TELECARLA is an extension of the CARLA simulator for teleoperated driving. We use GStreamer for compression and transmission of camera data. ROS acts as interface between our framework and CARLA.

If you use TELECARLA please cite our paper.

TELECARLA: An Open Source Extension of the CARLA Simulator for Teleoperated Driving Research Using Off-the-Shelf Components, Markus Hofbauer, Christopher B. Kuhn, Goran Petrovic, Eckehard Steinbach; IV 2020 [PDF]

@inproceedings{hofbauer_2020,
    title = {TELECARLA: An Open Source Extension of the CARLA Simulator for Teleoperated Driving Research Using Off-the-Shelf Components},
    booktitle = {31st IEEE Intelligent Vehicles Symposium 2020 (IV)},
    publisher = {IEEE},
    address = {Las Vegas, NV, USA},
    author = {Hofbauer, Markus and Kuhn, Christopher B. and Petrovic, Goran and Steinbach, Eckehard},
    month = {Oct},
    year = {2020},
    pages = {1--6},
}

TELECARLA so far has been tested on

1. Download CARLA
2. Install ROS and catkin_tools
3. Create a workspace with e.g. mkdir -p ~/catkin_ws_teleop/src && cd ~/catkin_ws_teleop/src
4. Clone this repository into the workspace's src folder with git clone https://github.com/hofbi/telecarla.git
5. Run the install script: ./install.sh
6. Build the workspace: catkin build
7. Source your workspace source ~/catkin_ws_teleop/devel/setup.<your_shell>

See the main module for running the application: telecarla

To install the additional tools required for the development, call

python3 -m pip install -r requirements.txt
sudo apt install -y clang-format
sudo snap install shfmt

from the source of this directory. Then, you can call

# Format the code
make format

# Check format
make check_format

# Pylint
make pylint