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<h1>CARLA Documentation</h1>
Welcome to the CARLA documentation.
This page contains the index with a brief explanation on the different sections for clarity.
Feel free to explore the documentation on your own, however, here are a few tips for newcomers:
* __Install CARLA__: visit the [Quickstart installation](../dev/quickstart) to get the CARLA releases or make the build for a desired platform.
* __Start using CARLA__: there is a section titled [First steps](../core_concepts), highly recommended for newcomers.
* __Doubts on the API__: there is a handy [Python API reference](../python_api) to consult classes and methods.
Besides that, there is also the CARLA forum where the community gathers to share issues, suggestions and solutions:
<div class="build-buttons">
<a href="https://forum.carla.org/" target="_blank" class="btn btn-neutral" title="Go to the latest CARLA release">
CARLA forum</a>
</div>
!!! important
This documentation refers to the latest development versions of CARLA, 0.9.0
or later. For the documentation of the stable version please switch to the
[stable branch](https://carla.readthedocs.io/en/stable/).
This is documentation for CARLA 0.9.0 or later. Previous documentation is in the [stable branch](https://carla.readthedocs.io/en/stable/).
---------------
<div style="display: flex">
<div style="flex: 50%">
------------
<h3>Getting started</h3>
Brief summary on CARLA.
Also how to install the releases.
<br>
<p style="padding-left:30px">
<a href="../getting_started/introduction">Introduction</a>
<br>
<a href="../getting_started/quickstart">Quickstart installation</a>
<p style="padding-left:30px;line-height:1.8">
<a href="../getting_started/introduction"><b>
Introduction
</b></a>
— Capabilities and intentions behind the project.
<a href="../getting_started/quickstart"><b>
Quickstart installation
</b></a>
— Get the CARLA releases.
</p>
</div>
<div style="flex: 50%">
------------
<h3>Building CARLA</h3>
Install the CARLA build on Linux or Windows.
Update CARLA
<a href="../getting_started/introduction">Introduction</a>
<br>
<a href="../getting_started/quickstart">Quickstart installation</a>
<p style="padding-left:30px;line-height:1.8">
<a href="../how_to_build_on_linux"><b>
Linux build
</b></a>
— Make the build on Linux.
<a href="../how_to_build_on_windows"><b>
Windows build
</b></a>
— Make the build on Windows.
<a href="../update_carla"><b>
Update CARLA
</b></a>
— Get up to date with the latest content.
<a href="../dev/build_system"><b>
Build system
</b></a>
— Learn about the build and how it is made.
<a href="../carla_docker"><b>
Running in a Docker
</b></a>
— Run CARLA using a container solution.
<a href="../faq"><b>
F.A.Q.
</b></a>
— Some of the most frequent issues for newcomers.
</p>
<h3>First steps</h3>
<p style="padding-left:30px;line-height:1.8">
<a href="../core_concepts"><b>
Core concepts
</b></a>
— Overview of the basic concepts in CARLA.
<a href="../core_world"><b>
1st. World and client
</b></a>
— Manage and access the simulation.
<a href="../core_actors"><b>
2nd. Actors and blueprints
</b></a>
— Learn about actors and how to handle them.
<a href="../core_map"><b>
3rd. Maps and navigation
</b></a>
— Discover the different maps and how to move around.
<a href="../core_sensors"><b>
(broken) 4th. Sensors and data
</b></a>
— Retrieve simulation data using sensors.
<h3>Advanced steps</h3>
<p style="padding-left:30px;line-height:1.8">
<a href="../recorder_and_playback"><b>
Recorder
</b></a>
— Store all the events in a simulation a play it again.
<a href="../rendering_options"><b>
Rendering options
</b></a>
— Different settings, from quality to no-render or off-screen runs.
<a href="../simulation_time_and_synchrony"><b>
Synchrony and time-step
</b></a>
— Client-server communication and simulation time.
<a href="../traffic_manager"><b>
(broken) Traffic manager
</b></a>
— Feature to handle autopilot vehicles and emulate traffic.
</div>
<h3>References</h3>
<p style="padding-left:30px;line-height:1.8">
<a href="../python_api"><b>
Python API reference
</b></a>
— Classes and methods in the Python API.
<a href="../python_cookbook"><b>
Code recipes
</b></a>
— Code fragments commonly used.
<a href="../bp_library"><b>
Blueprint library
</b></a>
— Blueprints provided to spawn actors.
<a href="../cpp_reference"><b>
C++ reference
</b></a>
— Classes and methods in CARLA C++.
<a href="../recorder_binary_file_format"><b>
Recorder binary file format
</b></a>
— Detailed explanation of the recorder file format.
<a href="../ref_sensors"><b>
(broken) Sensors reference
</b></a>
— Everything about sensors and the data they retrieve.
</div>
<h3>Tutorials — General</h3>
<p style="padding-left:30px;line-height:1.8">
<a href="../how_to_add_friction_triggers"><b>
Add friction triggers
</b></a>
— Define dynamic box triggers for wheels.
<a href="../how_to_control_vehicle_physics"><b>
Control vehicle physics
</b></a>
— Set runtime changes on a vehicle physics.
<a href="../walker_bone_control"><b>
Control walker skeletons
</b></a>
— Skeleton and animation for walkers explained.
<table>
<th>Quickstart</th><th>Hello</th>
<colgroup>
<col span="2" style="background-color:red">
<col style="background-color:yellow">
</colgroup>
<tr><td>A</td><td>B</td></tr>
<caption>this is my caption</caption>
</table>
<h3>Tutorials — Assets</h3>
<p style="padding-left:30px;line-height:1.8">
<a href="../dev/how_to_upgrade_content"><b>
Contribute with new assets
</b></a>
— Add new content to CARLA.
<a href="../how_to_add_assets"><b>
Import new assets
</b></a>
— Use personal assets in CARLA.
<a href="../dev/map_customization"><b>
Map customization
</b></a>
— Edit an existing map.
<a href="../how_to_make_a_new_map"><b>
Map creation
</b></a>
— Guidelines to create a new map.
<a href="../asset_packages_for_dist"><b>
Standalone asset packages
</b></a>
— Import assets into Unreal Engine and prepare them for package distribution.
<a href="../epic_automotive_materials"><b>
Use Automotive materials
</b></a>
— Apply Epic's set of Automotive materials to vehicles for a more realistic painting.
<a href="../how_to_model_vehicles"><b>
Vehicle modelling
</b></a>
— Guidelines to create a new vehicle for CARLA.
<h3>Quick start</h3>
* [Python API tutorial](core_concepts.md)
* [Rendering options](rendering_options.md)
* [Simulation time and synchrony](simulation_time_and_synchrony.md)
* [Cameras and sensors](core_sensors.md)
* [F.A.Q.](faq.md)
<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)
<h3>Advanced topics</h3>
* [Python API reference](python_api.md)
* [C++ Reference](cpp_reference.md)
* [Python Cookbook](python_cookbook.md)
* [Blueprint Library](bp_library.md)
* [Running without display and selecting GPUs](carla_headless.md)
* [Running in a Docker](carla_docker.md)
* [How to create and import a new map](how_to_make_a_new_map.md)
* [How to link Epic's Automotive Materials](epic_automotive_materials.md)
* [Creating standalone asset packages for distribution](asset_packages_for_dist.md)
* [How to add friction triggers](how_to_add_friction_triggers.md)
* [How to control vehicle physics](how_to_control_vehicle_physics.md)
* [How to record and replay](recorder_and_playback.md)
* [Recorder binary file format](recorder_binary_file_format.md)
* [How to control walker skeletons](walker_bone_control.md)
<h3>Tutorials — Developers</h3>
<p style="padding-left:30px;line-height:1.8">
<a href="../dev/how_to_add_a_new_sensor"><b>
Create a sensor
</b></a>
— The basics on how to add a new sensor to CARLA.
<a href="../dev/how_to_make_a_release"><b>
Make a release
</b></a>
— For developers who want to publish a release.
<a href="../bp_library"><b>
Pedestrian navigation physics
</b></a>
— Generate the information needed for walkers to navigate a map.
<h3>Contributing</h3>
* [Contribution guidelines](CONTRIBUTING.md)
* [Coding standard](coding_standard.md)
* [Documentation standard](doc_standard.md)
* [Code of conduct](CODE_OF_CONDUCT.md)
<h3>Development</h3>
* [Index](dev/index.md)
* [Map customization](dev/map_customization.md)
* [Build system](dev/build_system.md)
* [How to add a new sensor](dev/how_to_add_a_new_sensor.md)
* [How to upgrade content](dev/how_to_upgrade_content.md)
* [How to make a release](dev/how_to_make_a_release.md)
<h3>Art guidelines</h3>
* [How to add assets](how_to_add_assets.md)
* [How to model vehicles](how_to_model_vehicles.md)
<p style="padding-left:30px;line-height:1.8">
<a href="../CONTRIBUTING"><b>
General guidelines
</b></a>
— The different ways to contribute to CARLA.
<a href="../coding_standard"><b>
Coding standard
</b></a>
— Guidelines to write proper code.
<a href="../doc_standard"><b>
Documentation standard
</b></a>
— Guidelines to write proper documentation.
<a href="../CODE_OF_CONDUCT"><b>
Code of conduct
</b></a>
— Some standards for CARLA, rights and duties for contributors.