Running GRAIC -- Multi-Agent(BETA)

Table of Contents

NOTE: Multi-Agent Mode is still under developement, we release this as a beta version. Please help us improve by reporting bugs/optimization at our github issues, thanks! —

The whole racing system consists of three independent programs, the CARLA simulator, the GRAIC infrastructure, and your controller, which should be started in three terminals. If you are using Docker, you can get a new terminal connecting to the running container by running

docker exec -it graic_con /bin/bash

where graic_con is the name of the running container.

Running the CARLA simulator

If you are using Docker, run the following command in a new terminal

~/workspace/carla-simulator/CarlaUE4.sh -opengl

If you are using AWS, run the following command in a new terminal

~/workspace/carla-simulator/CarlaUE4.sh

If everthing works, you shoule be able to see the CARLA window.

Running the GRAIC infrastructure with multi-agent scenario

First, you need to switch to the multi-agent branch.

cd /home/carla/workspace/graic-workspace/src && git checkout feat/multi_agent

Then, run the following command

. ~/workspace/graic-workspace/devel/setup.bash
roslaunch graic_core carla_multiple.launch model_type:=model_free N:=2

Running the baseline Controller

First Open a new terminal, and then do the following command.

docker exec -it graic_con /bin/bash
. ~/workspace/graic-workspace/devel/setup.bash
roslaunch graic_core graic_agent_wrapper.launch class_file:="/home/carla/workspace/graic-workspace/src/graic_core/src/baseline.py" role_name:="hero0"

Running your own Controller

Then Open a new terminal, and do the following command.

docker exec -it graic_con /bin/bash
. ~/workspace/graic-workspace/devel/setup.bash
roslaunch graic_core graic_agent_wrapper.launch class_file:="/home/carla/workspace/graic-workspace/src/graic_core/src/your_own_controller.py" role_name:="hero1"