GRAIC is currently under construction. Check back often.

Getting started

This page will guide you through the steps necessary to setup the software for participating in GRAIC. Before starting, here is the system we recommend you to use.

System recommendation

GRAIC 2021 uses the CARLA simulator, ROS Noetic and CARLA is built on the Unreal Engine. That is why you will want to run the simulator on a machine with a at least 16GB RAM and a powerful GPU.


  • Intel i7 gen / i9 gen / AMD ryzen 7 / ryzen 9, with at least 16 GB RAM
  • Nvidia RTX 2070 / 2080 / 3070 / 3080 with 4GB GPU video RAM


  • Ubuntu 20.04
  • Carla 0.9.11
  • ROS Noetic
  • Python 3.7
  • Open GL 3.3 or above and DirectX 10

We will not be able to provide much support for running GRAIC on other software configurations.


Step 0. Install the GRAIC Docker

The instructions for CARLA installation can be found here. It is recommended to use our GRAIC Docker image. The instructions here are for GRAIC installation on Ubuntu 20.04.

First, ensure that you are using the NVIDIA driver. This can be done by going to “Additional Drivers” in “Software and Updates”.

  1. Install Docker CE. Instructions can be found here:
  2. Install NVIDIA-Docker2. Instructions can be found here:
  3. Pull the GRAIC Docker image: docker pull pricejiang/graic:latest

Note that you may have to use the sudo command to run docker. This may take a while.

Step 1. Download the source code and map

Now that you have installed the GRAIC docker, you should download the source code and map for GRAIC. These can be found as a release on our GitHub. Both the source code and map are zip files, so you will need to uncompress these files. You can extract them to any directory.

Step 2. Run the GRAIC Docker container

Now that everything has been installed, you can now run the GRAIC docker image. If everything works properly, once the GRAIC container is running, the baseline solution can also be run. To run the GRAIC Docker container, use the following instructions.

Replace [PATH-TO-THE-DOWNLOADED-CODE] with the path to the source code and [PATH-TO-THE-DOWNLOADED-MAP] with the path to the downloaded map.

docker run --name graic_con --privileged --rm --gpus all --env NVIDIA_DISABLE_REQUIRE=1 -it --net=host -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix:rw -v [PATH-TO-THE-DOWNLOADED CODE]/src:/home/carla/graic-workspace/src:rw -v [PATH-TO-THE-DOWNLOADED-MAP]/map_package/:/home/carla/carla-simulator/CarlaUE4/Content/map_package/:ro pricejiang/graic carla-simulator/ -opengl

Note that you may need to use the sudo command to run the Docker image.

A window called CarlaUE4 will open.

Step 3. Run the baseline solution

Now that the GRAIC Docker container is running, you should test that everything is working properly using the baseline solution.

You can now access the bash of the running container using docker exec -it graic_con /bin/bash in a new terminal. If you have connected to the bash properly, then you will see the id of the container followed by $:.

You can run our baseline solution using the following commands.

cd graic-workspace
. devel/setup.bash
roslaunch race carla_single.launch num_wheels:=4 model_type:=model_free

A vehicle should appear in the CARLA window.

Now open a new and use docker exec -it graic_con /bin/bash and run the following in the CARLA container.

cd graic-workspace/
. devel/setup.bash
cd src/race/src/

The vehicle should start moving and a score should appear.

You are now ready to start creating controllers for GRAIC!

Step 4. Create your own controller

We have provided a template controller for you to get started on creating your own controller. This template can be found on our GitHub and it is called src/race/src/ You will not have to edit any part of the file other than line 66. You should replace TODO Add your decision logic here with the decision logic of your controller.

To further understand how to create controllers, take a look at the interfaces described on our docs page.