Carla-Autoware-Zenoh Example

The repository provides a vehicle tele-operation example using Zenoh, the next generation middleware for IoTs. The demo runs two hosts, one running the CARLA simulator, and the other running the controller pad. The. controller pad will be able to control the car inside the CARLA. Two hosts are connected through the Zenoh network.

Architecture

flowchart LR
    subgraph Simulation Host
        subgraph CarlaSimulator
            sim_vehicle1[Vehicle 1]
            sim_vehicle2[Vehicle 2]
        end
        carla-setup[Carla Simulation Setup]
        carla-autoware-bridge[Carla Autoware Zenoh bridge]

        CarlaSimulator-.-|Python API|carla-setup
        CarlaSimulator-.-|Python API|carla-autoware-bridge
    end

    subgraph Vehicle 1
        zenoh-dds-bridge1[Zenoh DDS Bridge]
        controller1[Manual Controller]

        zenoh-dds-bridge1-.-|DDS|controller1
    end


    subgraph Vehicle 2
        zenoh-dds-bridge1[Zenoh DDS Bridge]
        controller2[Manual Controller]

        zenoh-dds-bridge2-.-|DDS|controller2
    end

    zenoh-net((Zenoh Network))
    zenoh-net---|Zenoh|carla-autoware-bridge
    zenoh-net---|Zenoh|zenoh-dds-bridge1
    zenoh-net---|Zenoh|zenoh-dds-bridge2

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Prepare the Environment

Prepare two machines with the following configuration. The default operating system is Ubuntu 20.04. It's fine to use your favorite OS as long as it's able to run the Docker.

Simulation host

• Ubuntu 20.04
• Graphics card NVIDIA 1080 or better.
• CARLA 0.9.13 (download)
• Docker 20 or newer (ubuntu setup)

Controlling host or a Vehicle

• Ubuntu 20.04
• Docker 20 or newer (ubuntu setup)

Run the Demo

Make sure these two hosts are reachable to each other via Zenoh network. Typically they are inside a local network. If their connection goes through through the Internet, run the Zenoh router on the third host.

Host 1: Run Carla Simulator

Run the Carla simulator.

./CarlaUE4.sh

Run the Carla/Autoware bridge and simulation configuration. Just let it run forever.

cd simulation-host
docker compose up -d

When you decide to turn off the bridge,

cd simulation-host
docker compose down

Host 2: Controller

Launch the controller and Zenoh/DDS bridge.

cd control-host
docker compose up -d

Attach to the controller shell. Press ? in the shell to learn the usage.

docker attach control-host-autoware_manual_control-1