p71924506
/
carla
mirror of https://github.com/carla-simulator/carla.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
carla/Docs/tuto_M_add_map_package.md

76 lines
4.2 KiB
Markdown
Raw Permalink Normal View History

Corkyw10/import maps tutorial (#3875) * restructured tutorial layout to avoid confusion between the three different methods available * Beginnings of new layout of maps tutorial * updatng docker and make import sections * Final first draft of map import guide refactor. Links to the guide have been changed in the rest of the documentation * Removed windows import option from package map import doc * Clarified that package import otpion with Docker only works on Linux * Deleted deprecated section. Removed reference to creating crosswalk meshes unless users want to add new ones. Removed part about packages needing unique name and moved this to 'before you begin' to say that map names should be unique' * Added more information about how to export from road runner. Removed another line referring to the deprecated methods to import maps. * Add a structure of the .json file to the overview and added to --use-carla-materials flag that it is only necessary if you do not provide a .json file yourself * Clarified that .json values will override flag values * Alternative import methods * Added alternative section to overview and added images for manual import * Summary section added to alternative methods * Added image to show render disable for pedestrian mesh
2021-03-23 17:00:18 +08:00
# Ingesting Maps in a CARLA package
This section describes the process of ingesting maps into __a package (binary) version of CARLA__. If you are using a version of CARLA that has been built from source to ingest maps then follow the guidelines [here][source_ingest] instead.
This process is only available for Linux systems. The import process involves running a Docker image of Unreal Engine to import the relevant files and then export them as a standalone package which can then be configured to be used in CARLA. The Docker image takes around 4h and 600-700 GB to be built. This is only needed the first time the image is built.
- [__Before you begin__](#before-you-begin)
- [__Map ingestion in a CARLA package__](#map-ingestion-in-a-carla-package)
---
## Before you begin
- You will need to fulfill the following system requirements:
- 64-bit version of [Docker](https://docs.docker.com/engine/install/) in Ubuntu 16.04+
- Minimum 8GB of RAM
Corkyw10/maps documentation (#4233) * Restructured maps docs layout and fixed affected URLs * Updated RoadRunner map generation doc. Includes link for Leaderboard license * Updated package ingestion doc so it is located in the main navigation bar. All relative links have been fixed. * Moved customization information to separate tutorial. Added next steps * Moved manual preparation of json package to separate tutorial. * Added how to add traffic light and signs documentation. Updated nav with approriate page name. Cropped photo to show an updated view of UE editor * Redraft of the weather and landscape tutorial * Updated tutorial for using the road painter. Typo fix in other tutorials for map customization * Added tutorial to add levels to maps * Added images for maps tutorials * Minor syntax changes to manual package prep * Full drafts of map documentation * Added images and corrected names for building shaders * [NO_BUILD] First draft of Large Maps docs (#4396) * Drafting large map docs * Changed name of spawn_npc script * Syntax changes * Corrected hybrid mode dormant behavior, added code for setting ego vehicle, removed expensive note about map calls * Added section for roadrunner large maps * Added images to roadrunner docs and rearranged nav bar and titles. * Added corrections to import of large maps and standard map nomenclature Co-authored-by: bernat <bernatx@gmail.com> * Made corrections to spawn points and additional fbx folder information * Fixed mentions of normal maps to standard maps Co-authored-by: bernat <bernatx@gmail.com>
2021-07-30 17:20:23 +08:00
- Minimum 700 GB available disk space for building container images
Corkyw10/import maps tutorial (#3875) * restructured tutorial layout to avoid confusion between the three different methods available * Beginnings of new layout of maps tutorial * updatng docker and make import sections * Final first draft of map import guide refactor. Links to the guide have been changed in the rest of the documentation * Removed windows import option from package map import doc * Clarified that package import otpion with Docker only works on Linux * Deleted deprecated section. Removed reference to creating crosswalk meshes unless users want to add new ones. Removed part about packages needing unique name and moved this to 'before you begin' to say that map names should be unique' * Added more information about how to export from road runner. Removed another line referring to the deprecated methods to import maps. * Add a structure of the .json file to the overview and added to --use-carla-materials flag that it is only necessary if you do not provide a .json file yourself * Clarified that .json values will override flag values * Alternative import methods * Added alternative section to overview and added images for manual import * Summary section added to alternative methods * Added image to show render disable for pedestrian mesh
2021-03-23 17:00:18 +08:00
- [Git](https://git-scm.com/downloads) version control
- Ensure you are using a package (binary) version of CARLA. If you are using a version of CARLA that has been built from source to ingest maps then follow the guidelines [here][source_ingest] instead.
- You should have at least two files, `<mapName>.xodr` and `<mapName>.fbx` that have been [generated][rr_generate_map] from a map editor such as RoadRunner.
- These files should have the same value for `<mapName>` in order to be recognised as the same map.
Corkyw10/maps documentation (#4233) * Restructured maps docs layout and fixed affected URLs * Updated RoadRunner map generation doc. Includes link for Leaderboard license * Updated package ingestion doc so it is located in the main navigation bar. All relative links have been fixed. * Moved customization information to separate tutorial. Added next steps * Moved manual preparation of json package to separate tutorial. * Added how to add traffic light and signs documentation. Updated nav with approriate page name. Cropped photo to show an updated view of UE editor * Redraft of the weather and landscape tutorial * Updated tutorial for using the road painter. Typo fix in other tutorials for map customization * Added tutorial to add levels to maps * Added images for maps tutorials * Minor syntax changes to manual package prep * Full drafts of map documentation * Added images and corrected names for building shaders * [NO_BUILD] First draft of Large Maps docs (#4396) * Drafting large map docs * Changed name of spawn_npc script * Syntax changes * Corrected hybrid mode dormant behavior, added code for setting ego vehicle, removed expensive note about map calls * Added section for roadrunner large maps * Added images to roadrunner docs and rearranged nav bar and titles. * Added corrections to import of large maps and standard map nomenclature Co-authored-by: bernat <bernatx@gmail.com> * Made corrections to spawn points and additional fbx folder information * Fixed mentions of normal maps to standard maps Co-authored-by: bernat <bernatx@gmail.com>
2021-07-30 17:20:23 +08:00
[source_ingest]: tuto_M_add_map_source.md
[import_map_package]: tuto_M_add_map_package.md
[rr_generate_map]: tuto_M_generate_map.md
Corkyw10/import maps tutorial (#3875) * restructured tutorial layout to avoid confusion between the three different methods available * Beginnings of new layout of maps tutorial * updatng docker and make import sections * Final first draft of map import guide refactor. Links to the guide have been changed in the rest of the documentation * Removed windows import option from package map import doc * Clarified that package import otpion with Docker only works on Linux * Deleted deprecated section. Removed reference to creating crosswalk meshes unless users want to add new ones. Removed part about packages needing unique name and moved this to 'before you begin' to say that map names should be unique' * Added more information about how to export from road runner. Removed another line referring to the deprecated methods to import maps. * Add a structure of the .json file to the overview and added to --use-carla-materials flag that it is only necessary if you do not provide a .json file yourself * Clarified that .json values will override flag values * Alternative import methods * Added alternative section to overview and added images for manual import * Summary section added to alternative methods * Added image to show render disable for pedestrian mesh
2021-03-23 17:00:18 +08:00
---
## Map ingestion in a CARLA package
__1.__ CARLA provides all the utilities to build Unreal Engine in a Docker image and to compile CARLA using that image. The tools are found in the source code available in GitHub. Clone the repository using the following command:
```sh
git clone https://github.com/carla-simulator/carla
```
__2.__ Build the Docker image of Unreal Engine by following [these instructions](https://github.com/carla-simulator/carla/tree/master/Util/Docker).
__3.__ Create an `input_folder`. This is where you will put the files to be imported. Docker will automatically create a `.json` file describing the package folder structure. Change permissions on the `input_folder` for this to be created successfully:
```sh
#Go to the parent folder, where the input folder is contained
chmod 777 input_folder
```
> !!! Note
Corkyw10/maps documentation (#4233) * Restructured maps docs layout and fixed affected URLs * Updated RoadRunner map generation doc. Includes link for Leaderboard license * Updated package ingestion doc so it is located in the main navigation bar. All relative links have been fixed. * Moved customization information to separate tutorial. Added next steps * Moved manual preparation of json package to separate tutorial. * Added how to add traffic light and signs documentation. Updated nav with approriate page name. Cropped photo to show an updated view of UE editor * Redraft of the weather and landscape tutorial * Updated tutorial for using the road painter. Typo fix in other tutorials for map customization * Added tutorial to add levels to maps * Added images for maps tutorials * Minor syntax changes to manual package prep * Full drafts of map documentation * Added images and corrected names for building shaders * [NO_BUILD] First draft of Large Maps docs (#4396) * Drafting large map docs * Changed name of spawn_npc script * Syntax changes * Corrected hybrid mode dormant behavior, added code for setting ego vehicle, removed expensive note about map calls * Added section for roadrunner large maps * Added images to roadrunner docs and rearranged nav bar and titles. * Added corrections to import of large maps and standard map nomenclature Co-authored-by: bernat <bernatx@gmail.com> * Made corrections to spawn points and additional fbx folder information * Fixed mentions of normal maps to standard maps Co-authored-by: bernat <bernatx@gmail.com>
2021-07-30 17:20:23 +08:00
This is not necessary if the package is [prepared manually](tuto_M_manual_map_package.md), and contains a `.json` file already.
Corkyw10/import maps tutorial (#3875) * restructured tutorial layout to avoid confusion between the three different methods available * Beginnings of new layout of maps tutorial * updatng docker and make import sections * Final first draft of map import guide refactor. Links to the guide have been changed in the rest of the documentation * Removed windows import option from package map import doc * Clarified that package import otpion with Docker only works on Linux * Deleted deprecated section. Removed reference to creating crosswalk meshes unless users want to add new ones. Removed part about packages needing unique name and moved this to 'before you begin' to say that map names should be unique' * Added more information about how to export from road runner. Removed another line referring to the deprecated methods to import maps. * Add a structure of the .json file to the overview and added to --use-carla-materials flag that it is only necessary if you do not provide a .json file yourself * Clarified that .json values will override flag values * Alternative import methods * Added alternative section to overview and added images for manual import * Summary section added to alternative methods * Added image to show render disable for pedestrian mesh
2021-03-23 17:00:18 +08:00
__4.__ Create an `output_folder`. This is where the Docker image will write the output files after it has cooked the map.
__5.__ Navigate to `~/carla/Util/Docker`. This is where the ingestion script is located. The script requires the path for the `input_folder` and `output_folder` and the name of the package to be ingested. If a `.json` file is provided, the name of that file is the package name, if no `.json` is provided, the name must be `map_package`:
```sh
python3 docker_tools.py --input ~/path_to_input_folder --output ~/path_to_output_folder --packages map_package
```
> !!! Warning
If the argument `--packages map_package` is not provided, the Docker image will make a package of CARLA.
__6.__ The package will be generated in the `output_folder` as `<map_package>.tar.gz`. This is the standalone package that is now ready to be imported into CARLA. Move the package to the `Import` folder in the CARLA root directory (of the package/binary version where you will be using the map), and run the following script from the root directory to import it:
```sh
./ImportAssets.sh
```
__7.__ To run a simulation with the new map, run CARLA and then change the map using the `config.py` file:
```sh
cd PythonAPI/util
python3 config.py --map <mapName>
```
<br>
---
updated Index page, rearranged nav bar, corrected links to broken images, corrected default settings for wheel physics, added anysys rtr information
2021-07-30 18:37:46 +08:00
Your map is now ready to run simulations in CARLA. If you have any questions about the process then you can ask in the [forum](https://github.com/carla-simulator/carla/discussions) or you can try running some of our [example scripts](https://github.com/carla-simulator/carla/tree/master/PythonAPI/examples) on your new map to test it out.