Hydrakon

Installation Guide

2 min read

Follow these steps to set up the HydrakonSimV2 environment.

1. Cloning the Repository

Clone the repository recursively to ensure submodules (like Depth-Anything-V2) are included.

git clone --recursive https://github.com/Atlas-Racing/HydrakonSimV2.git
cd HydrakonSimV2

If you already cloned without --recursive:

git submodule update --init --recursive

2. Virtual Environment Setup

It is highly recommended to use a virtual environment to manage Python dependencies and avoid conflicts with system packages (especially for the Carla “hack”).

python3 -m venv venv
source venv/bin/activate

Note: Always ensure the virtual environment is activated (source venv/bin/activate) before installing packages or running the simulation.

3. Install Dependencies

Install the required Python libraries. Note that we strictly require NumPy < 2.0 because cv_bridge in ROS 2 Jazzy is currently compiled against NumPy 1.x.

pip install "numpy<2" torch torchvision ultralytics opencv-python onnx onnxruntime-gpu

4. Carla 0.10.0 Setup (Important Compatibility Fix)

Carla 0.10.0 binaries for Linux typically come with a Python API wheel built for Python 3.10 (cp310). Since Ubuntu 24.04 uses Python 3.12, we must apply a workaround to install the API.

  1. Locate your Carla Python API wheel. It is usually in <CARLA_ROOT>/PythonAPI/carla/dist/.

    • Example: ~/Documents/Carla/PythonAPI/carla/dist/carla-0.10.0-cp310-cp310-linux_x86_64.whl

  2. Copy and Rename the Wheel: Copy the wheel to a temporary location and rename it to match Python 3.12 tags (cp312).

    cp ~/Documents/Carla/PythonAPI/carla/dist/carla-0.10.0-cp310-cp310-linux_x86_64.whl /tmp/carla-0.10.0-cp312-cp312-linux_x86_64.whl

  3. Install the Renamed Wheel:

    pip install /tmp/carla-0.10.0-cp312-cp312-linux_x86_64.whl

  4. Rename the Shared Object File (The Critical Fix): The installed package still contains a C extension compiled with the “310” name. We must rename it so Python 3.12 can import it.

    # Navigate to your venv site-packages
cd venv/lib/python3.12/site-packages/
 
# Rename the file (remove the specific python version tag)
mv carla.cpython-310-x86_64-linux-gnu.so carla.so
 
# Return to project root
cd -

5. Depth Anything V2 Setup

The depth_anything_processor node requires model weights to be downloaded manually.

# Create the checkpoints directory
mkdir -p src/hydrakon_camera/Depth-Anything-V2/checkpoints
 
# Download the VITS (Small) model weights
wget -O src/hydrakon_camera/Depth-Anything-V2/checkpoints/depth_anything_v2_vits.pth https://huggingface.co/depth-anything/Depth-Anything-V2-Small/resolve/main/depth_anything_v2_vits.pth

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