installation setup

conda create --name residual_mpc python=3.8.10
conda activate residual_mpc
./setup_carla.sh
./setup_env.sh

to run mpc

./carla/CarlaUE4.sh
# different terminal
./run_mpc.sh

to run mpc with CBF obstacle avoidance

./carla/CarlaUE4.sh
# different terminal
./run_mpc_obs.sh

to run mpc with CBF obstacle avoidance + train residual learning

./carla/CarlaUE4.sh
# different terminal
./run_residual_train.sh