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INSTALL.md

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Installation

  • First, clone the repo:
git clone --recursive git@github.com:UT-Austin-RPL/Coopernaut.git

Next, please follow the instructions below to setup Coopernaut.

The easiest way to do this is through conda:

conda env create -n autocast python=3.7

Installing dependencies

Install the following under the autocast conda environment

conda activate autocast
  • Install PyTorch: conda install pytorch==1.7.1 torchvision==0.8.2 torchaudio==0.7.2 cudatoolkit=11.0 -c pytorch
  • Install pip dependencies: pip3 install paho-mqtt scipy pygame py-trees==0.8.3 networkx==2.2 xmlschema numpy shapely imageio ray tqdm numba pandas scikit-image scikit-learn opencv-python h5py
  • Install mosquitto: conda install -c hargup/label/pypi mosquitto
  • Install torch-scatter and torch-sparse:
pip install torch-scatter==2.0.5 -f https://data.pyg.org/whl/torch-1.7.1+cu110.html
pip install torch-sparse==0.6.10 -f https://data.pyg.org/whl/torch-1.7.1+cu110.html
pip install torch-geometric==1.7.2
  • Install open3d: pip install open3d[None]==0.13.0
  • Install MinkowskiEngine:
conda install openblas-devel -c anaconda
pip install -U git+https://github.com/NVIDIA/MinkowskiEngine@f81ae66b33b883cd08ee4f64d08cf633608b118 -v --no-deps --install-option="--blas_include_dirs=${CONDA_PREFIX}/include"  --install-option="--blas=openblas"
  • Install logging tools
pip install wandb tensorboard torchsummary
  • Install setuptools
conda install setuptools

Installing CARLA

  • Download CARLA 0.9.11
  • Install the python egg using easy_install inside PythonAPI/carla/dist of the CARLA repo.

Specifying environment variables

Configure the following environment variables:

export CARLA_ROOT=[LINK TO YOUR CARLA FOLDER]
export SCENARIO_RUNNER_ROOT=[LINK TO AUTOCASTSIM]/srunner
export PYTHONPATH=${CARLA_ROOT}/PythonAPI:${CARLA_ROOT}/PythonAPI/carla:[LINK TO AUTOCASTSIM]