u8fdc\u7a0b\u670d\u52a1\u5668\u3011<\/li>\n<li>3. \u5b89\u88c5 CARLA \u5ba2\u6237\u7aef\u3010\u8fdc\u7a0b\u670d\u52a1\u5668\u3011<\/li>\n<li>\n<ul>\n<li>3.1 .egg \u6587\u4ef6\u5b89\u88c5&#xff1a;<\/li>\n<li>3.2 .whl \u6587\u4ef6\u5b89\u88c5&#xff1a;<\/li>\n<li>3.3 \u4ecePypi\u4e0b\u8f7dPython package<\/li>\n<\/ul>\n<\/li>\n<li>4. \u8fd0\u884c\u670d\u52a1\u7aef\u7a0b\u5e8f<\/li>\n<li>5. \u8fd0\u884c\u5ba2\u6237\u7aef\u7a0b\u5e8f\u3010\u8fdc\u7a0b\u670d\u52a1\u5668\u3011<\/li>\n<li>6. \u53e6\u5916\u4e00\u79cd\u5e94\u7528\u6a21\u5f0f&#xff1a;\u670d\u52a1\u7aef\u7a0b\u5e8f\u3010\u8fdc\u7a0b\u670d\u52a1\u5668\u3011&lt;&#8212;&gt;\u5ba2\u6237\u7aef\u7a0b\u5e8f\u3010\u672c\u5730\u8ba1\u7b97\u673a&#xff1a;\u5ba2\u6237\u7aef&#043;\u663e\u793a\u3011<\/li>\n<li>7. \u5176\u4ed6\u7684\u5b89\u88c5\u65b9\u5f0f\u53c2\u8003\u6587\u732e<\/li>\n<\/ul>\n<h2>0. \u8bf4\u660e<\/h2>\n<h3>0.1 \u5e94\u7528\u573a\u666f&#xff1a;<\/h3>\n<li>\u8fdc\u7a0b\u670d\u52a1\u5668&#xff1a;\u65e0\u663e\u793a\u5668&#xff0c;\u5177\u5907\u591a\u4e2aGPU\u5361&#xff0c;Ubuntu 20.04<\/li>\n<li>\u8fdc\u7a0b\u670d\u52a1\u5668\u4e0a\u62df\u5b89\u88c5\u7684Carla\u7248\u672c&#xff1a;0.9.13<\/li>\n<li>Carla\u7684\u670d\u52a1\u7aef\u548c\u5ba2\u6237\u7aef\u5747\u8fd0\u884c\u5728\u8fdc\u7a0b\u670d\u52a1\u5668\u4e0a<\/li>\n<li>\u7528\u6237\u901a\u8fc7\u672c\u5730\u8ba1\u7b97\u673a&#xff08;Windows10&#xff09;\u8fdc\u7a0b\u8bbf\u95ee\u548c\u64cd\u4f5c\u670d\u52a1\u5668<\/li>\n<li>\u672c\u5730\u8ba1\u7b97\u673a\u53ef:<\/li>\n<ul>\n<li>\u5b89\u88c5\u5e76\u4f7f\u7528MobaXterm\u8f6f\u4ef6&#xff1a;\u5229\u7528\u672c\u5730\u7535\u8111\u8fdc\u7a0b\u767b\u9646\u548c\u64cd\u4f5c\u670d\u52a1\u5668&#xff0c;\u4e3b\u8981\u4f7f\u7528\u8be5\u8f6f\u4ef6\u7684SSH\u6765\u64cd\u4f5c\u670d\u52a1\u5668\u7ec8\u7aef&#xff0c;SFTP\u663e\u793a\u548c\u64cd\u4f5c\u670d\u52a1\u5668\u7684\u6587\u4ef6\u5939\u548c\u6587\u4ef6&#xff0c;\u6216RDP\u6765\u8fdc\u7a0b\u767b\u5f55\u670d\u52a1\u5668\u754c\u9762\u3002<\/li>\n<li>\u4f7f\u7528Vs Code: \u901a\u8fc7\u5efa\u7acbSSH\u6765\u76f4\u63a5\u4fee\u6539\u6216\u8c03\u8bd5\u8fdc\u7a0b\u670d\u52a1\u5668\u4e0a\u7684Python\u51fd\u6570\u3002<\/li>\n<\/ul>\n<h3>0.2 \u672c\u6587\u52a8\u673a&#xff1a;<\/h3>\n<p>\u968f\u7740\u65f6\u95f4\u7684\u66f4\u65b0&#xff0c;Carla\u7248\u672c\u622a\u6b62\u53d1\u7a3f\u524d&#xff08;2024.04&#xff09;\u5df2\u66f4\u65b0\u52300.9.15\u7248\u672c\u3002\u5982\u679c\u6309\u7167\u4e0a\u8ff0\u8f83\u65e9\u524d\u53d1\u5e03\u7684\u8d34\u5b50\u6765\u5b89\u88c50.9.13\u7b49\u8fd9\u7c7b\u975e\u6700\u65b0\u65e9\u671f\u7684\u7248\u672cCarla\u53ef\u80fd\u51fa\u73b0\u95ee\u9898\u3002 \u4f8b\u5982&#xff0c;\u300aCARLA \u7b14\u8bb0&#xff08;02&#xff09;\u2014 Ubuntu \u5b89\u88c5 CARLA&#xff08;\u670d\u52a1\u7aef\u3001\u5ba2\u6237\u7aef\u3001\u5b89\u88c5 miniconda\u3001\u521b\u5efa\u865a\u62df\u73af\u5883\u3001\u66f4\u6362 pip \u6e90\u3001\u751f\u6210\u4ea4\u901a\u6d41\u3001\u4eba\u5de5\u63a7\u5236\u8f66\u8f86\u6309\u952e&#xff09;\u300b\u4ecb\u7ecd\u4e860.9.13\u7248\u672c\u7684\u670d\u52a1\u5668\u5b89\u88c5\u3002\u4f46\u662f&#xff0c;\u5e16\u5b50\u53d1\u5e03\u65f60.9.13\u7248\u672c\u53ef\u80fd\u662f\u5f53\u65f6\u7684\u6700\u65b0\u7248\u672c&#xff0c;\u5f53\u65f6\u5b89\u88c5\u53ef\u80fd\u6ca1\u6709\u95ee\u9898\u3002\u4f46\u5982\u679c\u73b0\u5728\u5b89\u88c5&#xff0c;\u67d0\u4e9b\u6b65\u9aa4\u5df2\u7ecf\u4e0d\u9002\u7528(\u4e0b\u6587\u7ed3\u5408\u5177\u4f53\u5b89\u88c5\u6b65\u9aa4\u8bf4\u660e)&#xff0c;\u4f8b\u5982&#xff1a;\u7531\u4e8e\u73b0\u5728Pypi\u9ed8\u8ba4\u7684carla\u5ba2\u6237\u7aefPython\u5e93\u5df2\u7ecf\u66f4\u65b0\u81f3\u6700\u65b0\u7248\u672c0.9.15&#xff0c;\u5982\u679c\u91c7\u7528pip3 install carla\u6765\u9ed8\u8ba4\u5b89\u88c5\u80af\u5b9a\u51fa\u9519\u3002<\/p>\n<h2>1. \u51c6\u5907\u5de5\u4f5c<\/h2>\n<p>\u5b89\u88c5\u4e4b\u524d&#xff0c;\u9700\u8981\u719f\u6089\u4ee5\u4e0b\u51e0\u4e2aCarla\u5e38\u7528\u7684\u8d44\u6e90\u6765\u6e90\u7f51\u7ad9\u3002<\/p>\n<ul>\n<li>a. Carla\u5b89\u88c5\u5305&#xff1a; https:\/\/github.com\/carla-simulator\/carla\/blob\/master\/Docs\/download.md CARLA\u7684\u4e0d\u540c\u7248\u672c\u5b89\u88c5\u5305\u70b9\u8fd9\u91cc<\/li>\n<li>b. Carla\u5b98\u7f51: https:\/\/carla.org\/ \u53ef\u4ee5\u627e\u5230DOCUMENTATION\u8bf4\u660e\u6587\u6863&#xff0c;\u548cGITHUB\u5b98\u7f51\u4e0b\u8f7d\u94fe\u63a5\u3002<\/li>\n<li>c. Pypi-Carla: https:\/\/pypi.org\/search\/?q&#061;carla<\/li>\n<\/ul>\n<p>The Python Package Index (PyPI) \u662fPython\u7f16\u7a0b\u8bed\u8a00\u7684\u8f6f\u4ef6\u4ed3\u5e93repository&#xff0c;\u5e2e\u52a9\u6211\u4eec\u67e5\u627e\u5e76\u5b89\u88c5Python community\u5171\u4eab\u7684\u8f6f\u4ef6\u3002\u672c\u6587\u4e2d&#xff0c;\u8fdc\u7a0b\u670d\u52a1\u5668\u7684Carla\u5ba2\u6237\u7aefPython\u8f6f\u4ef6\u6765\u6e90\u4e8ePypi\u3002\u4f46\u987b\u6ce8\u610f\u5b89\u88c5\u65f6&#xff0c;\u5230\u7f51\u7ad9\u4e0a\u68c0\u67e5\u4e00\u4e0bPypi\u4ed3\u5e93\u4e2d\u9ed8\u8ba4\u7684Carla\u5ba2\u6237\u7aef\u8f6f\u4ef6\u7248\u672c&#xff0c;\u5426\u5219\u53ef\u80fd\u5bfc\u81f4\u5b89\u88c5\u5931\u8d25\u3002<\/p>\n<ul>\n<li>d. python\u5e93\u7528\u6237\u4f7f\u7528\u624b\u518c: https:\/\/packaging.python.org\/en\/latest\/<\/li>\n<\/ul>\n<h2>2. \u5b89\u88c5 CARLA \u670d\u52a1\u7aef\u8f6f\u4ef6\u3010\u8fdc\u7a0b\u670d\u52a1\u5668\u3011<\/h2>\n<p>\u4ee5\u4e0b\u5b89\u88c5\u5747\u5728\u8fdc\u7a0b\u670d\u52a1\u5668\u7684\u4e2a\u4eba\u8d26\u53f7base\u73af\u5883\u4e0b\u5b8c\u6210&#xff0c;\u65e0\u987b\u5728root\u7ba1\u7406\u5458\u8d26\u53f7\u4e0b\u5b89\u88c5&#xff0c;\u4eb2\u9a8c\u6709\u6548\u3002\u6ce8\u610f&#xff0c;\u540e\u7eed\u8fd0\u884c\u670d\u52a1\u7aef\u7a0b\u5e8f\u65f6&#xff0c;\u4e5f\u540c\u6837\u9700\u5728\u540c\u4e00\u4e2a\u4eba\u8d26\u53f7base\u73af\u5883\u4e0b\u8fdb\u884c&#xff0c;\u9a8c\u8bc1\u53d1\u73b0root\u8d26\u53f7\u4e0b\u8fd0\u884ccarla\u670d\u52a1\u7aef\u7a0b\u5e8f\u7684\u8bdd&#xff0c;\u4f1a\u63d0\u793a\u4e0d\u5141\u8bb8\u3002<\/p>\n<ul>\n<li>(1) \u4e0b\u8f7dCarla 0.9.13\u5b89\u88c5\u5305&#xff1a; \u6253\u5f001.a\u63d0\u4f9b\u7684\u4e0b\u8f7d\u7f51\u5740&#xff0c;\u627e\u52300.9.13\u7248\u672c&#xff0c;\u4e0b\u8f7d\u4e0b\u5217\u4e24\u4e2a\u6587\u4ef6&#xff1a; <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250418145707-680268434767b.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/li>\n<li>(2) \u5c06\u7b2c\u4e00\u4e2a\u6587\u4ef6\u62f7\u8d1d\u81f3\u670d\u52a1\u5668\u67d0\u6587\u4ef6\u5939&#xff0c;\u8fdb\u5165\u8be5\u6587\u4ef6\u5939\u540e&#xff0c;\u89e3\u538b&#xff1a;<\/li>\n<\/ul>\n<p>tar <span class=\"token operator\">&#8211;<\/span>xzvf <span class=\"token constant\">CARLA_0<\/span><span class=\"token number\">.9<\/span><span class=\"token number\">.13<\/span><span class=\"token punctuation\">.<\/span>tar<span class=\"token punctuation\">.<\/span>gz<\/p>\n<ul>\n<li>(3) \u5c06\u7b2c\u4e8c\u4e2a\u6587\u4ef6 AdditionalMaps_0.9.13.tar.gz \u653e\u5230 carla \u7684 import \u76ee\u5f55\u4e0b\u3002<\/li>\n<li>(4) \u6267\u884c\u547d\u4ee4\u5bfc\u5165\u9644\u52a0\u7684\u5730\u56fe&#xff1a;<\/li>\n<\/ul>\n<p><span class=\"token builtin class-name\">cd<\/span> CARLA_0.9.13\/<br \/>\n.\/ImportAssets.sh<\/p>\n<h2>3. \u5b89\u88c5 CARLA \u5ba2\u6237\u7aef\u3010\u8fdc\u7a0b\u670d\u52a1\u5668\u3011<\/h2>\n<p>\u5efa\u8bae\u5728\u865a\u62df\u73af\u5883\u4e2d\u5b89\u88c5 CARLA \u5ba2\u6237\u7aef\u5e93&#xff0c;\u4ee5\u907f\u514d\u5728\u4f7f\u7528\u591a\u4e2a\u7248\u672c\u65f6\u53d1\u751f\u51b2\u7a81\u3002\u5728\u8fdc\u7a0b\u670d\u52a1\u5668\u5efa\u7acbAnaconda\u865a\u62df\u73af\u5883\u8f6f\u4ef6&#xff0c;\u521b\u5efa\u6240\u9700\u7248\u672c\u7684\u865a\u62df\u73af\u5883\u3002 \u672c\u4f8b\u4e2d&#xff0c;\u91c7\u7528python3.8\u7248\u672c\u6765\u7ba1\u7406carla\u5ba2\u6237\u7aef\u5e93\u548c\u5e94\u7528\u7a0b\u5e8f\u3002<\/p>\n<p><span class=\"token comment\"># \u521b\u5efa\u865a\u62df\u73af\u5883&#xff0c;\u6307\u5b9apython\u7248\u672c<\/span><br \/>\nconda create <span class=\"token parameter variable\">&#8211;name<\/span> your_env_name <span class=\"token assign-left variable\">python<\/span><span class=\"token operator\">&#061;<\/span><span class=\"token number\">3.8<\/span><br \/>\n<span class=\"token comment\"># \u6fc0\u6d3b\u865a\u62df\u73af\u5883<\/span><br \/>\nactivate your_env_name<br \/>\n<span class=\"token comment\"># \u9000\u51fa\u865a\u62df\u73af\u5883<\/span><br \/>\ndeactivate<br \/>\n<span class=\"token comment\"># \u5220\u9664\u865a\u62df\u73af\u5883<\/span><br \/>\nconda remove <span class=\"token parameter variable\">&#8211;name<\/span> your_env_name <span class=\"token parameter variable\">&#8211;all<\/span><br \/>\n<span class=\"token comment\"># \u67e5\u770b\u6240\u6709\u865a\u62df\u73af\u5883<\/span><br \/>\nconda info <span class=\"token parameter variable\">&#8211;envs<\/span><br \/>\nconda <span class=\"token function\">env<\/span> list<br \/>\n<span class=\"token comment\"># \u67e5\u770b\u6d3b\u8dc3\u73af\u5883\u4e0b\u7684\u6240\u6709\u5305<\/span><br \/>\nconda list<br \/>\n<span class=\"token comment\"># \u4e3a\u6307\u5b9a\u73af\u5883\u5b89\u88c5\u67d0\u4e2a\u5305<\/span><br \/>\nconda <span class=\"token function\">install<\/span> <span class=\"token parameter variable\">-n<\/span> env_name package_name<\/p>\n<p>conda \u865a\u62df\u73af\u5883\u4e2d\u5305\u7684\u5b89\u88c5&#xff1a; \u5982\u679c\u4e0d\u80fd\u901a\u8fc7conda install\u6765\u5b89\u88c5&#xff0c;\u66f4\u4e60\u60ef\u7528pip\u76f4\u63a5\u5b89\u88c5\u3002pip\u5728Anaconda\u4e2d\u5df2\u5b89\u88c5\u597d&#xff0c;\u4e0d\u9700\u8981\u5355\u72ec\u4e3a\u6bcf\u4e2a\u73af\u5883\u5b89\u88c5pip\u3002\u5982\u9700\u8981\u7528pip\u7ba1\u7406\u5305&#xff0c;activate\u73af\u5883\u540e\u76f4\u63a5\u4f7f\u7528\u5373\u53ef\u3002<\/p>\n<p>CARLA 0.9.12&#043; \u4ee5\u4e0a\u7248\u672c\u63d0\u4f9b\u4e86\u4e09\u79cd\u5b89\u88c5\u5ba2\u6237\u7aef\u5e93\u7684\u65b9\u5f0f\u3002 \u672c\u4f8b\u4f7f\u7528\u7b2c\u4e8c\u79cdwhl\u5b89\u88c5\u65b9\u5f0f\u6210\u529f\u5b89\u88c5&#xff0c;\u6ce8\u610f\u6b64\u5904\u6709\u5751&#xff0c;\u8bf7\u770b\u4e0b\u6587\u3002<\/p>\n<h3>3.1 .egg \u6587\u4ef6\u5b89\u88c5&#xff1a;<\/h3>\n<p>CARLA \u5728&#061;&#061; PythonAPI\/carla\/dist\/&#061;&#061; \u4e2d\u4e3a\u4e0d\u540c\u7684 Python \u7248\u672c\u63d0\u4f9b\u4e86.egg \u6587\u4ef6&#xff0c;\u5f00\u7bb1\u5373\u53ef\u4f7f\u7528\u3002 \u5728&#061;&#061; PythonAPI\/examples&#061;&#061; \u4e2d\u7684\u6bcf\u4e2a\u4f8b\u5b50\u811a\u672c\u90fd\u5305\u62ec\u4e00\u4e2a\u81ea\u52a8\u5bfb\u627e\u8fd9\u4e2a\u6587\u4ef6\u7684\u4ee3\u7801\u7247\u6bb5\u3002<\/p>\n<p>\u6ce8\u610f&#xff1a; &#xff08;1&#xff09;\u5728 Linux \u4e2d&#xff0c;\u53ef\u80fd\u9700\u8981\u628a\u8fd9\u4e2a\u6587\u4ef6\u6dfb\u52a0\u5230\u4f60\u7684 PYTHONPATH \u4e2d\u3002 &#xff08;2&#xff09;\u5982\u679c\u4e4b\u524d\u7528 pip \u5b89\u88c5\u4e86\u5ba2\u6237\u7aef\u5e93&#xff0c;\u5b83\u5c06\u4f18\u5148\u4e8e .egg \u6587\u4ef6&#xff0c;\u5982\u679c\u60f3\u4f7f\u7528.egg\u5ba2\u6237\u7aef\u5e93&#xff0c;\u9700\u8981\u5148\u5378\u8f7d\u4e4b\u524d\u7684\u5e93\u3002 &#xff08;3&#xff09;CARLA 0.9.12 \u4e4b\u524d\u7684\u7248\u672c\u4e0d\u9700\u8981\u5b89\u88c5 Python \u5e93&#xff0c;\u90fd\u5e26\u6709\u4e00\u4e2a .egg \u6587\u4ef6&#xff0c;\u5f00\u7bb1\u5c31\u53ef\u4ee5\u4f7f\u7528\u3002<\/p>\n<h3>3.2 .whl \u6587\u4ef6\u5b89\u88c5&#xff1a;<\/h3>\n<p>&#xff08;1&#xff09;\u542f\u52a8\u865a\u62df\u73af\u5883&#xff0c;\u5b9a\u4f4d\u5230.whl\u6587\u4ef6&#xff1a;<\/p>\n<ul>\n<li>CARLA \u4e3a\u4e0d\u540c\u7684 Python \u7248\u672c\u63d0\u4f9b .whl \u6587\u4ef6&#xff0c;\u9700\u8981\u5b89\u88c5 .whl \u6587\u4ef6\u3002 .whl \u6587\u4ef6\u53ef\u4ee5\u5728 &#061;&#061;PythonAPI\/carla\/dist\/ &#061;&#061; \u4e2d\u627e\u5230\u3002<\/li>\n<li>\u6bcf\u4e2a\u652f\u6301\u7684 Python \u7248\u672c\u6709\u4e00\u4e2a\u6587\u4ef6&#xff0c;\u7528\u6587\u4ef6\u540d\u8868\u793a (\u4f8b\u5982&#xff0c;carla-0.9.12-cp36-cp36m-manylinux_2_27_x86_64.whl \u8868\u793aPython 3.6)\u3002<\/li>\n<li>\u5982\u679c\u4ee5\u524d\u5b89\u88c5\u4e86\u5ba2\u6237\u7aef\u5e93&#xff0c;\u5e94\u8be5\u5728\u5b89\u88c5\u65b0\u5e93\u4e4b\u524d\u5378\u8f7d\u65e7\u5e93\u3002<\/li>\n<\/ul>\n<p>\u5728\u64cd\u4f5c\u4e2d\u53d1\u73b0Carla0.9.13\u7248\u672c\u7684PythonAPI\/carla\/dist\/\u4e0b\u53ea\u6709python 2.7\u548cpython 3.7\u7248\u672c\u7684whl\u6587\u4ef6&#xff0c;\u6ca1\u6709\u672c\u4f8b\u4e2d\u865a\u62df\u73af\u5883python 3.8\u5bf9\u5e94\u7684whl\u6587\u4ef6\u3002\u6b64\u65f6&#xff0c;\u8981\u4f5c\u4ee5\u4e0b\u4e24\u6b65&#xff1a;<\/p>\n<ul>\n<li>a. \u4ecePypi.org\u4e0b\u8f7dCarla 0.9.13\u7248\u672c\u7684Python 3.8\u7684 \u5ba2\u6237\u7aefwhl\u6587\u4ef6\u3002 \u4e0b\u8f7d\u5730\u5740&#xff1a;https:\/\/pypi.org\/project\/carla\/0.9.13\/#files<\/li>\n<\/ul>\n<p><span class=\"token comment\"># \u627e\u5230\u5e76\u4e0b\u8f7d\u4e0b\u5217whl\u6587\u4ef6&#xff1a;<\/span><br \/>\ncarla-0.9.13-cp38-cp38-manylinux_2_27_x86_64.whl <\/p>\n<ul>\n<li>b. \u4fee\u6539whl\u540d\u79f0&#xff0c;\u4ee5\u4fbf\u7b26\u5408\u89c4\u8303&#xff0c;\u5426\u5219\u8fd0\u884c\u4e0b\u9762\u7684\u5b89\u88c5\u547d\u4ee4\u4f1a\u51fa\u9519\u3002 \u53ef\u53c2\u89c1\u8fd9\u4e2a\u5e16\u5b50\u7684\u89e3\u51b3\u65b9\u6848&#xff0c;\u5c06whl\u6587\u4ef6\u540d\u6539\u4e3a\u7b26\u5408python3.8\u7248\u672c\u7684\u6587\u4ef6\u5b89\u88c5\u7684\u547d\u540d\u89c4\u8303\u3002<\/li>\n<\/ul>\n<p><span class=\"token comment\"># cd\u5230whl\u6587\u4ef6\u6240\u5728\u76ee\u5f55&#xff0c;\u5229\u7528mv\u547d\u4ee4\u91cd\u547d\u540d\u6587\u4ef6<\/span><br \/>\n<span class=\"token function\">mv<\/span> carla-0.9.13-cp38-cp38-manylinux_2_27_x86_64.whl  carla-0.9.13-cp38-cp38-manylinux_2_27_x86_64.whl<\/p>\n<p>(2) \u5b89\u88c5.whl\u6587\u4ef6<\/p>\n<p># Python <span class=\"token number\">3<\/span><br \/>\npip3 install <span class=\"token operator\">&lt;<\/span>wheel<span class=\"token operator\">&#8211;<\/span>file<span class=\"token operator\">&#8211;<\/span>name<span class=\"token operator\">&gt;<\/span><span class=\"token punctuation\">.<\/span>whl<\/p>\n<p># Python <span class=\"token number\">2<\/span><br \/>\npip install <span class=\"token operator\">&lt;<\/span>wheel<span class=\"token operator\">&#8211;<\/span>file<span class=\"token operator\">&#8211;<\/span>name<span class=\"token operator\">&gt;<\/span><span class=\"token punctuation\">.<\/span>whl<br \/>\n<span class=\"token punctuation\">.<\/span><span class=\"token operator\">\/<\/span>ImportAssets<span class=\"token punctuation\">.<\/span>sh<\/p>\n<h3>3.3 \u4ecePypi\u4e0b\u8f7dPython package<\/h3>\n<p>CARLA \u5ba2\u6237\u7aef\u5e93\u53ef\u4ee5\u4ece PyPi \u4e0b\u8f7d\u3002\u8981\u5b89\u88c5\u5b83&#xff0c;\u9700\u8981 pip\/pip3 \u768420.3\u7248\u672c\u6216\u4ee5\u4e0a\u3002<\/p>\n<p><span class=\"token comment\"># \u6fc0\u6d3b\u865a\u62df\u73af\u5883<\/span><br \/>\nconda activate XXX<br \/>\n<span class=\"token comment\"># \u5982\u679c pip \u9700\u8981\u5347\u7ea7&#xff0c;\u5219\u6267\u884c\u547d\u4ee4<\/span><br \/>\npip <span class=\"token function\">install<\/span> <span class=\"token parameter variable\">-i<\/span> https:\/\/pypi.tuna.tsinghua.edu.cn\/simple pip <span class=\"token parameter variable\">-U<\/span><br \/>\n<span class=\"token comment\"># \u5982\u679c\u9700\u8981&#xff0c;\u53ef\u6c38\u4e45\u66f4\u6362 pip \u6e90\u4e3a\u6e05\u534e\u6e90<\/span><br \/>\npip config <span class=\"token builtin class-name\">set<\/span> global.index-url https:\/\/pypi.tuna.tsinghua.edu.cn\/simple<br \/>\n<span class=\"token comment\"># \u5728 \u865a\u62df\u73af\u5883\u4e2d\u5b89\u88c5 CARLA \u6267\u884c\u6240\u9700\u8981\u7684\u4f9d\u8d56<\/span><br \/>\npip <span class=\"token function\">install<\/span> pygame numpy<br \/>\n<span class=\"token comment\"># \u5728 \u865a\u62df\u73af\u5883\u4e2d\u5b89\u88c5\u5ba2\u6237\u7aef<\/span><br \/>\npip <span class=\"token function\">install<\/span> carla<\/p>\n<ul>\n<li>\u672c\u4f8b\u66fe\u7ecf\u4f7f\u7528\u7b2c\u4e09\u79cd\u65b9\u5f0fpip\u5b89\u88c5\u5931\u8d25&#xff0c;\u7ecf\u67e5\u770bpypi\u5e93\u662f\u5b89\u88c5\u65f6\u7684\u7248\u672c\u5df2\u7ecf\u66f4\u65b0\u81f30.9.15&#xff0c;\u56e0\u6b64\u4e0d\u80fd\u4f7f\u7528pip install carla\u6765\u5b89\u88c5&#xff08;\u9ed8\u8ba40.9.15&#xff0c;\u4e0e\u672c\u4f8bcarla\u7248\u672c\u4e0d\u4e00\u81f4&#xff09;\u3002<\/li>\n<li>\u672c\u4f8b\u5c1d\u8bd5\u4f7f\u7528pip install carla&#061;&#061;0.9.13\u6765\u5b89\u88c5\u6307\u5b9a\u7248\u672c&#xff0c;\u4ecd\u7136\u5931\u8d25&#xff0c;\u539f\u56e0\u672a\u77e5&#xff0c;\u6709\u77e5\u9053\u7684\u8bf7\u8bc4\u8bba\u533a\u63d0\u793a\u3002<\/li>\n<\/ul>\n<h2>4. \u8fd0\u884c\u670d\u52a1\u7aef\u7a0b\u5e8f<\/h2>\n<p>\u7531\u4e8ecarla\u670d\u52a1\u7aef\u7a0b\u5e8f\u5b89\u88c5\u5728\u8fdc\u7a0b\u670d\u52a1\u5668\u7684\u4e2a\u4eba\u8d26\u53f7\u4e0b&#xff0c;\u987b\u9996\u5148\u8fdb\u5165\u4e2a\u4eba\u8d26\u53f7base\u73af\u5883&#xff0c;\u7136\u540e\u542f\u52a8carla\u8fd0\u884c\u670d\u52a1\u7aef\u7a0b\u5e8f&#xff0c;\u5e76\u4fdd\u6301\u8fd0\u884c\u3002<\/p>\n<ul>\n<li>\u5b89\u88c5\u4f9d\u8d56\u9879&#xff1a;<\/li>\n<\/ul>\n<p><span class=\"token function\">apt-get<\/span> <span class=\"token function\">install<\/span> <span class=\"token parameter variable\">-y<\/span> libomp5<\/p>\n<ul>\n<li>\u547d\u4ee4\u884c\u542f\u52a8Carla, \u6b63\u5e38\u6a21\u5f0f<\/li>\n<\/ul>\n<p><span class=\"token builtin class-name\">cd<\/span> CARLA_0.9.13\/<br \/>\n.\/CarlaUE4.sh<\/p>\n<ul>\n<li>\u547d\u4ee4\u884c\u542f\u52a8Carla, off-screen mode<\/li>\n<\/ul>\n<p>.\/CarlaUE4.sh <span class=\"token parameter variable\">-RenderOffScreen<\/span><\/p>\n<p>\u7531\u4e8e\u8fdc\u7a0b\u670d\u52a1\u5668\u6ca1\u6709\u663e\u793a\u5668&#xff0c;\u672c\u4f8b\u91c7\u7528off-screen mode \u542f\u52a8carla\u670d\u52a1\u7aef\u7a0b\u5e8f&#xff1a;\u5373Unreal Engine \u6b63\u5e38\u8fd0\u884c&#xff0c;\u6b63\u5e38\u8fdb\u884c\u6e32\u67d3\u8ba1\u7b97 rendering&#xff0c;\u4f46\u662f\u6ca1\u6709\u663e\u793a\u4fe1\u53f7\u8f93\u51fa&#xff0c;GPU \u7684\u865a\u62df\u4f20\u611f\u5668\u53ef\u4ee5\u6b63\u5e38\u8fd4\u56de\u6709\u6548\u6570\u636e<\/p>\n<ul>\n<li>\u5982\u679c\u7535\u8111\u663e\u5361\u6027\u80fd\u8f83\u5dee&#xff0c;\u53ef\u4ee5\u6dfb\u52a0\u5982\u4e0b\u53ef\u9009\u53c2\u6570\u8c03\u4f4e\u6e32\u67d3 level:<\/li>\n<\/ul>\n<p> .\/CarlaUE4.sh -quality-level<span class=\"token operator\">&#061;<\/span>Low<\/p>\n<p>\u542f\u52a8\u65f6\u53ef\u9009\u7684\u914d\u7f6e\u9009\u9879\u5305\u62ec&#xff1a;<\/p>\n<table>\n<tr>\u914d\u7f6e\u53c2\u6570\u542b\u4e49<\/tr>\n<tbody>\n<tr>\n<td>carla-rpc-port&#061;N<\/td>\n<td>\u4fa6\u542c\u7aef\u53e3 N \u5904\u7684\u5ba2\u6237\u7aef\u8fde\u63a5\u3002\u9ed8\u8ba4\u60c5\u51b5\u4e0b&#xff0c;\u6d41\u5f0f\u7aef\u53e3 Streaming port \u8bbe\u7f6e\u4e3a N&#043;1<\/td>\n<\/tr>\n<tr>\n<td>carla-streaming-port&#061;N<\/td>\n<td>\u6307\u5b9a\u7528\u4e8e\u4f20\u611f\u5668\u6570\u636e\u6d41\u7684\u7aef\u53e3\u3002 \u4f7f\u7528 0 \u83b7\u53d6\u968f\u673a\u672a\u4f7f\u7528\u7684\u7aef\u53e3\u3002 \u7b2c\u4e8c\u4e2a\u7aef\u53e3\u5c06\u81ea\u52a8\u8bbe\u7f6e\u4e3a N &#043; 1<\/td>\n<\/tr>\n<tr>\n<td>quality-level&#061;{Low,Epic}<\/td>\n<td>\u66f4\u6539\u56fe\u5f62\u8d28\u91cf\u7ea7\u522b<\/td>\n<\/tr>\n<tr>\n<td>-carla-server<\/td>\n<td>\u8ba9 carla\u4ee5\u670d\u52a1\u7684\u65b9\u5f0f\u8fd0\u884c<\/td>\n<\/tr>\n<tr>\n<td>-benchmark -fps&#061;15<\/td>\n<td>\u5f15\u64ce\u4ee51\/15\u79d2\u7684\u56fa\u5b9a\u65f6\u95f4\u9010\u6b65\u8fd0\u884c<\/td>\n<\/tr>\n<tr>\n<td>-windowed -ResX&#061;800 -ResY&#061;600<\/td>\n<td>\u5c4f\u5e55\u7a97\u53e3\u5927\u5c0f<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h2>5. \u8fd0\u884c\u5ba2\u6237\u7aef\u7a0b\u5e8f\u3010\u8fdc\u7a0b\u670d\u52a1\u5668\u3011<\/h2>\n<p>\u670d\u52a1\u7aef\u8fd0\u884c\u4e4b\u540e&#xff0c;\u7b49\u5f85\u5ba2\u6237\u7aef\u4e0e\u4e4b\u8fde\u63a5&#xff0c;\u53ef\u4ee5\u7528\u4e0b\u9762\u7684\u65b9\u6cd5\u8fde\u63a5\u670d\u52a1\u7aef\u3002<\/p>\n<p>(1) \u8fdb\u5165\u865a\u62df\u73af\u5883&#xff0c;\u751f\u6210\u4ea4\u901a\u6d41\u3002\u547d\u4ee4\u884c\u6267\u884c\u540e\u4e0d\u8981\u5173\u95ed\u3002<\/p>\n<p><span class=\"token builtin class-name\">cd<\/span> PythonAPI<span class=\"token punctuation\">\\\\<\/span>examples<br \/>\npython3 <span class=\"token parameter variable\">-m<\/span> pip <span class=\"token function\">install<\/span> <span class=\"token parameter variable\">-r<\/span> requirements.txt<br \/>\npython3 generate_traffic.py  <\/p>\n<p>(2) \u4eba\u5de5\u63a7\u5236<sup class=\"footnote-ref\">1<\/sup><\/p>\n<p><span class=\"token builtin class-name\">cd<\/span> PythonAPI<span class=\"token punctuation\">\\\\<\/span>examples<br \/>\npython3 manual_control.py <\/p>\n<h2>6. \u53e6\u5916\u4e00\u79cd\u5e94\u7528\u6a21\u5f0f&#xff1a;\u670d\u52a1\u7aef\u7a0b\u5e8f\u3010\u8fdc\u7a0b\u670d\u52a1\u5668\u3011&lt;\u2014&gt;\u5ba2\u6237\u7aef\u7a0b\u5e8f\u3010\u672c\u5730\u8ba1\u7b97\u673a&#xff1a;\u5ba2\u6237\u7aef&#043;\u663e\u793a\u3011<\/h2>\n<ul>\n<li>\u53c2\u89c1\u53c2\u80031&#xff1a;\u300aCarla\u5b66\u4e60\u7b14\u8bb0&#xff08;\u4e00&#xff09;\u670d\u52a1\u5668\u8dd1carla\u672c\u5730\u663e\u793a\u7a97\u53e3\u300b<\/li>\n<li>\u53c2\u89c1\u53c2\u80032&#xff1a;\u300aCarla\u5b66\u4e60\u7b14\u8bb0&#xff08;\u4e8c&#xff09;\u670d\u52a1\u5668\u8dd1carla&#xff0c;\u672c\u5730\u8fd0\u884ccarla-ros-bridge\u5e76\u7528rviz\u663e\u793a<\/li>\n<\/ul>\n<h2>7. \u5176\u4ed6\u7684\u5b89\u88c5\u65b9\u5f0f\u53c2\u8003\u6587\u732e<\/h2>\n<li>\u300aCarla \u5b89\u88c5\u8be6\u7ec6\u6559\u7a0b \u2014\u2014 Ubuntu 20.04 \u5b89\u88c5 Carla\u300b<\/li>\n<li>\u300aubuntu\u5b89\u88c5carla0.9.14\u6253\u5305\u7248&#043;\u7f16\u8bd1\u7248\u6559\u7a0b\u300b<\/li>\n<li>\u300aUbuntu20.04 \u5b89\u88c5 Nvidia GTX 1050 ti GPU \u9a71\u52a8\u8fd0\u884cCarla\u8be6\u7ec6\u8fc7\u7a0b\u300b<\/li>\n<hr class=\"footnotes-sep\" \/>\n<li id=\"fn1\" class=\"footnote-item\">\n<p>\u7531\u4e8e\u672c\u5730\u8ba1\u7b97\u673a\u63d0\u4f9b\u952e\u76d8\u8f93\u5165&#xff0c;\u5e76\u5728\u672c\u5730\u8ba1\u7b97\u673a\u663e\u793a\u5668\u6765\u663e\u793a\u8fdc\u7a0b\u670d\u52a1\u5668\u7684carla Python\u5ba2\u6237\u7aefGUI\u754c\u9762&#xff0c;\u56e0\u6b64\u5b9e\u9645\u5e94\u7528\u4e2d\u53ef\u80fd\u6709\u5ef6\u8fdf\u548c\u5361\u987f\u3002https:\/\/blog.csdn.net\/wohu1104\/article\/details\/125464837 \u21a9\ufe0e<\/p>\n<\/li>\n","protected":false},"excerpt":{"rendered":"<p>\u6587\u7ae0\u6d4f\u89c8\u9605\u8bfb5.5k\u6b21\uff0c\u70b9\u8d5e23\u6b21\uff0c\u6536\u85cf67\u6b21\u3002\u672c\u6587\u8be6\u7ec6\u6307\u5bfc\u5982\u4f55\u5728\u65e0\u663e\u793a\u5668\u3001\u591aGPU\u7684Ubuntu20.04\u8fdc\u7a0b\u670d\u52a1\u5668\u4e0a\u5b89\u88c5CARLA0.9.13\uff0c\u5305\u62ec\u670d\u52a1\u7aef\u548c\u5ba2\u6237\u7aef\u7684\u5b89\u88c5\uff0c\u4ee5\u53ca\u901a\u8fc7\u672c\u5730\u8ba1\u7b97\u673a\u8fdc\u7a0b\u64cd\u63a7\u3002\u7279\u522b\u5173\u6ce8\u4e86\u4e0d\u540c\u7248\u672c\u517c\u5bb9\u6027\u548cPypi\u5e93\u7684\u7ba1\u7406\u3002<\/p>\n","protected":false},"author":2,"featured_media":16447,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[1139,103,1140,43,44],"topic":[],"class_list":["post-16448","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-server","tag-carla","tag-ubuntu","tag-1140","tag-43","tag-44"],"yoast_head":"<!-- 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