Vehicle simulation software

Overview

Carla

BeamNG

Torcs

Spead Dreams

Webots

[edit]

As of 2019-07-15:

Software	Sources	Since/Wikipedia	Latest	Stackoverflow	Language	Windows	Linux	MacOS
Carla	github	2017-04	0.9.6 2019-07-12	3	C++	✓	✓	Open issue
BeamNG	BeamNG.research	2015-05-29		3	C#	✓	❌	❌
TORCS	sourceforge	1997	1.3.7 2016-05-26	4	C++	✓	✓	❌ (Intel)
Speed Dreams	sourceforge	2010-03-27	2.2.1 2016-04-19	-	C++	✓	✓	✓
Webots	github	1996	R2019b 2019-06-25	75	C++	✓	✓	✓

[edit]

• http://carla.org/
• https://github.com/carla-simulator/carla
• https://carla.readthedocs.io/en/latest/getting_started/

Installation trial on Mac OS 10.9.5 / 10.13.6

see also https://github.com/carla-simulator/carla/issues/150

git clone https://github.com/carla-simulator/carla
cd carla
make launch
clang 7 is required, but it's not installed.
make: *** [setup] Error 1
sudo port install clang-7.0 coreutils
cd /opt/local/bin
sudo ln -s gtac tac
cd carla
./Update.sh

• https://www.epicgames.com/unrealtournament/download

Epic Games Launcher does not run on Mac OS 10.9.5

Dyld Error Message:
  Symbol not found: _OBJC_CLASS_$_NSMutableURLRequest

Retry on a 10.13.6 machine ...

• https://github.com/analog-garage/carla/blob/mac-build-0.9/Docs/how_to_build_on_mac.md

/usr/bin/xcodebuild -version
Xcode 10.1
Build version 10B61
git clone https://github.com/analog-garage/carla -b mac-build-0.9 carla-mac
cd carla-mac
make launch
/Users/wf/source/cpp/carla-mac/Util/BuildTools/Environment.sh: line 49: nproc: command not found
make: *** [setup] Error 127
cd /opt/local/bin
sudo ln -s gnproc nproc
sudo ln -s python2.7 python2
sudo ln -s python3.7 python3
cd carla-mac
python2 --version
Python 2.7.16
python3 --version
Python 3.7.4
make launch
 'boost/date_time/posix_time/posix_time_types.hpp' file not found

BuildLibCarla.command: Success!
BuildCarlaUE4.command: ERROR: UE4_ROOT is not defined, or points to a non-existant directory, please set this environment variable.
make: *** [launch] Error 2

Had to reboot Mac OS to get Epic Games Launcher run properly and Install Unreal Engine 4.22.3 from there.

Retry on a 10.13.6 Laptop

sudo port install clang-7.0 clang-6.0 coreutils autoconf curl libtool ninja wget libpng
# modify .bash_profile:
export PATH="/opt/local/libexec/gnubin:$PATH
which nproc
/opt/local/libexec/gnubin/nproc
which tac
/opt/local/libexec/gnubin/tac
sudo port select --set python2 python27
sudo port select --set python3 python37
python2 --version
Python 2.7.16
python3 --version
Python 3.7.4
/usr/bin/xcodebuild -version
Xcode 10.1
Build version 10B61
git clone https://github.com/analog-garage/carla -b mac-build-0.9 carla-mac
cd carla-mac
make launch
./Update.sh
...
Traceback (most recent call last):
  File "./Util/download_from_gdrive.py", line 11, in <module>
    import argparse
  File "/opt/local/Library/Frameworks/Python.framework/Versions/3.7/lib/python3.7/argparse.py", line 87, in <module>
    import re as _re
  File "/opt/local/Library/Frameworks/Python.framework/Versions/3.7/lib/python3.7/re.py", line 143, in <module>
    class RegexFlag(enum.IntFlag):
AttributeError: module 'enum' has no attribute 'IntFlag'

• https://stackoverflow.com/questions/43124775/why-python-3-6-1-throws-attributeerror-module-enum-has-no-attribute-intflag

sudo pip uninstall -y enum34
export UE4_ROOT=/Users/Shared/EpicGames/UE_4.22
make launch

Issue with Update.sh

./Update.sh 
Backing up existing Content...
renamed '/Users/wf/source/cpp/carla-mac/Unreal/CarlaUE4/Content/Carla' -> '/Users/wf/source/cpp/carla-mac/Unreal/CarlaUE4/Content/Carla_20190721173259'
Traceback (most recent call last):
  File "./Util/download_from_gdrive.py", line 15, in <module>
    import requests
ModuleNotFoundError: No module named 'requests'
sudo port select set python3 python36
sudo port select set python python36
./Update.sh
# wait a while for the GBytes to be downloaded and unpacked
make launch
...
BuildLibCarla.command: Success!
BuildCarlaUE4.command: Using Unreal Engine at '/Users/Shared/EpicGames/UE_4.22'
BuildCarlaUE4.command: Generate Unreal project files.
BuildCarlaUE4.command: ERROR: No GenerateProjectFiles.sh in /Users/Shared/EpicGames/UE_4.22. You can copy this from UnrealEngine source tree.

Issue with No GenerateProjectFiles.sh

seems to be at https://raw.githubusercontent.com/soxueren/EpicGames-UnrealEngine/master/GenerateProjectFiles.sh

cd /Users/Shared/EpicGames/UE_4.22/
wget https://raw.githubusercontent.com/soxueren/EpicGames-UnrealEngine/master/GenerateProjectFiles.sh
chmod +x GenerateProjectFiles.sh
cd carla-mac
make launch

Issue with compilation

carla-mac/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerAIController.h:34:16: error: declaration of 'Possess' overrides a 'final' function
  virtual void Possess(APawn *aPawn) override;

see https://github.com/carla-simulator/carla/issues/1583

export UE4_ROOT=/Users/Shared/EpicGames/UE_4.21
cd /Users/Shared/EpicGames/UE_4.21/
wget https://raw.githubusercontent.com/soxueren/EpicGames-UnrealEngine/master/GenerateProjectFiles.sh
chmod +x GenerateProjectFiles.sh
cd carla-mac
make launch
...
** BUILD SUCCEEDED **

BuildCarlaUE4.command: Launching UE4Editor...

Python API

make PythonAPI
carla-mac/Build/boost-1.69.0-install/include/boost/gil/extension/io/png/tags.hpp:25:14: fatal error: 
      'png.h' file not found
    #include <png.h>
             ^~~~~~~
1 error generated.
cd /opt
find . -name png.h
./local/include/libpng16/png.h
./local/include/png.h

make PythonAPI  -I /opt/local/include

see https://github.com/carla-simulator/carla/issues/1920

CLang 6.0 issue

unable to execute 'clang-6.0': No such file or directory
error: command 'clang-6.0' failed with exit status 1

sudo port select --set clang mp-clang-6.0
Selecting 'mp-clang-6.0' for 'clang' succeeded. 'mp-clang-6.0' is now active.
make rebuild

https://github.com/carla-simulator/carla/issues/1919

cd /opt/local/bin
sudo ln -s /opt/local/bin/clang-mp-6.0 clang-6.0

libboost-python36.a issue

clang: error: no such file or directory: 'carla-mac/PythonAPI/dependencies/lib/libboost_python36.a'
error: command 'clang-6.0' failed with exit status 1

[edit]

• https://www.beamng.com/

[edit]

• https://en.wikipedia.org/wiki/TORCS
• https://sourceforge.net/projects/torcs/
• http://www.sbgames.org/sbgames2013/proceedings/comp/04-short-paper-comptrack.pdf
• https://sites.google.com/site/universityofbrighton/torcs
• http://itsuite.it.brighton.ac.uk/jjl/reports/torcs1.pdf

[edit]

• http://www.speed-dreams.org/
• https://sourceforge.net/p/speed-dreams/code/HEAD/tree/
• https://sourceforge.net/projects/speed-dreams/files/2.2.2/
• https://www.politesi.polimi.it/bitstream/10589/83501/1/2013_10_Beni.pdf
• https://github.com/argos-research/speed-dreams

[edit]

./webots --version
Webots version: R2019b
./webots --sysinfo
System: Darwin 17.7.0 x86_64
Processor: Intel(R) Xeon(R) CPU           X5690  @ 3.47GHz
Number of cores: 24
OpenGL vendor: ATI Technologies Inc.
OpenGL renderer: AMD Radeon RX 560 OpenGL Engine
OpenGL version: 2.1 ATI-1.68.22

• https://www.cyberbotics.com/doc/reference/camera#wb_camera_image_get_red