2020-03-02 21:35:50 +08:00
# CARLA Documentation
2017-09-07 21:55:41 +08:00
2021-04-06 21:12:01 +08:00
Welcome to the CARLA documentation.
2020-02-21 21:50:40 +08:00
2021-04-06 21:12:01 +08:00
This home page contains an index with a brief description of the different sections in the documentation. Feel free to read in whatever order preferred. In any case, here are a few suggestions for newcomers.
2020-02-21 21:50:40 +08:00
2021-04-06 21:12:01 +08:00
* __Install CARLA.__ Either follow the [Quick start installation ](start_quickstart.md ) to get a CARLA release or [make the build ](build_linux.md ) for a desired platform.
* __Start using CARLA.__ The section titled [First steps ](core_concepts.md ) is an introduction to the most important concepts.
* __Check the API.__ there is a handy [Python API reference ](python_api.md ) to look up the classes and methods available.
2020-02-21 21:50:40 +08:00
2021-04-06 21:12:01 +08:00
The CARLA forum is available to post any doubts or suggestions that may arise during the reading.
2020-02-22 00:39:16 +08:00
< div class = "build-buttons" >
2021-04-22 12:59:07 +08:00
< a href = "https://github.com/carla-simulator/carla/discussions/" target = "_blank" class = "btn btn-neutral" title = "Go to the latest CARLA release" >
2020-02-22 00:39:16 +08:00
CARLA forum< / a >
< / div >
2017-09-07 21:55:41 +08:00
2021-02-25 19:35:53 +08:00
< br >
2020-10-13 20:41:10 +08:00
!!! Warning
2021-02-25 19:35:53 +08:00
__Change the docs version to fit the CARLA version you are using__ . Use the panel in the bottom-right side of this window to change to previous versions. __The _Latest_ version points to documentation in the `dev` branch__ which may refer to features currently in development and __not available__ in any packaged version of CARLA, as well general documentation improvements. 
2017-09-07 21:55:41 +08:00
2020-03-02 21:35:50 +08:00
---
## Getting started
2020-11-24 01:45:37 +08:00
[__Introduction__ ](start_introduction.md ) — What to expect from CARLA.
[__Quick start__ ](start_quickstart.md ) — Get the CARLA releases.
2017-09-07 21:55:41 +08:00
2020-03-02 21:35:50 +08:00
## Building CARLA
2020-11-24 01:45:37 +08:00
[__Linux build__ ](build_linux.md ) — Make the build on Linux.
[__Windows build__ ](build_windows.md ) — Make the build on Windows.
[__Update CARLA__ ](build_update.md ) — Get up to date with the latest content.
[__Build system__ ](build_system.md ) — Learn about the build and how it is made.
[__Running in a Docker__ ](build_docker.md ) — Run CARLA using a container solution.
[__F.A.Q.__ ](build_faq.md ) — Some of the most frequent installation issues.
2018-03-22 01:16:56 +08:00
2020-03-02 21:35:50 +08:00
## First steps
2020-11-24 01:45:37 +08:00
[__Core concepts__ ](core_concepts.md ) — Overview of the basic concepts in CARLA.
[__1st. World and client__ ](core_world.md ) — Manage and access the simulation.
[__2nd. Actors and blueprints__ ](core_actors.md ) — Learn about actors and how to handle them.
[__3rd. Maps and navigation__ ](core_map.md ) — Discover the different maps and how do vehicles move around.
[__4th. Sensors and data__ ](core_sensors.md ) — Retrieve simulation data using sensors.
2020-02-22 00:39:16 +08:00
2020-03-02 21:35:50 +08:00
## Advanced steps
2020-11-24 01:45:37 +08:00
[__OpenDRIVE standalone mode__ ](adv_opendrive.md ) — Use any OpenDRIVE file as a CARLA map.
[__PTV-Vissim co-simulation__ ](adv_ptv.md ) — Run a synchronous simulation between CARLA and PTV-Vissim.
[__Recorder__ ](adv_recorder.md ) — Register the events in a simulation and play it again.
[__Rendering options__ ](adv_rendering_options.md ) — From quality settings to no-render or off-screen modes.
[__RSS__ ](adv_rss.md ) — An implementation of RSS in the CARLA client library.
[__SUMO co-simulation__ ](adv_sumo.md ) — Run a synchronous simulation between CARLA and SUMO.
[__Synchrony and time-step__ ](adv_synchrony_timestep.md ) — Client-server communication and simulation time.
[__Traffic Manager__ ](adv_traffic_manager.md ) — Simulate urban traffic by setting vehicles to autopilot mode.
2020-02-22 00:39:16 +08:00
2020-03-02 21:35:50 +08:00
## References
2021-04-06 21:12:01 +08:00
[__Python API reference__ ](python_api.md ) — Classes and methods in the Python API.
2020-11-24 01:45:37 +08:00
[__Blueprint library__ ](bp_library.md ) — Blueprints provided to spawn actors.
[__C++ reference__ ](ref_cpp.md ) — Classes and methods in CARLA C++.
[__Recorder binary file format__ ](ref_recorder_binary_file_format.md ) — Detailed explanation of the recorder file format.
[__Sensors reference__ ](ref_sensors.md ) — Everything about sensors and the data they retrieve.
2020-02-22 00:39:16 +08:00
2020-07-17 20:55:42 +08:00
## Plugins
2020-11-24 01:45:37 +08:00
[__carlaviz — web visualizer__ ](plugins_carlaviz.md ) — Plugin that listens the simulation and shows the scene and some simulation data in a web browser.
2020-03-04 22:00:35 +08:00
## ROS bridge
2021-04-15 19:09:47 +08:00
[__ROS bridge documentation__ ](ros_documentation.md ) — Brief overview of the ROS bridge and a link to the full documentation
2020-03-02 21:35:50 +08:00
## Tutorials — General
2020-11-24 01:45:37 +08:00
[__Add friction triggers__ ](tuto_G_add_friction_triggers.md ) — Define dynamic box triggers for wheels.
[__Control vehicle physics__ ](tuto_G_control_vehicle_physics.md ) — Set runtime changes on a vehicle physics.
[__Control walker skeletons__ ](tuto_G_control_walker_skeletons.md ) — Animate walkers using skeletons.
2021-04-06 21:12:01 +08:00
[__Generate maps with OpenStreetMap__ ](tuto_G_openstreetmap.md ) — Use OpenStreetMap to generate maps for use in simulations.
2020-11-24 01:45:37 +08:00
[__Retrieve simulation data__ ](tuto_G_retrieve_data.md ) — A step by step guide to properly gather data using the recorder.
2021-04-06 21:12:01 +08:00
[__CarSim Integration (Beta)__ ](tuto_G_carsim_integration.md ) — Tutorial on how to run a simulation using the CarSim vehicle dynamics engine.
[__RLlib Integration__ ](tuto_G_rllib_integration.md ) — Find out how to run your own experiment using the RLlib library.
[__Scenic__ ](tuto_G_scenic.md ) — Follow an example of defining different scenarios using the Scenic library.
2020-02-22 00:39:16 +08:00
2020-03-02 21:35:50 +08:00
## Tutorials — Assets
2021-03-23 17:00:18 +08:00
[__Add a new map__ ](tuto_A_add_map_overview.md ) — Create and ingest a new map.
2020-11-24 01:45:37 +08:00
[__Add a new vehicle__ ](tuto_A_add_vehicle.md ) — Prepare a vehicle to be used in CARLA.
[__Add new props__ ](tuto_A_add_props.md ) — Import additional props into CARLA.
[__Create standalone packages__ ](tuto_A_create_standalone.md ) — Generate and handle standalone packages for assets.
[__Map customization__ ](tuto_A_map_customization.md ) — Edit an existing map.
[__Material customization__ ](tuto_A_material_customization.md ) — Edit vehicle and building materials.
2020-02-22 00:39:16 +08:00
2020-03-02 21:35:50 +08:00
## Tutorials — Developers
2020-11-24 01:45:37 +08:00
[__Contribute with new assets__ ](tuto_D_contribute_assets.md ) — Add new content to CARLA.
[__Create a sensor__ ](tuto_D_create_sensor.md ) — Develop a new sensor to be used in CARLA.
2021-04-06 21:12:01 +08:00
[__Create semantic tags__ ](tuto_D_create_semantic_tags.md ) — Define customized tags for semantic segmentation.
2020-11-24 01:45:37 +08:00
[__Customize vehicle suspension__ ](tuto_D_customize_vehicle_suspension.md ) — Modify the suspension system of a vehicle.
[__Generate detailed colliders__ ](tuto_D_generate_colliders.md ) — Create detailed colliders for vehicles.
2021-04-06 21:12:01 +08:00
[__Make a release__ ](tuto_D_make_release.md ) — For developers who want to publish a release.
2020-11-24 01:45:37 +08:00
[__Generate pedestrian navigation__ ](tuto_D_generate_pedestrian_navigation.md ) — Obtain the information needed for walkers to move around.
2018-03-22 01:16:56 +08:00
2020-03-02 21:35:50 +08:00
## Contributing
2020-11-24 01:45:37 +08:00
[__Contribution guidelines__ ](cont_contribution_guidelines.md ) — The different ways to contribute to CARLA.
[__Code of conduct__ ](cont_code_of_conduct.md ) — Standard rights and duties for contributors.
[__Coding standard__ ](cont_coding_standard.md ) — Guidelines to write proper code.
[__Documentation standard__ ](cont_doc_standard.md ) — Guidelines to write proper documentation.
