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CARLA Simulation#

Closed-loop CARLA 0.9.16 end-to-end simulation with modular Open AD Kit containers and autoware_carla_interface. Checkout assets live under deployments/carla-simulation/.

Runtime#

  • CARLA: carlasim/carla:0.9.16 (default offscreen)
  • Interface: ghcr.io/autowarefoundation/openadkit:carla-interface-amd64-humble
  • Map: Town01 → $HOME/autoware_data/maps/Town01

Prerequisites#

  • Docker with NVIDIA runtime (nvidia-ctk runtime configure --runtime=docker)
  • Run as a user in the docker group (not sudo — sudo resets HOME and breaks MAP_PATH)
  • Large kernel UDP buffers for DDS:
sudo sysctl -w net.core.rmem_max=2147483647 net.core.wmem_max=2147483647 \
  net.core.rmem_default=134217728 net.core.wmem_default=134217728

Tested on Ubuntu 22.04; other hosts may work if Docker and the NVIDIA runtime are present.

Start#

cd deployments/carla-simulation
./start-carla-e2e-demo.sh

The helper downloads Town01 map assets (checksummed), starts CARLA, preloads the map via carla-map-loader, then brings up Autoware components and (by default) the visualizer.

Optional:

./start-carla-e2e-demo.sh --build    # build carla-interface locally
./start-carla-e2e-demo.sh --drive    # auto route + engage smoke check

Visualizer#

https://localhost:6080/vnc.html — password from config.env (REMOTE_PASSWORD). In RViz: set 2D Goal Pose, wait for planning, click Auto.

Stop#

cd deployments/carla-simulation
./start-carla-e2e-demo.sh --down
# or: docker compose --env-file config.env down

Notes#

  • Render is offscreen (CARLA_RENDER_ARGS=-RenderOffScreen). No host X display is required.
  • carla-map-loader is force-recreated whenever CARLA is recreated so Town01 preload cannot be skipped on relaunch.