sudo apt install -y \
    libpng16-16 \
    ros-noetic-tf \
    ros-noetic-derived-object-msgs \
    ros-noetic-cv-bridge \
    ros-noetic-pcl-conversions \
    ros-noetic-pcl-ros \
    ros-noetic-pointcloud-to-laserscan \
    ros-noetic-map-server \
    ros-noetic-ackermann-msgs \
    ros-noetic-derived-object-msgs \
    ros-noetic-behaviortree-cpp-v3 \
    vim git wget curl \
    ninja-build \
    libomp-dev
    
pip3 --no-cache-dir install --upgrade networkx distro pygame simple-pid numpy==1.18.4 transforms3d pep8 autopep8 cmake_format==0.6.11 pylint pexpect scipy empy catkin_pkg netifaces defusedxml

# 下载并解压CARLA 0.9.12 原始版本
wget -c https://mirrors.sustech.edu.cn/carla/carla/0.9.12/CARLA_0.9.12.tar.gz -O CARLA.tar.gz
mkdir -p ~/carla1s/carla
tar -xzvf CARLA.tar.gz -c ~/carla1s/carla

# 配置环境变量(写入 ~/.bashrc 或 ~/.zshrc)
export CARLA_ROOT=/home/YOUR_USERNAME/carla1s/carla
export PYTHONPATH=$PYTHONPATH:$CARLA_ROOT/PythonAPI/carla/dist/carla-0.9.12-py3.7-linux-x86_64.egg:$CARLA_ROOT/PythonAPI/carla/
# 其中[PATH_TO_CARLA]代表carla服务端（CarlaUE4.sh）所在目录
# 例如~/carla
# [CARLA_PYTHON_EGG_FILENAME]是egg文件的文件名，于文件夹./PythonAPI/carla/dist/

mkdir -p ~/carla1s/ros1_ws/src
cd ~/carla1s/ros1_ws/src
git clone --recurse-submodules [email protected]:carla1s/ros-agent/carla1s-ros.git
cd ..
catkin_make -DCMAKE_BUILD_TYPE=Release --use-ninja
source devel/setup.bash
#source devel/setup.zsh

#运行Carla服务端
cd $CARLA_ROOT
./CarlaUE4.sh -vulkan -RenderOffscreen

#测试代码
# For bash
source ~/carla1s/ros1_ws/devel/setup.bash
# For zsh
# source ~/carla1s/ros1_ws/devel/setup.zsh

roslaunch carla1s_bringup carla_example_ego_vehicle.launch town:=Town02
#roslaunch carla1s_bringup carla_example_ego_vehicle.launch town:=ParkingLot

# A->B导航实例
roslaunch carla1s_decision carla_decision_test.launch

# A->B 感知+导航实例
roslaunch carla1s_decision carla_decision_test_with_fake_perception.launch