实用指南：自动驾驶—CARLA仿真（0）报错记录

报错0：XDG_RUNTIME_DIR not set in the environment.

error: XDG_RUNTIME_DIR not set in the environment.
ALSA lib ... No such file or directory
...
Segmentation fault

在 WSL2（Windows Subsystem for Linux）中运行依赖图形界面（GUI）或音频的 Python 程序（如 Pygame、OpenCV imshow、Matplotlib 等）时的经典崩溃问题。
WSL2 默认没有图形显示服务器（如 X11），而程序试图创建窗口（例如 Pygame、cv2.imshow），图形库初始化失败，可能触发后续崩溃。
不在vscode 终端执行命令，在mobaxterm执行即可；

报错1：make_unit_vector

Traceback (most recent call last):
File “/home/zfjuan/CarLa/PythonAPI/examples/automatic_control.py”, line 873, in
main()
File “/home/zfjuan/CarLa/PythonAPI/examples/automatic_control.py”, line 866, in main
game_loop(args)
File “/home/zfjuan/CarLa/PythonAPI/examples/automatic_control.py”, line 739, in game_loop
agent = BehaviorAgent(world.player, behavior=args.behavior)
File “/home/zfjuan/CarLa/PythonAPI/carla/agents/navigation/behavior_agent.py”, line 40, in init
super().init(vehicle, opt_dict=opt_dict, map_inst=map_inst, grp_inst=grp_inst)
File “/home/zfjuan/CarLa/PythonAPI/carla/agents/navigation/basic_agent.py”, line 100, in init
self._global_planner = GlobalRoutePlanner(self._map, self._sampling_resolution)
File “/home/zfjuan/CarLa/PythonAPI/carla/agents/navigation/global_route_planner.py”, line 72, in init
self._build_graph()
File “/home/zfjuan/CarLa/PythonAPI/carla/agents/navigation/global_route_planner.py”, line 204, in _build_graph
net_carla_vector = (exit_wp.transform.location - entry_wp.transform.location).make_unit_vector()
Boost.Python.ArgumentError: Python argument types in
Vector3D.make_unit_vector(Vector3D)
did not match C++ signature:
make_unit_vector(carla::geom::Vector3D {lvalue}, float)

原因分析：理论上应该是server client 版本不一致造成的，但我的确实都是0.9.16版本；
解决办法：修复 make_unit_vector 调用

修改文件：
/home/zfjuan/CarLa/PythonAPI/carla/agents/navigation/global_route_planner.py
找到报错行：

net_carla_vector = (exit_wp.transform.location - entry_wp.transform.location).make_unit_vector()

替换为（添加一个极小的 epsilon 参数）：

vec = exit_wp.transform.location - entry_wp.transform.location
try:
net_carla_vector = vec.make_unit_vector()
except TypeError:
# 新版需要 epsilon 参数
net_carla_vector = vec.make_unit_vector(1e-6)

报错2：Retrying /location_info: Status 403, Message Access denied. Please check the provided API key. Retry #1, Backoff 1 seconds

✅ 错误原因
你正在运行一个 集成了 InvertedAI 服务的 CARLA 脚本（invertedai_traffic.py），该脚本需要调用 InvertedAI 的云端 API 来生成高真实感交通行为。

但你没有提供有效的 API Key，或提供的 Key 无效/已过期/无权限，导致服务器返回 HTTP 403（Forbidden）。

✅ 解决方案
步骤 1：获取 InvertedAI API Key，访问官网：注册登录，会自动生成一组Key

步骤 2：在命令行中传入 API Key
运行脚本时，必须通过 --iai-key 参数传入你的密钥：

python invertedai_traffic.py --host 30.207.90.42 --iai-key xxxxxxxxxxxxxxxxxxx

报错3：pygame.error: Invalid joystick device number and cannot find card ‘0’

Welcome to CARLA manual control with steering wheel Logitech G29.
To drive start by preshing the brake pedal.
Change your wheel_config.ini according to your steering wheel.
To find out the values of your steering wheel use jstest-gtk in Ubuntu.
ALSA lib confmisc.c:855:(parse_card) cannot find card '0'
ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_card_inum returned error: No such file or directory
ALSA lib confmisc.c:422:(snd_func_concat) error evaluating strings
ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory
ALSA lib confmisc.c:1334:(snd_func_refer) error evaluating name
ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
ALSA lib conf.c:5701:(snd_config_expand) Evaluate error: No such file or directory
ALSA lib pcm.c:2664:(snd_pcm_open_noupdate) Unknown PCM default
Traceback (most recent call last):
File "/home/zfjuan/CarLa/PythonAPI/examples/manual_control_steeringwheel.py", line 848, in <module>main()File "/home/zfjuan/CarLa/PythonAPI/examples/manual_control_steeringwheel.py", line 840, in maingame_loop(args)File "/home/zfjuan/CarLa/PythonAPI/examples/manual_control_steeringwheel.py", line 770, in game_loopcontroller = DualControl(world, args.autopilot)File "/home/zfjuan/CarLa/PythonAPI/examples/manual_control_steeringwheel.py", line 212, in __init__self._joystick = pygame.joystick.Joystick(0)pygame.error: Invalid joystick device number

G29 是复合 HID 设备（方向盘+踏板+按钮）,需要正确接入外设设备；

open3D GLFW Error: GLX: Failed to create context: GLXBadFBConfig

[Open3D WARNING] GLFW Error: GLX: Failed to create context: GLXBadFBConfig
[Open3D WARNING] Failed to create window

OpenGL 版本问题；