安装 ROS

• 方法一：You can refer to my previous blog《WSL+ROS》,It describes how to be there WSL 中安装 ROS1 and give the corresponding simple CPP、Python 程序和 launch 文件（本人使用的）
• 方法二：通过在 WSL 终端运行 wget http://fishros.com/install -O fishros && . fishros You can choose to install the appropriate content according to your needs,该方法来自Yuxiang Community.If you use this method, you can consider installing it rosdepc,因为后面需要用到（The second method is more convenient）

安装 ROS bridge

️本人使用的是 ROS1,So the main talk below ROS1 的 ROS bridge 怎么安装.此外,If used later .egg The files are downloaded directly from the official website,则需要用到 python3.7 环境,否则会出现很多问题！python 环境可使用 conda 来创建,但 conda 创建 python environment will appear ROS:ModuleNotFoundError: No module named ‘rospkg‘ 等错误,可通过 pip 安装相应包（Watch out for error messages,The package missing information is in the middle of the error message for me,需要仔细排查）,I probably installed it 4 个包,Which ones were not recorded carefully

方法一：通过 apt-get 安装,但只适用于 Ubuntu18.04,具体命令如下

# Set up the Debian repository in your system
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 1AF1527DE64CB8D9
sudo add-apt-repository "deb [arch=amd64] http://dist.carla.org/carla $(lsb_release -sc) main"

# Install the ROS bridge
sudo apt-get update # Update the Debian package index
sudo apt-get install carla-ros-bridge # Install the latest ROS bridge version, or update the current installation

# Check the ROS bridge has been installed successfully in the /opt/ folder

方法二：从源码中编译（本人使用的）

• 创建 catkin 工作空间,The following command will create one in the user directory文件夹（工作空间）

mkdir -p ~/carla-ros-bridge/catkin_ws/src

• 从 github 上下载 ROS bridge Source code and its related modules

cd ~/carla-ros-bridge
git clone --recurse-submodules https://github.com/carla-simulator/ros-bridge.git catkin_ws/src/ros-bridge

• 根据已安装的 ROS1 设置 ROS 环境,Optional here melodic（Ubuntu18.04） 和 noetic（Ubuntu20.04）

source /opt/ros/<melodic/noetic>/setup.bash

• 安装必须的 ROS 依赖,若安装 ROS method two is used,则 rosdep 需改成 rosdepc

cd catkin_ws
rosdep update # 若 update Some do not Hit to repeat the operation
rosdep install --from-paths src --ignore-src -r
# 若出现错误 ERROR: the following rosdeps failed to install,则安装 pip 或 pip3

• 构建 ROS bridge

catkin build   # alternatively catkin_make

# 若出现错误：catkin: command not found,则根据 python version run the following command to install manually according to
sudo apt install python3-catkin-tools
sudo apt install python-catkin-tools

运行 ROS bridge

• 运行 carla,The source code compiled can be directly clicked CarlaUE4.uproject.若未安装 carla,可参考我之前的博客《win11 下编译 CARLA0.9.13》
• 将 carla 模块添加到 Python 路径,CARLA_ROOT 为 carla 安装的根路径,由于是在 WSL 中 export 路径,所以需要添加/mnt,而 PYTHONPATH 中的 .egg The file path is searched according to the path of its own installation.Passable at the back WSL 终端 echo $PYTHONPATH 命令查看 PYTHONPATH,If similar /opt/ros/noetic/lib/python3/dist-packages:/mnt/e/carla/PythonAPI/carla/dist/carla-0.9.13-py3.7-win-amd64.egg:/mnt/e/carla/PythonAPI/carla should be successful（export 只在当前终端生效！）

export CARLA_ROOT=/mnt/e/carla  # /mnt/e/carla 为安装 carla 的路径（在 win 中是 e 盘下 carla 目录）
export PYTHONPATH=$PYTHONPATH:$CARLA_ROOT/PythonAPI/carla/dist/carla-0.9.13-py3.7-linux-x86_64.egg:$CARLA_ROOT/PythonAPI/carla  # carla-0.9.13-py3.7-linux-x86_64.egg 是 carla 名称

由于 ROS bridge 是安装在 WSL 中,所以使用的 .egg 文件需要是 linux 版本的,若使用 win version will appear invalid ELF header 错误！该 linux Versions are available through the official GitHub 库下载,也可下载我上传的资源（包括0.9.12 和 0.9.13）

• 根据安装 ROS bridge 的方式为 ROS bridge Workspace added source path

# 从 Github compiled from source code（我使用的方式）
source ~/carla-ros-bridge/catkin_ws/devel/setup.bash

# 直接安装 ROS bridge 的
source /opt/carla-ros-bridge/<melodic/noetic>/setup.bash

To avoid repeating the above environment configuration directives,One can be created under the project root path envs.bash 文件,Integrate instructions together,然后在终端中运行 source envs.bash（One terminal can be run once,不然会出现错误）,Each new terminal needs to run the following if the file is not created 3 条命令,文件内容参考如下：

export CARLA_ROOT=/mnt/e/carla
export PYTHONPATH=$PYTHONPATH:$CARLA_ROOT/PythonAPI/carla/dist/carla-0.9.13-py3.7-linux-x86_64.egg:$CARLA_ROOT/PythonAPI/carla
source ~/carla13-ros-bridge/catkin_ws/devel/setup.bash

• Thanks to the article ROS bridge 是安装在 WSL 中,所以需要先确定 WSL 和 win Whether the host can communicate,可参考这篇博客.通常 win The host is able to ping 通 WSL 的,而若 WSL ping 不通 win 主机,则以管理员身份运行 powershell 并输入如下命令：

New-NetFirewallRule -DisplayName "WSL" -Direction Inbound  -InterfaceAlias "vEthernet (WSL)"  -Action Allow

• 在启动前,The connection needs to be modified CARLA 服务端地址 ,as we want to run carla_ros_bridge.launch 文件,modify the file host 参数,该参数是 win 在 WSL 中的地址,具体如下：

• 启动 ROS bridge,The default map used is Town1,Switch to this map first

# Each terminal should activate accordingly python 环境
# 终端 1,启动 ROS bridge
source envs.bash
roslaunch carla_ros_bridge carla_ros_bridge.launch

# 终端 2,Generate related objects,包括 ego vehicle
source envs.bash
roslaunch carla_spawn_objects carla_spawn_objects.launch

# 终端 3,控制 ego vehicle,If you need manual control, you need to press first B 键,Otherwise you can't control it,P The key is autopilot
source envs.bash
roslaunch carla_manual_control carla_manual_control.launch

# 终端 4,启动 RVIZ 可视化
rosrun rviz rviz

运行上述 4 command and configure RVIZ 后的结果

I use multiple terminals to run here instead of directly roslaunch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch Is because put the last one launch After the file is terminated CARLA An unresponsive state will appear,不知道问题出在哪里.If there is no response, you can end the process through the task manager