Motion_Planning_CARLA

An implementation of a full motion and behavior planning pipeline for a self-driving car in the CARLA simulator.

System Results

Install

Follow the steps described in the installation folder. To run our motion planning, you need to download this package, unzip it, and move it as a "Motion_Planning_CARLA" folder under the "PythonClient" folder.

Run

To run the package in the first terminal do:

$ cd ~/opt/CarlaSimulator
$ ./CarlaUE4.sh /Game/Maps/Course4 -windowed -carla-server -benchmark -fps=20 ResX=900 ResY=800

Then at a second terminal:

$ cd ~/opt/CarlaSimulator/PythonClient/Motion_Planning_CARLA
$ python3 module_7.py