Add C++ client example
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nsubiron
parent
bbb526be54
commit
5ef3dde552
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@ -4,7 +4,8 @@
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- Added optional parameter to show more details about a recorder file (related to `show_recorder_file_info.py`)
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- Added playback speed (slow/fast motion) for the replayer
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- We can use an absolute path for the recorded files (to choose where to 'write to' or 'read from')
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* Fixed Lidar effectiveness bug in manual_control.py
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* Fixed Lidar effectiveness bug in manual_control.py
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* Added C++ client example using LibCarla
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## CARLA 0.9.5
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@ -0,0 +1,5 @@
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/ToolChain.cmake
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/bin
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/build
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/libcarla-install
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_*
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@ -0,0 +1,60 @@
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CARLADIR=$(CURDIR)/../..
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BUILDDIR=$(CURDIR)/build
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BINDIR=$(CURDIR)/bin
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INSTALLDIR=$(CURDIR)/libcarla-install
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TOOLCHAIN=$(CURDIR)/ToolChain.cmake
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CC=/usr/bin/clang-6.0
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CXX=/usr/bin/clang++-6.0
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CXXFLAGS=-std=c++14 -pthread -fPIC -O3 -DNDEBUG -Werror -Wall -Wextra
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define log
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@echo "\033[1;35m$(1)\033[0m"
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endef
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default: build
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clean:
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@rm -rf $(BUILDDIR) $(INSTALLDIR)
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@rm -f ToolChain.cmake
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run: build
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$(call log,Running C++ Client...)
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@$(BINDIR)/cpp_client
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build: $(BINDIR)/cpp_client
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$(BINDIR)/cpp_client: build_libcarla
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$(call log,Compiling C++ Client...)
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@mkdir -p $(BINDIR)
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@$(CXX) $(CXXFLAGS) -I$(INSTALLDIR)/include -L$(INSTALLDIR)/lib \
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-o $(BINDIR)/cpp_client main.cpp \
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-Wl,-Bstatic -lcarla_client -lrpc -lboost_filesystem -Wl,-Bdynamic \
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-lpng -ltiff -ljpeg
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build_libcarla: $(TOOLCHAIN)
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@cd $(CARLADIR); make setup
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@mkdir -p $(BUILDDIR)
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$(call log,Compiling LibCarla.client...)
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@{ \
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cd $(BUILDDIR); \
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if [ ! -f "build.ninja" ]; then \
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cmake \
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-G "Ninja" \
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-DCMAKE_BUILD_TYPE=Client \
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-DLIBCARLA_BUILD_RELEASE=ON \
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-DLIBCARLA_BUILD_DEBUG=OFF \
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-DLIBCARLA_BUILD_TEST=OFF \
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-DCMAKE_TOOLCHAIN_FILE=$(TOOLCHAIN) \
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-DCMAKE_INSTALL_PREFIX=$(INSTALLDIR) \
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-DCMAKE_EXPORT_COMPILE_COMMANDS=1 \
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$(CARLADIR); \
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fi; \
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ninja; \
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ninja install | grep -v "Up-to-date:"; \
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}
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$(TOOLCHAIN):
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@echo "set(CMAKE_C_COMPILER $(CC))" > $(TOOLCHAIN)
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@echo "set(CMAKE_CXX_COMPILER $(CXX))" >> $(TOOLCHAIN)
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@echo "set(CMAKE_CXX_FLAGS \"\$${CMAKE_CXX_FLAGS} $(CXXFLAGS)\" CACHE STRING \"\" FORCE)" >> $(TOOLCHAIN)
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@ -0,0 +1,75 @@
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C++ Client Example
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==================
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This example creates an application using CARLA's C++ API to connect and control
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the simulator from C++.
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Compile and run
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---------------
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Use the Makefile provided (Linux only), to compile and run the example. Note
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that it expects to have a simulator running at port 2000.
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```
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make run
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```
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How it works
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------------
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In order to link our application against LibCarla, we need to compile LibCarla
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with the same compiler and configuration we are using with our application. To
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do so, we generate a CMake tool-chain file specifying the compiler and flags we
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want
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```cmake
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# Example ToolChain.cmake
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set(CMAKE_C_COMPILER /usr/bin/clang-6.0)
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set(CMAKE_CXX_COMPILER /usr/bin/clang++-6.0)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -O3 -DNDEBUG" CACHE STRING "" FORCE)
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```
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We pass this file to CMake when compiling LibCarla.client
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```sh
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cd /path/to/carla-root-folder
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make setup
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cd /path/to/build-folder
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cmake \
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-G "Ninja" \
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-DCMAKE_BUILD_TYPE=Client \
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-DLIBCARLA_BUILD_RELEASE=ON \
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-DLIBCARLA_BUILD_DEBUG=OFF \
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-DLIBCARLA_BUILD_TEST=OFF \
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-DCMAKE_TOOLCHAIN_FILE=/path/to/ToolChain.cmake \
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-DCMAKE_INSTALL_PREFIX=/path/to/install-folder \
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/path/to/carla-root-folder
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ninja
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ninja install
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```
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This will generate the following structure at the provided install path
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```
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libcarla-install/
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├── include/
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│ ├── carla/
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│ ├── boost/
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│ ├── rpc/
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│ └── ...
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└── lib/
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├── libcarla_client.a
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├── librpc.a
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├── libboost_filesystem.a
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└── ...
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```
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Our application needs to be linked at minimum against `libcarla_client.a` and
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`librpc.a`. If we make use of IO functionality and/or image processing we would
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need to link against `boost_filesystem`, `png`, `tiff`, and/or `jpeg`.
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For more details take a look at the Makefile provided.
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@ -0,0 +1,133 @@
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#include <iostream>
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#include <random>
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#include <sstream>
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#include <stdexcept>
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#include <thread>
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#include <carla/client/ActorBlueprint.h>
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#include <carla/client/BlueprintLibrary.h>
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#include <carla/client/Client.h>
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#include <carla/client/Map.h>
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#include <carla/client/Sensor.h>
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#include <carla/client/TimeoutException.h>
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#include <carla/client/World.h>
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#include <carla/geom/Transform.h>
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#include <carla/image/ImageIO.h>
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#include <carla/image/ImageView.h>
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#include <carla/sensor/data/Image.h>
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namespace cc = carla::client;
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namespace cg = carla::geom;
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namespace csd = carla::sensor::data;
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using namespace std::chrono_literals;
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using namespace std::string_literals;
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#define EXPECT_TRUE(pred) if (!(pred)) { throw std::runtime_error(#pred); }
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/// Pick a random element from @a range.
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template <typename RangeT, typename RNG>
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static auto &RandomChoice(const RangeT &range, RNG &&generator) {
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EXPECT_TRUE(range.size() > 0u);
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std::uniform_int_distribution<size_t> dist{0u, range.size() - 1u};
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return range[dist(std::forward<RNG>(generator))];
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}
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/// Save a semantic segmentation image to disk converting to CityScapes palette.
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static void SaveSemSegImageToDisk(const csd::Image &image) {
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using namespace carla::image;
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char buffer[9u];
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std::snprintf(buffer, sizeof(buffer), "%08zu", image.GetFrameNumber());
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auto filename = "_images/"s + buffer + ".png";
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auto view = ImageView::MakeColorConvertedView(
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ImageView::MakeView(image),
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ColorConverter::CityScapesPalette());
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ImageIO::WriteView(filename, view);
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}
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int main() {
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try {
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std::mt19937_64 rng((std::random_device())());
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auto client = cc::Client("localhost", 2000);
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client.SetTimeout(10s);
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std::cout << "Client API version : " << client.GetClientVersion() << '\n';
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std::cout << "Server API version : " << client.GetServerVersion() << '\n';
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// Load a random town.
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auto town_name = RandomChoice(client.GetAvailableMaps(), rng);
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std::cout << "Loading world: " << town_name << std::endl;
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auto world = client.LoadWorld(town_name);
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// Get a random vehicle blueprint.
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auto blueprint_library = world.GetBlueprintLibrary();
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auto vehicles = blueprint_library->Filter("vehicle");
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auto blueprint = RandomChoice(*vehicles, rng);
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// Randomize the blueprint.
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if (blueprint.ContainsAttribute("color")) {
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auto &attribute = blueprint.GetAttribute("color");
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blueprint.SetAttribute(
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"color",
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RandomChoice(attribute.GetRecommendedValues(), rng));
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}
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// Find a valid spawn point.
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auto map = world.GetMap();
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auto transform = RandomChoice(map->GetRecommendedSpawnPoints(), rng);
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// Spawn the vehicle.
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auto actor = world.SpawnActor(blueprint, transform);
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std::cout << "Spawned " << actor->GetDisplayId() << '\n';
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auto vehicle = boost::static_pointer_cast<cc::Vehicle>(actor);
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// Apply control to vehicle.
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cc::Vehicle::Control control;
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control.throttle = 1.0f;
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vehicle->ApplyControl(control);
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// Move spectator so we can see the vehicle from the simulator window.
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auto spectator = world.GetSpectator();
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transform.location += 32.0f * transform.GetForwardVector();
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transform.location.z += 2.0f;
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transform.rotation.yaw += 180.0f;
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transform.rotation.pitch = -15.0f;
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spectator->SetTransform(transform);
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// Find a camera blueprint.
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auto camera_bp = blueprint_library->Find("sensor.camera.semantic_segmentation");
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EXPECT_TRUE(camera_bp != nullptr);
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// Spawn a camera attached to the vehicle.
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auto camera_transform = cg::Transform{
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cg::Location{-5.5f, 0.0f, 2.8f}, // x, y, z.
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cg::Rotation{-15.0f, 0.0f, 0.0f}}; // pitch, yaw, roll.
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auto cam_actor = world.SpawnActor(*camera_bp, camera_transform, actor.get());
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auto camera = boost::static_pointer_cast<cc::Sensor>(cam_actor);
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// Register a callback to save images to disk.
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camera->Listen([](auto data) {
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auto image = boost::static_pointer_cast<csd::Image>(data);
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EXPECT_TRUE(image != nullptr);
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SaveSemSegImageToDisk(*image);
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});
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std::this_thread::sleep_for(10s);
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// Remove actors from the simulation.
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camera->Destroy();
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vehicle->Destroy();
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std::cout << "Actors destroyed." << std::endl;
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} catch (const cc::TimeoutException &e) {
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std::cout << '\n' << e.what() << std::endl;
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return 1;
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} catch (const std::exception &e) {
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std::cout << "\nException: " << e.what() << std::endl;
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return 2;
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}
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}
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@ -194,6 +194,9 @@ if (LIBCARLA_BUILD_RELEASE)
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if (WIN32) # @todo Fix PythonAPI build on Windows.
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set_target_properties(carla_client PROPERTIES COMPILE_FLAGS ${CMAKE_CXX_FLAGS_RELEASE})
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else ()
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if (NOT DEFINED CMAKE_CXX_FLAGS_RELEASE_CLIENT)
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set(CMAKE_CXX_FLAGS_RELEASE_CLIENT ${CMAKE_CXX_FLAGS_RELEASE})
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endif()
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set_target_properties(carla_client PROPERTIES COMPILE_FLAGS ${CMAKE_CXX_FLAGS_RELEASE_CLIENT})
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endif (WIN32)
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