My full car-including
Software
To build a Full Stack Web App using:
Carla Software for the backend
React.js for the frontend
Node.js with Express.js as the backend server
MySQL as the database
Steps to Build the App:
1. Set Up Carla Software Backend
Carla is mainly used for autonomous driving simulation. You need to run a Carla server and integrate it with the backend.
2. Create a Node.js & Express Backend (Backend API)
Set up an Express.js server that interacts with Carla and stores data in MySQL.
3. Database (MySQL)
Create a MySQL database and define tables for storing vehicle data.
4. React.js Frontend
Build a React.js frontend that fetches data from the backend API.
---
Project Folder Structure
carla-fullstack-app/
│── backend/ # Node.js backend
│ ├── server.js # Express server
│ ├── carlaController.js # Carla interaction logic
│ ├── database.js # MySQL connection
│── frontend/ # React.js frontend
│ ├── src/
│ │ ├── components/ # React components
│ │ ├── App.js # Main component
│ │ ├── index.js # React entry file
│── package.json # Dependencies
│── README.md # Documentation
---
1. Backend - Node.js with Express.js & MySQL
Step 1: Install Dependencies
Run the following command inside the backend/ folder:
npm init -y
npm install express mysql2 cors dotenv axios
Step 2: Set Up MySQL Database
Create a MySQL database called carla_db and a table:
CREATE DATABASE carla_db;
USE carla_db;
CREATE TABLE vehicle_data (
id INT AUTO_INCREMENT PRIMARY KEY,
vehicle_id VARCHAR(50),
speed FLOAT,
location VARCHAR(255),
timestamp TIMESTAMP DEFAULT CURRENT_TIMESTAMP
);
Step 3: Configure MySQL Connection (database.js)
const mysql = require("mysql2");
const dotenv = require("dotenv");
dotenv.config();
const db = mysql.createConnection({
host: "localhost",
user: "root",
password: "yourpassword",
database: "carla_db",
});
db.connect((err) => {
if (err) {
console.error("Database connection failed:", err);
} else {
console.log("Connected to MySQL database.");
}
});
module.exports = db;
Step 4: Set Up Express.js API (server.js)
const express = require("express");
const cors = require("cors");
const db = require("./database");
const axios = require("axios");
const app = express();
app.use(cors());
app.use(express.json());
// Route to fetch data from Carla and store it in MySQL
app.get("/fetch-carla-data", async (req, res) => {
try {
const response = await axios.get("http://localhost:2000/carla-data"); // Carla API Endpoint
const { vehicle_id, speed, location } = response.data;
// Insert data into MySQL
db.query(
"INSERT INTO vehicle_data (vehicle_id, speed, location) VALUES (?, ?, ?)",
[vehicle_id, speed, location],
(err, result) => {
if (err) {
console.error(err);
res.status(500).send("Error inserting data.");
} else {
res.status(200).json({ message: "Data inserted successfully." });
}
}
);
} catch (error) {
console.error(error);
res.status(500).send("Error fetching Carla data.");
}
});
// Get stored vehicle data
app.get("/vehicles", (req, res) => {
db.query("SELECT * FROM vehicle_data", (err, results) => {
if (err) {
console.error(err);
res.status(500).send("Error retrieving data.");
} else {
res.status(200).json(results);
}
});
});
app.listen(5000, () => {
console.log("Server running on port 5000.");
});
---
2. Frontend - React.js
Step 1: Set Up React App
Inside the main project folder, run:
npx create-react-app frontend
cd frontend
npm install axios
Step 2: Create a Component (VehicleData.jsx)
Inside frontend/src/components/VehicleData.jsx:
import React, { useEffect, useState } from "react";
import axios from "axios";
const VehicleData = () => {
const [vehicles, setVehicles] = useState([]);
useEffect(() => {
axios.get("http://localhost:5000/vehicles").then((response) => {
setVehicles(response.data);
});
}, []);
return (
Carla Vehicle Data
| ID |
Vehicle ID |
Speed |
Location |
Timestamp |
{vehicles.map((vehicle) => (
| {vehicle.id} |
{vehicle.vehicle_id} |
{vehicle.speed} |
{vehicle.location} |
{vehicle.timestamp} |
))}
);
};
export default VehicleData;
Step 3: Update App.js
Inside frontend/src/App.js:
import React from "react";
import VehicleData from "./components/VehicleData";
function App() {
return (
Carla Full Stack App
);
}
export default App;
Step 4: Run React App
Inside the frontend/ folder:
npm start
---
3. Run the Full Stack App
Step 1: Start Carla Simulation
If Carla is installed, start the server:
cd /path/to/carla
./CarlaUE4.sh -opengl
Step 2: Start Node.js Backend
Inside backend/:
node server.js
𝕮𝖆𝖗𝖑𝖆 𝕾𝖎𝖒𝖚𝖑𝖆𝖙𝖎𝖔𝖓
Step 3: Start React Frontend
Inside frontend/:
npm start
---
Final Overview
1. Carla Simulation runs and sends data.
2. Node.js Backend receives data, stores it in MySQL, and serves it via API.
3. React.js Frontend fetches and displays the vehicle data.
Let me know if you need improvements or additional features!
To integrate sensor software with your full-stack Carla-based application, you'll need to use Carla’s sensor API to collect real-time sensor data from vehicles in the simulation. You can then store this data in MySQL and display it in the React frontend.
---
1. Types of Sensors in Carla
Carla supports various sensors, such as:
Camera Sensor (RGB, Depth, Semantic Segmentation)
LIDAR Sensor
Radar Sensor
IMU Sensor (Inertial Measurement Unit)
GNSS Sensor (GPS data)
Collision Sensor
Lane Invasion Sensor
---
2. Steps to Integrate Carla Sensors
Step 1: Install Required Carla Dependencies
Ensure you have Carla installed. If not, install it:
git clone --depth=1 https://github.com/carla-simulator/carla
cd carla
pip install -r PythonAPI/carla/requirements.txt
---
3. Backend - Node.js & Express.js (Sensor Data API)
We will write a Python script that collects data from Carla sensors and sends it to the Node.js backend, which stores it in MySQL.
Step 1: Create MySQL Table for Sensors
Run this SQL query in MySQL:
CREATE TABLE sensor_data (
id INT AUTO_INCREMENT PRIMARY KEY,
vehicle_id VARCHAR(50),
sensor_type VARCHAR(50),
sensor_value TEXT,
timestamp TIMESTAMP DEFAULT CURRENT_TIMESTAMP
);
---
4. Python Sensor Data Collection (sensor_data.py)
This script will run inside Carla and send sensor data to the Node.js backend.
import carla
import requests
import time
import json
# Carla Server Configuration
client = carla.Client("localhost", 2000)
client.set_timeout(10.0)
world = client.get_world()
# Find a vehicle to attach sensors
blueprint_library = world.get_blueprint_library()
vehicles = world.get_actors().filter("vehicle.*")
if not vehicles:
print("No vehicles found!")
exit()
vehicle = vehicles[0] # Attach sensors to the first vehicle
print(f"Attaching sensors to vehicle: {vehicle.id}")
# Define callback function to send data to backend
def send_sensor_data(sensor_type, data):
payload = {
"vehicle_id": str(vehicle.id),
"sensor_type": sensor_type,
"sensor_value": json.dumps(data),
}
try:
response = requests.post("http://localhost:5000/sensor-data", json=payload)
print(f"{sensor_type} data sent: {response.status_code}")
except Exception as e:
print(f"Error sending {sensor_type} data: {e}")
# Attach a Camera Sensor
camera_bp = blueprint_library.find("sensor.camera.rgb")
camera_transform = carla.Transform(carla.Location(x=0.8, z=1.7))
camera = world.spawn_actor(camera_bp, camera_transform, attach_to=vehicle)
def camera_callback(image):
send_sensor_data("camera", {"frame": image.frame, "width": image.width, "height": image.height})
camera.listen(camera_callback)
# Attach a LIDAR Sensor
lidar_bp = blueprint_library.find("sensor.lidar.ray_cast")
lidar_transform = carla.Transform(carla.Location(x=0, z=2.5))
lidar = world.spawn_actor(lidar_bp, lidar_transform, attach_to=vehicle)
def lidar_callback(point_cloud):
send_sensor_data("lidar", {"num_points": len(point_cloud)})
lidar.listen(lidar_callback)
# Attach an IMU Sensor (Inertial Measurement Unit)
imu_bp = blueprint_library.find("sensor.other.imu")
imu = world.spawn_actor(imu_bp, carla.Transform(), attach_to=vehicle)
def imu_callback(data):
send_sensor_data("imu", {
"accelerometer": data.accelerometer,
"gyroscope": data.gyroscope,
"compass": data.compass,
})
imu.listen(imu_callback)
# Run the simulation for a while
try:
time.sleep(60) # Collect data for 60 seconds
finally:
camera.destroy()
lidar.destroy()
imu.destroy()
print("Sensors destroyed.")
---
5. Node.js Backend to Store Sensor Data
Add the following sensor data endpoint to server.js:
app.post("/sensor-data", (req, res) => {
const { vehicle_id, sensor_type, sensor_value } = req.body;
db.query(
"INSERT INTO sensor_data (vehicle_id, sensor_type, sensor_value) VALUES (?, ?, ?)",
[vehicle_id, sensor_type, sensor_value],
(err, result) => {
if (err) {
console.error(err);
res.status(500).send("Error storing sensor data.");
} else {
res.status(200).json({ message: "Sensor data stored successfully." });
}
}
);
});
// Fetch sensor data
app.get("/sensor-data", (req, res) => {
db.query("SELECT * FROM sensor_data", (err, results) => {
if (err) {
console.error(err);
res.status(500).send("Error retrieving sensor data.");
} else {
res.status(200).json(results);
}
});
});
---
6. Frontend - Display Sensor Data in React
Modify frontend/src/components/VehicleData.jsx to show sensor data:
import React, { useEffect, useState } from "react";
import axios from "axios";
const SensorData = () => {
const [sensorData, setSensorData] = useState([]);
useEffect(() => {
axios.get("http://localhost:5000/sensor-data").then((response) => {
setSensorData(response.data);
});
}, []);
return (
Sensor Data
| ID |
Vehicle ID |
Sensor Type |
Sensor Value |
Timestamp |
{sensorData.map((data) => (
| {data.id} |
{data.vehicle_id} |
{data.sensor_type} |
{JSON.stringify(data.sensor_value)} |
{data.timestamp} |
))}
);
};
export default SensorData;
---
7. Update App.js to Include Sensor Data
Modify App.js:
import React from "react";
import VehicleData from "./components/VehicleData";
import SensorData from "./components/SensorData";
function App() {
return (
Carla Full Stack App
);
}
export default App;
---
Final Steps to Run the Application
Simulator
Step 1: Start Carla Simulation
Run Carla:
cd /path/to/carla
./CarlaUE4.sh -opengl
Step 2: Start Python Sensor Script
Run the sensor script:
python sensor_data.py
Step 3: Start Node.js Backend
Inside backend/:
node server.js
Step 4: Start React Frontend
Inside frontend/:
npm start
---
Final Overview
✅ Carla Simulation runs and sends vehicle & sensor data.
✅ Node.js Backend receives data and stores it in MySQL.
✅ React.js Frontend fetches & displays real-time sensor and vehicle data.
Now, you have a full-stack application integrated with Carla sensors. Let me know if you need any modifications!
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