From 384c28fdd675b006b01f562998065229bc81c029 Mon Sep 17 00:00:00 2001 From: VishGit1234 <47926842+VishGit1234@users.noreply.github.com> Date: Thu, 3 Oct 2024 10:06:46 -0400 Subject: [PATCH] Update CARLA documentation --- docs/carla.md | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/docs/carla.md b/docs/carla.md index 11a1f487..a05c405b 100644 --- a/docs/carla.md +++ b/docs/carla.md @@ -16,7 +16,7 @@ The goal of the CARLA setup is to provide an easy way for WATonomous members to ## Initial Setup -To run CARLA and all associated containers first add `simulation` as an `ACTIVE_MODULE` in `watod-config.sh`. This will cause the following containers to launch when `watod up` is run: `carla_server`, `carla_viz`, `carla_ros_bridge`, `carla_notebooks`, `carla_sample_node`. +To run CARLA and all associated containers first add `simulation` as an `ACTIVE_MODULE` in `watod-config.sh`. This will cause the following containers to launch when `watod up` is run: `carla_sim`, `carla_viz`, `carla_ros_bridge`, `carla_notebooks`, `carla_sample_node`. ## Interacting with CARLA using the Python API @@ -42,9 +42,9 @@ Foxglove Studio is a tool to visualize and interact with ROS messages. Using Fox **On the WATOnomous Server** -Add `vis_tools` as an `ACTIVE_PROFILE`. This will launch the `foxglove.Dockerfile` container with an open port when `watod up` is ran. +Add `infrastructure` as an `ACTIVE_PROFILE`. This will launch the `foxglove` container with an open port when `watod up` is ran. -It exposes the port specified by the `FOXGLOVE_BRIDGE_PORT` variable, which will be defined in the `.env` file in the `profiles` folder (the `.env` file is populated after `watod up` is run). This port may be auto-forwarded by VS Code automatically but if not the port will need to be forwarded manually to your local machine. This can either be done in the `ports` section of VS Code or by running the command `ssh -L 8765:localhost:8765 @-ubuntu1.watocluster.local` on your local machine (replace 8765 with the port specified in the `FOXGLOVE_BRIDGE_PORT` variable). +It exposes the port specified by the `FOXGLOVE_BRIDGE_PORT` variable, which will be defined in the `.env` file in the `modules` folder (the `.env` file is populated after `watod up` is run). This port may be auto-forwarded by VS Code automatically but if not the port will need to be forwarded manually to your local machine. This can either be done in the `ports` section of VS Code or by running the command `ssh -L 8765:localhost:8765 @-ubuntu1.watocluster.local` on your local machine (replace 8765 with the port specified in the `FOXGLOVE_BRIDGE_PORT` variable). **On your local machine (your personal laptop/pc)** @@ -54,7 +54,7 @@ Open Foxglove Studio on your local machine using either the desktop app ([Downlo **On the WATOnomous Server** -CarlaViz is a visualization tool that is useful when you are only using the CARLA Python API through a Jupyter Notebook and you don't want the overhead that comes with the ROS Bridge + Foxglove method of visualization. To use CarlaViz forward the ports specified by the variables `CARLAVIZ_PORT` and `CARLAVIZ_PORT_2` defined in the `.env` file in the `profiles` folder (make sure you forward **both** ports). If you want to stop the ROS Bridge from running (for the reasons I mentioned in the previous sentences) then make sure to comment out the `carla_ros_bridge` service in the `docker-compose.carla.yaml` file in the `profiles` folder. +CarlaViz is a visualization tool that is useful when you are only using the CARLA Python API through a Jupyter Notebook and you don't want the overhead that comes with the ROS Bridge + Foxglove method of visualization. To use CarlaViz forward the ports specified by the variables `CARLAVIZ_PORT` and `CARLAVIZ_PORT_2` defined in the `.env` file in the `modules` folder (make sure you forward **both** ports). If you want to stop the ROS Bridge from running (for the reasons I mentioned in the previous sentences) then make sure to comment out the `carla_ros_bridge` service in the `docker-compose.carla.yaml` file in the `modules` folder. **On your local machine (your personal laptop/pc)** @@ -64,4 +64,4 @@ In any browser go to `localhost:8081` (replace 8081 with the port specified in t ### CARLA is running very slow (approx. 3 fps) -This is expected. The ROS bridge causes CARLA to render all the sensor data which slows down the simulation considerably. While this may be annoying when viewing real-time camera output or trying to control the car manual, the simulation is still running accurately. If you wish to replay scenes with a configurable playback speed, check out the docs on [CARLA's recorder](https://carla.readthedocs.io/en/0.9.13/adv_recorder/) functionality. \ No newline at end of file +This is expected. The ROS bridge causes CARLA to render all the sensor data which slows down the simulation considerably. While this may be annoying when viewing real-time camera output or trying to control the car manual, the simulation is still running accurately. If you wish to replay scenes with a configurable playback speed, check out the docs on [CARLA's recorder](https://carla.readthedocs.io/en/0.9.13/adv_recorder/) functionality.