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