How to RoadRunner Scenario and CARLA Cosimulation on Linux

In order to simulate the scenario created with RoadRunner with CARLA, I worked with reference to the tutorial.

Since the tutorial only has methods for the Windows environment, I am having trouble setting it up in the Linux environment.

However, even if the scenario is played with RoadRunner Scenario, the following output is output and CARLA does not start.

> -------------------- Simulation STARTED --------------------
> WARNING: Unable to locate a simulator for actor behavior '{c0d54804-b842-43c3-a72d-81d3d5c1b214}', applying RoadRunner default behavior to this actor.
This is regarding to a behavior with the following attributes:
  - Behavior asset: Assets/Behaviors/manualControl.rrbehavior
  - Platform type: External
  - Platform name: CARLA
The following simulation clients are currently available:
  - {99b284f0-cb13-4039-9987-0d4d78fed14b}: RoadRunner

So far I have been able to:

・Import files (.fbx, .xord, .rrdata) exported from RoadRunner to CARLA (.umap)

・Start CARLA with LinuxNoEditor and run a new map

$ /carla/Dist/CARLA_Shipping_0.9.13-1-g8854804f4-dirty/LinuxNoEditor

$ ./CarlaUE4.sh

・Execute setup.py

(/usr/local/RoadRunner_R2022b/bin/glnxa64/Tools/CARLA/SimulationClient/setup.py)

What should I do next?

[Sai]

Hello @Shuto Fujishige.

I'm also facing the same issue. Any leads on the same?

[Liu]

Encountered the same problem, has anyone solved it

[Liu]

I have preliminarily solved this problem

It may be that the roadrunner scenario cannot open the carla bridge on its own under Ubuntu.

so we need run the carla bridge ourselve

cd /usr/local/RoadRunner_R2023a/bin/glnxa64/Tools/CARLA/SimulationClient

python3 CarlaBridge.py

run this bridge may meet errors:

we need modified some line in CarlaBridge.py

line: 94:

# RR_MAPS_PATH = "/Game/RoadRunner/Maps/"

to

RR_MAPS_PATH = "/Game/Carla/Maps/"

line:114:

# self.actor_library_path = None # A json-file to specify RoadRunner to CARLA actor mapping

to:

self.actor_library_path = "/usr/local/RoadRunner_R2023a/bin/glnxa64/Tools/CARLA/examples/actors.json"

hope you can successfully run it

best wishes!