Implementing PID in CARLA

Congratulations on making it to the truly fun and hands-on portion of this chapter. You have learned a lot so far about PIDs and MPCs. Now it is time to put that knowledge to use!

In this section, we will walk through all the relevant code that is available on GitHub for this chapter:

https://github.com/PacktPublishing/Hands-On-Vision-and-Behavior-for-Self-Driving-Cars

You will learn how to apply the equations and concepts of PID in Python and then interface with CARLA.

First, you will need to install CARLA.

Installing CARLA

The CARLA project has a Linux and Windows Quick Start guide available at https://carla.readthedocs.io/en/latest/start_quickstart/.

For Linux, the CARLA files will be located here:

/opt/carla-simulator/

Inside this folder you will find a /bin/ folder that contains the executable simulator script, which you can run with the following command:

$  /opt/carla-simulator/bin/CarlaUE4.sh -opengl

The ...