CommonRoad-CARLA Interface
This interface couples the 3D driving simulator CARLA and the CommonRoad software framework.
Installation:
pip install commonroad-carla-interfaceA minimal example for using the package:
from commonroad.common.file_reader import CommonRoadFileReader
from carlacr.carla_interface import CarlaInterface
from carlacr.helper.config import CarlaParams, CustomVis
# Specify CommonRoad scenario
scenario, pps = CommonRoadFileReader(cr_scenario_path := "scenarios/DEU_Test-1_1_T-2.xml").open()
# Configure simulation and scenario settings
param = CarlaParams()
param.map = cr_scenario_path
param.vis_type = CustomVis.EGO
# Execute simulation for replaying CommonRoad scenario
CarlaInterface(param).replay(scenario, ego_id=6)