openpilot与carla/UE4联合仿真环境配置
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前置环境
ubuntu22.04，nvidia550.144.03,cuda11.3
安装docker
docker安装参考这篇ku_code_ku，安装后我的docker版本是28.0.0，实际安装步骤如下：
sudo apt update
sudo apt install apt-transport-https ca-certificates curl software-properties-common gnupg lsb-release
curl -fsSL http://mirrors.aliyun.com/docker-ce/linux/ubuntu/gpg | sudo apt-key add -
该步骤执行后，会提示：W: https://mirrors.ustc.edu.cn/docker-ce/linux/ubuntu/dists/jammy/InRelease: 密钥存储在过时的 trusted.gpg 密钥环中（/etc/apt/trusted.gpg），解决办法：
cd /etc/apt
sudo cp trusted.gpg trusted.gpg.d
sudo add-apt-repository "deb [arch=amd64] http://mirrors.aliyun.com/docker-ce/linux/ubuntu $(lsb_release -cs) stable"
sudo apt update
sudo apt install docker-ce docker-ce-cli containerd.io docker-compose-plugin
sudo usermod -aG docker $USER
sudo reboot
sudo systemctl status docker
sudo docker version
之后的docker镜像拉取配置按照上述博文，接着：
# 重启docker服务使得配置生效
$ sudo systemctl daemon-reload
$ sudo systemctl stop docker.service
$ sudo systemctl stop docker.socket
$ sudo systemctl start docker.service
$ sudo systemctl start docker.socket
# 查看docker配置信息
docker info
# docker测试
sudo docker run hello-world
最后，按照这篇安装docker-compose，
sudo curl -L "https://github.com/docker/compose/releases/download/v2.6.1/docker-compose-$(uname -s)-$(uname -m)" -o /usr/local/bin/docker-compose
sudo chmod +x /usr/local/bin/docker-compose
docker-compose -vdocker的使用
参考docker使用。
安装carla
安装carla0.9.15，参考carla官网ubuntu22.04安装指南，具体步骤如下：
1. 软件要求
1.安装软件依赖
# 前置依赖
sudo apt-get update &&
sudo apt-get install wget software-properties-common &&
sudo add-apt-repository ppa:ubuntu-toolchain-r/test &&
wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key|sudo apt-key add
2.Unreal Engine 和 CARLA 在ubuntu22.04上兼容适配
sudo apt-add-repository "deb http://archive.ubuntu.com/ubuntu focal main universe"
sudo apt-get update
sudo apt-get install build-essential clang-10 lld-10 g++-7 cmake ninja-build libvulkan1 python python3 python3-dev python3-pip libpng-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git git-lfs
sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-10/bin/clang++ 180 &&
sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-10/bin/clang 180 &&
sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-7 180
运行后有一个报错： “update-alternatives: 错误: 候选项 g++ 不能是主项：它是 gcc 的次要项”
通过以下命令查看当前环境有几个gcc版本：
sudo update-alternatives --config gcc结果如下：
在通过如下命令查看当前环境有几个g++版本：
sudo update-alternatives --config g++结果如下：
这是因为update-alternatives 无法管理 g++ 的版本。可以通过如下命令查看已经安装了哪些版本的g++:
ll /usr/bin/g++*结果如下：
表明已经安装了g++7/9/11这三个版本，同时也安装了gcc7/9/11，但是没有将gcc与对应的g++进行主次绑定以及优先级设置，使用以下命令进行绑定：
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-11 25 --slave /usr/bin/g++ g++ /usr/bin/g++-11
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-9 20 --slave /usr/bin/g++ g++ /usr/bin/g++-9
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-7 180 --slave /usr/bin/g++ g++ /usr/bin/g++-7并通过sudo update-alternatives --config gcc，来设置需要的gcc版本，也就设置了对应的g++版本，通过g++ --version，结果如下：
3.更新pip
对于python3：
pip3 -V如果pip3版本低于20.3，需要升级，我的不用，结果如下：
4. 安装python依赖项
pip install --user setuptools &&
pip3 install --user -Iv setuptools==47.3.1 &&
pip install --user distro &&
pip3 install --user distro &&
pip install --user wheel &&
pip3 install --user wheel auditwheel==4.0.0结果报错一个关于conda的依赖项(暂时忽略)：
5. github与unreal Engine 账户关联
该部分参考知乎博主这篇。
2.Unreal Engine
6. 下载CARLA 的虚幻引擎 4.26
git clone --depth 1 -b carla https://github.com/CarlaUnreal/UnrealEngine.git ~/UnrealEngine_4.26报错：
需要如下操作关掉SSL：
sudo apt install gnutls-bin
git config --global http.sslVerify false
git config --global http.postBuffer 1048576000
执行又报错，鉴权失败：
参考giggle_jyj的方法，
将生成的密码复制，然后再运行上述指令，输入git账号，password就是刚刚复制的密码，结果如下：
7. 进入虚拟引擎并构建UE4
cd ~/softwares/UnrealEngine_4.26
./Setup.sh && ./GenerateProjectFiles.sh && make如果构建过程出现register unreal engine files types窗口，直接关闭即可 。
最终画面：
8. 验证是否安装成功虚幻引擎
cd ~/softwares/UnrealEngine_4.26/Engine/Binaries/Linux && ./UE4Editor结果如下即为成功：
退出窗口后画面：
9. 设置虚幻引擎环境变量
打开 .~/.bashrc
sudo gedit ~/.bashrc在文件底部添加以下行
export UE4_ROOT=~/softwares/UnrealEngine_4.26 显示结果：
保存文件并重置终端.
3.Clone CARLA
10. clone CARLA到本地
下载加速命令：
sudo apt-get install aria2clone carla到本地：
# 会安装最新版本
git clone https://github.com/carla-simulator/carla ~/softwares/carla
# 这里其实非常必要指定具体版本，-b表示分支，0.9.15表示版本
# 我因为没有指定，所以下面的错误连连
git clone -b 0.9.15 https://github.com/carla-simulator/carla.git ~/softwares/carla报错error: RPC failed; curl 56 GnuTLS recv error (-54): Error in the pull function.：
- 原因是：由于git默认缓存大小不足导致的。
- 解决方法是：使用下面的命令增加缓存大小（自行根据实际情况确定）
git config --global http.postBuffer 2000000000
验证是否修改成功：
git config --list
再次clone carla到本地(命令同上)，clone成功后进入carla文件根目录，获取资产：
cd ~/softwares/carla
./Update.sh显示没有那个文件：
在carla文件根目录下，查看当前的分支：
git branch结果为：
这是carla官方最新的版本，支持UE5，这是一个大升级，UE5版本是没有Update.sh文件的，且安装说明书也与UE4版本不同。所以，需要以下命令在carla文件根目录下来删除clone的项目：
# 删除carla文件夹下的所有文件
rm -r ./*运行以下命令clone carla0.9.15 到本地：
git clone -b 0.9.15 https://github.com/carla-simulator/carla.git ~/softwares/carla如果出现如下错误，解决办法如下：
git config --global http.sslVerify false
git config --global http.postBuffer 1048576000
clone到本地后，终端界面如下：
11. 获取资产 Get assets
clone成功后进入carla文件根目录，获取资产：
cd ~/softwares/carla
./Update.sh终端显示界面如下：
复制图中的网址到浏览器打开，显示失效了，结果如下：
在终端执行以下命令，显示错误403，表示服务器拒绝响应客户端请求，结果如下：
curl -I http://carla-assets.s3.amazonaws.com/
wget --spider http://carla-assets.s3.amazonaws.com/
查了一圈资料，发现官方已经将carla assets 的网址改为了https://carla-assets.s3.us-east-005.backblazeb2.com ，所以需要在Update.sh里将原来的url改为这个：
进入carla文件根目录，获取资产：
cd ~/softwares/carla
./Update.sh这回可以成功下载，终端显示界面如下：
4. 构建carla
12. 编译 Python API客户端
在carla根目录下，运行以下命令：
make PythonAPI ARGS="--python-version=3.12"结果如下：
最后的错误是由于解压格式问题，报错原因是这个压缩包没有用gzip格式压缩，所以不用加z指令就可以了，可以在Setup.sh文件里修改，该文件在~/softwares/carla/Util/BuildTools/ 路径下：
修改后保存，然后进入carla/Build路径下，删除之前下载的boost_1_80_0.tar.gz，重新编译 Python API客户端 ：
cd ~/softwares/carla/Build
rm boost_1_80_0.tar.gz
make PythonAPI ARGS="--python-version=3.12"还是报同样的错误。其实，上述报错中的 “已发出 HTTP 请求，正在等待回应... 302 Moved Temporarily” ，表示该资源已经暂时移至他处，所以拒绝访问：
对于没有科学上网的你，可以如下操作(该方法是仔细阅读Setup.sh文件，尝试在浏览器打开文件中的url，JFrog Landing，会跳转其他页面，但是也没资源情况下找到的方法)：
在Setup.sh中将下面的网址
https://boostorg.jfrog.io/artifactory/main/release
更换为
https://archives.boost.io/release
这下可以下载了（在这之前我操作了 git config --global http.sslVerify true，可能也不需要）：
之后出现一个错误：
参考这一博主输入以下命令查看clang选择的gcc版本，发现是gcc12：
clang -v
然后在对应的/usr/lib/gcc/x86_64-linux-gnu/12文件夹中，并没有libstdc++.a，所以我们用以下命令安装libstdc++.a文件：
sudo apt install g++-12再次执行，产生一个新的错误：
删除 boost_1_80_0.tar.gz，执行：
git config --global http.sslVerify false // 这一步很重要！！！
make PythonAPI ARGS="--python-version=3.12"
结果如下：
最后出现一个错误：No module named 'distutils'，这是因为python3.8之后废弃distutils了，我的是python3.12，解决办法如下：
执行以下命令安装setuptools，结果显示已经安装：
pip install setuptools
接着，运行以下命令：
pip install --upgrade setuptools然后，再运行：
make PythonAPI ARGS="--python-version=3.12"最终结果：
进入./carla/PythonAPI/carla/dist文件夹下检查是否生成这两个文件(.egg和.whl)，存在则编译成功：
13. 编译服务器
运行以下命令编译服务器：
make launch过程图：
中间报错：进程被杀死的错误
可能是运行内存不够导致进程被杀死，扩充交换内存，根据需要扩充了8G(我的电脑是win/Linux双系统，安装linux时没有分配交换内存)：
# 查看交换内存大小
free -h
# 设置交换内存(之前没有设置过)
sudo fallocate -l 8G /swapfile // 8G为分配的交换内存大小，/swapfile表示在系统根目录创建一个 名称为swapfile的文件夹
sudo chmod 600 /swapfile
# sudo swapoff /swapfile // 可选步骤，如果之前设置了on,那么这里需要off
sudo mkswap /swapfile
sudo swapon /swapfile
# 让系统每次开机都自动使用新建立好的交换空间
sudo nano /etc/fstab
# 然后在最后一行添加如下内容，之后按enter键保存，然后ctrl+X退出
/swapfile none swap sw 0 0
# 重启生效
sudo reboot
通过free -h 查看是否扩充成功。之后，再make launch：
这个错误应该是扩充交换内存，导致先前SSL设置失效，这里重新执行以下命令：
git config --global http.sslVerify false
git config --global http.postBuffer 1048576000
然后再次make launch，结果遇到一个网络问题如下：
然后我执行了以下命令(可能也不需要)，因为是网络的问题，其实一般可以多次尝试make launch：
# 查看代理命令
git config --global --get http.proxy
# 取消代理命令
git config --global --unset http.proxy
然后，make launch ， 可以连接网络并正常执行：
在首次启动期间，编辑器可能会显示有关着色器和网格距离场的警告。 这些需要一些时间才能加载，直到那时地图才能正确显示，耐心等待吧。
最后，停留在下面这个界面表示编译完成/启动完成：
可以用鼠标点击UE4窗口中的图像，终端会有警告，验证启动UE4完成：
5.开始仿真
重新打开一个终端，进入carla/PythonAPI/examples路径，然后执行以下命令：
python3 -m pip install -r requirements.txt出现一个错误： ModuleNotFoundError: No module named 'distutils.msvccompiler'
还是distutils的问题，网上有解决办法是降到python3.8，但是我现在的环境依赖python3.12且前面 编译 Python API客户端也是指定python3.12，所以我不降级。
在/carla/PythonAPI/examples 路径下，找到安装依赖要求文件 requirements.txt，打开：
先在终端安装numpy，我的最后显示是安装了numpy2.2.3(这个版本也还是太高了，后面降级到numpy1.26.0)：
pip install numpy然后，将上述requirements.txt文件修改numpy为安装的版本：
carla/PythonAPI/examples路径下再次运行以下命令可以成功安装：
python3 -m pip install -r requirements.txt之后，运行：
python3 generate_traffic.py报错： SystemError: type Boost.Python.enum has the Py_TPFLAGS_HAVE_GC flag but has no traverse function
可以通过以下命令查看系统所有可用的python:
ls /usr/bin/python*14.无效的尝试
------------------------------------下面的尝试均不能解决问题，不要做-------------------------------------------
没用->尝试在linunx系统环境中(非conda base环境)安装python3.8，然后利用update-alternatives 进行多个python版本管理，也可以参考这个资料，执行以下命令使用python3.8尝试编译：
sudo update-alternatives --install /home/cam/softwares/miniconda3/bin/python3 python3 /usr/bin/python3.8 2再次python3 generate_traffic.py编译出错 ： 找不到carla模块
没用->随后执行以下操作，临时添加carla安装路径到python环境变量：
export CARLA_ROOT=/home/cam/softwares/carla
export PYTHONPATH=$PYTHONPATH:$CARLA_ROOT/PythonAPI/carla/dist/carla-0.9.15-py3.12-linux-x86_64.egg再次 python3 generate_traffic.py 编译，报错undefined symbol: PyCMethod_New：
网上资料issue显示，pyhon3.9之前版本没有PyCMethod_New。
插曲：我在排查问题时，不小心删除了miniconda3安装路径下/bin目录里的python和python3软连接文件，然后就进不了conda的base环境，误删的python和python3如图所示：
恢复误删除python软连接方法如下：
# 进入到miniconda3/bin/目录，然后将该目录中的python3.12软链接至python3
ln -s python3.12 python3
# 然后再将python3软链接至python
ln -s python3 python之后关闭终端，重新打开一个，就直接进入到base环境。
而且，也在update-alternatives里面移除python3.8：
sudo update-alternatives --remove python3 /usr/bin/python3.8---------------------------------------------------无效尝试到此结束----------------------------------------------------
15.CARLA官方BUG
正文：
后来发现是boost库与python版本不兼容，一般boost要滞后于python，python3.12.9是2025-2-4发布，而boost版本是1.80.0在2022-8-12发布，显然会有不兼容。因此，不得不从第12步重新开始。
在开始之前，为了稳妥，最大限度降低python版本到3.12.0(2023-10-2发布)(之前的版本不能再安装了，会与当前环境依赖冲突)，同时要在carla/Utils/BuildTools/路径下找到Setup.sh，打开并修改合适的BOOST_VERSION，依据发布时间判断，这里选择boost1.85.0(2024-4-16发布)：
重复第12步，在carla根目录下运行 make PythonAPI ARGS="--python-version=3.12" 报错：
Util/BuildTools/Linux.mk:163: 警告：覆盖关于目标“downloadplugins”的配方
Util/BuildTools/Linux.mk:142: 警告：忽略关于目标“downloadplugins”的旧配方
Setup.sh: Retrieving boost.
--2025-02-27 23:05:35-- https://archives.boost.io/release/1.85.0/source/boost_1_85_0.tar.gz
正在解析主机 archives.boost.io (archives.boost.io)... 151.101.79.52
正在连接 archives.boost.io (archives.boost.io)|151.101.79.52|:443... 已连接。
已发出 HTTP 请求，正在等待回应... 200 OK
长度： 146137658 (139M) [application/octet-stream]
正在保存至: ‘boost_1_85_0.tar.gz’
boost_1_85_0.tar.gz 100%[==============================================>] 139.37M 288KB/s 用时 16m 5ss
2025-02-27 23:21:40 (148 KB/s) - 已保存 ‘boost_1_85_0.tar.gz’ [146137658/146137658])
Setup.sh: Extracting boost for Python 3.12.
Building B2 engine..
###
###
### Using 'clang' toolset.
###
###
clang version 10.0.1
Target: x86_64-unknown-linux-gnu
Thread model: posix
InstalledDir: /home/cam/softwares/UnrealEngine_4.26/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin
###
###
> clang++ -x c++ -std=c++11 -pthread -O3 -s -Wno-deprecated-declarations -DNDEBUG bindjam.cpp builtins.cpp class.cpp command.cpp compile.cpp constants.cpp cwd.cpp debug.cpp debugger.cpp execcmd.cpp execnt.cpp execunix.cpp filent.cpp filesys.cpp fileunix.cpp frames.cpp function.cpp glob.cpp hash.cpp hcache.cpp hdrmacro.cpp headers.cpp jam_strings.cpp jam.cpp jamgram.cpp lists.cpp make.cpp make1.cpp md5.cpp mem.cpp modules.cpp native.cpp option.cpp output.cpp parse.cpp pathnt.cpp pathsys.cpp pathunix.cpp regexp.cpp rules.cpp scan.cpp search.cpp startup.cpp tasks.cpp timestamp.cpp value.cpp variable.cpp w32_getreg.cpp mod_jam_builtin.cpp mod_jam_class.cpp mod_jam_errors.cpp mod_jam_modules.cpp mod_order.cpp mod_path.cpp mod_property_set.cpp mod_regex.cpp mod_sequence.cpp mod_set.cpp mod_string.cpp mod_summary.cpp mod_sysinfo.cpp mod_version.cpp -o b2
/home/cam/softwares/UnrealEngine_4.26/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/x86_64-unknown-linux-gnu-ld: warning: /usr/lib/gcc/x86_64-linux-gnu/12/../../../x86_64-linux-gnu/crt1.o: unsupported GNU_PROPERTY_TYPE (5) type: 0xc0008002
/home/cam/softwares/UnrealEngine_4.26/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/x86_64-unknown-linux-gnu-ld: warning: /lib/x86_64-linux-gnu/libm.so.6: unsupported GNU_PROPERTY_TYPE (5) type: 0xc0008002
/home/cam/softwares/UnrealEngine_4.26/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/x86_64-unknown-linux-gnu-ld: warning: /lib/x86_64-linux-gnu/libmvec.so.1: unsupported GNU_PROPERTY_TYPE (5) type: 0xc0008002
/home/cam/softwares/UnrealEngine_4.26/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/x86_64-unknown-linux-gnu-ld: warning: /lib/x86_64-linux-gnu/libc.so.6: unsupported GNU_PROPERTY_TYPE (5) type: 0xc0008002
tools/build/src/engine/b2
Unicode/ICU support for Boost.Regex?... /usr
Generating B2 configuration in project-config.jam for clang...
Bootstrapping is done. To build, run:
./b2
To generate header files, run:
./b2 headers
The configuration generated uses clang to build by default. If that is
unintended either use the --with-toolset option or adjust configuration, by
editing 'project-config.jam'.
Further information:
- Command line help:
./b2 --help
- Getting started guide:
http://www.boost.org/more/getting_started/unix-variants.html
- B2 documentation:
http://www.boost.org/build/
Performing configuration checks
- default address-model : 64-bit [1]
- default architecture : x86 [1]
- has std::atomic_ref : no [2]
- has -Wl,--no-undefined : yes [2]
- has statx : yes [2]
- has init_priority attribute : yes [2]
- has stat::st_blksize : yes [2]
- has stat::st_mtim : yes [2]
- has stat::st_mtimensec : no [2]
- has stat::st_mtimespec : no [2]
- has stat::st_birthtim : no [2]
- has stat::st_birthtimensec : no [2]
- has stat::st_birthtimespec : no [2]
- has fdopendir(O_NOFOLLOW) : yes [2]
- has dirent::d_type : yes [2]
- has POSIX *at APIs : yes [2]
- has fallocate : yes [2]
- compiler supports SSE2 : yes [2]
- compiler supports SSE4.1 : yes [2]
- cxx11_static_assert : yes [2]
- cxx11_rvalue_references : yes [2]
- cxx11_scoped_enums : yes [2]
- cxx11_noexcept : yes [2]
- cxx11_nullptr : yes [2]
- cxx11_defaulted_functions : yes [2]
- cxx11_defaulted_moves : yes [2]
- cxx11_deleted_functions : yes [2]
- cxx11_function_template_default_args : yes [2]
- cxx11_final : yes [2]
- cxx11_override : yes [2]
- has std::atomic_ref : no [3]
- has statx : yes [3]
- has init_priority attribute : yes [3]
- has stat::st_blksize : yes [3]
- has stat::st_mtim : yes [3]
- has stat::st_mtimensec : no [3]
- has stat::st_mtimespec : no [3]
- has stat::st_birthtim : no [3]
- has stat::st_birthtimensec : no [3]
- has stat::st_birthtimespec : no [3]
- has fdopendir(O_NOFOLLOW) : yes [3]
- has dirent::d_type : yes [3]
- has POSIX *at APIs : yes [3]
- has fallocate : yes [3]
- compiler supports SSE2 : yes [3]
- compiler supports SSE4.1 : yes [3]
- cxx11_static_assert : yes [3]
- cxx11_rvalue_references : yes [3]
- cxx11_scoped_enums : yes [3]
- cxx11_noexcept : yes [3]
- cxx11_nullptr : yes [3]
- cxx11_defaulted_functions : yes [3]
- cxx11_defaulted_moves : yes [3]
- cxx11_deleted_functions : yes [3]
- cxx11_function_template_default_args : yes [3]
- cxx11_final : yes [3]
- cxx11_override : yes [3]
[1] clang-10.0
[2] clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden
[3] clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden
Component configuration:
- atomic : not building
- charconv : not building
- chrono : not building
- cobalt : not building
- container : not building
- context : not building
- contract : not building
- coroutine : not building
- date_time : not building
- exception : not building
- fiber : not building
- filesystem : building
- graph : not building
- graph_parallel : not building
- headers : not building
- iostreams : not building
- json : not building
- locale : not building
- log : not building
- math : not building
- mpi : not building
- nowide : not building
- program_options : building
- python : building
- random : not building
- regex : not building
- serialization : not building
- stacktrace : not building
- system : building
- test : not building
- thread : not building
- timer : not building
- type_erasure : not building
- url : not building
- wave : not building
...patience...
...patience...
...found 4858 targets...
...updating 278 targets...
boost-install.generate-cmake-config- bin.v2/libs/filesystem/build/stage/boost_filesystem-config.cmake
boost-install.generate-cmake-config-version- bin.v2/libs/filesystem/build/stage/boost_filesystem-config-version.cmake
boost-install.generate-cmake-config- bin.v2/libs/python/build/stage/boost_python-config.cmake
boost-install.generate-cmake-config-version- bin.v2/libs/python/build/stage/boost_python-config-version.cmake
boost-install.generate-cmake-config- bin.v2/libs/python/build/stage/boost_numpy-config.cmake
boost-install.generate-cmake-config-version- bin.v2/libs/python/build/stage/boost_numpy-config-version.cmake
boost-install.generate-cmake-config- bin.v2/libs/atomic/build/stage/boost_atomic-config.cmake
boost-install.generate-cmake-config-version- bin.v2/libs/atomic/build/stage/boost_atomic-config-version.cmake
boost-install.generate-cmake-config- bin.v2/libs/system/build/stage/boost_system-config.cmake
boost-install.generate-cmake-config-version- bin.v2/libs/system/build/stage/boost_system-config-version.cmake
boost-install.generate-cmake-config-version- bin.v2/tools/boost_install/BoostConfigVersion.cmake
boost-install.generate-cmake-config- bin.v2/libs/headers/build/stage/boost_headers-config.cmake
boost-install.generate-cmake-config-version- bin.v2/libs/headers/build/stage/boost_headers-config-version.cmake
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/cmake/BoostDetectToolset-1.85.0.cmake
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/cmake/boost_system-1.85.0/boost_system-config.cmake
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/cmake/boost_system-1.85.0/boost_system-config-version.cmake
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/cmake/boost_atomic-1.85.0/boost_atomic-config-version.cmake
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/cmake/boost_filesystem-1.85.0/boost_filesystem-config-version.cmake
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/cmake/boost_atomic-1.85.0/boost_atomic-config.cmake
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/cmake/boost_numpy-1.85.0/boost_numpy-config.cmake
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/cmake/boost_numpy-1.85.0/boost_numpy-config-version.cmake
clang-linux.compile.c++ bin.v2/libs/system/build/clang-linux-10.0/release/link-static/threading-multi/visibility-hidden/error_code.o
clang-linux.compile.c++ bin.v2/libs/system/build/clang-linux-10.0/release/threading-multi/visibility-hidden/error_code.o
clang-linux.archive bin.v2/libs/system/build/clang-linux-10.0/release/link-static/threading-multi/visibility-hidden/libboost_system.a
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/libboost_system.a
boost-install.generate-cmake-variant- bin.v2/libs/system/build/clang-linux-10.0/release/link-static/threading-multi/visibility-hidden/libboost_system-variant-static.cmake
...on 100th target...
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/cmake/boost_system-1.85.0/libboost_system-variant-static.cmake
clang-linux.compile.c++ bin.v2/libs/atomic/build/clang-linux-10.0/release/threading-multi/visibility-hidden/find_address_sse2.o
clang-linux.link.dll bin.v2/libs/system/build/clang-linux-10.0/release/threading-multi/visibility-hidden/libboost_system.so.1.85.0
/home/cam/softwares/UnrealEngine_4.26/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/x86_64-unknown-linux-gnu-ld: warning: /lib/x86_64-linux-gnu/libm.so.6: unsupported GNU_PROPERTY_TYPE (5) type: 0xc0008002
/home/cam/softwares/UnrealEngine_4.26/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/x86_64-unknown-linux-gnu-ld: warning: /lib/x86_64-linux-gnu/libmvec.so.1: unsupported GNU_PROPERTY_TYPE (5) type: 0xc0008002
/home/cam/softwares/UnrealEngine_4.26/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/x86_64-unknown-linux-gnu-ld: warning: /lib/x86_64-linux-gnu/libc.so.6: unsupported GNU_PROPERTY_TYPE (5) type: 0xc0008002
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/libboost_system.so.1.85.0
ln-UNIX /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/libboost_system.so
boost-install.generate-cmake-variant- bin.v2/libs/system/build/clang-linux-10.0/release/threading-multi/visibility-hidden/libboost_system-variant-shared.cmake
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/cmake/boost_system-1.85.0/libboost_system-variant-shared.cmake
clang-linux.compile.c++ bin.v2/libs/atomic/build/clang-linux-10.0/release/threading-multi/visibility-hidden/lock_pool.o
clang-linux.compile.c++ bin.v2/libs/filesystem/build/clang-linux-10.0/release/link-static/threading-multi/visibility-hidden/codecvt_error_category.o
clang-linux.compile.c++ bin.v2/libs/filesystem/build/clang-linux-10.0/release/threading-multi/visibility-hidden/codecvt_error_category.o
clang-linux.compile.c++ bin.v2/libs/filesystem/build/clang-linux-10.0/release/threading-multi/visibility-hidden/exception.o
clang-linux.compile.c++ bin.v2/libs/filesystem/build/clang-linux-10.0/release/link-static/threading-multi/visibility-hidden/exception.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden/converter/from_python.o
clang-linux.compile.c++ bin.v2/libs/filesystem/build/clang-linux-10.0/release/link-static/threading-multi/visibility-hidden/directory.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden/converter/type_id.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden/tuple.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden/converter/registry.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden/long.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden/slice.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden/long.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden/list.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden/tuple.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden/list.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden/dict.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden/object/life_support.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden/dict.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden/str.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden/slice.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden/str.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden/converter/arg_to_python_base.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden/errors.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden/converter/builtin_converters.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden/object/enum.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden/module.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden/object/stl_iterator.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden/object/iterator.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden/object/class.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden/object_protocol.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden/object_operators.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden/wrapper.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden/object/pickle_support.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden/import.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden/object/function.o
libs/python/src/object/function.cpp:289:12: warning: local variable 'result' will be copied despite being returned by name [-Wreturn-std-move]
return result;
^~~~~~
libs/python/src/object/function.cpp:289:12: note: call 'std::move' explicitly to avoid copying
return result;
^~~~~~
std::move(result)
1 warning generated.
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden/exec.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden/converter/type_id.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden/converter/from_python.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden/object/life_support.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden/converter/registry.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden/numpy/dtype.o
libs/python/src/numpy/dtype.cpp:101:83: error: no member named 'elsize' in '_PyArray_Descr'
int dtype::get_itemsize() const { return reinterpret_cast<PyArray_Descr*>(ptr())->elsize;}
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ^
1 error generated.
"clang++" -fvisibility-inlines-hidden -m64 -pthread -O3 -Wall -fvisibility=hidden -Wno-inline --target=x86_64-pc-linux -fPIC -std=c++14 -DBOOST_ERROR_CODE_HEADER_ONLY -DBOOST_ALL_NO_LIB=1 -DBOOST_COBALT_USE_STD_PMR=1 -DBOOST_NUMPY_SOURCE -DBOOST_NUMPY_STATIC_LIB -DBOOST_PYTHON_STATIC_LIB -DNDEBUG -I"." -I"/home/cam/softwares/miniconda3/include/python3.12" -I"/home/cam/softwares/miniconda3/lib/python3.12/site-packages/numpy/_core/include" -c -o "bin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden/numpy/dtype.o" "libs/python/src/numpy/dtype.cpp"
...failed clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden/numpy/dtype.o...
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden/errors.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden/object/function_doc_signature.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden/object/inheritance.o
clang-linux.archive bin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden/libboost_python312.a
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/libboost_python312.a
boost-install.generate-cmake-variant- bin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden/libboost_python-variant-static-py3.12.cmake
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/cmake/boost_python-1.85.0/libboost_python-variant-static-py3.12.cmake
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden/numpy/matrix.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden/converter/arg_to_python_base.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden/converter/builtin_converters.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden/object/enum.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden/object/class.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden/numpy/scalars.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden/numpy/numpy.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden/module.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden/numpy/ndarray.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden/numpy/ufunc.o
...skipped <pbin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden>libboost_numpy312.a(clean) for lack of <pbin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden>numpy/dtype.o...
...skipped <pbin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden>libboost_numpy312.a for lack of <pbin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden>numpy/dtype.o...
...skipped <p/home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib>libboost_numpy312.a for lack of <pbin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden>libboost_numpy312.a...
...skipped <pbin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden>libboost_numpy-variant-static-py3.12.cmake for lack of <pbin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden>libboost_numpy312.a...
...skipped <p/home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/cmake/boost_numpy-1.85.0>libboost_numpy-variant-static-py3.12.cmake for lack of <pbin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden>libboost_numpy-variant-static-py3.12.cmake...
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden/object/pickle_support.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden/object/function.o
libs/python/src/object/function.cpp:289:12: warning: local variable 'result' will be copied despite being returned by name [-Wreturn-std-move]
return result;
^~~~~~
libs/python/src/object/function.cpp:289:12: note: call 'std::move' explicitly to avoid copying
return result;
^~~~~~
std::move(result)
1 warning generated.
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden/object/iterator.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden/object/stl_iterator.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden/object_protocol.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden/wrapper.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden/import.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden/object_operators.o
clang-linux.compile.c++ bin.v2/libs/filesystem/build/clang-linux-10.0/release/link-static/threading-multi/visibility-hidden/utf8_codecvt_facet.o
clang-linux.compile.c++ bin.v2/libs/filesystem/build/clang-linux-10.0/release/link-static/threading-multi/visibility-hidden/portability.o
clang-linux.compile.c++ bin.v2/libs/filesystem/build/clang-linux-10.0/release/link-static/threading-multi/visibility-hidden/path_traits.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden/exec.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden/object/inheritance.o
clang-linux.compile.c++ bin.v2/libs/filesystem/build/clang-linux-10.0/release/link-static/threading-multi/visibility-hidden/unique_path.o
clang-linux.compile.c++ bin.v2/libs/filesystem/build/clang-linux-10.0/release/link-static/threading-multi/visibility-hidden/path.o
clang-linux.compile.c++ bin.v2/libs/atomic/build/clang-linux-10.0/release/threading-multi/visibility-hidden/find_address_sse41.o
clang-linux.link.dll bin.v2/libs/atomic/build/clang-linux-10.0/release/threading-multi/visibility-hidden/libboost_atomic.so.1.85.0
/home/cam/softwares/UnrealEngine_4.26/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/x86_64-unknown-linux-gnu-ld: warning: /lib/x86_64-linux-gnu/libm.so.6: unsupported GNU_PROPERTY_TYPE (5) type: 0xc0008002
/home/cam/softwares/UnrealEngine_4.26/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/x86_64-unknown-linux-gnu-ld: warning: /lib/x86_64-linux-gnu/libmvec.so.1: unsupported GNU_PROPERTY_TYPE (5) type: 0xc0008002
/home/cam/softwares/UnrealEngine_4.26/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/x86_64-unknown-linux-gnu-ld: warning: /lib/x86_64-linux-gnu/libc.so.6: unsupported GNU_PROPERTY_TYPE (5) type: 0xc0008002
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/libboost_atomic.so.1.85.0
ln-UNIX /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/libboost_atomic.so
boost-install.generate-cmake-variant- bin.v2/libs/atomic/build/clang-linux-10.0/release/threading-multi/visibility-hidden/libboost_atomic-variant-shared.cmake
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/cmake/boost_atomic-1.85.0/libboost_atomic-variant-shared.cmake
clang-linux.compile.c++ bin.v2/libs/filesystem/build/clang-linux-10.0/release/link-static/threading-multi/visibility-hidden/operations.o
clang-linux.compile.c++ bin.v2/libs/filesystem/build/clang-linux-10.0/release/threading-multi/visibility-hidden/portability.o
clang-linux.archive bin.v2/libs/filesystem/build/clang-linux-10.0/release/link-static/threading-multi/visibility-hidden/libboost_filesystem.a
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/libboost_filesystem.a
...on 200th target...
boost-install.generate-cmake-variant- bin.v2/libs/filesystem/build/clang-linux-10.0/release/link-static/threading-multi/visibility-hidden/libboost_filesystem-variant-static.cmake
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/cmake/boost_filesystem-1.85.0/libboost_filesystem-variant-static.cmake
clang-linux.compile.c++ bin.v2/libs/filesystem/build/clang-linux-10.0/release/threading-multi/visibility-hidden/utf8_codecvt_facet.o
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/cmake/Boost-1.85.0/BoostConfig.cmake
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/cmake/Boost-1.85.0/BoostConfigVersion.cmake
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/cmake/boost_headers-1.85.0/boost_headers-config.cmake
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/cmake/boost_headers-1.85.0/boost_headers-config-version.cmake
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/cmake/boost_python-1.85.0/boost_python-config-version.cmake
clang-linux.compile.c++ bin.v2/libs/atomic/build/clang-linux-10.0/release/link-static/threading-multi/visibility-hidden/find_address_sse2.o
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/cmake/boost_filesystem-1.85.0/boost_filesystem-config.cmake
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/cmake/boost_python-1.85.0/boost_python-config.cmake
boost-install.generate-cmake-config- bin.v2/libs/program_options/build/stage/boost_program_options-config.cmake
boost-install.generate-cmake-config-version- bin.v2/libs/program_options/build/stage/boost_program_options-config-version.cmake
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/cmake/boost_program_options-1.85.0/boost_program_options-config-version.cmake
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/cmake/boost_program_options-1.85.0/boost_program_options-config.cmake
clang-linux.compile.c++ bin.v2/libs/atomic/build/clang-linux-10.0/release/link-static/threading-multi/visibility-hidden/find_address_sse41.o
clang-linux.compile.c++ bin.v2/libs/atomic/build/clang-linux-10.0/release/link-static/threading-multi/visibility-hidden/lock_pool.o
clang-linux.archive bin.v2/libs/atomic/build/clang-linux-10.0/release/link-static/threading-multi/visibility-hidden/libboost_atomic.a
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/libboost_atomic.a
boost-install.generate-cmake-variant- bin.v2/libs/atomic/build/clang-linux-10.0/release/link-static/threading-multi/visibility-hidden/libboost_atomic-variant-static.cmake
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/cmake/boost_atomic-1.85.0/libboost_atomic-variant-static.cmake
clang-linux.compile.c++ bin.v2/libs/filesystem/build/clang-linux-10.0/release/threading-multi/visibility-hidden/path_traits.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden/numpy/dtype.o
libs/python/src/numpy/dtype.cpp:101:83: error: no member named 'elsize' in '_PyArray_Descr'
int dtype::get_itemsize() const { return reinterpret_cast<PyArray_Descr*>(ptr())->elsize;}
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ^
1 error generated.
"clang++" -fvisibility-inlines-hidden -fPIC -m64 -pthread -O3 -Wall -fvisibility=hidden -Wno-inline --target=x86_64-pc-linux -fPIC -std=c++14 -DBOOST_ERROR_CODE_HEADER_ONLY -DBOOST_ALL_NO_LIB=1 -DBOOST_COBALT_USE_STD_PMR=1 -DBOOST_NUMPY_SOURCE -DNDEBUG -I"." -I"/home/cam/softwares/miniconda3/include/python3.12" -I"/home/cam/softwares/miniconda3/lib/python3.12/site-packages/numpy/_core/include" -c -o "bin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden/numpy/dtype.o" "libs/python/src/numpy/dtype.cpp"
...failed clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden/numpy/dtype.o...
clang-linux.compile.c++ bin.v2/libs/filesystem/build/clang-linux-10.0/release/threading-multi/visibility-hidden/directory.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden/numpy/numpy.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden/numpy/scalars.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden/numpy/matrix.o
clang-linux.compile.c++ bin.v2/libs/filesystem/build/clang-linux-10.0/release/threading-multi/visibility-hidden/unique_path.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden/object/function_doc_signature.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden/numpy/ufunc.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden/numpy/ndarray.o
clang-linux.link.dll bin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden/libboost_python312.so.1.85.0
/home/cam/softwares/UnrealEngine_4.26/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/x86_64-unknown-linux-gnu-ld: warning: /lib/x86_64-linux-gnu/libm.so.6: unsupported GNU_PROPERTY_TYPE (5) type: 0xc0008002
/home/cam/softwares/UnrealEngine_4.26/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/x86_64-unknown-linux-gnu-ld: warning: /lib/x86_64-linux-gnu/libmvec.so.1: unsupported GNU_PROPERTY_TYPE (5) type: 0xc0008002
/home/cam/softwares/UnrealEngine_4.26/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/x86_64-unknown-linux-gnu-ld: warning: /lib/x86_64-linux-gnu/libc.so.6: unsupported GNU_PROPERTY_TYPE (5) type: 0xc0008002
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/libboost_python312.so.1.85.0
ln-UNIX /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/libboost_python312.so
...skipped <pbin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden>libboost_numpy312.so.1.85.0 for lack of <pbin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden>numpy/dtype.o...
...skipped <p/home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib>libboost_numpy312.so.1.85.0 for lack of <pbin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden>libboost_numpy312.so.1.85.0...
...skipped <p/home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib>libboost_numpy312.so for lack of <p/home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib>libboost_numpy312.so.1.85.0...
...skipped <pbin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden>libboost_numpy-variant-shared-py3.12.cmake for lack of <pbin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden>libboost_numpy312.so.1.85.0...
...skipped <p/home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/cmake/boost_numpy-1.85.0>libboost_numpy-variant-shared-py3.12.cmake for lack of <pbin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden>libboost_numpy-variant-shared-py3.12.cmake...
boost-install.generate-cmake-variant- bin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden/libboost_python-variant-shared-py3.12.cmake
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/cmake/boost_python-1.85.0/libboost_python-variant-shared-py3.12.cmake
clang-linux.compile.c++ bin.v2/libs/filesystem/build/clang-linux-10.0/release/threading-multi/visibility-hidden/path.o
clang-linux.compile.c++ bin.v2/libs/program_options/build/clang-linux-10.0/release/link-static/threading-multi/visibility-hidden/utf8_codecvt_facet.o
clang-linux.compile.c++ bin.v2/libs/program_options/build/clang-linux-10.0/release/link-static/threading-multi/visibility-hidden/positional_options.o
clang-linux.compile.c++ bin.v2/libs/filesystem/build/clang-linux-10.0/release/threading-multi/visibility-hidden/operations.o
clang-linux.compile.c++ bin.v2/libs/program_options/build/clang-linux-10.0/release/link-static/threading-multi/visibility-hidden/convert.o
clang-linux.compile.c++ bin.v2/libs/program_options/build/clang-linux-10.0/release/link-static/threading-multi/visibility-hidden/winmain.o
clang-linux.link.dll bin.v2/libs/filesystem/build/clang-linux-10.0/release/threading-multi/visibility-hidden/libboost_filesystem.so.1.85.0
/home/cam/softwares/UnrealEngine_4.26/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/x86_64-unknown-linux-gnu-ld: warning: /lib/x86_64-linux-gnu/libm.so.6: unsupported GNU_PROPERTY_TYPE (5) type: 0xc0008002
/home/cam/softwares/UnrealEngine_4.26/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/x86_64-unknown-linux-gnu-ld: warning: /lib/x86_64-linux-gnu/libmvec.so.1: unsupported GNU_PROPERTY_TYPE (5) type: 0xc0008002
/home/cam/softwares/UnrealEngine_4.26/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/x86_64-unknown-linux-gnu-ld: warning: /lib/x86_64-linux-gnu/libc.so.6: unsupported GNU_PROPERTY_TYPE (5) type: 0xc0008002
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/libboost_filesystem.so.1.85.0
ln-UNIX /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/libboost_filesystem.so
boost-install.generate-cmake-variant- bin.v2/libs/filesystem/build/clang-linux-10.0/release/threading-multi/visibility-hidden/libboost_filesystem-variant-shared.cmake
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/cmake/boost_filesystem-1.85.0/libboost_filesystem-variant-shared.cmake
clang-linux.compile.c++ bin.v2/libs/program_options/build/clang-linux-10.0/release/threading-multi/visibility-hidden/utf8_codecvt_facet.o
clang-linux.compile.c++ bin.v2/libs/program_options/build/clang-linux-10.0/release/threading-multi/visibility-hidden/positional_options.o
clang-linux.compile.c++ bin.v2/libs/program_options/build/clang-linux-10.0/release/threading-multi/visibility-hidden/config_file.o
clang-linux.compile.c++ bin.v2/libs/program_options/build/clang-linux-10.0/release/link-static/threading-multi/visibility-hidden/config_file.o
clang-linux.compile.c++ bin.v2/libs/program_options/build/clang-linux-10.0/release/link-static/threading-multi/visibility-hidden/variables_map.o
clang-linux.compile.c++ bin.v2/libs/program_options/build/clang-linux-10.0/release/link-static/threading-multi/visibility-hidden/split.o
clang-linux.compile.c++ bin.v2/libs/program_options/build/clang-linux-10.0/release/threading-multi/visibility-hidden/convert.o
clang-linux.compile.c++ bin.v2/libs/program_options/build/clang-linux-10.0/release/threading-multi/visibility-hidden/variables_map.o
clang-linux.compile.c++ bin.v2/libs/program_options/build/clang-linux-10.0/release/threading-multi/visibility-hidden/winmain.o
clang-linux.compile.c++ bin.v2/libs/program_options/build/clang-linux-10.0/release/link-static/threading-multi/visibility-hidden/cmdline.o
clang-linux.compile.c++ bin.v2/libs/program_options/build/clang-linux-10.0/release/link-static/threading-multi/visibility-hidden/parsers.o
clang-linux.compile.c++ bin.v2/libs/program_options/build/clang-linux-10.0/release/link-static/threading-multi/visibility-hidden/value_semantic.o
clang-linux.compile.c++ bin.v2/libs/program_options/build/clang-linux-10.0/release/link-static/threading-multi/visibility-hidden/options_description.o
clang-linux.compile.c++ bin.v2/libs/program_options/build/clang-linux-10.0/release/threading-multi/visibility-hidden/parsers.o
clang-linux.archive bin.v2/libs/program_options/build/clang-linux-10.0/release/link-static/threading-multi/visibility-hidden/libboost_program_options.a
boost-install.generate-cmake-variant- bin.v2/libs/program_options/build/clang-linux-10.0/release/link-static/threading-multi/visibility-hidden/libboost_program_options-variant-static.cmake
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/cmake/boost_program_options-1.85.0/libboost_program_options-variant-static.cmake
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/libboost_program_options.a
clang-linux.compile.c++ bin.v2/libs/program_options/build/clang-linux-10.0/release/threading-multi/visibility-hidden/cmdline.o
clang-linux.compile.c++ bin.v2/libs/program_options/build/clang-linux-10.0/release/threading-multi/visibility-hidden/options_description.o
clang-linux.compile.c++ bin.v2/libs/program_options/build/clang-linux-10.0/release/threading-multi/visibility-hidden/value_semantic.o
clang-linux.compile.c++ bin.v2/libs/program_options/build/clang-linux-10.0/release/threading-multi/visibility-hidden/split.o
clang-linux.link.dll bin.v2/libs/program_options/build/clang-linux-10.0/release/threading-multi/visibility-hidden/libboost_program_options.so.1.85.0
/home/cam/softwares/UnrealEngine_4.26/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/x86_64-unknown-linux-gnu-ld: warning: /lib/x86_64-linux-gnu/libm.so.6: unsupported GNU_PROPERTY_TYPE (5) type: 0xc0008002
/home/cam/softwares/UnrealEngine_4.26/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/x86_64-unknown-linux-gnu-ld: warning: /lib/x86_64-linux-gnu/libmvec.so.1: unsupported GNU_PROPERTY_TYPE (5) type: 0xc0008002
/home/cam/softwares/UnrealEngine_4.26/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/x86_64-unknown-linux-gnu-ld: warning: /lib/x86_64-linux-gnu/libc.so.6: unsupported GNU_PROPERTY_TYPE (5) type: 0xc0008002
boost-install.generate-cmake-variant- bin.v2/libs/program_options/build/clang-linux-10.0/release/threading-multi/visibility-hidden/libboost_program_options-variant-shared.cmake
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/libboost_program_options.so.1.85.0
ln-UNIX /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/libboost_program_options.so
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/cmake/boost_program_options-1.85.0/libboost_program_options-variant-shared.cmake
...updated 266 targets...
...skipped 10 targets...
<p/home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/cmake/boost_numpy-1.85.0>libboost_numpy-variant-shared-py3.12.cmake
<p/home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib/cmake/boost_numpy-1.85.0>libboost_numpy-variant-static-py3.12.cmake
<p/home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib>libboost_numpy312.a
<p/home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib>libboost_numpy312.so
<p/home/cam/softwares/carla/Build/boost-1.85.0-c10-source/stage/lib>libboost_numpy312.so.1.85.0
<pbin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden>libboost_numpy-variant-static-py3.12.cmake
<pbin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden>libboost_numpy312.a
<pbin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden>libboost_numpy312.a(clean)
<pbin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden>libboost_numpy-variant-shared-py3.12.cmake
<pbin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden>libboost_numpy312.so.1.85.0
...failed updating 2 targets...
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/link-static/python-3.12/threading-multi/visibility-hidden/numpy/dtype.o
clang-linux.compile.c++ bin.v2/libs/python/build/clang-linux-10.0/release/python-3.12/threading-multi/visibility-hidden/numpy/dtype.o
make: *** [Util/BuildTools/Linux.mk:142：setup] 错误 1
主要是这个错误：
libs/python/src/numpy/dtype.cpp:101:83: error: no member named 'elsize' in '_PyArray_Descr'
原因是numpy版本太高了，降级到numpy1.26.0(兼容python3.12.0的最低版本)后，在carla/Build/路径下删除之前的boost安装包和文件夹：
rm -r boost-1.85.0-c10-install
rm -r boost-1.80.0-c10-install
rm boost_1_85_0.tar.gz
rm boost_1_85_0.tar.gz.1
接下来将出现两个官方大坑！！！
返回carla根目录，再次运行 make PythonAPI ARGS="--python-version=3.12"
报错如下：
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-install/lib/cmake/BoostDetectToolset-1.85.0.cmake
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-install/include/boost/compatibility/cpp_c_headers/cassert
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-install/lib/cmake/boost_numpy-1.85.0/libboost_numpy-variant-static-py3.12.cmake
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-install/lib/cmake/boost_numpy-1.85.0/boost_numpy-config.cmake
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-install/lib/cmake/boost_numpy-1.85.0/boost_numpy-config-version.cmake
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-install/lib/cmake/boost_numpy-1.85.0/libboost_numpy-variant-shared-py3.12.cmake
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-install/lib/cmake/Boost-1.85.0/BoostConfig.cmake
common.copy /home/cam/softwares/carla/Build/boost-1.85.0-c10-install/lib/cmake/Boost-1.85.0/BoostConfigVersion.cmake
...updated 17152 targets...
Setup.sh: rpclib-v2.2.1_c5-c10 already installed.
Setup.sh: gtest-1.8.1-c10 already installed.
Setup.sh: recast-c10 already installed.
Setup.sh: Libpng already installed.
Setup.sh: Xerces-c already installed.
Setup.sh: Eigen already installed.
Setup.sh: Sqlite already installed.
Setup.sh: PROJ already installed.
Setup.sh: Patchelf already installed.
Setup.sh: CARLA version 0.9.15-dirty.
Setup.sh: Generating CMake configuration files.
CMakeLists.txt.in.gen
Setup.sh: Success!
parse-options: 未识别的选项 "--python-version=3.12"
BuildLibCarla.sh: Building LibCarla "Client.Release" configuration.
[0/1] Re-running CMake...
-- Eclipse version is set to 3.6 (Helios). Adjust CMAKE_ECLIPSE_VERSION if this is wrong.
-- Build debug: OFF
-- Build release: ON
-- Build test: ON
-- Configuring done
CMake Warning in CMakeLists.txt:
The build directory is a subdirectory of the source directory.
This is not supported well by Eclipse. It is strongly recommended to use a
build directory which is a sibling of the source directory.
-- Generating done
-- Build files have been written to: /home/cam/softwares/carla/Build/libcarla-client-build.release
[6/134] Building CXX object LibCarla/cmake/client/CMakeFiles/carla_client.dir/__/__/source/carla/FileSystem.cpp.o
FAILED: LibCarla/cmake/client/CMakeFiles/carla_client.dir/__/__/source/carla/FileSystem.cpp.o
/home/cam/softwares/UnrealEngine_4.26/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/clang++ -DBOOST_ERROR_CODE_HEADER_ONLY -DLIBCARLA_IMAGE_WITH_PNG_SUPPORT=true -DLIBCARLA_TEST_CONTENT_FOLDER=\"/home/cam/softwares/carla/Build/test-content\" -I/home/cam/softwares/carla/LibCarla/cmake/../source -I/home/cam/softwares/carla/LibCarla/cmake/../source/third-party -isystem /home/cam/softwares/carla/Build/boost-1.85.0-c10-install/include -isystem /home/cam/softwares/carla/Build/rpclib-v2.2.1_c5-c10-libstdcxx-install/include -isystem /home/cam/softwares/carla/Build/recast-c10-install/include -isystem /home/cam/softwares/carla/Build/libpng-1.6.37-install/include -std=c++14 -pthread -fPIC -Wall -Wextra -Wpedantic -Wdeprecated -Wshadow -Wuninitialized -Wunreachable-code -Wpessimizing-move -Wold-style-cast -Wnull-dereference -Wduplicate-enum -Wnon-virtual-dtor -Wheader-hygiene -Wconversion -Wfloat-overflow-conversion -std=c++14 -pthread -fPIC -Wall -Wextra -Wpedantic -Wdeprecated -Wshadow -Wuninitialized -Wunreachable-code -Wpessimizing-move -Wold-style-cast -Wnull-dereference -Wduplicate-enum -Wnon-virtual-dtor -Wheader-hygiene -Wconversion -Wfloat-overflow-conversion -std=c++14 -pthread -fPIC -Wall -Wextra -Wpedantic -Wdeprecated -Wshadow -Wuninitialized -Wunreachable-code -Wpessimizing-move -Wold-style-cast -Wnull-dereference -Wduplicate-enum -Wnon-virtual-dtor -Wheader-hygiene -Wconversion -Wfloat-overflow-conversion -O3 -DNDEBUG -DNDEBUG -g -fwrapv -O2 -Wall -Wstrict-prototypes -fno-strict-aliasing -Wdate-time -D_FORTIFY_SOURCE=2 -g -fstack-protector-strong -Wformat -Werror=format-security -fPIC -std=c++14 -Wno-missing-braces -DBOOST_ERROR_CODE_HEADER_ONLY -MD -MT LibCarla/cmake/client/CMakeFiles/carla_client.dir/__/__/source/carla/FileSystem.cpp.o -MF LibCarla/cmake/client/CMakeFiles/carla_client.dir/__/__/source/carla/FileSystem.cpp.o.d -o LibCarla/cmake/client/CMakeFiles/carla_client.dir/__/__/source/carla/FileSystem.cpp.o -c /home/cam/softwares/carla/LibCarla/source/carla/FileSystem.cpp
/home/cam/softwares/carla/LibCarla/source/carla/FileSystem.cpp:42:9: error: no type named 'directory_iterator' in namespace 'boost::filesystem'; did you mean 'directory_entry'?
fs::directory_iterator end;
~~~~^~~~~~~~~~~~~~~~~~
directory_entry
/home/cam/softwares/carla/Build/boost-1.85.0-c10-install/include/boost/filesystem/detail/path_traits.hpp:51:7: note: 'directory_entry' declared here
class directory_entry;
^
/home/cam/softwares/carla/LibCarla/source/carla/FileSystem.cpp:42:28: error: variable has incomplete type 'fs::directory_entry'
fs::directory_iterator end;
^
/home/cam/softwares/carla/Build/boost-1.85.0-c10-install/include/boost/filesystem/detail/path_traits.hpp:51:7: note: forward declaration of 'boost::filesystem::directory_entry'
class directory_entry;
^
/home/cam/softwares/carla/LibCarla/source/carla/FileSystem.cpp:43:14: error: no member named 'directory_iterator' in namespace 'boost::filesystem'
for (fs::directory_iterator it(root); it != end; ++it) {
~~~~^
/home/cam/softwares/carla/LibCarla/source/carla/FileSystem.cpp:43:43: error: use of undeclared identifier 'it'
for (fs::directory_iterator it(root); it != end; ++it) {
^
/home/cam/softwares/carla/LibCarla/source/carla/FileSystem.cpp:43:56: error: use of undeclared identifier 'it'
for (fs::directory_iterator it(root); it != end; ++it) {
^
/home/cam/softwares/carla/LibCarla/source/carla/FileSystem.cpp:44:32: error: use of undeclared identifier 'it'
if (fs::is_regular_file(*it)) {
^
/home/cam/softwares/carla/LibCarla/source/carla/FileSystem.cpp:45:38: error: use of undeclared identifier 'it'
const std::string filename = it->path().filename().string();
^
7 errors generated.
[23/134] Building CXX object LibCarla/cmake/client/CMakeFiles/carla_client.dir/__/__/source/carla/client/Vehicle.cpp.o
ninja: build stopped: subcommand failed.
make: *** [Util/BuildTools/Linux.mk:129：LibCarla.client.release] 错误 1
(官方大坑1)上述报错原因是：在boost::filesystem命名空间找不到diretory_iterator，
/home/cam/softwares/carla/LibCarla/source/carla/FileSystem.cpp:42:9: error: no type named 'directory_iterator' in namespace 'boost::filesystem'，而diretory_iterator的声明与定义在directory.hpp中，而FileSystem.cpp引用了/boost/filesystem/operations.hpp，对比之前可以成功编译的boost1.80.0版本中的operations.hpp，发现其引用了directory.hpp，而boost1.85.0版本中没有引用，所以报错了。下图左图是boost 1.85.0，右图是boost 1.80.0：
解决办法：在carla/Build/boost-1.85.0-c10-install/include/boost/filesystem路径下，找到operations.hpp，打开并将以下内容添加到如图所示位置：
#ifndef BOOST_FILESYSTEM_NO_DEPRECATED
// These includes are left for backward compatibility and should be included directly by users, as needed
#include <boost/filesystem/exception.hpp>
#include <boost/filesystem/directory.hpp>
#endif
(官方大坑2)再次编译，产生一个关于ros的错误：error: no template named 'function' in namespace 'std'，同时导致其他关于ActorCallback的错误(这应该算官方的BUG)：
解决办法是： 在carla/LibCarla/source/carla/ros2 路径下，找到ROS2CallbackDate.h，打开并在如图位置添加以下代码：
#include <functional>
再次编译，成功，结果如下：
16.再次make luanch
接着重复步骤13，运行make luanch，最终会出现UE4窗口，终端结果如下：
接下来：进入carla/PythonAPI/examples/
# Terminal A
cd PythonAPI/examples
# python3 -m pip install -r requirements.txt // 之前安装过了，这里就不用运行
python3 generate_traffic.py
# Terminal B
cd PythonAPI/examples
python3 dynamic_weather.py
首先，打开一个终端，进入carla/PythonAPI/examples/ 路径后，运行以下命令：
python3 generate_traffic.py结果显示有一个RuntimeError: time-out of 10000ms while waiting for the simulator, make sure the simulator is ready and connected to 127.0.0.1:2000
先查看2000端口是否被占用，如果没有占用，则不是端口问题，而是需要先点击UE4窗口右边的“运行”按钮(官方指导手册没有这一步，害我折腾了半天)，这样UE4才能真正启动：
# 查看端口2000占用情况
netstat -tuln | grep 2000
然后，打开一个终端，进入carla/PythonAPI/examples/ 路径后，运行以下命令：
python3 dynamic_weather.py
17.CARLA安装成功
最后，出现以下画面，才算真正安装好了CARLA，画面中天气在变化，车辆在街道上跑，下图中右上角终端是实时数据流，左下方终端是控制天气变化，右下方终端是控制交通流：
18.调用显卡问题
运行以下命令尝试手动操作UE4画面里的车辆，报错：这是显卡调用问题，找不到核心显卡：
# 将python3 dynamic_weather.py 换为 python3 manual_control.py
python3 manual_control.py
libGL error: MESA-LOADER: failed to open radeonsi: /usr/lib/dri/radeonsi_dri.so: cannot open shared object file: No such file or directory (search paths /usr/lib/x86_64-linux-gnu/dri:\$${ORIGIN}/dri:/usr/lib/dri, suffix _dri)
libGL error: failed to load driver: radeonsi
libGL error: MESA-LOADER: failed to open swrast: /usr/lib/dri/swrast_dri.so: cannot open shared object file: No such file or directory (search paths /usr/lib/x86_64-linux-gnu/dri:\$${ORIGIN}/dri:/usr/lib/dri, suffix _dri)
libGL error: failed to load driver: swrast
将路径 /usr/lib/x86_64-linux-gnu/dri 添加到动态链接库，
#打开环境变量，添加/usr/lib/x86_64-linux-gnu/dri到LD_LIBRARY_PATH
sudo gedit ~/.bashrc
#更新动态链接库
sudo ldconfig然后运行以下命令切换显卡为英伟达：
sudo prime-select nvidia
查看当前显卡：
prime-select querysudo apt install mesa-utils
# 确认当前使用的显卡
glxinfo | grep "OpenGL renderer"显示：表示使用软件渲染
# 查看独立显卡有哪些
lspci | grep -i vga
19.carla启动失败
直接看第21条。
第二天，打开电脑，make launch之后，出现问题：
关闭窗口后：
重启电脑，然后再次make launch，会出现如下报错之一：
git config --global http.sslVerify false
git config --global http.postBuffer 200000000
运行上述两行命令，还是报相同错误。然后禁用代理，可以继续加载UE4，但一会儿报相同的错误。
git config --global --unset http.proxy具体报错如下：
[2025.03.01-12.48.17:829][ 0]LogOutputDevice: Error: === Handled ensure: ===
[2025.03.01-12.48.17:829][ 0]LogOutputDevice: Error:
[2025.03.01-12.48.17:829][ 0]LogOutputDevice: Error: Ensure condition failed: VendorId != EGpuVendorId::Unknown [File:/home/cam/softwares/UnrealEngine_4.26/Engine/Source/Runtime/VulkanRHI/Private/VulkanDevice.cpp] [Line: 182]
[2025.03.01-12.48.17:829][ 0]LogOutputDevice: Error:
[2025.03.01-12.48.17:829][ 0]LogOutputDevice: Error: Stack:
[2025.03.01-12.48.17:829][ 0]LogOutputDevice: Error: [Callstack] 0x000077fccc32de23 libUE4Editor-VulkanRHI.so!FVulkanDevice::FVulkanDevice(FVulkanDynamicRHI*, VkPhysicalDevice_T*) [/home/cam/softwares/UnrealEngine_4.26/Engine/Source/Runtime/VulkanRHI/Private/VulkanDevice.cpp:182]
[2025.03.01-12.48.17:829][ 0]LogOutputDevice: Error: [Callstack] 0x000077fccc3c7586 libUE4Editor-VulkanRHI.so!FVulkanDynamicRHI::SelectAndInitDevice() [/home/cam/softwares/UnrealEngine_4.26/Engine/Source/Runtime/VulkanRHI/Private/VulkanRHI.cpp:551]
[2025.03.01-12.48.17:829][ 0]LogOutputDevice: Error: [Callstack] 0x000077fccc3c38b3 libUE4Editor-VulkanRHI.so!FVulkanDynamicRHI::InitInstance() [/home/cam/softwares/UnrealEngine_4.26/Engine/Source/Runtime/VulkanRHI/Private/VulkanRHI.cpp:694]
[2025.03.01-12.48.17:829][ 0]LogOutputDevice: Error: [Callstack] 0x000077fccc3c34c8 libUE4Editor-VulkanRHI.so!FVulkanDynamicRHI::Init() [/home/cam/softwares/UnrealEngine_4.26/Engine/Source/Runtime/VulkanRHI/Private/VulkanRHI.cpp:241]
[2025.03.01-12.48.17:829][ 0]LogOutputDevice: Error: [Callstack] 0x000077fd129281dd libUE4Editor-RHI.so!RHIInit(bool) [/home/cam/softwares/UnrealEngine_4.26/Engine/Source/Runtime/RHI/Private/DynamicRHI.cpp:228]
[2025.03.01-12.48.17:829][ 0]LogOutputDevice: Error: [Callstack] 0x0000000000283bb3 UE4Editor!FEngineLoop::PreInitPreStartupScreen(char16_t const*) [/home/cam/softwares/UnrealEngine_4.26/Engine/Source/Runtime/Launch/Private/LaunchEngineLoop.cpp:2555]
[2025.03.01-12.48.17:829][ 0]LogOutputDevice: Error: [Callstack] 0x000000000027aadc UE4Editor!GuardedMain(char16_t const*) [/home/cam/softwares/UnrealEngine_4.26/Engine/Source/Runtime/Launch/Private/Launch.cpp:127]
[2025.03.01-12.48.17:829][ 0]LogOutputDevice: Error: [Callstack] 0x000077fd1900b286 libUE4Editor-UnixCommonStartup.so!CommonUnixMain(int, char**, int (*)(char16_t const*), void (*)()) [/home/cam/softwares/UnrealEngine_4.26/Engine/Source/Runtime/Unix/UnixCommonStartup/Private/UnixCommonStartup.cpp:264]
[2025.03.01-12.48.17:829][ 0]LogOutputDevice: Error: [Callstack] 0x000077fd0ec29d90 libc.so.6!UnknownFunction(0x29d8f)
[2025.03.01-12.48.17:829][ 0]LogOutputDevice: Error: [Callstack] 0x000077fd0ec29e40 libc.so.6!__libc_start_main(+0x7f)
[2025.03.01-12.48.17:829][ 0]LogOutputDevice: Error: [Callstack] 0x0000000000263d49 UE4Editor!_start()
LogCore: Error: appError called: Assertion failed: !GIsRHIInitialized || !GRHISupportsRHIThread [File:Runtime/RHI/Public/RHIStaticStates.h] [Line: 98]
运行以下命令， 用来Deletes all the binaries and temporals generated by the build system and make launch again:
make rebuild最后报错：
这是网络问题，多试几次就好了。但是，我的报错如下：error: command '/home/cam/softwares/UnrealEngine_4.26/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/clang' failed with exit code 1
上图中的确少了报错中的三个文件：libxerces-c.a，libproj.a，libsqlite3.a。可能是make build时删除了，所以找不到。如果此时再次make launch将会如同一开始的UE4报错，错误日志可在carla根目录下的carla/Unreal/CarlaUE4/Saved/Crashes/
后来发现，运行make rebuild，会导致carla/PythonAPI/carla/目录下的dependencies文件夹被删除，然后自动创建一个新的，但是新的里面会缺少上述的libxerces-c.a，libproj.a，libsqlite3.a。于是，我在它编译期间，迅速将缺失的文件找到并复制到新的carla/PythonAPI/carla/dependencies/lib文件夹里：
还是报错，于是尝试重新编译PythonAPI，
make PythonAPI ARGS="--python-version=3.12"检查了一下carla/PythonAPI/carla/dependencies/lib文件夹，没有缺少libxerces-c.a，libproj.a，libsqlite3.a，结果如下：
Util/BuildTools/Linux.mk:163: 警告：覆盖关于目标“downloadplugins”的配方
Util/BuildTools/Linux.mk:142: 警告：忽略关于目标“downloadplugins”的旧配方
Setup.sh: boost-1.85.0-c10 already installed.
Setup.sh: rpclib-v2.2.1_c5-c10 already installed.
Setup.sh: gtest-1.8.1-c10 already installed.
Setup.sh: recast-c10 already installed.
Setup.sh: Libpng already installed.
Setup.sh: Xerces-c already installed.
Setup.sh: Eigen already installed.
Setup.sh: Sqlite already installed.
Setup.sh: PROJ already installed.
Setup.sh: Patchelf already installed.
Setup.sh: CARLA version 0.9.15-dirty.
Setup.sh: Generating CMake configuration files.
Setup.sh: Success!
parse-options: 未识别的选项 "--python-version=3.12"
BuildLibCarla.sh: Building LibCarla "Client.Release" configuration.
ninja: no work to do.
[0/1] Install the project...
-- Install configuration: "Client"
BuildLibCarla.sh: Success!
parse-options: 未识别的选项 "--python-version=3.12"
BuildOSM2ODR.sh: Building OSM2ODR.
HEAD 目前位于 1835e1e9538 Remove logs
-- Eclipse version is set to 3.6 (Helios). Adjust CMAKE_ECLIPSE_VERSION if this is wrong.
-- CMAKE_BINARY_DIR: /home/cam/softwares/carla/Build/libosm2dr-build
-- CMAKE_SOURCE_DIR: /home/cam/softwares/carla/Build/libosm2dr-source
--
-- Platform:
-- Host: Linux-6.8.0-52-generic x86_64
-- Target: Linux-6.8.0-52-generic x86_64
-- CMake: 3.22.1
-- CMake generator: Ninja
-- CMake build tool: /usr/bin/ninja
-- Compiler: Clang 10.0.1
--
-- Found Proj: /home/cam/softwares/carla/Build/proj-install/lib/libproj.a
-- Could NOT find X11 (missing: X11_X11_INCLUDE_PATH X11_X11_LIB)
-- Enabled features: Linux-6.8.0-52-generic x86_64 Clang 10.0.1 Release Proj
-- Configuring done
-- Generating done
-- Build files have been written to: /home/cam/softwares/carla/Build/libosm2dr-build
ninja: no work to do.
[0/1] Install the project...
-- Install configuration: "Release"
-- Up-to-date: /home/cam/softwares/carla/PythonAPI/carla/dependencies/lib/libosm2odr.a
-- Up-to-date: /home/cam/softwares/carla/PythonAPI/carla/dependencies/include/OSM2ODR.h
/home/cam/softwares/UnrealEngine_4.26/Engine/Source/ThirdParty/Linux/LibCxx/include/c++/v1
/home/cam/softwares/UnrealEngine_4.26/Engine/Source/ThirdParty/Linux/LibCxx/lib/Linux/x86_64-unknown-linux-gnu
-- Eclipse version is set to 3.6 (Helios). Adjust CMAKE_ECLIPSE_VERSION if this is wrong.
-- CMAKE_BINARY_DIR: /home/cam/softwares/carla/Build/libosm2dr-build-server
-- CMAKE_SOURCE_DIR: /home/cam/softwares/carla/Build/libosm2dr-source
--
-- Platform:
-- Host: Linux-6.8.0-52-generic x86_64
-- Target: Linux-6.8.0-52-generic x86_64
-- CMake: 3.22.1
-- CMake generator: Ninja
-- CMake build tool: /usr/bin/ninja
-- Compiler: Clang 10.0.1
--
-- Found Proj: /home/cam/softwares/carla/Build/proj-install-server/lib/libproj.a
-- Could NOT find X11 (missing: X11_X11_INCLUDE_PATH X11_X11_LIB)
-- Enabled features: Linux-6.8.0-52-generic x86_64 Clang 10.0.1 Release Proj
-- Configuring done
-- Generating done
-- Build files have been written to: /home/cam/softwares/carla/Build/libosm2dr-build-server
ninja: no work to do.
[0/1] Install the project...
-- Install configuration: "Release"
-- Up-to-date: /home/cam/softwares/carla/Unreal/CarlaUE4/Plugins/Carla/CarlaDependencies/lib/libosm2odr.a
-- Up-to-date: /home/cam/softwares/carla/Unreal/CarlaUE4/Plugins/Carla/CarlaDependencies/include/OSM2ODR.h
-- Eclipse version is set to 3.6 (Helios). Adjust CMAKE_ECLIPSE_VERSION if this is wrong.
-- CMAKE_BINARY_DIR: /home/cam/softwares/carla/Build/libosm2dr-build-server
-- CMAKE_SOURCE_DIR: /home/cam/softwares/carla/Build/libosm2dr-source
--
-- Platform:
-- Host: Linux-6.8.0-52-generic x86_64
-- Target: Linux-6.8.0-52-generic x86_64
-- CMake: 3.22.1
-- CMake generator: Ninja
-- CMake build tool: /usr/bin/ninja
-- Compiler: Clang 10.0.1
--
-- Found Proj: /home/cam/softwares/carla/Build/proj-install-server/lib/libproj.a
-- Could NOT find X11 (missing: X11_X11_INCLUDE_PATH X11_X11_LIB)
-- Enabled features: Linux-6.8.0-52-generic x86_64 Clang 10.0.1 Release Proj
-- Configuring done
-- Generating done
-- Build files have been written to: /home/cam/softwares/carla/Build/libosm2dr-build-server
ninja: no work to do.
[0/1] Install the project...
-- Install configuration: "Release"
-- Up-to-date: /home/cam/softwares/carla/Unreal/CarlaUE4/Plugins/Carla/CarlaDependencies/lib/libosm2odr.a
-- Up-to-date: /home/cam/softwares/carla/Unreal/CarlaUE4/Plugins/Carla/CarlaDependencies/include/OSM2ODR.h
BuildOSM2ODR.sh: OSM2ODR Success!
BuildPythonAPI.sh: Building Python API for Python 3.12.
/home/cam/softwares/carla/PythonAPI/carla/setup.py:37: DeprecationWarning: distro.linux_distribution() is deprecated. It should only be used as a compatibility shim with Python's platform.linux_distribution(). Please use distro.id(), distro.version() and distro.name() instead.
linux_distro = distro.linux_distribution()[0]
compiling:
- source/libcarla/libcarla.cpp
running bdist_egg
running egg_info
writing source/carla.egg-info/PKG-INFO
writing dependency_links to source/carla.egg-info/dependency_links.txt
writing top-level names to source/carla.egg-info/top_level.txt
reading manifest file 'source/carla.egg-info/SOURCES.txt'
writing manifest file 'source/carla.egg-info/SOURCES.txt'
installing library code to build/bdist.linux-x86_64/egg
/home/cam/softwares/miniconda3/lib/python3.12/site-packages/setuptools/_distutils/cmd.py:79: SetuptoolsDeprecationWarning: setup.py install is deprecated.
!!
********************************************************************************
Please avoid running ``setup.py`` directly.
Instead, use pypa/build, pypa/installer or other
standards-based tools.
See https://blog.ganssle.io/articles/2021/10/setup-py-deprecated.html for details.
********************************************************************************
!!
self.initialize_options()
running install_lib
running build_py
copying source/carla/command.py -> build/lib.linux-x86_64-cpython-312/carla
copying source/carla/__init__.py -> build/lib.linux-x86_64-cpython-312/carla
running build_ext
building 'carla.libcarla' extension
/home/cam/softwares/UnrealEngine_4.26/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/clang++ -fno-strict-overflow -DNDEBUG -O2 -Wall -fPIC -O2 -isystem /home/cam/softwares/miniconda3/include -fPIC -O2 -isystem /home/cam/softwares/miniconda3/include -fPIC -Idependencies/include -I/home/cam/softwares/miniconda3/include/python3.12 -c source/libcarla/libcarla.cpp -o build/temp.linux-x86_64-cpython-312/source/libcarla/libcarla.o -isystem dependencies/include/system -fPIC -std=c++14 -Werror -Wall -Wextra -Wpedantic -Wno-self-assign-overloaded -Wdeprecated -Wno-shadow -Wuninitialized -Wunreachable-code -Wpessimizing-move -Wold-style-cast -Wnull-dereference -Wduplicate-enum -Wnon-virtual-dtor -Wheader-hygiene -Wconversion -Wfloat-overflow-conversion -DBOOST_ERROR_CODE_HEADER_ONLY -DLIBCARLA_WITH_PYTHON_SUPPORT -stdlib=libstdc++ -DLIBCARLA_IMAGE_WITH_PNG_SUPPORT=true
/home/cam/softwares/UnrealEngine_4.26/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/clang -shared -Wl,-rpath,/home/cam/softwares/miniconda3/lib -Wl,-rpath-link,/home/cam/softwares/miniconda3/lib -L/home/cam/softwares/miniconda3/lib -Wl,-rpath,/home/cam/softwares/miniconda3/lib -Wl,-rpath-link,/home/cam/softwares/miniconda3/lib -L/home/cam/softwares/miniconda3/lib build/temp.linux-x86_64-cpython-312/source/libcarla/libcarla.o -Ldependencies/lib -o build/lib.linux-x86_64-cpython-312/carla/libcarla.cpython-312-x86_64-linux-gnu.so /home/cam/softwares/carla/PythonAPI/carla/dependencies/lib/libcarla_client.a /home/cam/softwares/carla/PythonAPI/carla/dependencies/lib/librpc.a /home/cam/softwares/carla/PythonAPI/carla/dependencies/lib/libboost_filesystem.a /home/cam/softwares/carla/PythonAPI/carla/dependencies/lib/libRecast.a /home/cam/softwares/carla/PythonAPI/carla/dependencies/lib/libDetour.a /home/cam/softwares/carla/PythonAPI/carla/dependencies/lib/libDetourCrowd.a /home/cam/softwares/carla/PythonAPI/carla/dependencies/lib/libosm2odr.a /home/cam/softwares/carla/PythonAPI/carla/dependencies/lib/libxerces-c.a -lz /home/cam/softwares/carla/PythonAPI/carla/dependencies/lib/libproj.a /home/cam/softwares/carla/PythonAPI/carla/dependencies/lib/libsqlite3.a /home/cam/softwares/carla/PythonAPI/carla/dependencies/lib/libboost_python312.a -lpng -ljpeg -ltiff -lstdc++
/home/cam/softwares/UnrealEngine_4.26/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/x86_64-unknown-linux-gnu-ld: warning: /home/cam/softwares/miniconda3/lib/libstdc++.so: unsupported GNU_PROPERTY_TYPE (5) type: 0xc0010001
/home/cam/softwares/UnrealEngine_4.26/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/x86_64-unknown-linux-gnu-ld: warning: /home/cam/softwares/miniconda3/lib/libstdc++.so: unsupported GNU_PROPERTY_TYPE (5) type: 0xc0010002
/home/cam/softwares/UnrealEngine_4.26/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/x86_64-unknown-linux-gnu-ld: warning: /home/cam/softwares/miniconda3/lib/libgcc_s.so.1: unsupported GNU_PROPERTY_TYPE (5) type: 0xc0010001
/home/cam/softwares/UnrealEngine_4.26/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/x86_64-unknown-linux-gnu-ld: warning: /home/cam/softwares/miniconda3/lib/libgcc_s.so.1: unsupported GNU_PROPERTY_TYPE (5) type: 0xc0010002
/home/cam/softwares/UnrealEngine_4.26/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/x86_64-unknown-linux-gnu-ld: warning: /lib/x86_64-linux-gnu/libc.so.6: unsupported GNU_PROPERTY_TYPE (5) type: 0xc0008002
/home/cam/softwares/UnrealEngine_4.26/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/x86_64-unknown-linux-gnu-ld: warning: /home/cam/softwares/miniconda3/lib/libgcc_s.so.1: unsupported GNU_PROPERTY_TYPE (5) type: 0xc0010001
/home/cam/softwares/UnrealEngine_4.26/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/x86_64-unknown-linux-gnu-ld: warning: /home/cam/softwares/miniconda3/lib/libgcc_s.so.1: unsupported GNU_PROPERTY_TYPE (5) type: 0xc0010002
creating build/bdist.linux-x86_64/egg
creating build/bdist.linux-x86_64/egg/carla
copying build/lib.linux-x86_64-cpython-312/carla/command.py -> build/bdist.linux-x86_64/egg/carla
copying build/lib.linux-x86_64-cpython-312/carla/libcarla.cpython-312-x86_64-linux-gnu.so -> build/bdist.linux-x86_64/egg/carla
copying build/lib.linux-x86_64-cpython-312/carla/__init__.py -> build/bdist.linux-x86_64/egg/carla
byte-compiling build/bdist.linux-x86_64/egg/carla/command.py to command.cpython-312.pyc
byte-compiling build/bdist.linux-x86_64/egg/carla/__init__.py to __init__.cpython-312.pyc
creating stub loader for carla/libcarla.cpython-312-x86_64-linux-gnu.so
byte-compiling build/bdist.linux-x86_64/egg/carla/libcarla.py to libcarla.cpython-312.pyc
creating build/bdist.linux-x86_64/egg/EGG-INFO
copying source/carla.egg-info/PKG-INFO -> build/bdist.linux-x86_64/egg/EGG-INFO
copying source/carla.egg-info/SOURCES.txt -> build/bdist.linux-x86_64/egg/EGG-INFO
copying source/carla.egg-info/dependency_links.txt -> build/bdist.linux-x86_64/egg/EGG-INFO
copying source/carla.egg-info/top_level.txt -> build/bdist.linux-x86_64/egg/EGG-INFO
writing build/bdist.linux-x86_64/egg/EGG-INFO/native_libs.txt
zip_safe flag not set; analyzing archive contents...
carla.__pycache__.libcarla.cpython-312: module references __file__
creating 'dist/carla-0.9.15-py3.12-linux-x86_64.egg' and adding 'build/bdist.linux-x86_64/egg' to it
removing 'build/bdist.linux-x86_64/egg' (and everything under it)
running bdist_wheel
running build
running build_ext
/home/cam/softwares/miniconda3/lib/python3.12/site-packages/setuptools/_distutils/dist.py:961: SetuptoolsDeprecationWarning: setup.py install is deprecated.
!!
********************************************************************************
Please avoid running ``setup.py`` directly.
Instead, use pypa/build, pypa/installer or other
standards-based tools.
See https://blog.ganssle.io/articles/2021/10/setup-py-deprecated.html for details.
********************************************************************************
!!
command.initialize_options()
installing to build/bdist.linux-x86_64/wheel
running install
running install_lib
creating build/bdist.linux-x86_64/wheel
creating build/bdist.linux-x86_64/wheel/carla
copying build/lib.linux-x86_64-cpython-312/carla/command.py -> build/bdist.linux-x86_64/wheel/./carla
copying build/lib.linux-x86_64-cpython-312/carla/libcarla.cpython-312-x86_64-linux-gnu.so -> build/bdist.linux-x86_64/wheel/./carla
copying build/lib.linux-x86_64-cpython-312/carla/__init__.py -> build/bdist.linux-x86_64/wheel/./carla
running install_egg_info
Copying source/carla.egg-info to build/bdist.linux-x86_64/wheel/./carla-0.9.15-py3.12.egg-info
running install_scripts
creating build/bdist.linux-x86_64/wheel/carla-0.9.15.dist-info/WHEEL
creating 'dist/.tmp/carla-0.9.15-cp312-cp312-linux_x86_64.whl' and adding 'build/bdist.linux-x86_64/wheel' to it
adding 'carla/__init__.py'
adding 'carla/command.py'
adding 'carla/libcarla.cpython-312-x86_64-linux-gnu.so'
adding 'carla-0.9.15.dist-info/METADATA'
adding 'carla-0.9.15.dist-info/WHEEL'
adding 'carla-0.9.15.dist-info/top_level.txt'
adding 'carla-0.9.15.dist-info/RECORD'
removing build/bdist.linux-x86_64/wheel
BuildPythonAPI.sh: Success!再make launch，又回到一开始的错误。。。。。
Ensure condition failed: VendorId != EGpuVendorId::Unknown [File:/home/cam/softwares/UnrealEngine_4.26/Engine/Source/Runtime/VulkanRHI/Private/VulkanDevice.cpp] [Line: 182]
DeepSeek解释：这个错误表明在 Unreal Engine 中，Vulkan RHI（Render Hardware Interface）初始化时检测到了一个失败的条件。具体来说，错误发生在 VulkanDevice.cpp 文件的第 182 行，断言条件是 VendorId != EGpuVendorId::Unknown。这意味着引擎无法识别当前 GPU 的供应商（Vendor ID），导致 Vulkan 初始化失败。
这是GPU供应商找不到错误，尝试：
sudo apt install vulkan-tools
# 查看vulkan支持的GPU
vulkaninfo部分结果：
ERROR: [Loader Message] Code 0 : libGLX_nvidia.so.0: cannot open shared object file: No such file or directory
WARNING: [Loader Message] Code 0 : terminator_CreateInstance: Failed to CreateInstance in ICD 1. Skipping ICD.
==========
VULKANINFO
==========
Vulkan Instance Version: 1.3.204
Instance Extensions: count = 20
===============================
VK_EXT_acquire_drm_display : extension revision 1
VK_EXT_acquire_xlib_display : extension revision 1
VK_EXT_debug_report : extension revision 10
VK_EXT_debug_utils : extension revision 2
VK_EXT_direct_mode_display : extension revision 1
VK_EXT_display_surface_counter : extension revision 1
VK_EXT_swapchain_colorspace : extension revision 4
VK_KHR_device_group_creation : extension revision 1
VK_KHR_display : extension revision 23
VK_KHR_external_fence_capabilities : extension revision 1
VK_KHR_external_memory_capabilities : extension revision 1
VK_KHR_external_semaphore_capabilities : extension revision 1
VK_KHR_get_display_properties2 : extension revision 1
VK_KHR_get_physical_device_properties2 : extension revision 2
VK_KHR_get_surface_capabilities2 : extension revision 1
VK_KHR_surface : extension revision 25
VK_KHR_surface_protected_capabilities : extension revision 1
VK_KHR_wayland_surface : extension revision 6
VK_KHR_xcb_surface : extension revision 6
VK_KHR_xlib_surface : extension revision 6
Layers: count = 4
=================
VK_LAYER_INTEL_nullhw (INTEL NULL HW) Vulkan version 1.1.73, layer version 1:
Layer Extensions: count = 0
Devices: count = 2
GPU id = 0 (AMD Unknown (RADV GFX1103_R1))
Layer-Device Extensions: count = 0
GPU id = 1 (llvmpipe (LLVM 15.0.7, 256 bits))
Layer-Device Extensions: count = 0
VK_LAYER_MESA_device_select (Linux device selection layer) Vulkan version 1.3.211, layer version 1:
Layer Extensions: count = 0
Devices: count = 2
GPU id = 0 (AMD Unknown (RADV GFX1103_R1))
Layer-Device Extensions: count = 0
GPU id = 1 (llvmpipe (LLVM 15.0.7, 256 bits))
Layer-Device Extensions: count = 0
VK_LAYER_MESA_overlay (Mesa Overlay layer) Vulkan version 1.3.211, layer version 1:
Layer Extensions: count = 0
Devices: count = 2
GPU id = 0 (AMD Unknown (RADV GFX1103_R1))
Layer-Device Extensions: count = 0
GPU id = 1 (llvmpipe (LLVM 15.0.7, 256 bits))
Layer-Device Extensions: count = 0
VK_LAYER_NV_optimus (NVIDIA Optimus layer) Vulkan version 1.3.277, layer version 1:
Layer Extensions: count = 0
Devices: count = 2
GPU id = 0 (AMD Unknown (RADV GFX1103_R1))
Layer-Device Extensions: count = 0
GPU id = 1 (llvmpipe (LLVM 15.0.7, 256 bits))
Layer-Device Extensions: count = 0
然后：
sudo prime-select intel // 最后发现这一步很重要，设置后必须重启才能生效(但我这里没有重启所以报错)，后面make launch才不会报错找不到驱动
sudo apt update
sudo apt install vulkan-utils libvulkan1 mesa-vulkan-drivers
find /usr/lib -name "libGLX_nvidia.so.0"
ls /usr/share/vulkan/icd.d/
第三天重新打开电脑，先是运行了以下命令：
sudo apt update然后又可以启动UE4了，也能仿真了，奇怪了。（后来验证了，是因为将显卡切换到intel且reboot）但是通过nvidia-smi查看，没有在使用GPU。后面又在UE4的文件菜单找到“退出”按钮，点击退出UE4，这里没有直接叉掉UE4窗口。然后再次make launch，也还是可以启动。
接下来就是一些尝试解决python3 manual_control.py出现的报错：
libGL error: MESA-LOADER: failed to open radeonsi: /usr/lib/dri/radeonsi_dri.so: cannot open shared object file: No such file or directory (search paths /usr/lib/x86_64-linux-gnu/dri:\$${ORIGIN}/dri:/usr/lib/dri, suffix _dri)
libGL error: failed to load driver: radeonsi
libGL error: MESA-LOADER: failed to open swrast: /usr/lib/dri/swrast_dri.so: cannot open shared object file: No such file or directory (search paths /usr/lib/x86_64-linux-gnu/dri:\$${ORIGIN}/dri:/usr/lib/dri, suffix _dri)
libGL error: failed to load driver: swrast
X Error of failed request: BadValue (integer parameter out of range for operation)
(base) :~/softwares/carla/PythonAPI/examples$ python3 manual_control.py
pygame 2.6.1 (SDL 2.28.4, Python 3.12.0)
Hello from the pygame community. https://www.pygame.org/contribute.html
INFO: listening to server 127.0.0.1:2000
Welcome to CARLA manual control.
Use ARROWS or WASD keys for control.
W : throttle
S : brake
A/D : steer left/right
Q : toggle reverse
Space : hand-brake
P : toggle autopilot
M : toggle manual transmission
,/. : gear up/down
CTRL + W : toggle constant velocity mode at 60 km/h
L : toggle next light type
SHIFT + L : toggle high beam
Z/X : toggle right/left blinker
I : toggle interior light
TAB : change sensor position
` or N : next sensor
[1-9] : change to sensor [1-9]
G : toggle radar visualization
C : change weather (Shift+C reverse)
Backspace : change vehicle
O : open/close all doors of vehicle
T : toggle vehicle's telemetry
V : Select next map layer (Shift+V reverse)
B : Load current selected map layer (Shift+B to unload)
R : toggle recording images to disk
CTRL + R : toggle recording of simulation (replacing any previous)
CTRL + P : start replaying last recorded simulation
CTRL + + : increments the start time of the replay by 1 second (+SHIFT = 10 seconds)
CTRL + - : decrements the start time of the replay by 1 second (+SHIFT = 10 seconds)
F1 : toggle HUD
H/? : toggle help
ESC : quit
libGL error: MESA-LOADER: failed to open radeonsi: /usr/lib/dri/radeonsi_dri.so: cannot open shared object file: No such file or directory (search paths /usr/lib/x86_64-linux-gnu/dri:\$${ORIGIN}/dri:/usr/lib/dri, suffix _dri)
libGL error: failed to load driver: radeonsi
libGL error: MESA-LOADER: failed to open swrast: /usr/lib/dri/swrast_dri.so: cannot open shared object file: No such file or directory (search paths /usr/lib/x86_64-linux-gnu/dri:\$${ORIGIN}/dri:/usr/lib/dri, suffix _dri)
libGL error: failed to load driver: swrast
X Error of failed request: BadValue (integer parameter out of range for operation)
Major opcode of failed request: 149 (GLX)
Minor opcode of failed request: 3 (X_GLXCreateContext)
Value in failed request: 0x0
Serial number of failed request: 163
Current serial number in output stream: 164
以下是一些尝试：
千万不要尝试运行 sudo nvidia-xconfig，否则你将遭遇电脑开机黑屏卡死！！！
千万不要尝试运行 sudo nvidia-xconfig，否则你将遭遇电脑开机黑屏卡死！！！
千万不要尝试运行 sudo nvidia-xconfig，否则你将遭遇电脑开机黑屏卡死！！！
如果不小心遇到，也是有解决办法。详见以下。
(base) cam@WK:~$ glxinfo | grep "OpenGL"
OpenGL vendor string: AMD
OpenGL renderer string: GFX1103_R1 (gfx1103_r1, LLVM 15.0.7, DRM 3.57, 6.8.0-52-generic)
OpenGL core profile version string: 4.6 (Core Profile) Mesa 23.2.1-1ubuntu3.1~22.04.3
OpenGL core profile shading language version string: 4.60
OpenGL core profile context flags: (none)
OpenGL core profile profile mask: core profile
OpenGL core profile extensions:
OpenGL version string: 4.6 (Compatibility Profile) Mesa 23.2.1-1ubuntu3.1~22.04.3
OpenGL shading language version string: 4.60
OpenGL context flags: (none)
OpenGL profile mask: compatibility profile
OpenGL extensions:
OpenGL ES profile version string: OpenGL ES 3.2 Mesa 23.2.1-1ubuntu3.1~22.04.3
OpenGL ES profile shading language version string: OpenGL ES GLSL ES 3.20
OpenGL ES profile extensions:
(base) cam@WK:~$ ls -l /usr/lib/x86_64-linux-gnu/dri/
总计 559456
-rw-r--r-- 13 root root 32612968 10月 9 22:47 crocus_dri.so
-rw-r--r-- 13 root root 32612968 10月 9 22:47 d3d12_dri.so
-rw-r--r-- 5 root root 15101240 10月 9 22:47 d3d12_drv_video.so
-rw-r--r-- 13 root root 32612968 10月 9 22:47 i915_dri.so
-rw-r--r-- 1 root root 15894472 7月 5 2023 i965_dri.so
-rw-r--r-- 1 root root 1764040 7月 11 2020 i965_drv_video.so
-rw-r--r-- 1 root root 8004216 4月 12 2023 iHD_drv_video.so
-rw-r--r-- 13 root root 32612968 10月 9 22:47 iris_dri.so
-rw-r--r-- 13 root root 32612968 10月 9 22:47 kms_swrast_dri.so
-rw-r--r-- 13 root root 32612968 10月 9 22:47 nouveau_dri.so
-rw-r--r-- 5 root root 15101240 10月 9 22:47 nouveau_drv_video.so
-rw-r--r-- 1 root root 15894472 7月 5 2023 nouveau_vieux_dri.so
-rw-r--r-- 1 root root 15894472 7月 5 2023 r200_dri.so
-rw-r--r-- 13 root root 32612968 10月 9 22:47 r300_dri.so
-rw-r--r-- 13 root root 32612968 10月 9 22:47 r600_dri.so
-rw-r--r-- 5 root root 15101240 10月 9 22:47 r600_drv_video.so
-rw-r--r-- 1 root root 15894472 7月 5 2023 radeon_dri.so
-rw-r--r-- 13 root root 32612968 10月 9 22:47 radeonsi_dri.so
-rw-r--r-- 5 root root 15101240 10月 9 22:47 radeonsi_drv_video.so
-rw-r--r-- 13 root root 32612968 10月 9 22:47 swrast_dri.so
-rw-r--r-- 13 root root 32612968 10月 9 22:47 virtio_gpu_dri.so
-rw-r--r-- 5 root root 15101240 10月 9 22:47 virtio_gpu_drv_video.so
-rw-r--r-- 13 root root 32612968 10月 9 22:47 vmwgfx_dri.so
-rw-r--r-- 13 root root 32612968 10月 9 22:47 zink_dri.so
(base) cam@WK:~$ sudo chmod 755 /usr/lib/x86_64-linux-gnu/dri/swrast_dri.so
(base) cam@WK:~$ sudo chmod 755 /usr/lib/x86_64-linux-gnu/dri/radeonsi_dri.so
(base) cam@WK:~$ ls -l /usr/lib/x86_64-linux-gnu/dri/
总计 559456
-rwxr-xr-x 13 root root 32612968 10月 9 22:47 crocus_dri.so
-rwxr-xr-x 13 root root 32612968 10月 9 22:47 d3d12_dri.so
-rw-r--r-- 5 root root 15101240 10月 9 22:47 d3d12_drv_video.so
-rwxr-xr-x 13 root root 32612968 10月 9 22:47 i915_dri.so
-rw-r--r-- 1 root root 15894472 7月 5 2023 i965_dri.so
-rw-r--r-- 1 root root 1764040 7月 11 2020 i965_drv_video.so
-rw-r--r-- 1 root root 8004216 4月 12 2023 iHD_drv_video.so
-rwxr-xr-x 13 root root 32612968 10月 9 22:47 iris_dri.so
-rwxr-xr-x 13 root root 32612968 10月 9 22:47 kms_swrast_dri.so
-rwxr-xr-x 13 root root 32612968 10月 9 22:47 nouveau_dri.so
-rw-r--r-- 5 root root 15101240 10月 9 22:47 nouveau_drv_video.so
-rw-r--r-- 1 root root 15894472 7月 5 2023 nouveau_vieux_dri.so
-rw-r--r-- 1 root root 15894472 7月 5 2023 r200_dri.so
-rwxr-xr-x 13 root root 32612968 10月 9 22:47 r300_dri.so
-rwxr-xr-x 13 root root 32612968 10月 9 22:47 r600_dri.so
-rw-r--r-- 5 root root 15101240 10月 9 22:47 r600_drv_video.so
-rw-r--r-- 1 root root 15894472 7月 5 2023 radeon_dri.so
-rwxr-xr-x 13 root root 32612968 10月 9 22:47 radeonsi_dri.so
-rw-r--r-- 5 root root 15101240 10月 9 22:47 radeonsi_drv_video.so
-rwxr-xr-x 13 root root 32612968 10月 9 22:47 swrast_dri.so
-rwxr-xr-x 13 root root 32612968 10月 9 22:47 virtio_gpu_dri.so
-rw-r--r-- 5 root root 15101240 10月 9 22:47 virtio_gpu_drv_video.so
-rwxr-xr-x 13 root root 32612968 10月 9 22:47 vmwgfx_dri.so
-rwxr-xr-x 13 root root 32612968 10月 9 22:47 zink_dri.so
(base) cam@WK:~$ glxinfo | grep "OpenGL"
OpenGL vendor string: AMD
OpenGL renderer string: GFX1103_R1 (gfx1103_r1, LLVM 15.0.7, DRM 3.57, 6.8.0-52-generic)
OpenGL core profile version string: 4.6 (Core Profile) Mesa 23.2.1-1ubuntu3.1~22.04.3
OpenGL core profile shading language version string: 4.60
OpenGL core profile context flags: (none)
OpenGL core profile profile mask: core profile
OpenGL core profile extensions:
OpenGL version string: 4.6 (Compatibility Profile) Mesa 23.2.1-1ubuntu3.1~22.04.3
OpenGL shading language version string: 4.60
OpenGL context flags: (none)
OpenGL profile mask: compatibility profile
OpenGL extensions:
OpenGL ES profile version string: OpenGL ES 3.2 Mesa 23.2.1-1ubuntu3.1~22.04.3
OpenGL ES profile shading language version string: OpenGL ES GLSL ES 3.20
OpenGL ES profile extensions:
(base) cam@WK:~$ sudo ldconfig
(base) cam@WK:~$ lsmod | grep nouveau
(base) cam@WK:~$ prime-select query
nvidia
(base) cam@WK:~$ glxinfo | grep "OpenGL renderer"
OpenGL renderer string: GFX1103_R1 (gfx1103_r1, LLVM 15.0.7, DRM 3.57, 6.8.0-52-generic)
(base) cam@WK:~$ lspci -k | grep -EA3 'VGA|3D|Display'
pcilib: Error reading /sys/bus/pci/devices/0000:00:08.3/label: Operation not permitted
01:00.0 VGA compatible controller: NVIDIA Corporation Device 28e1 (rev a1)
Subsystem: Lenovo Device 3818
Kernel driver in use: nvidia
Kernel modules: nvidiafb, nouveau, nvidia_drm, nvidia
--
65:00.0 VGA compatible controller: Advanced Micro Devices, Inc. [AMD/ATI] Device 15bf (rev c7)
Subsystem: Lenovo Device 3816
Kernel driver in use: amdgpu
Kernel modules: amdgpu
(base) cam@WK:~$ sudo lspci -k | grep -EA3 'VGA|3D|Display'
[sudo] cam 的密码：
pcilib: Error reading /sys/bus/pci/devices/0000:00:08.3/label: Operation not permitted
01:00.0 VGA compatible controller: NVIDIA Corporation Device 28e1 (rev a1)
Subsystem: Lenovo Device 3818
Kernel driver in use: nvidia
Kernel modules: nvidiafb, nouveau, nvidia_drm, nvidia
--
65:00.0 VGA compatible controller: Advanced Micro Devices, Inc. [AMD/ATI] Device 15bf (rev c7)
Subsystem: Lenovo Device 3816
Kernel driver in use: amdgpu
Kernel modules: amdgpu
(base) cam@WK:~$ sudo apt install nvidia-settings
正在读取软件包列表... 完成
正在分析软件包的依赖关系树... 完成
正在读取状态信息... 完成
将会同时安装下列软件：
libxnvctrl0 screen-resolution-extra
下列【新】软件包将被安装：
libxnvctrl0 nvidia-settings screen-resolution-extra
升级了 0 个软件包，新安装了 3 个软件包，要卸载 0 个软件包，有 47 个软件包未被升级。
需要下载 976 kB 的归档。
解压缩后会消耗 3,175 kB 的额外空间。
您希望继续执行吗？ [Y/n] y
获取:1 http://mirrors.aliyun.com/ubuntu jammy/main amd64 libxnvctrl0 amd64 510.47.03-0ubuntu1 [11.5 kB]
获取:2 http://mirrors.aliyun.com/ubuntu jammy/main amd64 screen-resolution-extra all 0.18.2 [4,396 B]
获取:3 http://mirrors.aliyun.com/ubuntu jammy/main amd64 nvidia-settings amd64 510.47.03-0ubuntu1 [960 kB]
已下载 976 kB，耗时 0秒 (3,783 kB/s)
正在选中未选择的软件包 libxnvctrl0:amd64。
(正在读取数据库 ... 系统当前共安装有 230096 个文件和目录。)
准备解压 .../libxnvctrl0_510.47.03-0ubuntu1_amd64.deb ...
正在解压 libxnvctrl0:amd64 (510.47.03-0ubuntu1) ...
正在选中未选择的软件包 screen-resolution-extra。
准备解压 .../screen-resolution-extra_0.18.2_all.deb ...
正在解压 screen-resolution-extra (0.18.2) ...
正在选中未选择的软件包 nvidia-settings。
准备解压 .../nvidia-settings_510.47.03-0ubuntu1_amd64.deb ...
正在解压 nvidia-settings (510.47.03-0ubuntu1) ...
正在设置 libxnvctrl0:amd64 (510.47.03-0ubuntu1) ...
正在设置 screen-resolution-extra (0.18.2) ...
正在设置 nvidia-settings (510.47.03-0ubuntu1) ...
正在处理用于 desktop-file-utils (0.26-1ubuntu3) 的触发器 ...
正在处理用于 gnome-menus (3.36.0-1ubuntu3) 的触发器 ...
正在处理用于 libc-bin (2.35-0ubuntu3.9) 的触发器 ...
正在处理用于 man-db (2.10.2-1) 的触发器 ...
正在处理用于 mailcap (3.70+nmu1ubuntu1) 的触发器 ...
(base) cam@WK:~$ nvidia-settings
(nvidia-settings:22633): GLib-GObject-CRITICAL **: 14:30:56.286: g_object_unref: assertion 'G_IS_OBJECT (object)' failed
** Message: 14:30:56.323: PRIME: Requires offloading
** Message: 14:30:56.323: PRIME: is it supported? yes
** Message: 14:30:56.344: PRIME: Usage: /usr/bin/prime-select nvidia|intel|on-demand|query
** Message: 14:30:56.344: PRIME: on-demand mode: "1"
** Message: 14:30:56.344: PRIME: is "on-demand" mode supported? yes
ERROR: 子进程已退出，代码 126
(base) cam@WK:~$ nvidia-settings
(nvidia-settings:26833): GLib-GObject-CRITICAL **: 20:04:06.864: g_object_unref: assertion 'G_IS_OBJECT (object)' failed
** Message: 20:04:06.893: PRIME: Requires offloading
** Message: 20:04:06.893: PRIME: is it supported? yes
** Message: 20:04:06.914: PRIME: Usage: /usr/bin/prime-select nvidia|intel|on-demand|query
** Message: 20:04:06.914: PRIME: on-demand mode: "1"
** Message: 20:04:06.914: PRIME: is "on-demand" mode supported? yes
(base) cam@WK:~$ prime-select query
nvidia
(base) cam@WK:~$ xrandr
Screen 0: minimum 16 x 16, current 2560 x 1600, maximum 32767 x 32767
XWAYLAND0 connected primary 2560x1600+0+0 (normal left inverted right x axis y axis) 340mm x 220mm
2560x1600 119.93*+
2048x1536 119.95
1920x1440 119.97
1600x1200 119.91
1440x1080 119.92
1400x1050 119.90
1280x1024 119.83
1280x960 119.89
1152x864 119.77
1024x768 119.80
800x600 119.85
640x480 119.52
320x240 117.34
1920x1200 119.90
1680x1050 119.89
1440x900 119.94
1280x800 119.85
720x480 119.65
640x400 119.64
320x200 117.55
2560x1440 120.00
2048x1152 119.96
1920x1080 119.93
1600x900 119.95
1368x768 119.83
1280x720 119.86
1024x576 119.85
864x486 119.69
720x400 119.54
640x350 119.24
(base) cam@WK:~$ sudo nvidia-xconfig
[sudo] cam 的密码：
WARNING: Unable to locate/open X configuration file.
Package xorg-server was not found in the pkg-config search path.
Perhaps you should add the directory containing `xorg-server.pc'
to the PKG_CONFIG_PATH environment variable
No package 'xorg-server' found
New X configuration file written to '/etc/X11/xorg.conf'
(base) cam@WK:~$ ^C
(base) cam@WK:~$ lspci -k | grep -A 2 -E "(VGA|3D)"
pcilib: Error reading /sys/bus/pci/devices/0000:00:08.3/label: Operation not permitted
01:00.0 VGA compatible controller: NVIDIA Corporation Device 28e1 (rev a1)
Subsystem: Lenovo Device 3818
Kernel driver in use: nvidia
--
65:00.0 VGA compatible controller: Advanced Micro Devices, Inc. [AMD/ATI] Device 15bf (rev c7)
Subsystem: Lenovo Device 3816
Kernel driver in use: amdgpu
(base) cam@WK:~$ nvidia-smi
Sun Mar 2 21:08:11 2025
+-----------------------------------------------------------------------------------------+
| NVIDIA-SMI 550.144.03 Driver Version: 550.144.03 CUDA Version: 12.4 |
|-----------------------------------------+------------------------+----------------------+
| GPU Name Persistence-M | Bus-Id Disp.A | Volatile Uncorr. ECC |
| Fan Temp Perf Pwr:Usage/Cap | Memory-Usage | GPU-Util Compute M. |
| | | MIG M. |
|=========================================+========================+======================|
| 0 NVIDIA GeForce RTX 4050 ... Off | 00000000:01:00.0 Off | N/A |
| N/A 49C P3 15W / 60W | 1MiB / 6141MiB | 0% Default |
| | | N/A |
+-----------------------------------------+------------------------+----------------------+
+-----------------------------------------------------------------------------------------+
| Processes: |
| GPU GI CI PID Type Process name GPU Memory |
| ID ID Usage |
|=========================================================================================|
| No running processes found |
+-----------------------------------------------------------------------------------------+
(base) cam@WK:~$ sudo journalctl -b | curl -F 'file=@-' 0x0.st
[sudo] cam 的密码：
http://0x0.st/8BA_.txt
(base) cam@WK:~$ lspci -k | grep -EA3 'VGA|3D|Display'
pcilib: Error reading /sys/bus/pci/devices/0000:00:08.3/label: Operation not permitted
01:00.0 VGA compatible controller: NVIDIA Corporation Device 28e1 (rev a1)
Subsystem: Lenovo Device 3818
Kernel driver in use: nvidia
Kernel modules: nvidiafb, nouveau, nvidia_drm, nvidia
--
65:00.0 VGA compatible controller: Advanced Micro Devices, Inc. [AMD/ATI] Device 15bf (rev c7)
Subsystem: Lenovo Device 3816
Kernel driver in use: amdgpu
Kernel modules: amdgpu
(base) cam@WK:~$ nvidia-settings
(nvidia-settings:30549): GLib-GObject-CRITICAL **: 21:29:38.746: g_object_unref: assertion 'G_IS_OBJECT (object)' failed
** Message: 21:29:38.778: PRIME: Requires offloading
** Message: 21:29:38.778: PRIME: is it supported? yes
** Message: 21:29:38.798: PRIME: Usage: /usr/bin/prime-select nvidia|intel|on-demand|query
** Message: 21:29:38.798: PRIME: on-demand mode: "1"
** Message: 21:29:38.798: PRIME: is "on-demand" mode supported? yes
(base) cam@WK:~$
上述尝试仍然不能解决python3 manual_control.py带来的报错。
20.nvidia-xconfig导致开机黑屏
接下来重启电脑（之前运行了sudo nvidia-xconfig），噩梦开始：电脑无法进入图形界面，卡在下面的画面，运行了sudo nvidia-xconfig后有如下警告，要注意了：
WARNING: Unable to locate/open X configuration file.
Package xorg-server was not found in the pkg-config search path.
Perhaps you should add the directory containing `xorg-server.pc'
to the PKG_CONFIG_PATH environment variable
No package 'xorg-server' found
New X configuration file written to '/etc/X11/xorg.conf'
因为运行了sudo nvidia-xconfig且重启电脑了，尝试了ctrl+alt+ F1（F2~F12）和 ctrl+alt+Fn+ F1（F2~F12）都没有进入tty终端。看了好多博文，他们反馈是英伟达显卡的问题，没有和linux图形化界面很好的兼容。最终，我的解决办法如下：
1.长按电源键强制关机；
2.按电源键开机，在grub界面选择ubuntu高级选项后，进入如下界面，选择recovery mode；
3.然后在如下菜单中，选择root后，按enter键；
4. 按enter后会出现root命令行
5. 进入/etc/X11/路径，将xorg.conf重命名为XXX.conf，然后sudo reboot就可以正常进入ubuntu图形化桌面了。
21.总结carla启动失败原因
针对第19步骤carla启动失败，make launch 失败其实只有以下两点：
1.纯粹是网络问题，因为make launch时候会涉及到拉取github，网络不好就会报错，可以多试几次；
2.如果都拉取成功了，UE4界面也出现了，但是弹窗报错，这是由于显卡选择了nvidia，需要切换到intel，并且重启：
sudo prime-select intel
sudo reboot22.选择nvidia显卡启动UE4
尝试解决：使用sudo prime-select nvidia并reboot后，make launch之后出现UE4弹窗报错问题。
nvidia-settings无用尝试
运行上面的命令，出现下面的nvidia settings界面：
在Selection中下拉菜单选择X screen 0， 点击Advance，点击Apply：
点击Save X to Configuration File后弹出一个窗口：
点击确定后，弹出另一个窗口：
我点击保存后，弹出：
点击确定，随后操作如图，勾选了Enable Graphics API Visual Indicator：
然后退出，弹出：
点击退出。
上述尝试没有实际作用。
有用尝试
------------------------------------------------------以下尝试有用--------------------------------------------------------
参考这篇，运行 vulkaninfo 命令查看当前系统vulkan的信息，可以看到有报错 libGLX_nvidia.so.0找不到，在系统中搜索libGLX_nvidia.so.0还是找不到，但这个库是显卡驱动附带的，所以可能是显卡驱动安装时，没有安装该库文件。先解压之前安装的显卡驱动*.run文件，解压命令为 *.run -x，解压后，可以看到libGLX_nvidia库文件：
用以下命令查看依赖那些库文件：
ldd libGLX_nvidia.so.550.144.03我这里贴的图是都可以连接到具体位置（之前忘记截图了），如果有 not found的，应该将它们与libGLX_nvidia库文件一起复制到/usr/lib/x86_64-linux-gnu/ 路径下。
因为vulkaninfo中找的库是libGLX_nvidia.so.0，所以拷贝后我们使用 ln 命令创建软链接：
ln -s /usr/lib/x86_64-linux-gnu/libGLX_nvidia.so.550.144.03 /usr/lib/x86_64-linux-gnu/libGLX_nvidia.so.0
再次执行 vulkaninfo，如果依然报错，解决方法还是与上面一样。最后， 执行 vulkaninfo --summary，会报一个关于Vulkan的ICD错误，解决办法是：在/usr/share/vulkan/icd.d/路径下查看是否有nvidia_icd.json，如果没有可以从nvidia驱动包*.run里面找，然后复制到该路径下，打开并修改其中的library_path路径：
最后，添加到环境变量中：
# 打开环境变量
sudo gedit ~/.bashrc
# 将下面一行添加到打开的环境变量配置文件里
export VK_ICD_FILENAMES=/usr/share/vulkan/icd.d/nvidia_icd.json
# 使配置生效
source ~/.bashrc
运行 vulkaninfo --summary，没有报错，且已将vulkan配置为采用nvidia驱动：
make launch来启动carla和UE4，可以启动，但是一会儿就桌面卡住了，按ctrl+alt+F3进入tty终端，然后强制关闭UE4的进程，按ctrl+alt+F1返回图形桌面。具体原因可能是显卡内存不足，或者其他原因，有待检查。。。。(后来复现，首先是内存不够，其次是网络问题，也是UE4的bug。解决办法是：重启，并且保证有足够内存)
[2025.03.03-12.39.08:288][ 0]LogCarla: == CARLA Settings ==============================================================
[2025.03.03-12.39.08:288][ 0]LogCarla: Last settings file loaded:
[2025.03.03-12.39.08:288][ 0]LogCarla: [CARLA/Server]
[2025.03.03-12.39.08:288][ 0]LogCarla: RPC Port = 2000
[2025.03.03-12.39.08:288][ 0]LogCarla: Streaming Port = 2001
[2025.03.03-12.39.08:288][ 0]LogCarla: Secondary Port = 2002
[2025.03.03-12.39.08:288][ 0]LogCarla: Synchronous Mode = Disabled
[2025.03.03-12.39.08:288][ 0]LogCarla: Rendering = Enabled
[2025.03.03-12.39.08:288][ 0]LogCarla: [CARLA/QualitySettings]
[2025.03.03-12.39.08:288][ 0]LogCarla: Quality Level = Low通过查看报错日志，发现以下错误：
1. LogHoudiniEngine: Failed locating or loading libHAPIL.so
2. LogVulkanRHI: Error: VulkanRHI::vkQueueSubmit(Queue, 1, &SubmitInfo, Fence->GetHandle()) failed, VkResult=-4
3.[2025.03.03-12.39.04:253][ 0]LogVulkanRHI: Display: FVulkanPipelineStateCacheManager: Binary pipeline cache '../../../../carla/Unreal/CarlaUE4/Saved/VulkanPSO.cache.10de.28e1' not found
4.2025.03.03-12.39.04:266][ 0]LogRHI: Texture pool is 4298 MB (70% of 6141 MB)
5.LogCore: === Critical error: ===
Unhandled Exception: SIGSEGV: invalid attempt to write memory at address 0x0000000000000003(这是段错误，可能是内存泄漏导致)
[2025.03.03-12.39.04:747][ 0]LogShaderCompilers: Guid format shader working directory is 15 characters bigger than the processId version (../../../../carla/Unreal/CarlaUE4/Intermediate/Shaders/WorkingDirectory/6658/).
[2025.03.03-12.39.04:747][ 0]LogShaderCompilers: Cleaned the shader compiler working directory '../../../../carla/Unreal/CarlaUE4/Intermediate/Shaders/tmp/05F0BBB325024B1888595B121C32605B/'.
[2025.03.03-12.39.04:747][ 0]LogShaderCompilers: Display: Using Local Shader Compiler.
[2025.03.03-12.39.05:717][ 0]LogDerivedDataCache: Display: Max Cache Size: 512 MB
[2025.03.03-12.39.05:980][ 0]LogDerivedDataCache: Loaded boot cache 0.26s 220MB ../../../../carla/Unreal/CarlaUE4/DerivedDataCache/Boot.ddc.
[2025.03.03-12.39.05:980][ 0]LogDerivedDataCache: Display: Loaded Boot cache: ../../../../carla/Unreal/CarlaUE4/DerivedDataCache/Boot.ddc
[2025.03.03-12.39.05:980][ 0]LogDerivedDataCache: FDerivedDataBackendGraph: Pak pak cache file ../../../../carla/Unreal/CarlaUE4/DerivedDataCache/DDC.ddp not found, will not use a pak cache.
[2025.03.03-12.39.05:980][ 0]LogDerivedDataCache: Unable to find inner node Pak for hierarchical cache Hierarchy.
[2025.03.03-12.39.05:980][ 0]LogDerivedDataCache: FDerivedDataBackendGraph: EnginePak pak cache file ../../../Engine/DerivedDataCache/DDC.ddp not found, will not use a pak cache.
[2025.03.03-12.39.05:980][ 0]LogDerivedDataCache: Unable to find inner node EnginePak for hierarchical cache Hierarchy.
[2025.03.03-12.39.05:984][ 0]LogDerivedDataCache: Speed tests for ../../../Engine/DerivedDataCache took 0.00 seconds
[2025.03.03-12.39.05:984][ 0]LogDerivedDataCache: Display: Performance to ../../../Engine/DerivedDataCache: Latency=0.03ms. RandomReadSpeed=424.50MBs, RandomWriteSpeed=648.53MBs. Assigned SpeedClass 'Local'
[2025.03.03-12.39.05:985][ 0]LogDerivedDataCache: Using Local data cache path ../../../Engine/DerivedDataCache: Writable
[2025.03.03-12.39.05:985][ 0]LogDerivedDataCache: Shared data cache path not found in *engine.ini, will not use an Shared cache.
[2025.03.03-12.39.05:985][ 0]LogDerivedDataCache: Unable to find inner node Shared for hierarchical cache Hierarchy.[2025.03.03-12.41.00:276][816]LogCore: === Critical error: ===
Unhandled Exception: SIGSEGV: invalid attempt to write memory at address 0x0000000000000003
[2025.03.03-12.41.00:276][816]LogCore: Fatal error: [File:/home/cam/softwares/UnrealEngine_4.26/Engine/Source/Runtime/VulkanRHI/Private/VulkanUtil.cpp] [Line: 803]
VulkanRHI::vkQueueSubmit(Queue, 1, &SubmitInfo, Fence->GetHandle()) failed, VkResult=-4
at /home/cam/softwares/UnrealEngine_4.26/Engine/Source/Runtime/VulkanRHI/Private/VulkanQueue.cpp:71
with error VK_ERROR_DEVICE_LOST
0x0000744e503c722f libUE4Editor-VulkanRHI.so!VulkanRHI::VerifyVulkanResult(VkResult, char const*, char const*, unsigned int) [/home/cam/softwares/UnrealEngine_4.26/Engine/Source/Runtime/VulkanRHI/Private/VulkanUtil.cpp:802]
0x0000744e503978e6 libUE4Editor-VulkanRHI.so!FVulkanQueue::Submit(FVulkanCmdBuffer*, unsigned int, VkSemaphore_T**) [/home/cam/softwares/UnrealEngine_4.26/Engine/Source/Runtime/VulkanRHI/Private/VulkanQueue.cpp:71]
0x0000744e503244bd libUE4Editor-VulkanRHI.so!FVulkanCommandBufferManager::SubmitUploadCmdBuffer(unsigned int, VkSemaphore_T**) [/home/cam/softwares/UnrealEngine_4.26/Engine/Source/Runtime/VulkanRHI/Private/VulkanCommandBuffer.cpp:548]
0x0000744e5031e1bd libUE4Editor-VulkanRHI.so!FVulkanCommandListContext::RHIBeginTransitions(TArrayView<FRHITransition const*, int>) [/home/cam/softwares/UnrealEngine_4.26/Engine/Source/Runtime/VulkanRHI/Private/VulkanBarriers.cpp:923]
0x0000744e8cf4ed91 libUE4Editor-RHI.so!FRHICommandResourceTransition::Execute(FRHICommandListBase&) [/home/cam/softwares/UnrealEngine_4.26/Engine/Source/Runtime/RHI/Public/RHICommandListCommandExecutes.inl:403]
0x0000744e8f87b340 libUE4Editor-Engine.so!FRHICommand<FRHICommandResourceTransition, FRHICommandResourceTransitionString1509>::ExecuteAndDestruct(FRHICommandListBase&, FRHICommandListDebugContext&) [/home/cam/softwares/UnrealEngine_4.26/Engine/Source/Runtime/RHI/Public/RHICommandList.h:763]
0x0000744e8cf518d0 libUE4Editor-RHI.so!FRHICommandListExecutor::ExecuteInner_DoExecute(FRHICommandListBase&) [/home/cam/softwares/UnrealEngine_4.26/Engine/Source/Runtime/RHI/Private/RHICommandList.cpp:373]
0x0000744e8cfd3dc8 libUE4Editor-RHI.so!FExecuteRHIThreadTask::DoTask(ENamedThreads::Type, TRefCountPtr<FGraphEvent> const&) [/home/cam/softwares/UnrealEngine_4.26/Engine/Source/Runtime/RHI/Private/RHICommandList.cpp:428]
0x0000744e8cfd3430 libUE4Editor-RHI.so!TGraphTask<FExecuteRHIThreadTask>::ExecuteTask(TArray<FBaseGraphTask*, TSizedDefaultAllocator<32> >&, ENamedThreads::Type) [/home/cam/softwares/UnrealEngine_4.26/Engine/Source/Runtime/Core/Public/Async/TaskGraphInterfaces.h:886]
0x0000744e92c0a2dc libUE4Editor-Core.so!FNamedTaskThread::ProcessTasksNamedThread(int, bool) [/home/cam/softwares/UnrealEngine_4.26/Engine/Source/Runtime/Core/Private/Async/TaskGraph.cpp:709]
0x0000744e92c089de libUE4Editor-Core.so!FNamedTaskThread::ProcessTasksUntilQuit(int) [/home/cam/softwares/UnrealEngine_4.26/Engine/Source/Runtime/Core/Private/Async/TaskGraph.cpp:600]
0x0000744e8d1b51fd libUE4Editor-RenderCore.so!FRHIThread::Run() [/home/cam/softwares/UnrealEngine_4.26/Engine/Source/Runtime/RenderCore/Private/RenderingThread.cpp:319]
0x0000744e92cba337 libUE4Editor-Core.so!FRunnableThreadPThread::Run() [/home/cam/softwares/UnrealEngine_4.26/Engine/Source/Runtime/Core/Private/HAL/PThreadRunnableThread.cpp:25]
0x0000744e92c7e743 libUE4Editor-Core.so!FRunnableThreadPThread::_ThreadProc(void*) [/home/cam/softwares/UnrealEngine_4.26/Engine/Source/Runtime/Core/Private/HAL/PThreadRunnableThread.h:185]
0x0000744e89294ac3 libc.so.6!UnknownFunction(0x94ac2)
0x0000744e89326850 libc.so.6!UnknownFunction(0x12684f)
解决办法：
上述问题，即make launch后UE4窗口可以弹出，但是一会儿就报错。通过减少文件所需的内存来缓解内存不足问题，解决方法如下：
1.重新make launch，在generate_traffic.py文件修改车辆和行人数量，数量减少以减少GPU资源消耗。然后UE4画面可以出现，但是运行manual_control.py会报错：
libGL error: MESA-LOADER: failed to open swrast: /usr/lib/dri/swrast_dri.so: cannot open shared object file: No such file or directory (search paths /usr/lib/x86_64-linux-gnu/dri:\$${ORIGIN}/dri:/usr/lib/dri, suffix _dri) libGL error: failed to load driver: swrast
参考这个博主的方法，运行以下：
cd /usr/lib/
sudo mkdir dri
sudo ln -s /usr/lib/x86_64-linux-gnu/dri/swrast_dri.so ./dri/swrast_dri.so然后运行manual_control.py，报错如下：
libGL error: MESA-LOADER: failed to open swrast: /home/cam/softwares/miniconda3/lib/libstdc++.so.6: version `GLIBCXX_3.4.30' not found (required by /lib/x86_64-linux-gnu/libLLVM-15.so.1)
DeepSeek的解释：
-
Miniconda's
libstdc++.so.6: Miniconda includes its own version of the GNU C++ standard library (libstdc++.so.6), which may be older than the one required by your system's LLVM library. -
System's LLVM: Your system's LLVM library (
libLLVM-15.so.1) is built against a newer version oflibstdc++.so.6and expects theGLIBCXX_3.4.30symbol, which is missing in Miniconda's version.
上述报错原因是miniconda3/lib中的libstdc++.so.6版本可能较老，不能匹配LLVM库。
2.我的解决方法是：将系统的libstdc++.so.6软链接到报错路径。
sudo ln -sf /usr/lib/x86_64-linux-gnu/libstdc++.so.6 /home/cam/softwares/miniconda3/lib/libstdc++.so.6
之后，就可以运行manual_control.py，并且可以用键盘控制车辆行使。成功运行手动控制车辆的画面如下：
安装openpilot
openpilot版本选择0.9.4，因为0.9.5只是部分支持carla，大于0.9.5不再支持carla。详见v0.9.5。
安装前conda的base虚拟环境：
# Name Version Build Channel
_libgcc_mutex 0.1 main defaults
_openmp_mutex 5.1 1_gnu defaults
addict 2.4.0 pypi_0 pypi
anaconda-anon-usage 0.5.0 py312hfc0e8ea_100 defaults
annotated-types 0.6.0 py312h06a4308_0 defaults
archspec 0.2.3 pyhd3eb1b0_0 defaults
asttokens 3.0.0 pypi_0 pypi
attrs 25.1.0 pypi_0 pypi
blas 1.0 mkl defaults
blinker 1.9.0 pypi_0 pypi
boltons 24.1.0 py312h06a4308_0 defaults
brotli-python 1.0.9 py312h6a678d5_9 defaults
bzip2 1.0.8 h5eee18b_6 defaults
c-ares 1.19.1 h5eee18b_0 defaults
ca-certificates 2025.2.25 h06a4308_0 defaults
certifi 2025.1.31 py312h06a4308_0 defaults
cffi 1.17.1 py312h1fdaa30_1 defaults
charset-normalizer 3.3.2 pyhd3eb1b0_0 defaults
click 8.1.8 pypi_0 pypi
comm 0.2.2 pypi_0 pypi
conda 25.1.1 py312h06a4308_0 defaults
conda-anaconda-telemetry 0.1.2 py312h06a4308_0 defaults
conda-anaconda-tos 0.1.2 py312h06a4308_0 defaults
conda-content-trust 0.2.0 py312h06a4308_1 defaults
conda-libmamba-solver 25.1.1 pyhd3eb1b0_0 defaults
conda-package-handling 2.4.0 py312h06a4308_0 defaults
conda-package-streaming 0.11.0 py312h06a4308_0 defaults
configargparse 1.7 pypi_0 pypi
contourpy 1.3.1 pypi_0 pypi
cpp-expected 1.1.0 hdb19cb5_0 defaults
cryptography 43.0.3 py312h7825ff9_1 defaults
cycler 0.12.1 pypi_0 pypi
dash 2.18.2 pypi_0 pypi
dash-core-components 2.0.0 pypi_0 pypi
dash-html-components 2.0.0 pypi_0 pypi
dash-table 5.0.0 pypi_0 pypi
decorator 5.2.1 pypi_0 pypi
distro 1.9.0 py312h06a4308_0 defaults
executing 2.2.0 pypi_0 pypi
expat 2.6.4 h6a678d5_0 defaults
fastjsonschema 2.21.1 pypi_0 pypi
flask 3.0.3 pypi_0 pypi
fmt 9.1.0 hdb19cb5_1 defaults
fonttools 4.56.0 pypi_0 pypi
frozendict 2.4.2 py312h06a4308_0 defaults
future 1.0.0 pypi_0 pypi
icu 73.1 h6a678d5_0 defaults
idna 3.7 py312h06a4308_0 defaults
importlib-metadata 8.6.1 pypi_0 pypi
intel-openmp 2023.1.0 hdb19cb5_46306 defaults
ipython 8.32.0 pypi_0 pypi
ipywidgets 8.1.5 pypi_0 pypi
itsdangerous 2.2.0 pypi_0 pypi
jedi 0.19.2 pypi_0 pypi
jinja2 3.1.5 pypi_0 pypi
joblib 1.4.2 pypi_0 pypi
jsonpatch 1.33 py312h06a4308_1 defaults
jsonpointer 2.1 pyhd3eb1b0_0 defaults
jsonschema 4.23.0 pypi_0 pypi
jsonschema-specifications 2024.10.1 pypi_0 pypi
jupyter-core 5.7.2 pypi_0 pypi
jupyterlab-widgets 3.0.13 pypi_0 pypi
kiwisolver 1.4.8 pypi_0 pypi
krb5 1.20.1 h143b758_1 defaults
ld_impl_linux-64 2.40 h12ee557_0 defaults
libarchive 3.7.7 hfab0078_0 defaults
libcurl 8.11.1 hc9e6f67_0 defaults
libedit 3.1.20230828 h5eee18b_0 defaults
libev 4.33 h7f8727e_1 defaults
libffi 3.4.4 h6a678d5_1 defaults
libgcc-ng 11.2.0 h1234567_1 defaults
libgomp 11.2.0 h1234567_1 defaults
libmamba 2.0.5 haf1ee3a_1 defaults
libmambapy 2.0.5 py312hdb19cb5_1 defaults
libnghttp2 1.57.0 h2d74bed_0 defaults
libsolv 0.7.30 he621ea3_1 defaults
libssh2 1.11.1 h251f7ec_0 defaults
libstdcxx-ng 11.2.0 h1234567_1 defaults
libuuid 1.41.5 h5eee18b_0 defaults
libxml2 2.13.5 hfdd30dd_0 defaults
lz4-c 1.9.4 h6a678d5_1 defaults
markdown-it-py 2.2.0 py312h06a4308_1 defaults
markupsafe 3.0.2 pypi_0 pypi
matplotlib 3.10.0 pypi_0 pypi
matplotlib-inline 0.1.7 pypi_0 pypi
mdurl 0.1.0 py312h06a4308_0 defaults
menuinst 2.2.0 py312h06a4308_1 defaults
mkl 2023.1.0 h213fc3f_46344 defaults
mkl-service 2.4.0 py312h5eee18b_2 defaults
narwhals 1.28.0 pypi_0 pypi
nbformat 5.10.4 pypi_0 pypi
ncurses 6.4 h6a678d5_0 defaults
nest-asyncio 1.6.0 pypi_0 pypi
nlohmann_json 3.11.2 h6a678d5_0 defaults
numpy 2.2.3 pypi_0 pypi
numpy-base 1.26.0 py312h0da6c21_0 defaults
open3d 0.19.0 pypi_0 pypi
openssl 3.0.15 h5eee18b_0 defaults
packaging 24.2 py312h06a4308_0 defaults
pandas 2.2.3 pypi_0 pypi
parso 0.8.4 pypi_0 pypi
pcre2 10.42 hebb0a14_1 defaults
pexpect 4.9.0 pypi_0 pypi
pillow 11.1.0 pypi_0 pypi
pip 25.0 py312h06a4308_0 defaults
platformdirs 3.10.0 py312h06a4308_0 defaults
plotly 6.0.0 pypi_0 pypi
pluggy 1.5.0 py312h06a4308_0 defaults
prompt-toolkit 3.0.50 pypi_0 pypi
ptyprocess 0.7.0 pypi_0 pypi
pure-eval 0.2.3 pypi_0 pypi
pybind11-abi 5 hd3eb1b0_0 defaults
pycosat 0.6.6 py312h5eee18b_2 defaults
pycparser 2.21 pyhd3eb1b0_0 defaults
pydantic 2.10.3 py312h06a4308_0 defaults
pydantic-core 2.27.1 py312h4aa5aa6_0 defaults
pygame 2.6.1 pypi_0 pypi
pygments 2.15.1 py312h06a4308_1 defaults
pyopengl 3.1.9 pypi_0 pypi
pyopengl-accelerate 3.1.9 pypi_0 pypi
pyparsing 3.2.1 pypi_0 pypi
pyquaternion 0.9.9 pypi_0 pypi
pysocks 1.7.1 py312h06a4308_0 defaults
python 3.12.0 h996f2a0_0 defaults
python-dateutil 2.9.0.post0 pypi_0 pypi
pytz 2025.1 pypi_0 pypi
pyyaml 6.0.2 pypi_0 pypi
readline 8.2 h5eee18b_0 defaults
referencing 0.36.2 pypi_0 pypi
reproc 14.2.4 h6a678d5_2 defaults
reproc-cpp 14.2.4 h6a678d5_2 defaults
requests 2.32.3 py312h06a4308_1 defaults
retrying 1.3.4 pypi_0 pypi
rich 13.9.4 py312h06a4308_0 defaults
rpds-py 0.23.1 pypi_0 pypi
ruamel.yaml 0.18.6 py312h5eee18b_0 defaults
ruamel.yaml.clib 0.2.8 py312h5eee18b_0 defaults
scikit-learn 1.6.1 pypi_0 pypi
scipy 1.15.2 pypi_0 pypi
setuptools 75.8.1 pypi_0 pypi
simdjson 3.10.1 hdb19cb5_0 defaults
six 1.17.0 pypi_0 pypi
spdlog 1.11.0 hdb19cb5_0 defaults
sqlite 3.45.3 h5eee18b_0 defaults
stack-data 0.6.3 pypi_0 pypi
tbb 2021.8.0 hdb19cb5_0 defaults
threadpoolctl 3.5.0 pypi_0 pypi
tk 8.6.14 h39e8969_0 defaults
tqdm 4.67.1 py312he106c6f_0 defaults
traitlets 5.14.3 pypi_0 pypi
truststore 0.10.0 py312h06a4308_0 defaults
typing-extensions 4.12.2 py312h06a4308_0 defaults
typing_extensions 4.12.2 py312h06a4308_0 defaults
tzdata 2025.1 pypi_0 pypi
urllib3 2.3.0 py312h06a4308_0 defaults
wcwidth 0.2.13 pypi_0 pypi
werkzeug 3.0.6 pypi_0 pypi
wheel 0.45.1 py312h06a4308_0 defaults
widgetsnbextension 4.0.13 pypi_0 pypi
xz 5.4.6 h5eee18b_1 defaults
yaml-cpp 0.8.0 h6a678d5_1 defaults
zipp 3.21.0 pypi_0 pypi
zlib 1.2.13 h5eee18b_1 defaults
zstandard 0.23.0 py312h2c38b39_1 defaults
zstd 1.5.6 hc292b87_0 defaults
下面安装openpilot 0.9.4版本。
1.clone openpilot到本地
1. clone openpilot 0.9.4到本地
git clone -b v0.9.4 https://github.com/commaai/openpilot.git ~/autodriving/openprojects/OpenPilot2.Docker中运行carla
2.在项目根目录下，运行：
cd tools/sim/
./start_carla.sh
报错：
Warning: apt-key is deprecated. Manage keyring files in trusted.gpg.d instead (see apt-key(8)).
gpg: 找不到有效的 OpenPGP 数据。
E: 无法定位软件包 nvidia-docker2
WARNING: apt does not have a stable CLI interface. Use with caution in scripts.
Nvidia docker is required. Do you want to install it now? (y/n)y
ubuntu22.04
[sudo] cam 的密码：
Warning: apt-key is deprecated. Manage keyring files in trusted.gpg.d instead (see apt-key(8)).
gpg: 找不到有效的 OpenPGP 数据。
命中:1 http://mirrors.aliyun.com/ubuntu jammy InRelease
命中:2 http://mirrors.aliyun.com/ubuntu jammy-updates InRelease
命中:3 http://mirrors.aliyun.com/ubuntu jammy-backports InRelease
命中:4 http://mirrors.aliyun.com/ubuntu jammy-security InRelease
命中:5 http://mirrors.aliyun.com/docker-ce/linux/ubuntu jammy InRelease
命中:6 http://archive.ubuntu.com/ubuntu focal InRelease
命中:7 https://ppa.launchpadcontent.net/deadsnakes/ppa/ubuntu jammy InRelease
命中:8 https://ppa.launchpadcontent.net/ubuntu-toolchain-r/test/ubuntu jammy InRelease
正在读取软件包列表... 完成
正在读取软件包列表... 完成
正在分析软件包的依赖关系树... 完成
正在读取状态信息... 完成
E: 无法定位软件包 nvidia-docker2
0.9.13: Pulling from carlasim/carla
7ddbc47eeb70: Pull complete
c1bbdc448b72: Pull complete
8c3b70e39044: Pull complete
45d437916d57: Pull complete
d8f1569ddae6: Pull complete
85386706b020: Pull complete
ee9b457b77d0: Pull complete
83ac96f055c5: Pull complete
a34b6c089cd7: Pull complete
0edc044c3944: Pull complete
400337608be0: Pull complete
a279b58f3937: Pull complete
378adbfe27ac: Pull complete
4026c6071475: Pull complete
1fe1a46d2a0a: Pull complete
e75fb1ac9e2a: Pull complete
0383f8948f29: Pull complete
831d73c82880: Pull complete
9052e19e6041: Pull complete
5b1ac4f5226f: Pull complete
3652517def4c: Pull complete
Digest: sha256:2c1a59808792b99233c92dcdab6afb575357b863a00f7ff44b3ae096f648af12
Status: Downloaded newer image for carlasim/carla:0.9.13
docker.io/carlasim/carla:0.9.13
Error response from daemon: cannot kill container: carla_sim: No such container: carla_sim
docker: Error response from daemon: could not select device driver "" with capabilities: [[gpu]]
Run 'docker run --help' for more information
打开start_carla.sh，发现其先检测是否有nvidia-container-toolkit，如果没有检测到它会自动安装nvidia-docker2，但是目前国内访问不了这个网址(科学上网也许可以，我没试过)，https://nvidia.github.io/nvidia-docker/gpgkey，所以导致了上面的错误：
# 查看是否安装了nvidia-docker
dpkg -l nvidia-docker
# 下面两个方法没有成功
distribution=$(. /etc/os-release;echo $ID$VERSION_ID)
curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-docker-archive-keyring.gpg
echo "deb [signed-by=/usr/share/keyrings/nvidia-docker-archive-keyring.gpg] https://nvidia.github.io/nvidia-docker/$distribution nvidia-docker stable" | sudo tee /etc/apt/sources.list.d/nvidia-docker.list
distribution=$(. /etc/os-release;echo $ID$VERSION_ID)
curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-docker-archive-keyring.gpg
echo "deb [signed-by=/usr/share/keyrings/nvidia-docker-archive-keyring.gpg] https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list" | sudo tee /etc/apt/sources.list.d/nvidia-docker.list3.安装 nvidia-container-toolkit
nvidia-container-toolkit是nvidia发布的可以将自家显卡适配Linux容器的最新库和工具集，可以让Docker等linux容器调用nvidia显卡。
后来研究发现，nvidia支持docker出的产品为(按时间先后排序，最后为最新)：nvidia-docker，nvidia-docker2，nvidia-container-toolkits。
上文提到的start_carla.sh如果检测到有nvidia-container-toolkits，就不会安装nvidia-docker2。因为我的环境版本都是较新的，所以为了更好兼容我目前的环境，采取安装nvidia-container-toolkit，nvidia官方教程，因为我没有科学上网，所以参考这篇使用USTC国内镜像安装，其次另一篇作为验证：
1.安装 NVIDIA Container Toolkit
# 1.下载镜像 gpgkey/
curl -fsSL https://mirrors.ustc.edu.cn/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg
# 2.配置中国科技大学（USTC） 镜像 APT 源
curl -s -L https://mirrors.ustc.edu.cn/libnvidia-container/stable/deb/nvidia-container-toolkit.list | \
sed 's#deb https://nvidia.github.io#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://mirrors.ustc.edu.cn#g' | \
sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list
# 3.更新apt包
sudo apt-get update
# 4.安装nvidia-container-toolkit
sudo apt-get install -y nvidia-container-toolkit2. 验证安装
nvidia-container-cli --version
3. 配置 Docker 以使用 NVIDIA 容器运行时
# 具体来说，它会修改 /etc/docker/daemon.json 文件，将 NVIDIA 容器运行时设置为 Docker 的默认运行时。配置 Docker 使用 NVIDIA 容器运行时：这允许 Docker 容器访问和利用 NVIDIA GPU 资源，从而支持 GPU 加速。
sudo nvidia-ctk runtime configure --runtime=docker
4.重启docker，查看docker 支持的运行时有没有nvidia
sudo systemctl restart docker
docker info | grep Runtimes
5. 启动容器运行 nvidia-smi 查看效果
sudo docker run --rm --runtime=nvidia --gpus all ubuntu nvidia-smi 
4.运行carla报错解决方法
在安装好nvidia-container-toolkit后，在openpilot项目根目录，运行以下：
cd tools/sim/
./start_carla.sh
结果报错： Error response from daemon: cannot kill container: carla_sim: No such container: carla_sim。warning不用管，这是关于apt的一些警告。
用以下命令查看所有docker状态，包括退出或未运行的：
docker ps -a
可以看到并没有carla_sim容器。 再用nvidia-smi查看，也是没有：
于是，拉取镜像并查看，发现是有carla：
# 拉取镜像
docker pull carlasim/carla:0.9.13
# 查看已经拉取的
docker images
查资料没发现有用的解决方法，于是通过以下命令来删除之前拉取的carlasim/carla:0.9.13，并重新拉取：
# 删除镜像
docker rmi carlasim/carla:0.9.13
# 查看镜像是否被删除了
docker images
# 重新拉取 carlasim/carla:0.9.13
docker pull carlasim/carla:0.9.13
# 查看是否拉取成功
docker images重新拉取镜像后，运行以下命令：
# 根据镜像（image）创建容器（container），并进入容器
sudo docker run --privileged --gpus all --net=host -e DISPLAY=$DISPPALY -it carlasim/carla:0.9.13 /bin/bash
# 紧接着，在容器中，直接启动Carla服务端
./CarlaUE4.sh -opengl -nosound -RenderOffScreen -benchmark -fps=20 -quality-level=Low
然后，在之前安装好的carla根目录下，运行一个python脚本：
cd PythonAPIs/examples/
python3 manual_control.py可以运行，但是最终没有连接上carla，但是carla容器在运行。也可以通过以下来查看carla容器是否在运行：
# 显示所有容器状态
docker ps -a
# 显示在运行的容器状态
docker ps
但是，通过nvidia-smi 查看，发现没有UE4进程在运行。这说明，carla容器没有成功启动UE4。
于是参考carla官方docker运行教程(版本0.9.13)，也还是不能启动UE4。
但是，发现运行以下命令可以启动容器，只是比start_carla.sh文件里的命令多了一个privileged参数，这个参数表示允许docker拥有root权限：
docker run --privileged --name carla_sim --rm --gpus all --net=host -v /tmp/.X11-unix:/tmp/.X11-unix:rw -it carlasim/carla:0.9.13 /bin/bash
# 在docker中bash, 下面的命令不能启动UE4失败
./CarlaUE4.sh -opengl -nosound -RenderOffScreen -benchmark -fps=20 -quality-level=Low
最后，在github carla-sim上找到一个方法，直接运行以下命令可以进入carla容器且启动UE4，并且出现画面()：
docker run --privileged --gpus all --net=host -e DISPLAY=$DISPLAY --user $UID carlasim/carla:0.9.13 /bin/bash ./CarlaUE4.sh
# 如果分开运行命令，则不能启动carla容器，也不能启动UE4
docker run --privileged --gpus all --net=host -e DISPLAY=$DISPLAY --user $UID carlasim/carla:0.9.13 /bin/bash
./CarlaUE4.sh
后来发现，不加/bin/bash ./CarlaUE4.sh也可以：
docker run --privileged --gpus all --net=host -e DISPLAY=$DISPLAY --user $UID carlasim/carla:0.9.13
5. 运行openpilot 容器报错解决
在终端运行以下命令拉取openpilot-sim:latest：
docker pull ghcr.io/commaai/openpilot-sim:latest拉取完后，在openpilot/tools/sim/目录下，找到start_openpilot_docker.sh，打开并修改：
#!/bin/bash
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
cd $DIR
OPENPILOT_DIR="/openpilot"
if ! [[ -z "$MOUNT_OPENPILOT" ]]; then
OPENPILOT_DIR="$(dirname $(dirname $DIR))"
EXTRA_ARGS="-v $OPENPILOT_DIR:$OPENPILOT_DIR -e PYTHONPATH=$OPENPILOT_DIR:$PYTHONPATH"
fi
if [[ "$CI" ]]; then
CMD="CI=1 ${OPENPILOT_DIR}/tools/sim/tests/test_carla_integration.py"
else
# expose X to the container
xhost +local:root
# docker pull ghcr.io/commaai/openpilot-sim:latest # already pulled
CMD="./tmux_script.sh $*"
EXTRA_ARGS="${EXTRA_ARGS} -it"
fi
# docker kill openpilot_client || true
docker run --net=host\
--privileged \
--name openpilot_client \
--rm \
--gpus all \
--device=/dev/dri:/dev/dri \
--device=/dev/input:/dev/input \
-v /tmp/.X11-unix:/tmp/.X11-unix \
--shm-size 1G \
-e DISPLAY=$DISPLAY \
-e QT_X11_NO_MITSHM=1 \
-w "$OPENPILOT_DIR/tools/sim" \
$EXTRA_ARGS \
ghcr.io/commaai/openpilot-sim:latest \
# /bin/bash -c "$CMD"之后在openpilot根目录下，运行以下命令：
cd tools/sim/
./start_openpilot_docker.sh
结果是可以进入openpilot docker容器的，但是在openpilot/tools/sim/目录下没有tmux_script.sh，这可能是最新的openpilot-sim不支持carla：
于是在这个网站找到较老版本的 openpilot-sim docker版本，Package openpilot-sim · GitHub按如下拉取：
docker pull ghcr.io/commaai/openpilot-sim:ae2a6537b7eb13a03820bc449e3448e97f0bd38b
然后在openpilot/tools/sim/目录下，找到start_openpilot_docker.sh，修改tag：
这回在openpilot/tools/sim/目录下可以找到tmux_script.sh ：
然后在openpilot/tools/sim/目录下，找到 start_carla.sh，修改如下：
接下来，在openpilot/tools/sim/目录下就可以先启动carla容器，然后再启动openpilot容器，命令如下：
# 1.启动carla
./start_carla.sh # 或者用下面的命令
# docker run --privileged --gpus all --net=host -e DISPLAY=$DISPLAY --user $UID carlasim/carla:0.9.13
# 2.启动openpilot
./start_openpilot_docker.sh
# 3.运行tmux_script.sh
./tmux_script.sh
# 第3步等同于开启两个终端，从同一目录下进入同一个openpilot容器
# 一个终端运行
./launch_openpilot.sh
# 另一个终端运行
docker exec -it <container_id_or_name> bash # 进入正在运行的docker容器
./bridge.py
将会出现carla动画窗口，以及如下画面：
以下是运行./launch_openpilot.sh出现的画面：
(base) cam@WK:~/autodriving/openprojects/openpilot/tools/sim$ ./start_openpilot_docker.sh
non-network local connections being added to access control list
root@WK:/openpilot/tools/sim# ./tmux_script.sh
[exited]
root@WK:/openpilot/tools/sim# ./launch_openpilot.sh
system/loggerd/bootlog.cc: bootlog to /root/.comma/media/0/realdata/boot/2025-03-09--12-15-58
No journal files were found.
fatal: not a git repository (or any of the parent directories): .git
fatal: not a git repository (or any of the parent directories): .git
fatal: not a git repository (or any of the parent directories): .git
fatal: not a git repository (or any of the parent directories): .git
missing public key: /root/.comma/persist/comma/id_rsa.pub
fatal: not a git repository (or any of the parent directories): .git
fatal: not a git repository (or any of the parent directories): .git
fatal: not a git repository (or any of the parent directories): .git
: QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
/root/.pyenv/versions/3.11.4/lib/python3.11/site-packages/google_crc32c/__config__.py:18: DeprecationWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html
import pkg_resources
/root/.pyenv/versions/3.11.4/lib/python3.11/site-packages/pkg_resources/__init__.py:2871: DeprecationWarning: Deprecated call to `pkg_resources.declare_namespace('mpl_toolkits')`.
Implementing implicit namespace packages (as specified in PEP 420) is preferred to `pkg_resources.declare_namespace`. See https://setuptools.pypa.io/en/latest/references/keywords.html#keyword-namespace-packages
declare_namespace(pkg)
/root/.pyenv/versions/3.11.4/lib/python3.11/site-packages/pkg_resources/__init__.py:2871: DeprecationWarning: Deprecated call to `pkg_resources.declare_namespace('sphinxcontrib')`.
Implementing implicit namespace packages (as specified in PEP 420) is preferred to `pkg_resources.declare_namespace`. See https://setuptools.pypa.io/en/latest/references/keywords.html#keyword-namespace-packages
declare_namespace(pkg)
/root/.pyenv/versions/3.11.4/lib/python3.11/site-packages/aiortc/codecs/g711.py:1: DeprecationWarning: 'audioop' is deprecated and slated for removal in Python 3.13
import audioop
ui deleter thermald statsd
ui deleter thermald statsd
ui deleter thermald statsd
ui deleter thermald statsd
ui deleter thermald statsd
ui deleter thermald statsd
ui deleter thermald statsd
以下是运行./bridge.py出现的画面：报错 rpc::rpc_error during call in function get_sensor_token
退出openpilot后的界面：
说明拉取的openpilot-sim版本与目前的carla0.9.13不兼容，主要是桥接bridge.py不兼容。
于是拉取一个更老的openpilot-sim：
docker pull ghcr.io/commaai/openpilot-sim@sha256:d3ca22c896db73995b1009d56a4c8db01a65970c6a1754eccba6f6fdcf8e7bfd
在openpilot/tools/sim/目录下单独运行：
# 进入openpilot容器
./start_openpilot_docker.sh
# 进入openpilot容器后
./tmux_script.sh
按如下修改 start_openpilot_docker.sh：
只运行以下命令：
./start_openpilot_docker.sh
退出openpilot后的界面：
下面，可以尝试先后启动carla 和 openpilot：
# 1.启动carla
./start_carla.sh # 或者用下面的命令
# docker run --privileged --gpus all --net=host -e DISPLAY=$DISPLAY --user $UID carlasim/carla:0.9.13
# 2.启动openpilot
./start_openpilot_docker.sh然后控制车辆：
结果如下： 不能控制车辆，提示有延迟。
然后，又尝试修改 start_carla.sh ：docker run那里只是添加了-e DISPLAY=$DISPLAY \ 和 --privileged \，发现与之前相比，这个bash文件可以顺利运行了
最后，可以在carla里面跑起openpilot了：
# 1.启动carla
./start_carla.sh
# 2.启动openpilot
./start_openpilot_docker.sh
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