SUMO and Artery

Add SUMO traffic synchronization to the first simulation, then optionally connect Artery for network communication through CAPI. Keep CARLA running as described in Start CARLA.

CARLA and SUMO

From the CAVISE root on Linux/WSL:

./run.sh build sumo opencda-minimal
./run.sh up sumo opencda-minimal

In a separate terminal, start SUMO with one TraCI client (OpenCDA):

docker exec -it sumo bash
sumo -c assets/v2xp_datadump_town06_carla/v2xp_datadump_town06_carla.sumocfg \
  --step-length 0.05 --remote-port 3000 --num-clients 1

SUMO waits for OpenCDA to connect. Use sumo-gui instead of sumo if a display is configured. In the OpenCDA container, set CARLA_HOST as in Connect from OpenCDA, then run:

python opencda.py -t v2xp_datadump_town06_carla \
  --cosim --carla-host "$CARLA_HOST" --ticks 200

The scenario’s sumo.host and sumo.port must point to this SUMO server. --cosim connects to an existing server. It does not start SUMO for you.

Add Artery

Stop the previous OpenCDA and SUMO processes before this run. Recreate OpenCDA with Protobuf support. From the CAVISE root on Linux/WSL:

./run.sh build artery opencda-protobuf
./run.sh up artery opencda-protobuf sumo

The startup order is CARLA and SUMO, then Artery, then OpenCDA. Use separate terminals for the long-running processes.

Start SUMO with two clients (Artery and OpenCDA):

docker exec -it sumo bash
sumo -c assets/v2xp_datadump_town06_carla/v2xp_datadump_town06_carla.sumocfg \
  --step-length 0.05 --remote-port 3000 --num-clients 2

In the Artery container:

docker exec -it artery bash
cd /workspaces/artery
./tools/build.py -cb --build-dir /cached-build --config Debug
./tools/run_artery.py -l /cached-build/Debug/run-artery.ini -s scenarios/capi -u Cmdenv

The base capi configuration connects to sumo:3000 with client order 1 and listens for OpenCDA on port 7777. In the OpenCDA container, set CARLA_HOST again after entering the recreated container, then run:

python opencda.py -t v2xp_datadump_town06_carla \
  --cosim --with-capi \
  --carla-host "$CARLA_HOST" --artery-host artery:7777 --ticks 200

v2xp_datadump_town06_carla inherits OpenCDA SUMO client order 2 and a 0.05-second step from default.yaml. The commands override the SUMO file’s 0.1-second step so that both simulators advance at the same rate. For custom scenarios, use distinct client orders, matching step lengths and consistent map assets. See Creating a Scenario.

CAPI plus cooperative perception requires the full opencda image. Target choices and Artery frontend options are in Runtime Commands and Targets. After stopping OpenCDA, stop remaining simulator processes with Ctrl+C in their respective terminals, then stop their containers if no longer needed.