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Clean up documentation format

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nsubiron 2018-03-21 18:16:56 +01:00
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66
Docs/benchmark.md
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CARLA Benchmark <h1>CARLA Benchmark</h1>
===============
Running the Benchmark Running the Benchmark
--------------------- ---------------------
@ -9,7 +8,6 @@ tests on a certain agent. We already provide the same benchmark used in the CoRL
2017 paper. By running this benchmark you can compare the results of your agent 2017 paper. By running this benchmark you can compare the results of your agent
to the results obtained by the agents show in the paper. to the results obtained by the agents show in the paper.
Besides the requirements of the CARLA client, the benchmark package also needs Besides the requirements of the CARLA client, the benchmark package also needs
the future package the future package
@ -30,37 +28,51 @@ Run the help command to see options available
$ ./run_benchmark.py --help $ ./run_benchmark.py --help
Benchmarking your Agent Benchmarking your Agent
--------------------- -----------------------
The benchmark works by calling three lines of code The benchmark works by calling three lines of code
corl = CoRL2017(city_name=args.city_name, name_to_save=args.log_name) ```python
agent = Manual(args.city_name) corl = CoRL2017(city_name=args.city_name, name_to_save=args.log_name)
results = corl.benchmark_agent(agent, client) agent = Manual(args.city_name)
results = corl.benchmark_agent(agent, client)
```
This is excerpt is executed in the [run_benchmark.py](https://github.com/carla-simulator/carla/blob/master/PythonClient/run_benchmark.py) example. This is excerpt is executed in the
[run_benchmark.py](https://github.com/carla-simulator/carla/blob/master/PythonClient/run_benchmark.py)
example.
First a *benchmark* object is defined, for this case, a CoRL2017 benchmark. This is object is used to benchmark a certain Agent. <br> First a *benchmark* object is defined, for this case, a CoRL2017 benchmark. This
On the second line of our sample code, there is an object of a Manual class instanced. This class inherited an Agent base class is object is used to benchmark a certain Agent.
that is used by the *benchmark* object.
To be benchmarked, an Agent subclass must redefine the *run_step* function as it is done in the following excerpt:
def run_step(self, measurements, sensor_data, target): On the second line of our sample code, there is an object of a Manual class
""" instanced. This class inherited an Agent base class that is used by the
Function to run a control step in the CARLA vehicle. *benchmark* object. To be benchmarked, an Agent subclass must redefine the
:param measurements: object of the Measurements type *run_step* function as it is done in the following excerpt:
:param sensor_data: images list object
:param target: target position of Transform type
:return: an object of the control type.
"""
control = VehicleControl()
control.throttle = 0.9
return control
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.
The [measurements](measurements.md), [target](measurements.md), [sensor_data](cameras_and_sensors.md) and [control](measurements.md) types are described on the documentation. ```python
def run_step(self, measurements, sensor_data, target):
"""
Function to run a control step in the CARLA vehicle.
:param measurements: object of the Measurements type
:param sensor_data: images list object
:param target: target position of Transform type
:return: an object of the control type.
"""
control = VehicleControl()
control.throttle = 0.9
return control
```
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.
The [measurements](measurements.md), [target](measurements.md),
[sensor_data](cameras_and_sensors.md) and [control](measurements.md) types are
described on the documentation.
Creating your Benchmark Creating your Benchmark
--------------------- -----------------------
Tutorial to be added
> TODO

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Docs/cameras_and_sensors.md
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Cameras and sensors <h1>Cameras and sensors</h1>
===================
!!! important !!! important
Since version 0.8.0 the positions of the sensors are specified in meters Since version 0.8.0 the positions of the sensors are specified in meters
@ -59,7 +58,7 @@ in the Camera. We use the following post process effects:
[postprolink]: https://docs.unrealengine.com/latest/INT/Engine/Rendering/PostProcessEffects/ [postprolink]: https://docs.unrealengine.com/latest/INT/Engine/Rendering/PostProcessEffects/
###### Python <h6>Python</h6>
```py ```py
camera = carla.sensor.Camera('MyCamera', PostProcessing='SceneFinal') camera = carla.sensor.Camera('MyCamera', PostProcessing='SceneFinal')
@ -71,7 +70,7 @@ camera.set_rotation(pitch=0, yaw=0, roll=0)
carla_settings.add_sensor(camera) carla_settings.add_sensor(camera)
``` ```
###### CarlaSettings.ini <h6>CarlaSettings.ini</h6>
```ini ```ini
[CARLA/Sensor/MyCamera] [CARLA/Sensor/MyCamera]
@ -120,7 +119,7 @@ The generated "depth map" images are usually converted to a logarithmic
grayscale for display. A point cloud can also be extracted from depth images as grayscale for display. A point cloud can also be extracted from depth images as
seen in "PythonClient/point_cloud_example.py". seen in "PythonClient/point_cloud_example.py".
###### Python <h6>Python</h6>
```py ```py
camera = carla.sensor.Camera('MyCamera', PostProcessing='Depth') camera = carla.sensor.Camera('MyCamera', PostProcessing='Depth')
@ -132,7 +131,7 @@ camera.set_rotation(pitch=0, yaw=0, roll=0)
carla_settings.add_sensor(camera) carla_settings.add_sensor(camera)
``` ```
###### CarlaSettings.ini <h6>CarlaSettings.ini</h6>
```ini ```ini
[CARLA/Sensor/MyCamera] [CARLA/Sensor/MyCamera]
@ -190,7 +189,7 @@ _"Unreal/CarlaUE4/Content/Static/Pedestrians"_ folder it's tagged as pedestrian.
and its corresponding filepath check inside `GetLabelByFolderName()` and its corresponding filepath check inside `GetLabelByFolderName()`
function in "Tagger.cpp". function in "Tagger.cpp".
###### Python <h6>Python</h6>
```py ```py
camera = carla.sensor.Camera('MyCamera', PostProcessing='SemanticSegmentation') camera = carla.sensor.Camera('MyCamera', PostProcessing='SemanticSegmentation')
@ -202,7 +201,7 @@ camera.set_rotation(pitch=0, yaw=0, roll=0)
carla_settings.add_sensor(camera) carla_settings.add_sensor(camera)
``` ```
###### CarlaSettings.ini <h6>CarlaSettings.ini</h6>
```ini ```ini
[CARLA/Sensor/MyCamera] [CARLA/Sensor/MyCamera]
@ -243,7 +242,7 @@ channels | uint32 | Number of channels (lasers) of the lid
point_count_by_channel | uint32 | Number of points per channel captured this frame. point_count_by_channel | uint32 | Number of points per channel captured this frame.
point_cloud | PointCloud | Captured points this frame. point_cloud | PointCloud | Captured points this frame.
###### Python <h6>Python</h6>
```py ```py
lidar = carla.sensor.Lidar('MyLidar') lidar = carla.sensor.Lidar('MyLidar')
@ -260,7 +259,7 @@ lidar.set_rotation(pitch=0, yaw=0, roll=0)
carla_settings.add_sensor(lidar) carla_settings.add_sensor(lidar)
``` ```
###### CarlaSettings.ini <h6>CarlaSettings.ini</h6>
```ini ```ini
[CARLA/Sensor/MyLidar] [CARLA/Sensor/MyLidar]

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Running CARLA without Display and Selecting GPUs <h1>Running CARLA without Display and Selecting GPUs</h1>
------
!!! note
See [#225](https://github.com/carla-simulator/carla/issues/225) for an
alternative method.
This tutorial is designed for: This tutorial is designed for
- Remote server users that have several nvidia graphical cards and want to effectively use CARLA on all GPUs.
- Desktop users who want to use the GPU that is not plugged on the screen for rendering CARLA.
* Remote server users that have several nvidia graphical cards and want to
effectively use CARLA on all GPUs.
* Desktop users who want to use the GPU that is not plugged on the screen for
rendering CARLA.
On this tutorial you will learn. On this tutorial you will learn
- How to configure your server to have nvidia working on rendering without a display attached.
- How to use VNC + VGL to simulate a display connected to any GPU you have in your machine. * How to configure your server to have nvidia working on rendering without a
- And Finally, how to run CARLA in this environment display attached.
* How to use VNC + VGL to simulate a display connected to any GPU you have in
your machine.
* And Finally, how to run CARLA in this environment
This tutorial was tested in Ubuntu 16.04 and using NVIDIA 384.11 drivers. This tutorial was tested in Ubuntu 16.04 and using NVIDIA 384.11 drivers.
## Preliminaries
A few things need to be working in your server before. ## Preliminaries
Latest NVIDIA Drivers, OpenGL, VirtualGL(VGL), TurboVNC 2.11, ,
#### NVIDIA Drivers A few things need to be working in your server before. Latest NVIDIA Drivers,
Download and install NVIDIA-drivers with typical tutorials OpenGL, VirtualGL(VGL), TurboVNC 2.11.
http://www.nvidia.es/Download/index.aspx
#### OpenGL <h4>NVIDIA Drivers</h4>
Openg GL is necessary for Virtual GL. Normally OpenGL
can be installed through apt. Download and install [NVIDIA-drivers][nvidialink] with typical tutorials.
[nvidialink]: http://www.nvidia.es/Download/index.aspx
<h4>OpenGL</h4>
Openg GL is necessary for Virtual GL. Normally OpenGL can be installed through
apt.
sudo apt-get install freeglut3-dev mesa-utils sudo apt-get install freeglut3-dev mesa-utils
#### VGL
Follow this tutorial and install vgl: <br> <h4>VGL</h4>
Follow this tutorial and install vgl:
[Installing VGL](https://virtualgl.org/vgldoc/2_2_1/#hd004001) [Installing VGL](https://virtualgl.org/vgldoc/2_2_1/#hd004001)
#### TurboVNC <h4>TurboVNC</h4>
Follow the tutorial below to install TurboVNC 2.11:<br>
Follow the tutorial below to install TurboVNC 2.11:
[Installing TurboVNC](https://cdn.rawgit.com/TurboVNC/turbovnc/2.1.1/doc/index.html#hd005001) [Installing TurboVNC](https://cdn.rawgit.com/TurboVNC/turbovnc/2.1.1/doc/index.html#hd005001)
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. WARNING: Take care on which VNC you install as it may not be compatible with
#### Extra Packages Unreal. The one above was the only one that worked for me.
<h4>Extra Packages</h4>
These extra packages were necessary to make unreal to work. These extra packages were necessary to make unreal to work.
sudo apt install x11-xserver-utils libxrandr-dev sudo apt install x11-xserver-utils libxrandr-dev
<h4>Configure your X</h4>
You must generate a X compatible with your nvdia and compatible to run without
display. For that, the following command worked:
#### Configure your X
You must generate a X compatible with your nvdia and compatible to run without display. For that, the following command worked:
sudo nvidia-xconfig -a --use-display-device=None --virtual=1280x1024 sudo nvidia-xconfig -a --use-display-device=None --virtual=1280x1024
## Emulating The Virtual Display ## Emulating The Virtual Display
Run your own Xorg. Here I use number 7, but it could be labeled with any free
Run your own Xorg. Here I use number 7, but it could be labeled with any free number. number
sudo nohup Xorg :7 & sudo nohup Xorg :7 &
Run an auxiliary remote VNC-Xserver. This will create a Run an auxiliary remote VNC-Xserver. This will create a virtual display "8".
virtual display "8".
/opt/TurboVNC/bin/vncserver :8 /opt/TurboVNC/bin/vncserver :8
If everything is working fine the following command If everything is working fine the following command should run smoothly.
should run smoothly.
DISPLAY=:8 vglrun -d :7.0 glxinfo DISPLAY=:8 vglrun -d :7.0 glxinfo
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:
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:
DISPLAY=:8 vglrun -d :7.1 glxinfo DISPLAY=:8 vglrun -d :7.1 glxinfo
#### Extra <h4>Extra</h4>
If you want disable the need of sudo when creating the 'nohup Xorg' If you want disable the need of sudo when creating the 'nohup Xorg' go to the
go to the '/etc/X11/Xwrapper.config' file and change 'allowed_users=console' to 'allowed_users=anybody' '/etc/X11/Xwrapper.config' file and change 'allowed_users=console' to
'allowed_users=anybody'
It may be needed to stop all Xorg servers before running nohup Xorg. It may be needed to stop all Xorg servers before running nohup Xorg. The command
The command for that could change depending on your system. Generally for Ubuntu 16.04 for that could change depending on your system. Generally for Ubuntu 16.04 you
you should use: should use:
sudo service lightdm stop sudo service lightdm stop
## Running CARLA
## Running CARLA Now, finally, to run CARLA on a certain gpu_number placed in a certain
$CARLA_PATH, run.
Now, finally, to run CARLA on a certain gpu_number placed in a certain $CARLA_PATH, run. DISPLAY=:8 vglrun -d :7.<gpu_number> $CARLA_PATH/CarlaUE4/Binaries/Linux/CarlaUE4
DISPLAY=:8 vglrun -d :7.<gpu_number> $CARLA_PATH/CarlaUE4/Binaries/Linux/CarlaUE4

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CARLA Server <h1>CARLA Server</h1>
============
Build Build
----- -----
@ -28,7 +27,7 @@ Three consecutive ports are used,
each of these ports has an associated thread that sends/reads data each of these ports has an associated thread that sends/reads data
asynchronuosly. asynchronuosly.
###### World thread <h4>World thread</h4>
Server reads one, writes one. Always protobuf messages. Server reads one, writes one. Always protobuf messages.
@ -38,7 +37,7 @@ Server reads one, writes one. Always protobuf messages.
[server] EpisodeReady [server] EpisodeReady
...repeat... ...repeat...
###### Measurements thread <h4>Measurements thread</h4>
Server only writes, first measurements message then the bulk of raw images. Server only writes, first measurements message then the bulk of raw images.
@ -63,7 +62,7 @@ The measurements message is explained in detail [here](measurements.md).
[fcolorlink]: https://docs.unrealengine.com/latest/INT/API/Runtime/Core/Math/FColor/index.html "FColor API Documentation" [fcolorlink]: https://docs.unrealengine.com/latest/INT/API/Runtime/Core/Math/FColor/index.html "FColor API Documentation"
###### Control thread <h4>Control thread</h4>
Server only reads, client sends Control message every frame. Server only reads, client sends Control message every frame.

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Docs/carla_settings.md
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@ -1,5 +1,9 @@
CARLA Settings <h1>CARLA Settings</h1>
==============
> _This document is a work in progress and might be incomplete._
CarlaSettings.ini
-----------------
CARLA reads its settings from a "CarlaSettings.ini" file. This file controls CARLA reads its settings from a "CarlaSettings.ini" file. This file controls
most aspects of the simulation, and it is loaded every time a new episode is most aspects of the simulation, and it is loaded every time a new episode is
@ -16,3 +20,42 @@ hierarchy overriding earlier values.
Take a look at the [CARLA Settings example][settingslink]. Take a look at the [CARLA Settings example][settingslink].
[settingslink]: https://github.com/carla-simulator/carla/blob/master/Docs/Example.CarlaSettings.ini [settingslink]: https://github.com/carla-simulator/carla/blob/master/Docs/Example.CarlaSettings.ini
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
```
Simulator 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.

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Coding standard <h1>Coding standard</h1>
===============
> _This document is a work in progress and might be incomplete._ > _This document is a work in progress and might be incomplete._
@ -8,18 +7,30 @@ General
* Use spaces, not tabs. * Use spaces, not tabs.
* Avoid adding trailing whitespace as it creates noise in the diffs. * Avoid adding trailing whitespace as it creates noise in the diffs.
* Comments should not exceed 80 columns, code may exceed this limit a bit in rare occasions if it results in clearer code. * Comments should not exceed 80 columns, code may exceed this limit a bit in
rare occasions if it results in clearer code.
Python Python
------ ------
* All code must be compatible with Python 2.7, 3.5, and 3.6. * All code must be compatible with Python 2.7, 3.5, and 3.6.
* [Pylint](https://www.pylint.org/) should not give any error or warning (few exceptions apply with external classes like `numpy`, see our `.pylintrc`). * [Pylint][pylintlink] should not give any error or warning (few exceptions
* Python code follows [PEP8 style guide](https://www.python.org/dev/peps/pep-0008/) (use `autopep8` whenever possible). apply with external classes like `numpy`, see our `.pylintrc`).
* Python code follows [PEP8 style guide][pep8link] (use `autopep8` whenever
possible).
[pylintlink]: https://www.pylint.org/
[pep8link]: https://www.python.org/dev/peps/pep-0008/
C++ C++
--- ---
* Compilation should not give any error or warning (`clang++ -Wall -Wextra -std=C++14`). * Compilation should not give any error or warning
* 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. (`clang++ -Wall -Wextra -std=C++14`).
* CarlaServer uses [Google's style guide](https://google.github.io/styleguide/cppguide.html). * 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

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Docs/connecting_the_client.md
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@ -72,8 +72,9 @@ the Python script.
!!! important !!! important
Before you start running your own experiments, it is important to know the 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) details for running the simulator at **fixed time-step** for achieving
for achieving maximum speed and repeatability. 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> <h4>Saving images to disk</h4>

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Docs/how_to_add_automotive_materials.md → Docs/epic_automotive_materials.md
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@ -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 !!! important
look. Due to license restrictions we are not allowed to redistribute this Since version 0.8.0 CARLA does not use Epic's _Automotive Materials_ by
package. In this document we explain how to download and link these materials to default. However, you can still enable them if you compile from source.
our vehicles.
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 Download from Marketplace
------------------------- -------------------------

2
Docs/faq.md
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@ -1,3 +1,5 @@
<h1>CARLA F.A.Q.</h1>
<!-- ======================================================================= --> <!-- ======================================================================= -->
<details> <details>
<summary><h5 style="display:inline"> <summary><h5 style="display:inline">

5
Docs/how_to_add_assets.md
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@ -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 Adding a vehicle
---------------- ----------------

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@ -1,13 +1,11 @@
How to build CARLA on Linux <h1>How to build CARLA on Linux</h1>
===========================
!!! note !!! note
CARLA requires Ubuntu 16.04 or later. CARLA requires Ubuntu 16.04 or later.
Install the build tools and dependencies 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 apt-get install build-essential clang-3.9 git cmake ninja-build python3-requests python-dev tzdata sed curl wget unzip autoconf libtool
$ sudo pip3 install protobuf
To avoid compatibility issues between Unreal Engine and the CARLA dependencies, To avoid compatibility issues between Unreal Engine and the CARLA dependencies,
the best configuration is to compile everything with the same compiler version 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. 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 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 files, rebuilds whole CARLA, and launches the editor. Use it too for making a
clean rebuild of CARLA 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 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. 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 Later, if you need to compile some changes without doing a full rebuild, you can
use the Makefile generated in the Unreal project folder use the Makefile generated in the Unreal project folder

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How to build CARLA on Windows <h1>How to build CARLA on Windows</h1>
=============================
!!! important !!! important
We are working on an automated build system for Windows, you can follow We are working on an automated build system for Windows, you can follow

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Docs/how_to_run.md
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@ -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
```

28
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@ -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) * [Getting started](getting_started.md)
* [CARLA settings](carla_settings.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) * [Measurements](measurements.md)
* [Cameras and sensors](cameras_and_sensors.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) * [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 Linux](how_to_build_on_linux.md)
* [How to build on Windows](how_to_build_on_windows.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) * [Contribution guidelines](CONTRIBUTING.md)
* [Coding standard](coding_standard.md) * [Coding standard](coding_standard.md)
* [Code of conduct](CODE_OF_CONDUCT.md) * [Code of conduct](CODE_OF_CONDUCT.md)
#### Development <h3>Development</h3>
* [Map customization](map_customization.md) * [Map customization](map_customization.md)
* [How to add assets](how_to_add_assets.md) * [How to add assets](how_to_add_assets.md)

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@ -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 !!! Bug
Creating a map from scratch with the Carla tools causes a crash with 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 this guide will suggest duplicating an existing level instead of creating
one from scratch. 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) - 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 - Duplicate an existing map
- Remove everything you don't need from the 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. 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. - Then you can populate the world with landscape and buildings.
## Blueprint Assets MultipleFloorBuilding
---------------------
This are the specific blueprint assets created to help building the environment.
## MultipleFloorBuilding:
The purpose of this blueprint is to make repeating and varying tall buildings a 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 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 All of This parameters can be modified once this blueprint is placed in the
world. world.
## SplinemeshRepeater: SplinemeshRepeater
------------------
!!! Bug !!! Bug
See [#35 SplineMeshRepeater loses its collider mesh](https://github.com/carla-simulator/carla/issues/35) 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 SplineMeshRepeater "Content/Blueprints/SplineMeshRepeater" is a tool included in
the Carla Project to help building urban environments; It repeats and aligns a 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) 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 In the project folder "Content/Static/Walls" are included some specific assets
to be used with this SplineMeshRepeater with a series of special 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 that won't be modified in this instance but in the blueprint that will be
launched into the world. launched into the world.
## Weather Weather
-------
This is the actor in charge of modifying all the lighting, environmental actors 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 an anything that affects the impression of the climate. It runs automatically

13
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@ -1,5 +1,4 @@
Measurements <h1>Measurements</h1>
============
!!! important !!! important
Since version 0.8.0 the measurements received by the client are in SI 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. intersection_offroad | float | | Percentage of the car off-road.
autopilot_control | Control | | Vehicle's autopilot control that would apply this frame. 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. 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. orientation *[deprecated]* | Vector3D | | Orientation in Cartesian coordinates.
rotation | Rotation3D | degrees | Pitch, roll, and yaw. rotation | Rotation3D | degrees | Pitch, roll, and yaw.
###### Collision <h4>Collision</h4>
Collision variables keep an accumulation of all the collisions occurred during Collision variables keep an accumulation of all the collisions occurred during
this episode. Every collision contributes proportionally to the intensity of the 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 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. 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 The lane intersection measures the percentage of the vehicle invading the
opposite lane. The off-road intersection measures the percentage of the vehicle 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 editor and serialized for runtime use. You can find them too in the release
package under the folder "RoadMaps". package under the folder "RoadMaps".
###### Autopilot control <h4>Autopilot control</h4>
The `autopilot_control` measurement contains the control values that the in-game The `autopilot_control` measurement contains the control values that the in-game
autopilot system would apply as if it were controlling the vehicle. 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 (*) At this point every pedestrian is assumed to have the same bounding-box
size. size.
###### Transform and bounding box <h4>Transform and bounding box</h4>
The transform defines the location and orientation of the agent. The bounding 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 box is centered at the agent's location. The box extent gives the radii

17
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@ -5,18 +5,23 @@ theme: readthedocs
pages: pages:
- Home: 'index.md' - Home: 'index.md'
- Using CARLA: - Quick start:
- 'How to run CARLA server and client': 'how_to_run.md' - 'Getting started': 'getting_started.md'
- 'CARLA Settings': 'carla_settings.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' - 'Measurements': 'measurements.md'
- 'Cameras and sensors': 'cameras_and_sensors.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' - 'F.A.Q.': 'faq.md'
- Building from source: - Building from source:
- 'How to build on Linux': 'how_to_build_on_linux.md' - 'How to build on Linux': 'how_to_build_on_linux.md'
- 'How to build on Windows': 'how_to_build_on_windows.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: - Contributing:
- 'Contribution guidelines': 'CONTRIBUTING.md' - 'Contribution guidelines': 'CONTRIBUTING.md'
- 'Coding standard': 'coding_standard.md' - 'Coding standard': 'coding_standard.md'