Compile the PythonAPI to include the RSS feature.Once this is done, the full set of dependencies and RSS components can be built. There are some additional dependencies for the Python bindings. pip3 install -user -U colcon-common-extensions The dependencies are built using colcon, so it has to be installed. sudo apt-get install libgtest-dev libpython-dev libpugixml-dev libtbb-dev Take a look at the official documentation) to know more about this.ĭependencies provided by Ubunutu (>= 16.04). There are additional prerequisites required for building RSS and its dependencies. It has to be linked statically into libCarla.Īs a reminder, the feature is only available for the Linux build so far. The ad-rss-lib comes with an LGPL-2.1 open-source license that creates conflict. The RSS integration has to be built aside from the rest of CARLA. If the client asks for it, applies the response to the carla.VehicleControl, and returns the resulting one. ![]() Sends the RssRestrictor a response containing the proper response and aceleration restrictions to be applied.Uses the ad-rss-lib to extract situations, do safety checks, and generate a response.Sends to the RssResrictor an initial carla.VehicleControl. Provides the RssSensor with some parameters to be considered.(Only if the default values are overwritten). Sends a physics model of the vehicle to the RssRestrictor.Provides the RssSensor with world data.(Only if the client needs visualization). The following image sketches the integration of RSS into the CARLA architecture. RssRestrictor applies the response by restricting the commands of the vehicle.RssSensor is in charge of the situation analysis, and response generation using the ad-rss-lib.This is implemented in CARLA using two elements. For specific information on the library, read the documentation, especially the Background section. The overall response is the result of all of the combined. For each situation, safety checks are made, and a proper response is calculated. A situation describes the state of the ego vehicle with an element of the environment. To sum up, the RSS module uses the sensor data to define situations. It receives sensor information, and provides restrictions to the controllers of a vehicle. The RSS library implements a mathematical model for safety assurance. Right now, it is only available for the Linux build.
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