Clean up documentation format
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nsubiron
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CARLA Benchmark
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===============
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<h1>CARLA Benchmark</h1>
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Running the Benchmark
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---------------------
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@ -9,7 +8,6 @@ tests on a certain agent. We already provide the same benchmark used in the CoRL
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2017 paper. By running this benchmark you can compare the results of your agent
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to the results obtained by the agents show in the paper.
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Besides the requirements of the CARLA client, the benchmark package also needs
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the future package
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@ -30,37 +28,51 @@ Run the help command to see options available
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$ ./run_benchmark.py --help
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Benchmarking your Agent
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---------------------
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-----------------------
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The benchmark works by calling three lines of code
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corl = CoRL2017(city_name=args.city_name, name_to_save=args.log_name)
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agent = Manual(args.city_name)
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results = corl.benchmark_agent(agent, client)
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```python
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corl = CoRL2017(city_name=args.city_name, name_to_save=args.log_name)
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agent = Manual(args.city_name)
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results = corl.benchmark_agent(agent, client)
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```
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This is excerpt is executed in the [run_benchmark.py](https://github.com/carla-simulator/carla/blob/master/PythonClient/run_benchmark.py) example.
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This is excerpt is executed in the
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[run_benchmark.py](https://github.com/carla-simulator/carla/blob/master/PythonClient/run_benchmark.py)
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example.
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First a *benchmark* object is defined, for this case, a CoRL2017 benchmark. This is object is used to benchmark a certain Agent. <br>
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On the second line of our sample code, there is an object of a Manual class instanced. This class inherited an Agent base class
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that is used by the *benchmark* object.
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To be benchmarked, an Agent subclass must redefine the *run_step* function as it is done in the following excerpt:
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First a *benchmark* object is defined, for this case, a CoRL2017 benchmark. This
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is object is used to benchmark a certain Agent.
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def run_step(self, measurements, sensor_data, target):
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"""
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Function to run a control step in the CARLA vehicle.
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:param measurements: object of the Measurements type
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:param sensor_data: images list object
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:param target: target position of Transform type
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:return: an object of the control type.
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"""
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control = VehicleControl()
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control.throttle = 0.9
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return control
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The function receives measurements from the world, sensor data and a target position. With this, the function must return a control to the car, *i.e.* steering value, throttle value, brake value, etc.
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On the second line of our sample code, there is an object of a Manual class
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instanced. This class inherited an Agent base class that is used by the
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*benchmark* object. To be benchmarked, an Agent subclass must redefine the
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*run_step* function as it is done in the following excerpt:
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The [measurements](measurements.md), [target](measurements.md), [sensor_data](cameras_and_sensors.md) and [control](measurements.md) types are described on the documentation.
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```python
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def run_step(self, measurements, sensor_data, target):
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"""
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Function to run a control step in the CARLA vehicle.
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:param measurements: object of the Measurements type
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:param sensor_data: images list object
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:param target: target position of Transform type
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:return: an object of the control type.
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"""
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control = VehicleControl()
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control.throttle = 0.9
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return control
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```
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The function receives measurements from the world, sensor data and a target
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position. With this, the function must return a control to the car, *i.e.*
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steering value, throttle value, brake value, etc.
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The [measurements](measurements.md), [target](measurements.md),
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[sensor_data](cameras_and_sensors.md) and [control](measurements.md) types are
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described on the documentation.
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Creating your Benchmark
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---------------------
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Tutorial to be added
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-----------------------
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> TODO
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@ -1,5 +1,4 @@
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Cameras and sensors
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===================
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<h1>Cameras and sensors</h1>
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!!! important
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Since version 0.8.0 the positions of the sensors are specified in meters
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@ -59,7 +58,7 @@ in the Camera. We use the following post process effects:
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[postprolink]: https://docs.unrealengine.com/latest/INT/Engine/Rendering/PostProcessEffects/
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###### Python
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<h6>Python</h6>
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```py
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camera = carla.sensor.Camera('MyCamera', PostProcessing='SceneFinal')
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@ -71,7 +70,7 @@ camera.set_rotation(pitch=0, yaw=0, roll=0)
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carla_settings.add_sensor(camera)
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```
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###### CarlaSettings.ini
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<h6>CarlaSettings.ini</h6>
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```ini
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[CARLA/Sensor/MyCamera]
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@ -120,7 +119,7 @@ The generated "depth map" images are usually converted to a logarithmic
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grayscale for display. A point cloud can also be extracted from depth images as
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seen in "PythonClient/point_cloud_example.py".
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###### Python
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<h6>Python</h6>
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```py
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camera = carla.sensor.Camera('MyCamera', PostProcessing='Depth')
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@ -132,7 +131,7 @@ camera.set_rotation(pitch=0, yaw=0, roll=0)
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carla_settings.add_sensor(camera)
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```
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###### CarlaSettings.ini
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<h6>CarlaSettings.ini</h6>
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```ini
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[CARLA/Sensor/MyCamera]
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@ -190,7 +189,7 @@ _"Unreal/CarlaUE4/Content/Static/Pedestrians"_ folder it's tagged as pedestrian.
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and its corresponding filepath check inside `GetLabelByFolderName()`
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function in "Tagger.cpp".
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###### Python
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<h6>Python</h6>
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```py
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camera = carla.sensor.Camera('MyCamera', PostProcessing='SemanticSegmentation')
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@ -202,7 +201,7 @@ camera.set_rotation(pitch=0, yaw=0, roll=0)
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carla_settings.add_sensor(camera)
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```
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###### CarlaSettings.ini
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<h6>CarlaSettings.ini</h6>
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```ini
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[CARLA/Sensor/MyCamera]
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@ -243,7 +242,7 @@ channels | uint32 | Number of channels (lasers) of the lid
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point_count_by_channel | uint32 | Number of points per channel captured this frame.
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point_cloud | PointCloud | Captured points this frame.
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###### Python
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<h6>Python</h6>
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```py
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lidar = carla.sensor.Lidar('MyLidar')
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@ -260,7 +259,7 @@ lidar.set_rotation(pitch=0, yaw=0, roll=0)
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carla_settings.add_sensor(lidar)
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```
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###### CarlaSettings.ini
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<h6>CarlaSettings.ini</h6>
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```ini
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[CARLA/Sensor/MyLidar]
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@ -1,89 +1,105 @@
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Running CARLA without Display and Selecting GPUs
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------
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<h1>Running CARLA without Display and Selecting GPUs</h1>
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!!! note
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See [#225](https://github.com/carla-simulator/carla/issues/225) for an
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alternative method.
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This tutorial is designed for:
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- Remote server users that have several nvidia graphical cards and want to effectively use CARLA on all GPUs.
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- Desktop users who want to use the GPU that is not plugged on the screen for rendering CARLA.
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This tutorial is designed for
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* Remote server users that have several nvidia graphical cards and want to
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effectively use CARLA on all GPUs.
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* Desktop users who want to use the GPU that is not plugged on the screen for
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rendering CARLA.
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On this tutorial you will learn.
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- How to configure your server to have nvidia working on rendering without a display attached.
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- How to use VNC + VGL to simulate a display connected to any GPU you have in your machine.
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- And Finally, how to run CARLA in this environment
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On this tutorial you will learn
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* How to configure your server to have nvidia working on rendering without a
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display attached.
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* How to use VNC + VGL to simulate a display connected to any GPU you have in
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your machine.
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* And Finally, how to run CARLA in this environment
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This tutorial was tested in Ubuntu 16.04 and using NVIDIA 384.11 drivers.
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## Preliminaries
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A few things need to be working in your server before.
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Latest NVIDIA Drivers, OpenGL, VirtualGL(VGL), TurboVNC 2.11, ,
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#### NVIDIA Drivers
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Download and install NVIDIA-drivers with typical tutorials
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http://www.nvidia.es/Download/index.aspx
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#### OpenGL
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Openg GL is necessary for Virtual GL. Normally OpenGL
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can be installed through apt.
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## Preliminaries
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A few things need to be working in your server before. Latest NVIDIA Drivers,
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OpenGL, VirtualGL(VGL), TurboVNC 2.11.
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<h4>NVIDIA Drivers</h4>
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Download and install [NVIDIA-drivers][nvidialink] with typical tutorials.
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[nvidialink]: http://www.nvidia.es/Download/index.aspx
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<h4>OpenGL</h4>
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Openg GL is necessary for Virtual GL. Normally OpenGL can be installed through
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apt.
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sudo apt-get install freeglut3-dev mesa-utils
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#### VGL
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Follow this tutorial and install vgl: <br>
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<h4>VGL</h4>
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Follow this tutorial and install vgl:
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[Installing VGL](https://virtualgl.org/vgldoc/2_2_1/#hd004001)
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#### TurboVNC
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Follow the tutorial below to install TurboVNC 2.11:<br>
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<h4>TurboVNC</h4>
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Follow the tutorial below to install TurboVNC 2.11:
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[Installing TurboVNC](https://cdn.rawgit.com/TurboVNC/turbovnc/2.1.1/doc/index.html#hd005001)
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WARNING: Take care on which VNC you install as it may not be compatible with Unreal. The one above was the only one that worked for me.
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#### Extra Packages
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WARNING: Take care on which VNC you install as it may not be compatible with
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Unreal. The one above was the only one that worked for me.
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<h4>Extra Packages</h4>
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These extra packages were necessary to make unreal to work.
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sudo apt install x11-xserver-utils libxrandr-dev
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<h4>Configure your X</h4>
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#### Configure your X
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You must generate a X compatible with your nvdia and compatible to run without display. For that, the following command worked:
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You must generate a X compatible with your nvdia and compatible to run without
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display. For that, the following command worked:
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sudo nvidia-xconfig -a --use-display-device=None --virtual=1280x1024
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## Emulating The Virtual Display
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Run your own Xorg. Here I use number 7, but it could be labeled with any free number.
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Run your own Xorg. Here I use number 7, but it could be labeled with any free
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number
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sudo nohup Xorg :7 &
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Run an auxiliary remote VNC-Xserver. This will create a
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virtual display "8".
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Run an auxiliary remote VNC-Xserver. This will create a virtual display "8".
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/opt/TurboVNC/bin/vncserver :8
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If everything is working fine the following command
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should run smoothly.
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If everything is working fine the following command should run smoothly.
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DISPLAY=:8 vglrun -d :7.0 glxinfo
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Note. This will run glxinfo on Xserver 7, device 0. This means you are selecting the GPU 0 on your machine. To run on other GPU, such as GPU 1 run:
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Note. This will run glxinfo on Xserver 7, device 0. This means you are selecting
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the GPU 0 on your machine. To run on other GPU, such as GPU 1 run:
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DISPLAY=:8 vglrun -d :7.1 glxinfo
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#### Extra
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<h4>Extra</h4>
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If you want disable the need of sudo when creating the 'nohup Xorg'
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go to the '/etc/X11/Xwrapper.config' file and change 'allowed_users=console' to 'allowed_users=anybody'
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If you want disable the need of sudo when creating the 'nohup Xorg' go to the
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'/etc/X11/Xwrapper.config' file and change 'allowed_users=console' to
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'allowed_users=anybody'
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It may be needed to stop all Xorg servers before running nohup Xorg.
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The command for that could change depending on your system. Generally for Ubuntu 16.04
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you should use:
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It may be needed to stop all Xorg servers before running nohup Xorg. The command
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for that could change depending on your system. Generally for Ubuntu 16.04 you
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should use:
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sudo service lightdm stop
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## Running CARLA
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## Running CARLA
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Now, finally, to run CARLA on a certain gpu_number placed in a certain
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$CARLA_PATH, run.
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Now, finally, to run CARLA on a certain gpu_number placed in a certain $CARLA_PATH, run.
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DISPLAY=:8 vglrun -d :7.<gpu_number> $CARLA_PATH/CarlaUE4/Binaries/Linux/CarlaUE4
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DISPLAY=:8 vglrun -d :7.<gpu_number> $CARLA_PATH/CarlaUE4/Binaries/Linux/CarlaUE4
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@ -1,5 +1,4 @@
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CARLA Server
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============
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<h1>CARLA Server</h1>
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Build
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-----
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@ -28,7 +27,7 @@ Three consecutive ports are used,
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each of these ports has an associated thread that sends/reads data
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asynchronuosly.
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###### World thread
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<h4>World thread</h4>
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Server reads one, writes one. Always protobuf messages.
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@ -38,7 +37,7 @@ Server reads one, writes one. Always protobuf messages.
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[server] EpisodeReady
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...repeat...
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###### Measurements thread
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<h4>Measurements thread</h4>
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Server only writes, first measurements message then the bulk of raw images.
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@ -63,7 +62,7 @@ The measurements message is explained in detail [here](measurements.md).
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[fcolorlink]: https://docs.unrealengine.com/latest/INT/API/Runtime/Core/Math/FColor/index.html "FColor API Documentation"
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###### Control thread
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<h4>Control thread</h4>
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Server only reads, client sends Control message every frame.
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@ -1,5 +1,9 @@
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CARLA Settings
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==============
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<h1>CARLA Settings</h1>
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> _This document is a work in progress and might be incomplete._
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CarlaSettings.ini
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-----------------
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CARLA reads its settings from a "CarlaSettings.ini" file. This file controls
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most aspects of the simulation, and it is loaded every time a new episode is
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@ -16,3 +20,42 @@ hierarchy overriding earlier values.
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Take a look at the [CARLA Settings example][settingslink].
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[settingslink]: https://github.com/carla-simulator/carla/blob/master/Docs/Example.CarlaSettings.ini
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Weather presets
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---------------
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The weather and lighting conditions can be chosen from a set of predefined
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settings. To select one, set the `WeatherId` key in CarlaSettings.ini. The
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following presets are available
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* 0 - Default
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* 1 - ClearNoon
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* 2 - CloudyNoon
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* 3 - WetNoon
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* 4 - WetCloudyNoon
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* 5 - MidRainyNoon
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* 6 - HardRainNoon
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* 7 - SoftRainNoon
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* 8 - ClearSunset
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* 9 - CloudySunset
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* 10 - WetSunset
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* 11 - WetCloudySunset
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* 12 - MidRainSunset
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* 13 - HardRainSunset
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* 14 - SoftRainSunset
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E.g., to choose the weather to be hard-rain at noon, add to CarlaSettings.ini
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```
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[CARLA/LevelSettings]
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WeatherId=6
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```
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Simulator command-line options
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------------------------------
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* `-carla-server` Launches CARLA as server, the execution hangs until a client connects.
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* `-carla-settings="Path/To/CarlaSettings.ini"` Load settings from the given INI file. See Example.CarlaSettings.ini.
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* `-carla-world-port=N` Listen for client connections at port N, agent ports are set to N+1 and N+2 respectively. Activates server.
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* `-carla-no-hud` Do not display the HUD by default.
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* `-carla-no-networking` Disable networking. Overrides `-carla-server` if present.
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|
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@ -1,5 +1,4 @@
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Coding standard
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===============
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<h1>Coding standard</h1>
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> _This document is a work in progress and might be incomplete._
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@ -8,18 +7,30 @@ General
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* Use spaces, not tabs.
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* Avoid adding trailing whitespace as it creates noise in the diffs.
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* Comments should not exceed 80 columns, code may exceed this limit a bit in rare occasions if it results in clearer code.
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* Comments should not exceed 80 columns, code may exceed this limit a bit in
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rare occasions if it results in clearer code.
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Python
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------
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* All code must be compatible with Python 2.7, 3.5, and 3.6.
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* [Pylint](https://www.pylint.org/) should not give any error or warning (few exceptions apply with external classes like `numpy`, see our `.pylintrc`).
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* Python code follows [PEP8 style guide](https://www.python.org/dev/peps/pep-0008/) (use `autopep8` whenever possible).
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* [Pylint][pylintlink] should not give any error or warning (few exceptions
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apply with external classes like `numpy`, see our `.pylintrc`).
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* Python code follows [PEP8 style guide][pep8link] (use `autopep8` whenever
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possible).
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[pylintlink]: https://www.pylint.org/
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[pep8link]: https://www.python.org/dev/peps/pep-0008/
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C++
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---
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* Compilation should not give any error or warning (`clang++ -Wall -Wextra -std=C++14`).
|
||||
* Unreal C++ code (CarlaUE4 and Carla plugin) follow the [Unreal Engine's Coding Standard](https://docs.unrealengine.com/latest/INT/Programming/Development/CodingStandard/) with the exception of using spaces instead of tabs.
|
||||
* CarlaServer uses [Google's style guide](https://google.github.io/styleguide/cppguide.html).
|
||||
* Compilation should not give any error or warning
|
||||
(`clang++ -Wall -Wextra -std=C++14`).
|
||||
* Unreal C++ code (CarlaUE4 and Carla plugin) follow the
|
||||
[Unreal Engine's Coding Standard][ue4link] with the exception of using
|
||||
spaces instead of tabs.
|
||||
* CarlaServer uses [Google's style guide][googlelink].
|
||||
|
||||
[ue4link]: https://docs.unrealengine.com/latest/INT/Programming/Development/CodingStandard/
|
||||
[googlelink]: https://google.github.io/styleguide/cppguide.html
|
||||
|
|
|
|||
|
|
@ -72,8 +72,9 @@ the Python script.
|
|||
|
||||
!!! important
|
||||
Before you start running your own experiments, it is important to know the
|
||||
details for running the simulation at [fixed time-step](fixed_time_step.md)
|
||||
for achieving maximum speed and repeatability.
|
||||
details for running the simulator at **fixed time-step** for achieving
|
||||
maximum speed and repeatability. We will cover this in the next item
|
||||
[Configuring the simulation](configuring_the_simulation.md).
|
||||
|
||||
<h4>Saving images to disk</h4>
|
||||
|
||||
|
|
|
|||
|
|
@ -1,10 +1,12 @@
|
|||
How to add the automotive materials
|
||||
===================================
|
||||
<h1>How to link Epic's Automotive Materials</h1>
|
||||
|
||||
CARLA uses Epic Game's Automotive Materials package for a realistic car paint
|
||||
look. Due to license restrictions we are not allowed to redistribute this
|
||||
package. In this document we explain how to download and link these materials to
|
||||
our vehicles.
|
||||
!!! important
|
||||
Since version 0.8.0 CARLA does not use Epic's _Automotive Materials_ by
|
||||
default. However, you can still enable them if you compile from source.
|
||||
|
||||
Epic Game's provides a set of realistic _Automotive Materials_ free to use. In
|
||||
this document we explain how to download and link these materials to our
|
||||
vehicles for a more realistic car paint.
|
||||
|
||||
Download from Marketplace
|
||||
-------------------------
|
||||
|
|
@ -1,3 +1,5 @@
|
|||
<h1>CARLA F.A.Q.</h1>
|
||||
|
||||
<!-- ======================================================================= -->
|
||||
<details>
|
||||
<summary><h5 style="display:inline">
|
||||
|
|
|
|||
|
|
@ -1,5 +1,6 @@
|
|||
How to add assets
|
||||
=================
|
||||
<h1>How to add assets</h1>
|
||||
|
||||
> _This document is a work in progress and might be incomplete._
|
||||
|
||||
Adding a vehicle
|
||||
----------------
|
||||
|
|
|
|||
|
|
@ -1,13 +1,11 @@
|
|||
How to build CARLA on Linux
|
||||
===========================
|
||||
<h1>How to build CARLA on Linux</h1>
|
||||
|
||||
!!! note
|
||||
CARLA requires Ubuntu 16.04 or later.
|
||||
|
||||
Install the build tools and dependencies
|
||||
|
||||
$ sudo apt-get install build-essential clang-3.9 git cmake ninja-build python3-pip python3-requests python-dev tzdata sed curl wget unzip autoconf libtool
|
||||
$ sudo pip3 install protobuf
|
||||
$ sudo apt-get install build-essential clang-3.9 git cmake ninja-build python3-requests python-dev tzdata sed curl wget unzip autoconf libtool
|
||||
|
||||
To avoid compatibility issues between Unreal Engine and the CARLA dependencies,
|
||||
the best configuration is to compile everything with the same compiler version
|
||||
|
|
@ -47,16 +45,6 @@ takes a while
|
|||
|
||||
Once it's done it should print "Success" if everything went well.
|
||||
|
||||
Download Epic Games' Automotive Materials package and install it under
|
||||
"Unreal/CarlaUE4/Content/AutomotiveMaterials".
|
||||
[How to download automotive materials](how_to_add_automotive_materials.md).
|
||||
|
||||
!!! note
|
||||
Due to license restrictions, pedestrians are not include in the CARLA open
|
||||
source project (only in the compiled binaries). Some warnings may appear
|
||||
when starting the project related to this. We are working to find a
|
||||
solution.
|
||||
|
||||
To build CARLA, use the rebuild script. This script deletes all intermediate
|
||||
files, rebuilds whole CARLA, and launches the editor. Use it too for making a
|
||||
clean rebuild of CARLA
|
||||
|
|
@ -66,10 +54,6 @@ clean rebuild of CARLA
|
|||
It looks at the environment variable `UE4_ROOT` to find the right version of
|
||||
Unreal Engine. You can also add this variable to your "~/.bashrc" or similar.
|
||||
|
||||
Once the project is opened, it is required to manually link Epic's Automotive
|
||||
Materials to our vehicles.
|
||||
[How to link automotive materials](how_to_add_automotive_materials.md).
|
||||
|
||||
Later, if you need to compile some changes without doing a full rebuild, you can
|
||||
use the Makefile generated in the Unreal project folder
|
||||
|
||||
|
|
|
|||
|
|
@ -1,5 +1,4 @@
|
|||
How to build CARLA on Windows
|
||||
=============================
|
||||
<h1>How to build CARLA on Windows</h1>
|
||||
|
||||
!!! important
|
||||
We are working on an automated build system for Windows, you can follow
|
||||
|
|
|
|||
|
|
@ -1,174 +0,0 @@
|
|||
CARLA Simulator
|
||||
===============
|
||||
|
||||
!!! note
|
||||
CARLA requires Ubuntu 16.04 or later.
|
||||
|
||||
Welcome to CARLA simulator.
|
||||
|
||||
This file contains the instructions to run the CARLA simulator binaries on
|
||||
Linux.
|
||||
|
||||
[Get the latest release here.][releaselink]
|
||||
|
||||
For building CARLA from source, please check out the
|
||||
[CARLA Documentation][docslink].
|
||||
|
||||
CARLA can be run directly by running the "CarlaUE4.sh" script provided in the
|
||||
release package.
|
||||
|
||||
There are currently two scenarios available, the desired scenario can be chosen
|
||||
from the command-line
|
||||
|
||||
$ ./CarlaUE4.sh /Game/Maps/Town01
|
||||
|
||||
or
|
||||
|
||||
$ ./CarlaUE4.sh /Game/Maps/Town02
|
||||
|
||||
To run CARLA as server, see ["Running the server"](#running-the-server) below.
|
||||
|
||||
[releaselink]: https://github.com/carla-simulator/carla/releases/latest
|
||||
[docslink]: http://carla.readthedocs.io
|
||||
|
||||
Running the Python client
|
||||
-------------------------
|
||||
|
||||
The "carla" Python module provides a basic API for communicating with the CARLA
|
||||
server. In the "PythonClient" folder we provide a couple of examples on how to
|
||||
use this API. We recommend Python 3, but they are also compatible with Python 2.
|
||||
|
||||
Install the dependencies with
|
||||
|
||||
$ pip install -r PythonClient/requirements.txt
|
||||
|
||||
The script "PythonClient/client_example.py" provides basic functionality for
|
||||
controlling the vehicle and saving images to disk. Run the help command to see
|
||||
options available
|
||||
|
||||
$ ./client_example.py --help
|
||||
|
||||
The script "PythonClient/manual_control.py" launches a PyGame window with
|
||||
several views and allows to control the vehicle using the WASD keys.
|
||||
|
||||
$ ./manual_control.py --help
|
||||
|
||||
Running the server
|
||||
------------------
|
||||
|
||||
The server can be started by running the "CarlaUE4.sh" script with some extra
|
||||
arguments. When run in server mode (controlled by the CARLA client), it is
|
||||
highly recommended to run it at fixed time-step
|
||||
|
||||
$ ./CarlaUE4.sh /Game/Maps/Town01 -carla-server -benchmark -fps=15
|
||||
|
||||
The arguments `-benchmark -fps=15` make the engine run at a fixed time-step of
|
||||
1/15 seconds. In this mode, game-time decouples from real-time and the
|
||||
simulation runs as fast as possible.
|
||||
|
||||
To run the game on the second town, just change the command to select the
|
||||
"Town02" map
|
||||
|
||||
$ ./CarlaUE4.sh /Game/Maps/Town02 -carla-server -benchmark -fps=15
|
||||
|
||||
When run as server, it is sometimes useful to run the game in a smaller window,
|
||||
this can be chosen with
|
||||
|
||||
$ ./CarlaUE4.sh /Game/Maps/Town01 -carla-server -benchmark -fps=15 -windowed -ResX=800 -ResY=600
|
||||
|
||||
#### CARLA specific command-line options
|
||||
|
||||
* `-carla-server` Launches CARLA as server, the execution hangs until a client connects.
|
||||
* `-carla-settings="Path/To/CarlaSettings.ini"` Load settings from the given INI file. See Example.CarlaSettings.ini.
|
||||
* `-carla-world-port=N` Listen for client connections at port N, agent ports are set to N+1 and N+2 respectively. Activates server.
|
||||
* `-carla-no-hud` Do not display the HUD by default.
|
||||
* `-carla-no-networking` Disable networking. Overrides `-carla-server` if present.
|
||||
|
||||
#### Running CARLA off-screen
|
||||
|
||||
CARLA can be run in a display-less computer without any further configuration.
|
||||
However, CARLA will render to the default GPU. This can be inconvenient on
|
||||
multi-GPU setups.
|
||||
|
||||
Selecting the GPU can be achieved with VirtualGL and TurboVNC.
|
||||
|
||||
1. Install X-server.
|
||||
2. Create a xorg.conf with `nvidia-xconfig -a --use-display-device=none` (first back up existing one if necessary).
|
||||
3. Kill all running Xorg instances (`sudo service lightdm stop && sudo killall -9 Xorg`).
|
||||
4. Check that X works `sudo Xorg :0` (it might be necessary to update nvidia drivers), then kill it.
|
||||
5. Install [VirtualGL](https://sourceforge.net/projects/virtualgl/files/2.5.2/) and [TurboVNC](https://sourceforge.net/projects/turbovnc/files/2.1.1/) from deb packages (`sudo dpkg -i XXX.deb`).
|
||||
6. Start CARLA.
|
||||
|
||||
#### In-game controls
|
||||
|
||||
The following key bindings are available during game play at the server window.
|
||||
Note that vehicle controls are only available when networking is disabled.
|
||||
|
||||
W : throttle
|
||||
S : brake
|
||||
AD : steer
|
||||
Q : toggle reverse
|
||||
Space : hand-brake
|
||||
|
||||
P : toggle autopilot
|
||||
|
||||
Arrow keys : move camera
|
||||
PgUp PgDn : zoom in and out
|
||||
mouse wheel : zoom in and out
|
||||
Tab : toggle on-board camera
|
||||
|
||||
R : restart level
|
||||
G : toggle HUD
|
||||
C : change weather/lighting
|
||||
|
||||
Enter : jump
|
||||
F : use the force
|
||||
|
||||
F11 : toggle fullscreen
|
||||
Alt+F4 : quit
|
||||
|
||||
Settings
|
||||
--------
|
||||
|
||||
CARLA reads its settings from a "CarlaSettings.ini" file. This file controls
|
||||
most aspects of the simulator, and it is loaded every time a new episode is
|
||||
started (every time the level is loaded).
|
||||
|
||||
Settings are loaded following the next hierarchy, with values later in the
|
||||
hierarchy overriding earlier values.
|
||||
|
||||
1. `{ProjectFolder}/Config/CarlaSettings.ini`.
|
||||
2. File provided by command-line argument `-carla-settings="Path/To/CarlaSettings.ini"`.
|
||||
3. Other command-line arguments as `-carla-server` or `-world-port`.
|
||||
4. Settings file sent by the client on every new episode.
|
||||
|
||||
Take a look at the Example.CarlaSettings.ini file for further details.
|
||||
|
||||
#### Weather presets
|
||||
|
||||
The weather and lighting conditions can be chosen from a set of predefined
|
||||
settings. To select one, set the `WeatherId` key in CarlaSettings.ini. The
|
||||
following presets are available
|
||||
|
||||
* 0 - Default
|
||||
* 1 - ClearNoon
|
||||
* 2 - CloudyNoon
|
||||
* 3 - WetNoon
|
||||
* 4 - WetCloudyNoon
|
||||
* 5 - MidRainyNoon
|
||||
* 6 - HardRainNoon
|
||||
* 7 - SoftRainNoon
|
||||
* 8 - ClearSunset
|
||||
* 9 - CloudySunset
|
||||
* 10 - WetSunset
|
||||
* 11 - WetCloudySunset
|
||||
* 12 - MidRainSunset
|
||||
* 13 - HardRainSunset
|
||||
* 14 - SoftRainSunset
|
||||
|
||||
E.g., to choose the weather to be hard-rain at noon, add to CarlaSettings.ini
|
||||
|
||||
```
|
||||
[CARLA/LevelSettings]
|
||||
WeatherId=6
|
||||
```
|
||||
|
|
@ -1,29 +1,35 @@
|
|||
CARLA Documentation
|
||||
===================
|
||||
<h1>CARLA Documentation</h1>
|
||||
|
||||
#### Using CARLA
|
||||
<h3>Quick start</h3>
|
||||
|
||||
* [How to run CARLA server and client](how_to_run.md)
|
||||
* [CARLA settings](carla_settings.md)
|
||||
* [Getting started](getting_started.md)
|
||||
* [Running the simulator](running_simulator_standalone.md)
|
||||
* [Connecting a Python client](connecting_the_client.md)
|
||||
* [Configuring the simulation](configuring_the_simulation.md)
|
||||
* [Measurements](measurements.md)
|
||||
* [Cameras and sensors](cameras_and_sensors.md)
|
||||
* [CARLA without Display and Selecting GPUs](carla_headless.md)
|
||||
* [Benchmark](benchmark.md)
|
||||
* [F.A.Q.](faq.md)
|
||||
|
||||
#### Building from source
|
||||
<h3>Building from source</h3>
|
||||
|
||||
* [How to build on Linux](how_to_build_on_linux.md)
|
||||
* [How to build on Windows](how_to_build_on_windows.md)
|
||||
* [How to add Automotive Materials](how_to_add_automotive_materials.md)
|
||||
|
||||
#### Contributing
|
||||
<h3>Advanced topics</h3>
|
||||
|
||||
* [CARLA settings](carla_settings.md)
|
||||
* [Simulator keyboard input](simulator_keyboard_input.md)
|
||||
* [Benchmark](benchmark.md)
|
||||
* [Running without display and selecting GPUs](carla_headless.md)
|
||||
* [How to link Epic's Automotive Materials](epic_automotive_materials.md)
|
||||
|
||||
<h3>Contributing</h3>
|
||||
|
||||
* [Contribution guidelines](CONTRIBUTING.md)
|
||||
* [Coding standard](coding_standard.md)
|
||||
* [Code of conduct](CODE_OF_CONDUCT.md)
|
||||
|
||||
#### Development
|
||||
<h3>Development</h3>
|
||||
|
||||
* [Map customization](map_customization.md)
|
||||
* [How to add assets](how_to_add_assets.md)
|
||||
|
|
|
|||
|
|
@ -1,6 +1,9 @@
|
|||
# Map customization
|
||||
<h1>Map customization</h1>
|
||||
|
||||
## Creating a new map
|
||||
> _This document is a work in progress and might be incomplete._
|
||||
|
||||
Creating a new map
|
||||
------------------
|
||||
|
||||
!!! Bug
|
||||
Creating a map from scratch with the Carla tools causes a crash with
|
||||
|
|
@ -8,11 +11,11 @@
|
|||
this guide will suggest duplicating an existing level instead of creating
|
||||
one from scratch.
|
||||
|
||||
### Requirements
|
||||
<h4>Requirements</h4>
|
||||
|
||||
- Checkout and build Carla from source on [Linux](how_to_build_on_linux.md) or [Windows](how_to_build_on_windows.md)
|
||||
|
||||
### Creating
|
||||
<h4>Creating</h4>
|
||||
|
||||
- Duplicate an existing map
|
||||
- Remove everything you don't need from the map
|
||||
|
|
@ -34,11 +37,8 @@
|
|||
Every street at a crossing should have its own turn at green without the other streets having green.
|
||||
- Then you can populate the world with landscape and buildings.
|
||||
|
||||
## Blueprint Assets
|
||||
|
||||
This are the specific blueprint assets created to help building the environment.
|
||||
|
||||
## MultipleFloorBuilding:
|
||||
MultipleFloorBuilding
|
||||
---------------------
|
||||
|
||||
The purpose of this blueprint is to make repeating and varying tall buildings a
|
||||
bit easier. Provided a Base, a MiddleFloor and a roof; this blueprint repeats
|
||||
|
|
@ -60,12 +60,13 @@ This blueprint is controlled by this 6 specific Parameters:
|
|||
All of This parameters can be modified once this blueprint is placed in the
|
||||
world.
|
||||
|
||||
## SplinemeshRepeater:
|
||||
SplinemeshRepeater
|
||||
------------------
|
||||
|
||||
!!! Bug
|
||||
See [#35 SplineMeshRepeater loses its collider mesh](https://github.com/carla-simulator/carla/issues/35)
|
||||
|
||||
### Standard use:
|
||||
<h4>Standard use:</h4>
|
||||
|
||||
SplineMeshRepeater "Content/Blueprints/SplineMeshRepeater" is a tool included in
|
||||
the Carla Project to help building urban environments; It repeats and aligns a
|
||||
|
|
@ -91,7 +92,7 @@ the lower point possible with the rest of the mesh pointing positive (Preferably
|
|||
by the X axis)
|
||||
|
||||
|
||||
### Specific Walls (Dynamic material)
|
||||
<h4>Specific Walls (Dynamic material)</h4>
|
||||
|
||||
In the project folder "Content/Static/Walls" are included some specific assets
|
||||
to be used with this SplineMeshRepeater with a series of special
|
||||
|
|
@ -118,7 +119,8 @@ The rest of the parameters are the mask the textures and the color corrections
|
|||
that won't be modified in this instance but in the blueprint that will be
|
||||
launched into the world.
|
||||
|
||||
## Weather
|
||||
Weather
|
||||
-------
|
||||
|
||||
This is the actor in charge of modifying all the lighting, environmental actors
|
||||
an anything that affects the impression of the climate. It runs automatically
|
||||
|
|
|
|||
|
|
@ -1,5 +1,4 @@
|
|||
Measurements
|
||||
============
|
||||
<h1>Measurements</h1>
|
||||
|
||||
!!! important
|
||||
Since version 0.8.0 the measurements received by the client are in SI
|
||||
|
|
@ -40,7 +39,7 @@ intersection_otherlane | float | | Percentage of the car invading
|
|||
intersection_offroad | float | | Percentage of the car off-road.
|
||||
autopilot_control | Control | | Vehicle's autopilot control that would apply this frame.
|
||||
|
||||
###### Transform
|
||||
<h4>Transform</h4>
|
||||
|
||||
The transform contains the location and rotation of the player.
|
||||
|
||||
|
|
@ -50,7 +49,7 @@ location | Vector3D | m | World location.
|
|||
orientation *[deprecated]* | Vector3D | | Orientation in Cartesian coordinates.
|
||||
rotation | Rotation3D | degrees | Pitch, roll, and yaw.
|
||||
|
||||
###### Collision
|
||||
<h4>Collision</h4>
|
||||
|
||||
Collision variables keep an accumulation of all the collisions occurred during
|
||||
this episode. Every collision contributes proportionally to the intensity of the
|
||||
|
|
@ -65,7 +64,7 @@ objects are classified based on their tag (same as for semantic segmentation).
|
|||
Collisions are not annotated if the vehicle is not moving (<1km/h) to avoid
|
||||
annotating undesired collision due to mistakes in the AI of non-player agents.
|
||||
|
||||
###### Lane/off-road intersection
|
||||
<h4>Lane/off-road intersection</h4>
|
||||
|
||||
The lane intersection measures the percentage of the vehicle invading the
|
||||
opposite lane. The off-road intersection measures the percentage of the vehicle
|
||||
|
|
@ -76,7 +75,7 @@ rectangle) against the map image of the city. These images are generated in the
|
|||
editor and serialized for runtime use. You can find them too in the release
|
||||
package under the folder "RoadMaps".
|
||||
|
||||
###### Autopilot control
|
||||
<h4>Autopilot control</h4>
|
||||
|
||||
The `autopilot_control` measurement contains the control values that the in-game
|
||||
autopilot system would apply as if it were controlling the vehicle.
|
||||
|
|
@ -135,7 +134,7 @@ belongs to one of the following classes
|
|||
(*) At this point every pedestrian is assumed to have the same bounding-box
|
||||
size.
|
||||
|
||||
###### Transform and bounding box
|
||||
<h4>Transform and bounding box</h4>
|
||||
|
||||
The transform defines the location and orientation of the agent. The bounding
|
||||
box is centered at the agent's location. The box extent gives the radii
|
||||
|
|
|
|||
17
mkdocs.yml
17
mkdocs.yml
|
|
@ -5,18 +5,23 @@ theme: readthedocs
|
|||
|
||||
pages:
|
||||
- Home: 'index.md'
|
||||
- Using CARLA:
|
||||
- 'How to run CARLA server and client': 'how_to_run.md'
|
||||
- 'CARLA Settings': 'carla_settings.md'
|
||||
- Quick start:
|
||||
- 'Getting started': 'getting_started.md'
|
||||
- 'Running the simulator': 'running_simulator_standalone.md'
|
||||
- 'Connecting a Python client': 'connecting_the_client.md'
|
||||
- 'Configuring the simulation': 'configuring_the_simulation.md'
|
||||
- 'Measurements': 'measurements.md'
|
||||
- 'Cameras and sensors': 'cameras_and_sensors.md'
|
||||
- 'CARLA without Display and Selecting GPUs': 'carla_headless.md'
|
||||
- 'Benchmark': 'benchmark.md'
|
||||
- 'F.A.Q.': 'faq.md'
|
||||
- Building from source:
|
||||
- 'How to build on Linux': 'how_to_build_on_linux.md'
|
||||
- 'How to build on Windows': 'how_to_build_on_windows.md'
|
||||
- 'How to add Automotive Materials': 'how_to_add_automotive_materials.md'
|
||||
- Advanced topics:
|
||||
- 'CARLA Settings': 'carla_settings.md'
|
||||
- 'Simulator keyboard input': 'simulator_keyboard_input.md'
|
||||
- 'Benchmark': 'benchmark.md'
|
||||
- 'Running without display and selecting GPUs': 'carla_headless.md'
|
||||
- "How to link Epic's Automotive Materials": 'epic_automotive_materials.md'
|
||||
- Contributing:
|
||||
- 'Contribution guidelines': 'CONTRIBUTING.md'
|
||||
- 'Coding standard': 'coding_standard.md'
|
||||
|
|
|
|||
Loading…
Reference in New Issue