• Ubuntu 16.04 or later (recommended)
• Nvidia driver v384.11 or later
• OpenGL (to run with CPU only)
• Bazel 0.25.0 or later (requires Java)
• virtualenv

bazel install instruction

Install dependencies

sudo apt-get update
sudo apt-get install libglu1-mesa-dev freeglut3-dev mesa-common-dev
sudo apt-get install python3.5-dev
sudo apt-get install python3-pip
sudo pip3.5 install virtualenv 

We then call the install script, that will install a virtual environment with all required dependencies. (Only once!)

bash install.sh

We then go into the virtual environment (Execute every time after openning a new terminal!)

source dev_into.sh

# Execute at project root directory
# Carla will be downloaded at the first time
bazel run //examples:fill_world_with_npc

• fill_world_with_npc: spawn npc agents in Carla and Bark simultaneously, which controlled by Carla autopilot, the actions are mirrored into Bark
• fill_world_with_bark_ego: spawn npc agents and one ego agent simultaneously, ego agent is controlled from Bark
• simulate_on_Crossing8Course & : simulate on custom opendrive map

• Install Carla using deb installation

• Simulation crash when driving into some junction (possible bug releated to Bark)
• Carla autopilot mode does not support custom opendrive map without junction (simulate_on_city_highway_straight)
• Spawn agents with default spawn location on custom opendrive may lead to error