From a3c26a912a9d26233d040bd71fe5324cd25142fd Mon Sep 17 00:00:00 2001
From: xia0long <316227346@qq.com>
Date: Mon, 11 Oct 2021 06:54:47 +0800
Subject: [PATCH] sim: update CARLA to 0.9.12 (#22497)

* bump carla

* update dockerfile

* no need

* specify version

* some fixups

* fix start_carla

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 .dockerignore              |  2 --
 tools/sim/.gitignore       |  4 ----
 tools/sim/Dockerfile.sim   |  6 +++---
 tools/sim/install_carla.sh | 16 ----------------
 tools/sim/start_carla.sh   | 15 +++++++--------
 5 files changed, 10 insertions(+), 33 deletions(-)
 delete mode 100644 tools/sim/.gitignore
 delete mode 100755 tools/sim/install_carla.sh

diff --git a/.dockerignore b/.dockerignore
index 5f791f3cdd..4a19eb9c3f 100644
--- a/.dockerignore
+++ b/.dockerignore
@@ -36,5 +36,3 @@ xx/projects
 !xx/projects/map3d
 xx/ops
 xx/junk
-tools/sim/carla
-tools/sim/*.tar.gz
diff --git a/tools/sim/.gitignore b/tools/sim/.gitignore
deleted file mode 100644
index b9442630ef..0000000000
--- a/tools/sim/.gitignore
+++ /dev/null
@@ -1,4 +0,0 @@
-CARLA_*.tar.gz
-carla
-carla_tmp
-
diff --git a/tools/sim/Dockerfile.sim b/tools/sim/Dockerfile.sim
index 06dfaef790..cff02565f1 100644
--- a/tools/sim/Dockerfile.sim
+++ b/tools/sim/Dockerfile.sim
@@ -36,9 +36,9 @@ ENV QTWEBENGINE_DISABLE_SANDBOX 1
 
 RUN dbus-uuidgen > /etc/machine-id
 
-# CARLA python api
-COPY ./tools/sim/install_carla.sh /tmp
-RUN /tmp/install_carla.sh
+# Install CARLA python api
+RUN pip install --upgrade pip && \
+    pip install --no-cache-dir carla==0.9.12
 
 # get same tmux config used on NEOS for debugging
 RUN cd $HOME && \
diff --git a/tools/sim/install_carla.sh b/tools/sim/install_carla.sh
deleted file mode 100755
index 27d2d4662f..0000000000
--- a/tools/sim/install_carla.sh
+++ /dev/null
@@ -1,16 +0,0 @@
-#!/usr/bin/env bash
-
-cd /tmp
-FILE=CARLA_0.9.11.tar.gz
-rm -f $FILE
-curl -O https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/$FILE
-
-rm -rf carla_tmp
-mkdir -p carla_tmp
-cd carla_tmp
-tar xvf ../$FILE PythonAPI/
-easy_install PythonAPI/carla/dist/carla-0.9.11-py3.7-linux-x86_64.egg || true
-
-cd ..
-rm -rf /tmp/$FILE
-rm -rf carla_tmp
diff --git a/tools/sim/start_carla.sh b/tools/sim/start_carla.sh
index 3e54155c9c..df6e2a3fa3 100755
--- a/tools/sim/start_carla.sh
+++ b/tools/sim/start_carla.sh
@@ -1,6 +1,6 @@
 #!/bin/bash
 
-#Requires nvidia docker - https://github.com/NVIDIA/nvidia-docker
+# Requires nvidia docker - https://github.com/NVIDIA/nvidia-docker
 if ! $(apt list --installed | grep -q nvidia-container-toolkit); then
   if [ -z "$INSTALL" ]; then
     echo "Nvidia docker is required. Re-run with INSTALL=1 to automatically install."
@@ -15,14 +15,13 @@ if ! $(apt list --installed | grep -q nvidia-container-toolkit); then
   fi
 fi
 
-docker pull carlasim/carla:0.9.11
+docker pull carlasim/carla:0.9.12
 
 docker run \
   --rm \
-  --net=host \
-  -e DISPLAY= \
-  -e SDL_VIDEODRIVER=offscreen \
-  -it \
   --gpus all \
-  carlasim/carla:0.9.11 \
-  ./CarlaUE4.sh -opengl -nosound -quality-level=Epic
+  --net=host \
+  -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
+  -it \
+  carlasim/carla:0.9.12 \
+  /bin/bash ./CarlaUE4.sh -opengl -nosound -RenderOffScreen -quality-level=Epic