Code for Capturing multiple sensor data on Carla platform

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We provide an example code to capture data for multiple sensors in synchronous mode on Carla platform.

CARLA is an open-source autonomous driving simulator. The simulation platform supports flexible specification of sensor suites, environmental conditions, full control of all static and dynamic actors, maps generation and much more.

Features

• route than can be adjusted
• synchronous mode
• lidar, camera, gnss and IMU
• save the data to the disk
• display mode
• follow ego vehicle in bird's-eye view
• ignore the traffic lights

Testing system

• Intel i7 gen 9th
• 16 GB RAM memory
• NVIDIA RTX 2080Ti
• Ubuntu 20.04

Dependencies

1. CarlaUE 4.26
2. Carla simulator 0.9.12
3. Numpy
4. OpenCV
5. matplotlib
6. Pillow

Run

• fixed route, you can change the route in the route file (e.g.Route_Town07.txt)

python3 route_capture_multiple_sensors.py --fix_route

• random route

python3 route_capture_multiple_sensors.py 

• random roam on the map

python3 capture_multiple_sensors.py