{"id":247,"date":"2026-09-10T17:45:56","date_gmt":"2026-09-10T09:45:56","guid":{"rendered":"https:\/\/xiaoxiaoxiaoyu.com\/?p=247"},"modified":"2026-09-10T19:46:33","modified_gmt":"2026-09-10T11:46:33","slug":"%e5%9f%ba%e4%ba%8eubuntu20-04%e5%9f%ba%e9%95%9c%e5%83%8f%e7%bc%96%e8%af%91%e5%ae%89%e8%a3%85carla-0-9-16%e4%bb%bf%e7%9c%9f%e5%99%a8","status":"publish","type":"post","link":"https:\/\/xiaoxiaoxiaoyu.com\/?p=247","title":{"rendered":"\u57fa\u4e8eubuntu20.04\u57fa\u955c\u50cf\u7f16\u8bd1\u5b89\u88c5Carla 0.9.16\u4eff\u771f\u5668"},"content":{"rendered":"\n

1. \u5bbf\u4e3b\u673a\u73af\u5883\u8981\u6c42<\/h3>\n\n\n\n
    \n
  1. \u542f\u52a8docker\u5bb9\u5668: docker run -it –gpus all –ipc=host –net=host -e DISPLAY=$DISPLAY -e NVIDIA_DRIVER_CAPABILITIES=compute,utility,graphics,display -v \/tmp\/.X11-unix:\/tmp\/.X11-unix:rw \u955c\u50cf\u540d:\u7248\u672c\u6302\u8f7d\u5168\u90e8 NVIDIA GPU;\u5171\u4eab\u5bbf\u4e3b\u673a IPC \u5185\u5b58\uff0c\u9632\u6b62\u7f16\u8f91\u5668\u5171\u4eab\u5185\u5b58\u4e0d\u8db3\u3001\u6e32\u67d3\u5d29\u6e83;\u4f7f\u7528\u5bbf\u4e3b\u673a\u7f51\u7edc;\u4f20\u9012 X11 \u663e\u793a\u53d8\u91cf\uff0c\u7528\u4e8e\u56fe\u5f62\u7a97\u53e3\uff08UE4Editor\u3001Pygame \u7a97\u53e3\uff09;\u5f00\u653e\u663e\u5361\u80fd\u529b\uff0c\u8ba1\u7b97\u3001\u5de5\u5177\u3001\u56fe\u5f62\u6e32\u67d3\u3001\u663e\u793a\u8f93\u51fa\uff0c\u8dd1 UE \u7f16\u8f91\u5668\u5fc5\u5907;\u6302\u8f7d X11 \u5957\u63a5\u5b57\uff0c\u5bb9\u5668 GUI \u7a0b\u5e8f\u8f6c\u53d1\u5230\u5bbf\u4e3b\u673a\u663e\u793a\u5668<\/li>\n<\/ol>\n\n\n\n

    2. docker\u5bb9\u5668\u7f51\u7edc\u914d\u7f6e<\/h3>\n\n\n\n
      \n
    1. \u6dfb\u52a0\u4e86\u542f\u52a8docker\u5bb9\u5668\u6dfb\u52a0–net=host\u9009\u9879\u4fdd\u8bc1\u5bb9\u5668\u4e0e\u5bbf\u4e3b\u53ca\u7f51\u7edc\u73af\u5883\u4e00\u81f4\uff0c\u4f46\u662f\u5bb9\u5668\u5185\u8bbf\u95eegit\u7f51\u7edc\u4ecd\u4e0d\u7a33\u5b9a\uff0c\u91cd\u65b0\u914d\u7f6e\u73af\u5883\u53d8\u91cf\uff0c\u8ba9\u5bb9\u5668\u5185\u5404\u9879\u547d\u4ee4\u8d70\u4ee3\u7406\u8bbf\u95ee\u5916\u7f51\n
        \n
      1. export http_proxy=IP:\u7aef\u53e3<\/li>\n\n\n\n
      2. export https_proxy=IP:\u7aef\u53e3<\/li>\n\n\n\n
      3. export HTTP_PROXY=IP:\u7aef\u53e3<\/li>\n\n\n\n
      4. export HTTPS_PROXY=IP:\u7aef\u53e3<\/li>\n<\/ol>\n<\/li>\n\n\n\n
      5. \u540c\u65f6\u8bbe\u7f6e\u5927\u5199 + \u5c0f\u5199\uff0c\u517c\u987e\u65e7\u5de5\u5177\uff08curl\/wget\/git\uff09\u548c UE\/Packman \u8fd9\u7c7b C++ \u7f16\u8bd1\u5de5\u5177;<\/li>\n\n\n\n
      6. curl\u4f18\u5148\u8bfb\u5c0f\u5199 http_proxy<\/code> \/ https_proxy<\/code>\uff0c\u5982\u679c\u5c0f\u5199\u4e0d\u5b58\u5728\uff0c\u624d\u4f1a\u53bb\u8bfb\u5927\u5199 HTTP_PROXY \/ HTTPS_PROXY<\/code>;<\/li>\n\n\n\n
      7. wget \u4f18\u5148\u5c0f\u5199http_proxy<\/code>\u3001https_proxy<\/code>\uff0cwget \u80fd\u8bc6\u522b\u5927\u5199 HTTP_PROXY\uff0c\u4f46\u662f\u4f18\u5148\u7ea7\u4f4e\u4e8e\u5c0f\u5199;\u4f46\u662f\u6211\u5b89\u88c5\u4f9d\u8d56\u73af\u5883\u7684\u65f6\u5019\uff0c\u914d\u7f6e\u5927\u5199\u7684 <\/strong>HTTP_PROXY\uff0cxerces\u2011c \u4e0b\u8f7d\u4f1a\u5361\u4f4f;\u5927\u5c0f\u5199\u6700\u597d\u5168\u90e8\u914d\u4e0a\u5427;<\/li>\n\n\n\n
      8. Packman \u53ea\u8bfb\u53d6\u5927\u5199 HTTP_PROXY \/ HTTPS_PROXY<\/code><\/li>\n<\/ol>\n\n\n\n

        3. \u5bb9\u5668\u5185\u73af\u5883\u9884\u5b89\u88c5<\/h3>\n\n\n\n
          \n
        1. \u5b89\u88c5Python\u5f00\u53d1\u5305\uff0c apt install -y python3.8 python3.8-dev python3.8-distutils python3-pip python3-venv<\/li>\n\n\n\n
        2. \u5b89\u88c5\u7f16\u8bd1\u5de5\u5177\uff0capt install -y cmake ninja-build autoconf automake libtool<\/li>\n\n\n\n
        3. \u7528\u6237\u6807\u51c6\u76ee\u5f55\u5de5\u5177\uff0capt install -y xdg-utils xdg-user-dirs<\/li>\n\n\n\n
        4. \u5b89\u88c5unzip\u3001curl \u3001wget\u3001sudo \u3001vim\u3001git\u3001openssh-client\u3001rsync\u5de5\u5177\uff0capt install -y unzip curl wget openssh-client vim sudo git rsync<\/li>\n\n\n\n
        5. \u5b89\u88c5python\u5e93:pip3 install <\/li>\n\n\n\n
        6. \u5b57\u4f53\u5de5\u5177\u5305\uff0capt install -y fontconfig fonts-dejavu alsa-utils<\/li>\n<\/ol>\n\n\n\n

          4. UnrealEngine\u7f16\u8bd1\u5b89\u88c5<\/h3>\n\n\n\n
            \n
          1. UE4\u5206\u652f\u8981\u4f7f\u7528carla\u5206\u652f\uff0c\u5426\u5219\u5728\u7f16\u8bd1carla\u4e2d\u62a5fatal error: ‘Renderer\/Public\/GBufferView.h\u9519\u8bef;\u4ed3\u5e93\u5730\u5740https:\/\/github.com\/CarlaUnreal\/UnrealEngine.git \uff0c\u548cUnrealEngine\u5b98\u7f51\u4e0a\u5173\u8054\u81f3github\u7684\u4ed3\u5e93\u5730\u5740\u4e0d\u540c\uff0c\u5173\u8054\u8fc7\u6765\u7684\u4ed3\u5e93\u627e\u4e0d\u5230carla\u5206\u652f;<\/li>\n\n\n\n
          2. UnrealEngine\u548ccarla\u5728\u975eroot\u73af\u5883\u4e0b\u7f16\u8bd1\uff0c\u8fdb\u5165docker\u5bb9\u5668\u540e\uff0c\u9700\u81ea\u884c\u521b\u5efa\/\u5207\u6362\u7528\u6237;<\/li>\n\n\n\n
          3. \u8bbe\u7f6eXDG_RUNTIME_DIR\u73af\u5883\u53d8\u91cf\uff0cexport XDG_RUNTIME_DIR=\/tmp\/runtime-${USER}<\/code> && mkdir -p \"$XDG_RUNTIME_DIR\"<\/code> && chmod 700 \"$XDG_RUNTIME_DIR\"<\/code> <\/li>\n\n\n\n
          4. \u9009\u62e9\u4e00\u53f0\u5e26\u663e\u5361\u7684\u7535\u8111\u7f16\u8bd1UE4\uff0c\u542f\u52a8docker\u65f6\u5f00\u653e\u663e\u5361\u80fd\u529b\uff0c\u8ba1\u7b97\u3001\u5de5\u5177\u3001\u56fe\u5f62\u6e32\u67d3;\u8fd0\u884cSetup.sh\u65f6\u4e0d\u62a5\u9519<\/li>\n\n\n\n
          5. \u5168\u7a0b\u6302\u8f7dVPN\uff1b<\/li>\n\n\n\n
          6. \u5f88\u591a\u4f9d\u8d56\u5e93\u91cd\u65b0\u4e0b\u8f7d\u9700\u624b\u52a8\u5220\u9664\uff0c\u907f\u514d\u91cd\u65b0\u4e0b\u8f7d\u65f6\u53e0\u52a0\u7f16\u53f7\uff0c\u89e3\u538b\u65f6\u4f7f\u7528\u7684\u662f\u4e0b\u8f7d\u5931\u8d25\u8f6f\u4ef6\u5305<\/li>\n\n\n\n
          7. \u7f16\u8bd1\uff0c\u8fdb\u5165UnrealEngine\u76ee\u5f55\u6267\u884c\uff1a\n
              \n
            1. \u4e0b\u8f7d UE \u5f15\u64ce\u81ea\u5e26\u7b2c\u4e09\u65b9\u5e93:.\/Setup.sh<\/li>\n\n\n\n
            2. \u751f\u6210\u5de5\u7a0b\u6587\u4ef6:.\/GenerateProjectFiles.sh<\/li>\n\n\n\n
            3. make <\/li>\n<\/ol>\n<\/li>\n<\/ol>\n\n\n\n

              5. carla\u7f16\u8bd1\u5b89\u88c5<\/h3>\n\n\n\n
                \n
              1. \u8f6f\u4ef6\u5305\u4e0b\u8f7d:https:\/\/github.com\/carla-simulator\/carla<\/a><\/li>\n\n\n\n
              2. UE4_ROOT\u73af\u5883\u53d8\u91cf\u8bbe\u7f6e:export UE4_ROOT=”\/home\/zt\/UnrealEngine”,\u6dfb\u52a0\u81ea\u5df1\u7684UnrealEngine\u5730\u5740\uff0ccarla\u670d\u52a1\u7aef\u7684\u7f16\u8bd1\u9700\u8981\u7528\u7684UnrealEngine\u4e2d\u7684\u5de5\u5177;<\/li>\n\n\n\n
              3. \u5b89\u88c5 X11 \u5168\u5957\u5f00\u53d1\u5e93:sudo apt install -y libx11-dev libxext-dev libxi-dev libxrandr-dev libxcursor-dev libxcomposite-dev libxdamage-dev libxtst-dev,\u7f16\u8bd1python\u5ba2\u6237\u7aef\u7528\u5230\u4e86X11\u63d2\u4ef6\uff0c\u62a5\u9519Could NOT find X11 (missing: X11_X11_INCLUDE_PATH X11_X11_LIB)<\/li>\n\n\n\n
              4. \u4fee\u6539libpng\u20111.6.37\u6587\u4ef6\u4e0b\u8f7d\u5730\u5740\uff0c\u6253\u5f00Util\/BuildTools\/Setup.sh\u6587\u4ef6\u627e\u5230 LIBPNG_REPO<\/code> \u8fd9\u4e00\u884c\uff0c\u6539\u6210LIBPNG_REPO=”https:\/\/sourceforge.net\/projects\/libpng\/files\/libpng16\/older-releases\/1.6.37\/libpng-1.6.37.tar.xz”;libpng\u20111.6.37 \u6587\u4ef6\u88ab sourceforge \u79fb\u52a8\u5230\u8001\u7248\u672c\u76ee\u5f55;<\/li>\n\n\n\n
              5. \u7f16\u8bd1\uff0c\u8fdb\u5165\u5230carla\u76ee\u5f55\u6267\u884c: \n
                  \n
                1. \u8fd0\u884c\u8d44\u4ea7\u4e0b\u8f7d\u811a\u672c:.\/Update.sh<\/li>\n\n\n\n
                2. \u4e0b\u8f7d\u7f16\u8bd1\u4f9d\u8d56:make setup<\/li>\n\n\n\n
                3. \u7f16\u8bd1\u7f16\u8f91\u5668:make CarlaUE4Editor<\/li>\n\n\n\n
                4. \u542f\u52a8UE\u7f16\u8f91\u5668:make launch \u6216make launch-only<\/li>\n<\/ol>\n<\/li>\n\n\n\n
                5. CarlaUE4Editor\u7f16\u8bd1\u9700\u8981\u6ce8\u610f\u589e\u91cf\u7f16\u8bd1\u95ee\u9898\uff0c\u4f1a\u51fa\u73b0\u5404\u79cd\u5947\u602a\u94fe\u63a5\u5e93\u95ee\u9898\u65f6\uff0c\u6700\u597d\u5220\u9664\u6240\u6709\u7f16\u8bd1\u6587\u4ef6\uff0c\u91cd\u65b0\u7f16\u8bd1;\u6211\u9047\u5230\u8fc7MDL\u2011SDK\u7f16\u8bd1\u95ee\u9898\u89e3\u51b3mi\/mdl_sdk.h\u6587\u4ef6\u4e5f\u5b58\u5728\uff0c\u7f16\u8bd1MDL\u4ecd\u53cd\u590d\u62a5\u7f3a\u5c11mi\/mdl_sdk.h\u6587\u4ef6\uff0c\u9700\u8981\u5220\u9664~\/.cache\/packman\/chk\/MDL-SDK\/2024.1.1-381500.4681-linux-x86-64\/.packman.lock\u6587\u4ef6\uff0c\u6e05\u7406\u6240\u6709\u7f16\u8bd1\u7f13\u5b58\u6587\u4ef6;\n
                    \n
                  1. make hard-clean<\/li>\n\n\n\n
                  2. make CarlaUE4Editor<\/li>\n<\/ol>\n<\/li>\n\n\n\n
                  3. \u4e0d\u8981\u6267\u884cmake launch ARGS=\u201c–no-simready\u201d \u7ed5\u5f00SDL\u5e93\u5b89\u88c5;\u7528--no-simready<\/code>\u8d70\u7f16\u8bd1\u94fe\u8def\u65f6\uff0cSimReady \u6a21\u5757\u8df3\u8fc7\u7684\u5206\u652f\uff0c\u987a\u5e26\u89e6\u53d1 StreetMap \u63d2\u4ef6\u6784\u5efa\u5206\u652f\u4e0d\u6267\u884c;\u5bfc\u81f4\u542f\u52a8carla\u7f16\u8f91\u5668\u7684\u65f6\u5019\u9891\u7e41\u62a5StreetMapRuntime.so\u7f3a\u5931\u95ee\u9898<\/li>\n<\/ol>\n\n\n\n

                    6. carla\u7f16\u8f91\u5668\u542f\u52a8<\/h3>\n\n\n\n
                      \n
                    1. \u542f\u52a8CarlaUE4Editor\u754c\u9762\u5361\u6b7b\uff0c\u5d29\u6e83\u9000\u51fa\uff0c\u67e5\u770bCPU\u8d44\u6e90\u5360\u7528\u548cGPU\u8d1f\u8f7d;vulkaninfo \u6253\u5370\u5f53\u524d\u7cfb\u7edf Vulkan \u56fe\u5f62\u9a71\u52a8\u3001GPU\u3001\u5b9e\u4f8b\u3001\u8bbe\u5907\u3001\u6269\u5c55\u5168\u90e8\u4fe1\u606f;\u6ca1\u627e\u5230GPU\u76f8\u5173\u4fe1\u606f\u6216\u8005llvmpipe\u4e3a\u4e3b\u8981\u6e32\u67d3\u5de5\u5177\u4f1a\u9020\u6210CPU\u9ad8\u8d1f\u8f7d\uff0c\u7f16\u8f91\u5668\u5d29\u6e83\u9000\u51fa;\u5bb9\u5668\u5185\u7f3a\u5c11\/usr\/share\/vulkan\/icd.d\/nvidia_icd.json\u6587\u4ef6\uff0c\u9700\u8981\u81ea\u884c\u62f7\u8d1d\u5230\u5bb9\u5668\u5185;\u521b\u5efa\u73af\u5883\u53d8\u91cf export XDG_RUNTIME_DIR=”tmp\/runtime-$USER”<\/li>\n\n\n\n
                    2. \u5bb9\u5668\u5185 nvidia\u2011smi \u6b63\u5e38\u8bc6\u522b\u663e\u5361\uff0c\u4f46\u662f vulkaninfo \u663e\u793a llvmpipe\uff0c\u5bb9\u5668\u7f3a\u5c11 NVIDIA Vulkan \u9a71\u52a8\u5c42\u5e93\u6587\u4ef6\uff0cnvidia\u2011smi \u53ea\u770b\u5185\u6838\u9a71\u52a8\uff0cVulkan \u9700\u8981\u989d\u5916\u7684\u7528\u6237\u6001\u5e93;sudo apt install -y vulkan-tools libvulkan1<\/li>\n\n\n\n
                    3. \u5bb9\u5668\u5185\u7f3a\u5c11 GLVND \u8c03\u5ea6\u5c42\uff08libglvnd\uff09\uff0c\u5373\u4fbf\u5bbf\u4e3b\u673a\u7684 NVIDIA \u5e93\u900f\u4f20\u8fdb\u6765\uff0c\u5bb9\u5668\u5185\u6ca1\u6709\u8c03\u5ea6\u5668\uff0cVulkan ICD \u65e0\u6cd5\u521d\u59cb\u5316;sudo apt install -y libglvnd0 libglvnd-dev<\/li>\n\n\n\n
                    4. \u540e\u7eed\u6253\u5f00\u7f16\u8f91\u5668\u6267\u884cmake launch-only\uff0c\u4e0d\u518d\u7f16\u8bd1;make launch\u6267\u884c\u589e\u91cf\u7f16\u8bd1\u64cd\u4f5c\uff0c\u63d2\u4ef6\u65e0\u53d8\u5316\uff0c\u65e0\u9700\u7f16\u8bd1;<\/li>\n<\/ol>\n\n\n\n

                      <\/p>\n","protected":false},"excerpt":{"rendered":"

                      1. \u5bbf\u4e3b\u673a\u73af\u5883\u8981\u6c42 2. docker\u5bb9\u5668\u7f51\u7edc\u914d\u7f6e 3. \u5bb9\u5668\u5185\u73af\u5883 […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[8,9],"tags":[],"class_list":["post-247","post","type-post","status-publish","format-standard","hentry","category-8","category-9"],"_links":{"self":[{"href":"https:\/\/xiaoxiaoxiaoyu.com\/index.php?rest_route=\/wp\/v2\/posts\/247","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/xiaoxiaoxiaoyu.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/xiaoxiaoxiaoyu.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/xiaoxiaoxiaoyu.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/xiaoxiaoxiaoyu.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=247"}],"version-history":[{"count":5,"href":"https:\/\/xiaoxiaoxiaoyu.com\/index.php?rest_route=\/wp\/v2\/posts\/247\/revisions"}],"predecessor-version":[{"id":254,"href":"https:\/\/xiaoxiaoxiaoyu.com\/index.php?rest_route=\/wp\/v2\/posts\/247\/revisions\/254"}],"wp:attachment":[{"href":"https:\/\/xiaoxiaoxiaoyu.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=247"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/xiaoxiaoxiaoyu.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=247"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/xiaoxiaoxiaoyu.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=247"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}