CARLA 与自动驾驶仿真

CARLA 自动驾驶仿真器：城镇设置、车辆控制、传感器套件、交通仿真和 ROS 2 桥接。

Learning Objectives

1. Introduction to CARLA

1.1 Architecture Overview

1.2 Installation (Docker & Build)

2. World & Maps

2.1 Built-in Towns

2.2 Custom Maps (RoadRunner)

3. Vehicle Control

3.1 Python API

3.2 Autopilot & Traffic Manager

4. Sensor Suite

4.1 Camera (RGB, Depth, Semantic)

4.2 LiDAR

4.3 Radar

5. Traffic & Pedestrian Simulation

6. Scenario Runner

7. ROS 2 Bridge

8. Other Driving Simulators (LGSVL, AirSim)

Exercises

References