Documentation
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nsubiron
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; Example of settings file for CARLA.
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[CARLA/Server]
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; If set to false, a mock controller will be used instead of waiting for a
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; If set to false, a mock controller will be used instead of waiting for a real
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; client to connect.
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UseNetworking=true
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; Ports to use for the server-client communication. This can be overridden by
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@ -10,10 +10,13 @@ UseNetworking=true
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WorldPort=2000
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; Time-out in milliseconds for the networking operations.
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ServerTimeOut=10000
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; In synchronous mode, CARLA waits every tick until the control from the client
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; In synchronous mode, CARLA waits every frame until the control from the client
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; is received.
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SynchronousMode=true
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; Send info about every non-player agent in the scene every frame.
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; Send info about every non-player agent in the scene every frame, the
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; information is attached to the measurements message. This includes other
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; vehicles, pedestrians and traffic signs. Disabled by default to improve
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; performance.
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SendNonPlayerAgentsInfo=false
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[CARLA/LevelSettings]
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@ -21,29 +24,27 @@ SendNonPlayerAgentsInfo=false
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; Paths follow the pattern "/Game/Blueprints/Vehicles/Mustang/Mustang.Mustang_C"
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PlayerVehicle=
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; Number of non-player vehicles to be spawned into the level.
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NumberOfVehicles=5
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NumberOfVehicles=15
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; Number of non-player pedestrians to be spawned into the level.
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NumberOfPedestrians=15
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NumberOfPedestrians=30
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; Index of the weather/lighting presets to use. If negative, the default presets
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; of the map will be used.
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WeatherId=-1
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WeatherId=1
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; Seeds for the pseudo-random number generators.
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SeedVehicles=123456789
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SeedPedestrians=123456789
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[CARLA/SceneCapture]
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; Names of the scene capture cameras to be attached to the player,
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; comma-separated, each of them should be defined in its own subsection.
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; Names of the cameras to be attached to the player, comma-separated, each of
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; them should be defined in its own subsection.
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Cameras=MyCamera
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; Defaults for all cameras can be set here too.
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[CARLA/SceneCapture/MyCamera]
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; Post-processing effect to be applied. Valid values:
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; * None No effects applied.
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; * SceneFinal Post-processing present at scene (bloom, fog, etc).
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; * Depth Depth map only.
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; * SemanticSegmentation Semantic segmentation only.
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; * Depth Depth map ground-truth only.
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; * SemanticSegmentation Semantic segmentation ground-truth only.
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PostProcessing=SceneFinal
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; Size of the captured image in pixels.
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ImageSizeX=800
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@ -1,8 +1,8 @@
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CARLA Settings
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==============
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The CARLA plugin reads its settings from a "CarlaSettings.ini" file. This file
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controls most aspects of the game, and it is loaded every time a new episode is
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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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started (every time the level is loaded).
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Settings are loaded following the next hierarchy, with values later in the
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@ -15,7 +15,7 @@ hierarchy overriding earlier values.
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Take a look at the [CARLA Settings example](Example.CarlaSettings.ini).
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**Important:** If you are in editor, you most probably want to disable
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networking. Otherwise the game will hang until a client connects. Copy
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IMPORTANT: If you are in editor, you most probably want to disable networking.
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Otherwise the game will hang until a client connects. Copy
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"Example.CarlaSettings.ini" to "CARLAUE4/Config/CarlaSettings.ini" and set
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`UseNetworking=false`.
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@ -25,9 +25,9 @@ Index
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#### Setup
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* [How to run CarlaUE4 binary](release_readme.md)
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* [How to build on Linux](how_to_build_on_linux.md)
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* [How to build on Windows](how_to_build_on_windows.md)
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* [How to run CarlaUE4 binary](release_readme.md)
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* [CARLA Settings](carla_settings.md)
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#### Development
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@ -1,41 +1,134 @@
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CARLA UE4
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=========
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CARLA Simulator
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===============
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To run the game with the second city
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Welcome to CARLA simulator.
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$ ./CarlaUE4.sh /Game/Maps/CARLA_ORIGIN_1
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This file contains the instructions to run the CARLA simulator binaries on
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Linux.
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To run the game at fixed time-step, e.g. 30 FPS
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Running the Python client
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-------------------------
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$ ./CarlaUE4.sh -benchmark -fps=30
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Requires Python 3 and the protobuf module installed, saving images to disk
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requires the PIL module too.
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$ sudo apt-get install python3 python3-pip
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$ sudo pip install protobuf
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A sample Python script is provided at `PythonClient/client_example.py`. The
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script is well commented explaining how to use the client API.
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The script can be run and provides basic functionality for controlling the
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vehicle and saving images to disk. Run the help command to see options available
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$ ./client_example.py --help
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Running the server
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------------------
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IMPORTANT: By default the game starts in networking mode. It will hang until a
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client is connected. See below how to run it without client.
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IMPORTANT: Semantic segmentation ground-truth is disabled by default due to its
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impact on performance. See below how to enable it.
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The server can be started by running the `CarlaUE4.sh` script. When run in
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networking mode (controlled by the CARLA client), it is highly recommended to
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run it at fixed time-step
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$ ./CarlaUE4.sh /Game/Maps/Town01 -benchmark -fps=15
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The arguments `-benchmark -fps=15` make the engine run at a fixed time-step of
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1/15 seconds. In this mode, game-time decouples from real-time and the
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simulation runs as fast as possible.
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To run the game on the second city, just change the command to select the
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"Town02"
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$ ./CarlaUE4.sh /Game/Maps/Town02 -benchmark -fps=15
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To run the game windowed at a given resolution
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$ ./CarlaUE4.sh -windowed -ResX=800 -ResY=600
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$ ./CarlaUE4.sh /Game/Maps/Town01 -benchmark -fps=15 -windowed -ResX=800 -ResY=600
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Other CARLA related command-line options
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The game can also be run without a client, this way you can drive around the
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city just using the keyboard (in this mode is not recommended to use fixed
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frame-rate to get a more realistic feeling)
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$ ./CarlaUE4.sh /Game/Maps/Town02 -carla-no-networking
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#### CARLA command-line options
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* `-carla-settings=<ini-file-path>` Load settings from the given INI file. See Example.CarlaSettings.ini.
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* `-carla-world-port=<port-number>` Listen for client connections at <port-number>, write and read ports are set to <port-number>+1 and <port-number>+2 respectively. Activates networking.
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* `-carla-no-networking` Disable networking. Overrides any other settings file.
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* `-carla-world-port=<port-number>` Listen for client connections at <port-number>, agent ports are set to <port-number>+1 and <port-number>+2 respectively. Activates networking.
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* `-carla-no-networking` Disable networking. Overrides other settings.
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* `-carla-no-hud` Do not display the HUD by default.
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To activate semantic segmentation
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---------------------------------
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#### Enable semantic segmentation ground-truth
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In the config file `CarlaUE4/Saved/Config/LinuxNoEditor/Engine.ini`, add the
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following
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Semantic segmentation ground-truth is disabled by default due to its impact on
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performance. When disabled, semantic segmentation images will display a single
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red color for every object. To make the engine draw the right tags we need to
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activate the custom depth in the configuration file.
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Open the configuration file `CarlaUE4/Saved/Config/LinuxNoEditor/Engine.ini`,
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and add the following
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```
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[/Script/Engine.RendererSettings]
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r.CustomDepth=3
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```
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Weather presets
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---------------
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Now run the game as usual and semantic segmentation images will be produced with
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the right tags.
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To change the weather and sun light, set `WeatherId` in CarlaSettings.ini
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from the following
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#### In-game controls
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The following key bindings are available during game play at the server window.
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Note that vehicle controls are only available when networking is disabled.
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W : throttle
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S : brake
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AD : steer
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Q : toggle reverse
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Space : hand-brake
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P : toggle autopilot
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Arrow keys : move camera
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PgUp PgDn : zoom in and out
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mouse wheel : zoom in and out
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Tab : toggle on-board camera
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R : restart level
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G : toggle HUD
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C : change weather/lighting
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Enter : jump
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F : use the force
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Settings
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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 simulator, and it is loaded every time a new episode is
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started (every time the level is loaded).
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Settings are loaded following the next hierarchy, with values later in the
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hierarchy overriding earlier values.
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1. `{ProjectFolder}/Config/CarlaSettings.ini`
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2. File provided by command-line argument `-carla-settings=<path-to-ini-file>`
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3. Other command-line arguments as `-world-port`, or `-carla-no-networking`
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4. Settings file sent by the client on every new episode.
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Take a look at the Example.CarlaSettings.ini file for further details.
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#### Weather presets
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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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[CARLA/LevelSettings]
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WeatherId=6
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```
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In-game controls
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----------------
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W : throttle
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S : brake
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AD : steer
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Q : toggle reverse
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Space : hand-brake
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P : toggle autopilot
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Arrow keys : move camera
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PgUp PgDn : zoom in and out
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mouse wheel : zoom in and out
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Tab : toggle on-board camera
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R : restart level
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G : toggle HUD
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C : change weather/lighting
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Enter : jump
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F : use the force
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