Merge master into win_auto_rebuild
This commit is contained in:
juaxix
GitHub
commit
4c5fe773d5
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@ -11,13 +11,13 @@ Fixed time-step
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The time-step is the _simulation-time_ elapsed between two steps of the
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simulation. In video-games, this _simulation-time_ is almost always adjusted to
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real time for better realism. This is achieved having a **variable time-step**
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that adjusts the simulation to keep up with real-time. In simulations however,
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it is better to detach the _simulation-time_ from real-time, and let the
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simulation run as fast as possible using a **fixed time-step**. Doing so, we are
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not only able to simulate longer periods in less time, but also gain
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repeatability by reducing the float-point arithmetic errors that a variable
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time-step introduces.
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real time for better realism. This is achieved by having a **variable
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time-step** that adjusts the simulation to keep up with real-time. In
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simulations however, it is better to detach the _simulation-time_ from real-
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time, and let the simulation run as fast as possible using a **fixed time-
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step**. Doing so, we are not only able to simulate longer periods in less time,
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but also gain repeatability by reducing the float-point arithmetic errors that a
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variable time-step introduces.
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CARLA can be run in both modes.
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@ -43,4 +43,43 @@ simulator since this is actually a feature of Unreal Engine.
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Synchronous vs Asynchronous mode
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--------------------------------
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> TODO
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The client-simulator communication can be synchronized by using the _synchronous
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mode_. The synchronous mode enables two things
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* The simulator waits for the sensor data to be ready before sending the
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measurements.
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* The simulator halts each frame until a control message is received.
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This is very useful when dealing with slow client applications, as the
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simulation is halted until the client is ready to continue. This also ensures
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that the generated data of every sensor is received every frame by the client.
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As opposed to _asynchronous mode_, in which the sensor data may arrive a couple
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of frames later or even be lost if the client is not fast enough.
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However, there are a couple of caveats to bear in mind when using the
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synchronous mode. First of all, **it is very important to run the simulator at
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fixed time-step when using the synchronous mode**. Otherwise the physics engine
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will try to recompute at once all the time spent waiting for the client, this
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usually results in inconsistent or not very realistic physics.
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Secondly, the synchronous mode imposes a significant performance penalty. There
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is a price in waiting for the render thread to have the images ready and halting
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the simulation when the client is slow. There is a trade-off in using the
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synchronous mode.
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The synchronous mode can be enabled at the beginning of each episode both in the
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INI file or the Python API
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**Python**
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```py
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settings = CarlaSettings()
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settings.set(SynchronousMode=True)
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```
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**CarlaSettings.ini**
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```ini
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[CARLA/Server]
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SynchronousMode=true
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```
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12
Docs/faq.md
12
Docs/faq.md
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@ -104,10 +104,14 @@ UseNetworking=false
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How can I create a binary version of CARLA?
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</h4></summary>
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To compile a binary (packaged) version of CARLA, open the CarlaUE4 project with
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Unreal Editor, go to the menu "File -> Package Project", and select your
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platform. This takes a while, but in the end it should generate a packaged
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version of CARLA to execute without Unreal Editor.
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In Linux, the recommended way is to use the `Package.sh` script provided. This
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script makes a packaged version of the project, including the Python client.
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This is the script we use to make a release of CARLA for Linux.
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Alternatively, it is possible to compile a binary version of CARLA within Unreal
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Editor, open the CarlaUE4 project, go to the menu "File -> Package Project", and
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select your platform. This takes a while, but in the end it should generate a
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packaged version of CARLA to execute without Unreal Editor.
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</details>
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@ -47,7 +47,8 @@ Note that the `master` branch contains the latest fixes and features, for the
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latest stable code may be best to switch to the latest release tag.
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Run the setup script to download the content and build all dependencies. It
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takes a while
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takes a while (you can speed up the process by parallelizing the script with the
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`--jobs=8` flag)
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$ ./Setup.sh
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@ -27,17 +27,18 @@ time-stamp keeps the actual time elapsed.
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Player measurements
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-------------------
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Key | Type | Units | Description
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-------------------------- | --------- | ------ | ------------
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transform | Transform | | World transform of the player (contains a locations and a rotation).
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acceleration | Vector3D | m/s^2 | Current acceleration of the player.
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forward_speed | float | m/s | Forward speed of the player.
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collision_vehicles | float | kg*m/s | Collision intensity with other vehicles.
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collision_pedestrians | float | kg*m/s | Collision intensity with pedestrians.
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collision_other | float | kg*m/s | General collision intensity (everything else but pedestrians and vehicles).
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intersection_otherlane | float | | Percentage of the car invading other lanes.
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intersection_offroad | float | | Percentage of the car off-road.
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autopilot_control | Control | | Vehicle's autopilot control that would apply this frame.
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Key | Type | Units | Description
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-------------------------- | ----------- | ------ | ------------
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transform | Transform | | World transform of the player (contains a locations and a rotation) respect the vehicle's mesh pivot.
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bounding_box | BoundingBox | | Bounding box of the player.
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acceleration | Vector3D | m/s^2 | Current acceleration of the player.
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forward_speed | float | m/s | Forward speed of the player.
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collision_vehicles | float | kg*m/s | Collision intensity with other vehicles.
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collision_pedestrians | float | kg*m/s | Collision intensity with pedestrians.
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collision_other | float | kg*m/s | General collision intensity (everything else but pedestrians and vehicles).
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intersection_otherlane | float | | Percentage of the vehicle invading other lanes.
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intersection_offroad | float | | Percentage of the vehicle off-road.
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autopilot_control | Control | | Vehicle's autopilot control that would apply this frame.
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<h4>Transform</h4>
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@ -49,6 +50,15 @@ location | Vector3D | m | World location.
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orientation *[deprecated]* | Vector3D | | Orientation in Cartesian coordinates.
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rotation | Rotation3D | degrees | Pitch, roll, and yaw.
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<h4>BoundingBox</h4>
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Contains the transform and extent of a bounding box.
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Key | Type | Units | Description
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-------------------------- | ---------- | ------- | ------------
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transform | Transform | | Transform of the bounding box relative to the vehicle.
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extent | Vector3D | m | Radii dimensions of the bounding box (half-box).
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<h4>Collision</h4>
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Collision variables keep an accumulation of all the collisions occurred during
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@ -150,7 +160,7 @@ for agent in measurements.non_player_agents:
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Key | Type | Description
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------------------------------- | --------- | ------------
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id | uint32 | Agent ID
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vehicle.forward_speed | float | Forward speed of the vehicle in m/s
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vehicle.forward_speed | float | Forward speed of the vehicle in m/s, is the linear speed projected to the forward vector of the chassis of the vehicle
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vehicle.transform | Transform | Agent-to-world transform
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vehicle.bounding_box.transform | Transform | Transform of the bounding box relative to the vehicle
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vehicle.bounding_box.extent | Vector3D | Radii dimensions of the bounding box in meters
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@ -13,7 +13,7 @@ pipeline {
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stage('Setup') {
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steps {
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sh './Setup.sh'
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sh './Setup.sh --jobs=12'
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}
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}
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61
Setup.sh
61
Setup.sh
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@ -16,6 +16,43 @@
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set -e
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DOC_STRING="Download and compile CARLA content and dependencies."
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USAGE_STRING="Usage: $0 [-h|--help] [-s|--skip-download] [--jobs=N]"
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# ==============================================================================
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# -- Parse arguments -----------------------------------------------------------
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# ==============================================================================
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UPDATE_SCRIPT_FLAGS=
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NUMBER_OF_ASYNC_JOBS=1
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OPTS=`getopt -o hs --long help,skip-download,jobs:: -n 'parse-options' -- "$@"`
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if [ $? != 0 ] ; then echo "$USAGE_STRING" ; exit 2 ; fi
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eval set -- "$OPTS"
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while true; do
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case "$1" in
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-s | --skip-download )
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UPDATE_SCRIPT_FLAGS=--skip-download;
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shift ;;
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--jobs)
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case "$2" in
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"") NUMBER_OF_ASYNC_JOBS=4 ; shift 2 ;;
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*) NUMBER_OF_ASYNC_JOBS=$2 ; shift 2 ;;
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esac ;;
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-h | --help )
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echo "$DOC_STRING"
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echo "$USAGE_STRING"
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exit 1
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;;
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* )
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break ;;
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esac
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done
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# ==============================================================================
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# -- Set up environment --------------------------------------------------------
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# ==============================================================================
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@ -61,10 +98,10 @@ cmake -DCMAKE_C_COMPILER=${C_COMPILER} -DCMAKE_CXX_COMPILER=${COMPILER} \
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-DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_INSTALL_PREFIX="../llvm-install" \
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../llvm-source
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make cxx
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make -j $NUMBER_OF_ASYNC_JOBS cxx
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#install libc++ locally in llvm-install folder
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make install-libcxx install-libcxxabi
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make -j $NUMBER_OF_ASYNC_JOBS install-libcxx install-libcxxabi
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popd >/dev/null
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@ -89,10 +126,13 @@ BOOST_TOOLSET="clang-3.9"
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BOOST_CFLAGS="-fPIC -std=c++1y -stdlib=libc++ -I../llvm-install/include/c++/v1"
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BOOST_LFLAGS="-stdlib=libc++ -L../llvm-install/lib"
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./bootstrap.sh --with-toolset=clang --prefix=../boost-install
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./bootstrap.sh \
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--with-toolset=clang \
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--prefix=../boost-install \
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--with-libraries=system
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./b2 clean
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./b2 toolset="${BOOST_TOOLSET}" cxxflags="${BOOST_CFLAGS}" linkflags="${BOOST_LFLAGS}" --prefix="../boost-install" -j 4 stage release
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./b2 install toolset="${BOOST_TOOLSET}" cxxflags="${BOOST_CFLAGS}" linkflags="${BOOST_LFLAGS}" --prefix="../boost-install"
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./b2 toolset="${BOOST_TOOLSET}" cxxflags="${BOOST_CFLAGS}" linkflags="${BOOST_LFLAGS}" --prefix="../boost-install" -j $NUMBER_OF_ASYNC_JOBS stage release
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./b2 install toolset="${BOOST_TOOLSET}" cxxflags="${BOOST_CFLAGS}" linkflags="${BOOST_LFLAGS}" --prefix="../boost-install" -j $NUMBER_OF_ASYNC_JOBS
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popd >/dev/null
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@ -103,7 +143,7 @@ popd >/dev/null
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# Get protobuf source
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if [[ ! -d "protobuf-source" ]]; then
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echo "Retrieving protobuf..."
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git clone --depth=1 -b v3.3.0 https://github.com/google/protobuf.git protobuf-source
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git clone --depth=1 -b v3.3.0 --recurse-submodules https://github.com/google/protobuf.git protobuf-source
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else
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echo "Folder protobuf-source already exists, skipping git clone..."
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fi
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@ -118,9 +158,10 @@ export LD_LIBRARY_PATH="$LD_LIBRARY_PATH:$PWD/../llvm-install/lib/"
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CXX="clang++-3.9" \
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CXXFLAGS="-fPIC -stdlib=libc++ -I$PWD/../llvm-install/include/c++/v1" \
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LDFLAGS="-stdlib=libc++ -L$PWD/../llvm-install/lib/" \
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--prefix="$PWD/../protobuf-install"
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make
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make install
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--prefix="$PWD/../protobuf-install" \
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--disable-shared
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make -j $NUMBER_OF_ASYNC_JOBS
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make -j $NUMBER_OF_ASYNC_JOBS install
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popd >/dev/null
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@ -171,7 +212,7 @@ fi
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# ==============================================================================
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echo
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./Update.sh $@
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./Update.sh $UPDATE_SCRIPT_FLAGS
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# ==============================================================================
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# -- ...and we are done --------------------------------------------------------
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