carlaController

ROS keyboard controller for CARLA simulator

Issues

Using the curses library I wasn't sure how to capture multiple keys being pressed at the same time.
This makes it difficult to turn.

Instructions for setup

1. Make sure you have CARLA installed
2. Navigate to catkin_ws directory and source devel/setup.bash
3. I wrote down that I did this but I don't exactly remember what it does or if it's necessary:
   echo "source ~/path_to_carlaController/carlaController/catkin_ws/devel/setup.bash >> ~/.bashrc

Not really sure if these are all the setup instructions because I'm not familiar with using catkin_ws and I forgot exactly what I did but should be able to find solutions for problems on stackoverflow or GitHub issues pretty easily. Sorry about that.

Instructions for Running

1. Make sure CARLA simulator is already running. On the lab machine I use the command: ~/CarlaUE4.sh -windowed -ResX=600 -ResY=400 but it will differ based on where your CARLA is.

2. Run roscore: roscore

3. Run the launch file: roslaunch carlaController keyboardStuff.launch This should spawn a car in the CARLA environment and change the spectator camera to view the car.

4. In the terminal where you ran the launch file you should be able to press keys to control the car.
   w = forward
   a = left
   s = backwards
   d = right
   space = brake