Carla Autoware multi machine setup with a custom map
Hi All,
I have built a custom map in Carla. Let's just say that name of the map is CUSTOM_MAP. I have the open-drive file say CUSTOM_MAP.xodr. Using pcl_recorder I have created the point cloud map of the CUSTOM_MAP.pcd. I used assuremappingtools to generate the map in lanelet2 format --CUSTOM_MAP.osm.
Now I want to connect Carla simulator with Autoware using Carla Autoware agent. I have two systems and my aim is to run Carla in one system and Autoware in another system and control the vehicle. Here are the details:
System 1: (For CARLA simulator)
- OS: Ubuntu 18.04
- ROS version: Melodic
- Graphics card: Nvidia GTX 1650
- Carla 0.9.10 , Carla Ros bridge installed
System 2: (For Autoware)
OS: Ubuntu 18.04
ROS version: Melodic
Graphics card: Nvidia RTX 3070
Autoware installed, carla autoware agent installed
Questions:
- I would like to know how to add my custom map into the Autoware launch file?
- How to connect system 1 and system 2 so that I will have carla running in system1 and Autoware in system2?
Please point me towards the right documentation.