81 lines
2.0 KiB
Markdown
81 lines
2.0 KiB
Markdown
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-8)
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set(CMAKE_CXX_COMPILER /usr/bin/clang++-8)
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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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│ ├── cephes
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│ ├── pugixml
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| ├── ...
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│ └── system
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│ ├── boost
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│ ├── recast
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│ └── rpc
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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`,
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`librpc.a`, `libRecast.a`, and `libDetour*.a`. If we make use of IO
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functionality and/or image processing we would need to link against
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`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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