{"id":12,"date":"2026-03-08T01:45:53","date_gmt":"2026-03-07T17:45:53","guid":{"rendered":"https:\/\/192.168.124.24\/?p=12"},"modified":"2026-03-08T01:46:15","modified_gmt":"2026-03-07T17:46:15","slug":"carla%e6%ba%90%e7%a0%81%e9%83%a8%e7%bd%b2%e5%ae%89%e8%a3%85","status":"publish","type":"post","link":"https:\/\/192.168.5.31\/index.php\/2026\/03\/08\/carla%e6%ba%90%e7%a0%81%e9%83%a8%e7%bd%b2%e5%ae%89%e8%a3%85\/","title":{"rendered":"Carla\u6e90\u7801\u90e8\u7f72\u5b89\u88c5\u4ee5\u53caros2-bridge\u5b89\u88c5"},"content":{"rendered":"\n

\u9996\u5148\u4e3a\u4ec0\u4e48\u9009\u62e9\u6e90\u7801\u90e8\u7f72\uff0c\u4e00\u70b9\u662f\u56e0\u4e3a\u60f3\u8981\u66f4\u9ad8\u7684\u6027\u80fd\uff0c\u53e6\u4e00\u70b9\u662f\u65b9\u4fbf\u4e4b\u540e\u81ea\u5df1\u8bbe\u8ba1\u5730\u56fe\u8bad\u7ec3ADAS\u3002<\/p>\n\n\n\n

\u9996\u5148\u662fROS2\u7684\u5b89\u88c5\uff0c\u672c\u6587\u4e0d\u518d\u9610\u8ff0\uff0c\u76f4\u63a5\u5c0f\u9c7cROS\u5b89\u88c5desktop\u5373\u53ef\uff0c\u53e6\u5916\u8bb0\u5f97\u628arosdep\u4e5f\u987a\u5e26\u88c5\u597d\u3002\u867d\u7136Carla\u76840.9.16\u548c0.10.0\u90fd\u652f\u6301\u4e86ROS2\u7684\u539f\u751f\u529f\u80fd\uff0c\u4f46\u662f\u5b9e\u9645\u4f7f\u7528\u4e2d\u4e0d\u662f\u5f88\u53cb\u597d\uff0c\u6240\u4ee5\u672c\u6587\u4f9d\u65e7\u662f\u4f7f\u7528ROS2-Bridge\u6765\u8fdb\u884c\u4e0eROS2\u7684\u901a\u8baf<\/p>\n\n\n\n

\u6211\u7684ubuntu\u7248\u672c\u4e3a22.04lts\uff0c7900x3d 32Gx2 6200mhz RTX3080ti\uff0c\u9996\u5148\u662f\u57fa\u7840\u73af\u5883\u5b89\u88c5<\/p>\n\n\n\n

sudo apt-get update\nsudo apt-get install build-essential g++-12 cmake ninja-build libvulkan1 python3 python3-dev python3-pip python3-venv autoconf wget curl rsync unzip git git-lfs libpng-dev libtiff5-dev libjpeg-dev<\/code><\/pre>\n\n\n\n
\u63a5\u4e0b\u6765\u662f\u865a\u5e7b\u5f15\u64ce\uff0c\u8fd9\u91cc\u6709\u4e2a\u95ee\u9898\uff0ccarla\u76ee\u524d\u4f7f\u7528\u7684\u662f\u4fee\u6539\u7248\u7684ue4\uff0c\u7136\u540e\u95ee\u9898\u662fue4\u4f60\u9700\u8981\u52a0\u5165epic\u7684ue\u7ec4\u624d\u80fdclone\u4e0b\u6765\uff0c\u8fd9\u91cc\u5c31\u9700\u8981\u4f60\u81ea\u5df1\u5c06epic\u8d26\u6237\u548cgithub\u8d26\u6237\u7ed1\u5b9a\uff0c\u8fdb\u5165ue\u7ec4\u4e4b\u540e\u518d\u53bb\u4e0b\u8f7d\u5f15\u64ce\uff0c\u6b64\u5916\u4f60\u8fd8\u4f1a\u9700\u8981\u751f\u6210\u4e00\u4e2aTokens(classic)\u3002\u8fdb\u5165 GitHub Settings -> Developer settings -> Personal access tokens -> Tokens (classic)<\/strong>\uff0c\u70b9\u51fb Generate new token (classic)<\/strong>\uff0c\u52fe\u9009 repo<\/code><\/strong> \u6743\u9650\uff0c\u590d\u5236\u751f\u6210\u7684 Token\uff08\u8fd9\u73a9\u610f\u53ea\u4f1a\u51fa\u73b0\u4e00\u6b21,\u8bb0\u5f97\u590d\u5236\u4e00\u4e0b\uff09\u3002<\/p>\n\n\n\n
\u4e4b\u540e\u5c31\u662fclone\u4e0b\u6765<\/p>\n\n\n\n
git clone https:\/\/:@github.com\/EpicGames\/UnrealEngine.git<\/code><\/pre>\n\n\n\n
\u53e6\u5916\u5982\u679c\u6ca1\u6709\u9b54\u6cd5\u6216\u8005\u9b54\u6cd5\u6bd4\u8f83\u6162\uff0c\u5efa\u8bae\u7528\u56fd\u5185\u955c\u50cf\uff0c\u6bd4\u5982gh-proxy\uff0c\u6216\u8005\u4f60\u5c31\u627e\u627e\u6709\u6ca1\u6709\u4eba\u4e0a\u4f20\u5230\u4e91\u76d8\u7684\uff0c\u603b\u4e0d\u80fd\u88ab\u5c3f\u618b\u6b7b\u3002<\/p>\n\n\n\n
cd ~\/UnrealEngine_4.26\n.\/Setup.sh && .\/GenerateProjectFiles.sh && make<\/code><\/pre>\n\n\n\n
\u8fd9\u4e00\u6b65\u4f1a\u5f88\u6162\uff0c\u975e\u5e38\u6162\uff0c\u56e0\u4e3aue4\u8981\u53bb\u62c9\u4e1c\u897f\uff0c\u6ca1\u6709\u9b54\u6cd5\u662f\u771f\u7684\u8981\u547d\uff0c\u4e0d\u7136\u4f60\u5c31\u5e72\u7b49\u7740\u628a\u3002\u53e6\u5916\u4f60\u4e5f\u53ef\u4ee5\u66f4\u6362\u76ee\u5f55\uff0c\u4e0d\u5fc5\u975e\u5f97\u88c5\u5728\u7528\u6237\u76ee\u5f55\u4e0b\u3002TIPS:\u8fd9\u4e00\u90e8\u4f1a\u4ea7\u751f\u8d85\u5927\u7684\u6587\u4ef6\uff0c\u5207\u8bb0\u7559\u6709300G\u5de6\u53f3\u7684\u7a7a\u95f4\uff0c\u6216\u8005\u7b49\u6211\u4e4b\u540e\u5199\u4e2a\u76f4\u63a5\u5b89\u88c5\u7248\u3002<\/p>\n\n\n\n
cd ~\/UnrealEngine_4.26\/Engine\/Binaries\/Linux && .\/UE4Editor<\/code><\/pre>\n\n\n\n
\u8fd9\u4e00\u6b65\u53ea\u662f\u786e\u8ba4ue4\u662f\u5426\u5b89\u88c5\u5230\u4e3a\uff0c\u5982\u679c\u5b89\u88c5\u5b8c\u6210\u5c31\u4f1a\u76f4\u63a5\u5f39\u51fa\u7f16\u8f91\u83dc\u5355\u3002\u5982\u679c\u4f60\u4e2a\u4eba\u6bd4\u8f83\u61d2\uff0c\u73af\u5883\u53d8\u91cf\u53ef\u4ee5\u76f4\u63a5\u5199\u5728.bashrc\u4e2d<\/p>\n\n\n\n
export UE4_ROOT=~\/UnrealEngine_4.26<\/code><\/pre>\n\n\n\n
\u63a5\u4e0b\u6765\u5c31\u662fclone carla\uff0c\u8001\u89c4\u77e9\uff0cgh-proxy\u6216\u8005\u9b54\u6cd5\u4e8c\u9009\u4e00<\/p>\n\n\n\n
git clone -b ue4-dev https:\/\/github.com\/carla-simulator\/carla \/\/\u6709\u9b54\u6cd5\ngit clone -b ue4-dev https:\/\/gh-proxy.org\/https:\/\/github.com\/carla-simulator\/carla.git \/\/\u6ca1\u9b54\u6cd5\n<\/code><\/pre>\n\n\n\n
clone\u5b8c\u6bd5\u4e4b\u540e\u628a\u73af\u5883\u53d8\u91cf\u5199\u4e00\u4e0b<\/p>\n\n\n\n
export CARLA_UE4_ROOT=\/path\/to\/carla\/folder<\/code><\/pre>\n\n\n\n
\u7136\u540e\u5c31\u662f\u8fd0\u884c${CARLA_UE4_ROOT}\/Unreal\/CarlaUE4\/Content\/Carla\u76ee\u5f55\u4e0b\u7684.\/Update.sh\u6765\u83b7\u53d6\u8d44\u6e90\u5305\uff0c\u8fd9\u91cc\u6ce8\u610f\u53ef\u4ee5\u63d0\u524d\u5b89\u88c5aria2\u6765\u591a\u7ebf\u7a0b\u5e76\u53d1\u83b7\u53d6\u8d44\u6e90\u3002\u4e0b\u8f7d\u5b8c\u6bd5\u540e\u5c31\u662f\u7f16\u8bd1\u73af\u5883\u4f9d\u8d56<\/p>\n\n\n\n
python3 -m pip install --upgrade -r ${CARLA_UE4_ROOT}\/PythonAPI\/carla\/requirements.txt<\/code><\/pre>\n\n\n\n
\u5b89\u88c5\u5b8c\u6bd5\u540emake PythonAPI\uff0c\u6ce8\u610f\u8fd9\u91cc\u4e5f\u662f\u9700\u8981\u9b54\u6cd5\uff0c\u53e6\u5916\u5982\u679c\u4f60\u7684\u9b54\u6cd5\u89e3\u6790\u5230ipv6\uff0c\u5efa\u8baeubuntu\u6682\u65f6\u5173\u95edipv6\u529f\u80fd\uff0c\u76f8\u4fe1\u6211\u3002\u6210\u529f\u4e4b\u540e\u5c31\u53ef\u4ee5make launch\uff0c\u5982\u679c\u8fd9\u4e00\u6b65\u51fa\u73b0\u4e86\u7f51\u7edc\u95ee\u9898\uff0c\u5efa\u8bae\u5220\u9664\u4e4b\u540e\u518d\u91cd\u65b0\u4e0b\u8f7d\uff0c\u4f1a\u8282\u7701\u4e0d\u5fc5\u8981\u7684\u9ebb\u70e6\u3002\u5982\u679c\u6210\u529f\u4f60\u5c31\u4f1a\u770b\u5230ue4\u542f\u52a8\u5e76\u4e14\u52a0\u8f7d\u4e86\u9ed8\u8ba4\u5730\u56fe\uff0c\u6ce8\u610f\u4f1a\u6709\u4e9b\u5361\u987f\uff0c\u6bd5\u7adf\u8981\u53bb\u9884\u6e32\u67d3\u3002<\/p>\n\n\n\n
\u63a5\u7740\u5c31\u662fros2-bridge\u7684\u5b89\u88c5\u4e86\uff0c\u8fd9\u4e2a\u6a21\u5757\u4e5f\u662f\u4f60\u60f3\u653e\u5728\u54ea\u5c31\u54ea\uff0c\u6211\u662f\u76f4\u63a5ue4 carla bridge\u653e\u540c\u4e00\u4e2a\u76ee\u5f55\u4e0b<\/p>\n\n\n\n
mkdir -p ~\/carla-ros-bridge && cd ~\/carla-ros-bridge\ngit clone --recurse-submodules https:\/\/github.com\/carla-simulator\/ros-bridge.git src\/ros-bridge\nrosdep update  \/\/\u5207\u8bb0\u4e00\u5b9a\u5c0f\u9c7c\u641e\u597d\uff0c\u4f1a\u5e2e\u4f60\u6539\u6e90\nrosdep install --from-paths src --ignore-src -r<\/code><\/pre>\n\n\n\n
\u8fd9\u91cc\u4e0d\u8981\u7740\u6025\u7f16\u8bd1\uff0c\u5148\u53bbsrc\/ros-bridge\/carla_ros_bridge\/src\/carla_ros_bridge\/\u627e\u4e2a\u8f83CARLA_VERSION\u7684\u6587\u4ef6\uff0c\u628a\u91cc\u9762\u7684\u7248\u672c\u4fee\u6539\u6210\u4f60clone\u4e0b\u6765\u7684\u7248\u672c\uff0c\u6211\u8fd9\u91cc\u662f0.9.16\uff0c\u76f4\u63a5\u6539\u5c31\u884c\uff0c\u4e4b\u540e\u518d\u53bbcmake\u91cc\u6539\u4e2a\u914d\u7f6e\u6587\u4ef6<\/p>\n\n\n\n
vim carla-ros-bridge\/src\/ros-bridge\/pcl_recorder\/CMakeLists.txt\n\/\/68\u884c\u6539\u6210\n  ament_target_dependencies(${PROJECT_NAME}_node rclcpp sensor_msgs\n                            pcl_conversions tf2 tf2_ros tf2_eigen)\n\u4fdd\u5b58<\/code><\/pre>\n\n\n\n
\u9000\u5230\u7b2c\u4e00\u4e2acarla-ros-bridge\u76ee\u5f55\u4e0b<\/p>\n\n\n\n
colcon build\nsudo apt install python3-pygame ros-humble-derived-object-msgs ros-humble-ackermann-msgs<\/code><\/pre>\n\n\n\n
\u5b8c\u6210\u540esource .\/install\/setup.bash\u3002\u8bb0\u5f97\u5148\u6253\u5f00ue4\uff0c\u70d8\u7119town01\uff0c\u56e0\u4e3a\u4e0b\u9762\u7684\u811a\u672c\u662f\u9ed8\u8ba4\u5f00town01\uff0c\u6ca1\u6709\u70d8\u7119\u4f1a\u5bfc\u81f4ue4\u5d29\u6e83\uff0c\u70d8\u7119\u5b8c\u8bb0\u5f97\u8fd0\u884c\u3002<\/p>\n\n\n\n
ros2 launch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch.py<\/code><\/pre>\n\n\n\n
\u6b64\u65f6\u4f1a\u6253\u5f00\u4e00\u4e2apygame\uff0c\u751f\u6210\u4e00\u4e2atesla\u8f66\u8f86\uff0c\u518d\u67e5\u770btopic\u4f1a\u53d1\u73b0\u5df2\u7ecf\u51fa\u73b0\u6570\u636e\u4e86<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u5f00\u4e2arviz2\u548crqt<\/p>\n\n\n\n
\"\"<\/figure>\n","protected":false},"excerpt":{"rendered":"
\u9996\u5148\u4e3a\u4ec0\u4e48\u9009\u62e9\u6e90\u7801\u90e8\u7f72\uff0c\u4e00\u70b9\u662f\u56e0\u4e3a\u60f3\u8981\u66f4\u9ad8\u7684\u6027\u80fd\uff0c\u53e6\u4e00\u70b9\u662f\u65b9\u4fbf\u4e4b\u540e\u81ea\u5df1\u8bbe\u8ba1\u5730\u56fe\u8bad\u7ec3ADAS\u3002 \u9996\u5148\u662fROS2\u7684\u5b89\u88c5\uff0c\u672c\u6587\u4e0d\u518d\u9610\u8ff0\uff0c …<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"emotion":"","emotion_color":"","title_style":"","license":"","footnotes":""},"categories":[2],"tags":[],"class_list":["post-12","post","type-post","status-publish","format-standard","hentry","category-adas"],"_links":{"self":[{"href":"https:\/\/192.168.5.31\/index.php\/wp-json\/wp\/v2\/posts\/12","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/192.168.5.31\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/192.168.5.31\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/192.168.5.31\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/192.168.5.31\/index.php\/wp-json\/wp\/v2\/comments?post=12"}],"version-history":[{"count":4,"href":"https:\/\/192.168.5.31\/index.php\/wp-json\/wp\/v2\/posts\/12\/revisions"}],"predecessor-version":[{"id":22,"href":"https:\/\/192.168.5.31\/index.php\/wp-json\/wp\/v2\/posts\/12\/revisions\/22"}],"wp:attachment":[{"href":"https:\/\/192.168.5.31\/index.php\/wp-json\/wp\/v2\/media?parent=12"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/192.168.5.31\/index.php\/wp-json\/wp\/v2\/categories?post=12"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/192.168.5.31\/index.php\/wp-json\/wp\/v2\/tags?post=12"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}