Difference between revisions of "Vehicle simulation software"

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 +
{{:Self_Driving_RC_Car/Links}}
 
= Overview =
 
= Overview =
−
As of 2019-07-15:
+
As of 2020-01-14:
 
{| class="wikitable sortable"  
 
{| class="wikitable sortable"  
 
|-
 
|-
Line 12: Line 13:
 
! Linux
 
! Linux
 
! MacOS
 
! MacOS
 +
|-
 +
| {{Link|target=https://www.beamng.com/|title=BeamNG}}
 +
| {{Link|target=https://projects.beamng.com/projects/research/repository|title=BeamNG.research}}
 +
| {{Link|target=https://en.wikipedia.org/wiki/BeamNG.drive|title=2015-05-29}}
 +
|
 +
| {{Link|target=https://stackoverflow.com/questions/tagged/beamng|title=4}}
 +
| C#
 +
| {{Done}}
 +
| ❌
 +
| ❌
 
|-
 
|-
 
| {{Link|target=http://carla.org/|title=Carla}}
 
| {{Link|target=http://carla.org/|title=Carla}}
 
| {{Link|target=https://github.com/carla-simulator/carla|title=github}}
 
| {{Link|target=https://github.com/carla-simulator/carla|title=github}}
 
| 2017-04
 
| 2017-04
−
| 0.9.6 2019-07-12
+
| 0.9.7 2019-12-21
−
| {{Link|target=https://stackoverflow.com/questions/tagged/carla|title=3}}
+
| {{Link|target=https://stackoverflow.com/questions/tagged/carla|title=14}}
 
| C++
 
| C++
 
| {{Done}}
 
| {{Done}}
Line 23: Line 34:
 
| {{Link|target=https://github.com/carla-simulator/carla/issues/150|title=Open issue}}
 
| {{Link|target=https://github.com/carla-simulator/carla/issues/150|title=Open issue}}
 
|-
 
|-
−
| {{Link|target=https://www.beamng.com/|title=BeamNG}}
+
| {{Link|target=https://mattbradley.github.io/dash/|title=Dash}}
−
| {{Link|target=https://projects.beamng.com/projects/research/repository|title=BeamNG.research}}
+
| {{Link|target=https://github.com/mattbradley/dash|title=github}}
−
| {{Link|target=https://en.wikipedia.org/wiki/BeamNG.drive|title=2015-05-29}}
+
| 2017-12-01
−
|
+
| 1.0.0 2018-04-11
−
| {{Link|target=https://stackoverflow.com/questions/tagged/beamng|title=3}}
+
|
−
|
+
| Javascript
−
| {{Done}}
+
| {{Done}} - Chrome Browser
−
| ❌
+
| {{Done}} - Chrome Browser
−
| ❌
+
| {{Done}} - Chrome Browser
 
|-
 
|-
 
| {{Link|target=http://torcs.sourceforge.net/|title=TORCS}}
 
| {{Link|target=http://torcs.sourceforge.net/|title=TORCS}}
Line 37: Line 48:
 
| {{Link|target=https://en.wikipedia.org/wiki/TORCS|title=1997}}
 
| {{Link|target=https://en.wikipedia.org/wiki/TORCS|title=1997}}
 
| 1.3.7 2016-05-26
 
| 1.3.7 2016-05-26
−
| {{Link|target=https://stackoverflow.com/questions/tagged/torcs|title=4}}
+
| {{Link|target=https://stackoverflow.com/questions/tagged/torcs|title=5}}
 
| C++
 
| C++
 
| {{Done}}
 
| {{Done}}
Line 48: Line 59:
 
| 2.2.1 2016-04-19
 
| 2.2.1 2016-04-19
 
| -
 
| -
 +
| C++
 +
| {{Done}}
 +
| {{Done}}
 +
| {{Done}}
 +
|-
 +
| {{Link|target=https://cyberbotics.com//|title=Webots}}
 +
| {{Link|target=https://github.com/omichel/webots|title=github}}
 +
| {{Link|target=https://en.wikipedia.org/wiki/Webots|title=1996}}
 +
| R2019b 2019-06-25
 +
| {{Link|target=https://stackoverflow.com/questions/tagged/webots|title=75}}
 
| C++
 
| C++
 
| {{Done}}
 
| {{Done}}
Line 53: Line 74:
 
| {{Done}}
 
| {{Done}}
 
|}
 
|}
 +
= BeamNG =
 +
* https://www.beamng.com/
 +
 
= Carla =
 
= Carla =
 
* http://carla.org/
 
* http://carla.org/
 
* https://github.com/carla-simulator/carla
 
* 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
 +
<source lang='bash'>
 +
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
 +
</source>
 +
* https://www.epicgames.com/unrealtournament/download
 +
Epic Games Launcher does not run on Mac OS 10.9.5
 +
<pre>
 +
Dyld Error Message:
 +
  Symbol not found: _OBJC_CLASS_$_NSMutableURLRequest
 +
</pre>
 +
== Retry on a 10.13.6 machine ... ==
 +
* https://github.com/analog-garage/carla/blob/mac-build-0.9/Docs/how_to_build_on_mac.md
 +
 +
<source lang='bash'>
 +
/usr/bin/xcodebuild -version
 +
Xcode 10.1
 +
Build version 10B61
 +
git clone https://github.com/analog-garage/carla -b mac-build-0.9 carla-mac
 +
cd carla-mac
 +
make launch
 +
/Users/wf/source/cpp/carla-mac/Util/BuildTools/Environment.sh: line 49: nproc: command not found
 +
make: *** [setup] Error 127
 +
cd /opt/local/bin
 +
sudo ln -s gnproc nproc
 +
sudo ln -s python2.7 python2
 +
sudo ln -s python3.7 python3
 +
cd carla-mac
 +
python2 --version
 +
Python 2.7.16
 +
python3 --version
 +
Python 3.7.4
 +
make launch
 +
'boost/date_time/posix_time/posix_time_types.hpp' file not found
 +
 +
BuildLibCarla.command: Success!
 +
BuildCarlaUE4.command: ERROR: UE4_ROOT is not defined, or points to a non-existant directory, please set this environment variable.
 +
make: *** [launch] Error 2
 +
 +
</source>
 +
Had to reboot Mac OS to get Epic Games Launcher run properly and Install Unreal Engine 4.22.3 from there.
 +
 +
== Retry on a 10.13.6 Laptop ==
 +
<source lang='bash'>
 +
sudo port install clang-7.0 clang-6.0 coreutils autoconf curl libtool ninja wget libpng
 +
# modify .bash_profile:
 +
export PATH="/opt/local/libexec/gnubin:$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'
 +
 +
</source>
 +
* https://stackoverflow.com/questions/43124775/why-python-3-6-1-throws-attributeerror-module-enum-has-no-attribute-intflag
 +
<source lang='bash'>
 +
sudo pip uninstall -y enum34
 +
export UE4_ROOT=/Users/Shared/EpicGames/UE_4.22
 +
make launch
 +
</source>
 +
=== Issue with Update.sh ===
 +
<source lang='bash'>
 +
./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.
 +
 +
</source>
 +
=== Issue with No GenerateProjectFiles.sh ===
 +
seems to be at https://raw.githubusercontent.com/soxueren/EpicGames-UnrealEngine/master/GenerateProjectFiles.sh
 +
<source lang='bash'>
 +
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
 +
</source>
 +
=== Issue with compilation ===
 +
<source lang='bash'>
 +
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;
 +
</source>
 +
see https://github.com/carla-simulator/carla/issues/1583
 +
<source lang='bash'>
 +
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...
 +
</source>
 +
=== Python API ===
 +
<source lang='bash'>
 +
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
 +
</source>
 +
see https://github.com/carla-simulator/carla/issues/1920
  
−
= BeamNG =
+
=== CLang 6.0 issue ===
−
* https://www.beamng.com/
+
<source lang='bash'>
 +
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
 +
</source>
 +
https://github.com/carla-simulator/carla/issues/1919
 +
<source lang='bash'>
 +
cd /opt/local/bin
 +
sudo ln -s /opt/local/bin/clang-mp-6.0 clang-6.0
 +
</source>
 +
=== libboost-python36.a issue ===
 +
<source lang='bash'>
 +
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
 +
</source>
 +
= Dash =
 +
See clone at https://github.com/rc-dukes/dash
 +
<source lang='bash'>
 +
npm install --save-dev webpack
 +
npm run build
 +
open index.html
 +
</source>
 +
Make sure Chrome browser is used
 +
 
 +
= Speed Dreams =
 +
* 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
 
= Torcs =
 
= Torcs =
 
* https://en.wikipedia.org/wiki/TORCS
 
* https://en.wikipedia.org/wiki/TORCS
 
* https://sourceforge.net/projects/torcs/
 
* https://sourceforge.net/projects/torcs/
−
= Spead Dreams =
 
−
* https://sourceforge.net/projects/speed-dreams/files/2.2.2/
 
 
* http://www.sbgames.org/sbgames2013/proceedings/comp/04-short-paper-comptrack.pdf
 
* 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
 +
 +
= Webots =
 +
<source lang='bash'>
 +
./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
 +
</source>
 +
* https://www.cyberbotics.com/doc/reference/camera#wb_camera_image_get_red
 +
 
[[Category:Self_Driving_RC_Car]]
 
[[Category:Self_Driving_RC_Car]]
 
<headertabs/>
 
<headertabs/>

Latest revision as of 07:05, 14 January 2020

Click here to comment see Self Driving RC Car

[edit]

As of 2020-01-14:

Software Sources Since/Wikipedia Latest Stackoverflow Language Windows Linux MacOS
BeamNG BeamNG.research 2015-05-29 4 C# ✓ ❌ ❌
Carla github 2017-04 0.9.7 2019-12-21 14 C++ ✓ ✓ Open issue
Dash github 2017-12-01 1.0.0 2018-04-11 Javascript ✓ - Chrome Browser ✓ - Chrome Browser ✓ - Chrome Browser
TORCS sourceforge 1997 1.3.7 2016-05-26 5 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]

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

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 ...

/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'

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]

See clone at https://github.com/rc-dukes/dash 

npm install --save-dev webpack
npm run build
open index.html

Make sure Chrome browser is used

[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
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