Ubuntu 20.04 安装 Carla

Ubuntu 20.04安装Carla（CARLA是一个高级开放源代码驾驶模拟器，用于自动驾驶车辆的研发）需要几个步骤，这里简述一下：

1. **更新系统**:

   sudo apt update && sudo apt upgrade

2. **安装依赖库**:

   sudo apt install -y git cmake build-essential libprotobuf-dev protobuf-compiler libgoogle-perftools-dev libssl-dev libboost-all-dev libosmesa64-dev libglu1-mesa-dev libx11-dev libfreetype6-dev libgl1-mesa-dev libglu1-mesa-dev libxi6-dev libjpeg-dev libpng-dev libavcodec-dev libavformat-dev libswscale-dev libopencv-dev

3. **下载并配置CARLA源码**:

   git clone https://github.com/carlasim/carla.git
   cd carla

创建一个`carla.sh`启动文件，并设置环境变量:

   cat << EOF > carla.sh
   #!/bin/bash
   export CMAKE_PREFIX_PATH=$HOME/carla_ws/install:$CMAKE_PREFIX_PATH
   source /opt/ros/melodic/setup.bash
   rosdep install --from-paths . --ignore-src -r
   colcon build
   source install/local_setup.bash
   EOF
   chmod +x carla.sh

4. **构建和安装CARLA**:

   ./carla.sh

5. **启动CARLA Server**:

   . install/local_setup.bash
   roslaunch carla_simulator Town01.launch

6. **启动Client（如Python API）**:

   import carla
   client = carla.Client('localhost', 2000)
   world = client.get_world()

注意：上述命令可能会因系统版本、依赖包的具体状态等因素而有所调整。在安装过程中，如果遇到任何问题，建议查看官方文档或者GitHub上的Issue。