Carla VR Streaming

Setup

• Start a docker CARLA simulator container using the instructions here
• Make sure to run xhost + before running the docker container so we can connect to the simulator

Manual Control + Streaming

• Run manual_control_streaming.py once the Carla simulator has been started in the background
• Will start a websocket on ws://0.0.0.0:<port (default is 8765)>
• Values can be changed here
• Websocket will send each frame from the VR camera
• It will also receive current headset orientation through the websocket and update the VR camera transforms to mimic head rotation
• Vehicle is hard-coded so that the camera position is always inside the car. Camera positon can also be changed here
• Head rotation values come from the CarlaVR Unity app which should be built and running on the headset

Inputs

• Input method is currently set to the LogiTech Wheel and Pedals as defined in SteeringWheelControl class
• You can change input method to KeyBoardControl in the code block here
• Wheel config is in wheel_config.ini
• There was an issue where the Steering Wheel would stop working all of a sudden. It was because the sensitivity is calculated using both max and min values from the config, but if they are the same, then the sensitivity would go to 0. That code block has been commented out here, and the current code only relies on the max value defined in the config

Tips on driving in Carla

• Don't crash :)