VEINS_CARLA

Veins - The open source vehicular network simulation framework.

See the Veins website <http://veins.car2x.org/> for a tutorial, documentation, and publications.

Veins is composed of many parts. See the version control log for a full list of contributors and modifications. Each part is protected by its own, individual copyright(s), but can be redistributed and/or modified under an open source license. License terms are available at the top of each file. Parts that do not explicitly include license text shall be assumed to be governed by the "GNU General Public License" as published by the Free Software Foundation -- either version 2 of the License, or (at your option) any later version (SPDX-License-Identifier: GPL-2.0-or-later). Parts that are not source code and do not include license text shall be assumed to allow the Creative Commons "Attribution-ShareAlike 4.0 International License" as an additional option (SPDX-License-Identifier: GPL-2.0-or-later OR CC-BY-SA-4.0). Full license texts are available with the source distribution.

Paper

Please cite our VNC 2023 paper when using veins_carla:

Tobias Hardes, Ion Turcanu and Christoph Sommer, "Poster: A Case for Heterogenous Co-Simulation of Cooperative and Autonomous Driving," Proceedings of 14th IEEE Vehicular Networking Conference (VNC 2023), Istanbul, Türkiye, April 2023.

@inproceedings{hardes2023cosimulation,
  author = {Hardes, Tobias and Turcanu, Ion and Sommer, Christoph},
  title = {{Poster: A Case for Heterogenous Co-Simulation of Cooperative and Autonomous Driving}},
  booktitle = {14th IEEE Vehicular Networking Conference (VNC 2023)},
  address = {Istanbul, Türkiye},
  month = {April},
  publisher = {IEEE},
  year = {2023},
}

Prerequisites

veins_carla has so far only been tested using Linux (Ubuntu 18.04 - recommendation by CARLA).

Download and follow the instructions to install CARLA: CARLA GitHub

Download and follow the instructions for installing OMNeT++ 6

veins_carla requires several dependencies to run. To install the Python3 requirements, run the following commands:

python3 -m pip install --user grpcio
python3 -m pip install --user grpcio-tools
python3 -m pip install --user conan==1.54.0

Then you need to configure conan. You will need the following command:

conan profile new default --detect && conan profile update settings.compiler.libcxx=libstdc++11 default

Building veins_carla

Use git clone or download the project from this page. Note that the main branch contains the latest release of veins_carla with the latest fixes and features. veins_carla also requires Veins to be downloaded and compiled. You may use the following commands:

git clone git@github.com:sommer/veins.git
cd veins
./configure
make -j$(nproc)

cd ..
git clone git@github.com:veins/veins_carla.git
cd veins_carla
./configure
make -j$(nproc)

Run veins_carla

You need to start CARLA first. Depending on your local installation this can be done with the following command

cd carla_9.13
./CarlaUE4.sh

Once CARLA starts, you need to generate the traffic using CARLA's configuration script. Just incase, make sure you are using the appropriate python version for running the script.

cd carla_9.13/PythonAPI/examples
python generate_traffic.py --number-of-vehicles 2 --number-of-walkers 0

Or use the short alternative:

cd carla_9.13/PythonAPI/examples
python generate_traffic.py -n 2 -w 0

The simulation can be started either using the IDE (following the instructions in the Veins documentation) or simply by using the following commands:

cd veins_carla/examples/veins_carla
./doRun.sh