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Documentation fixes

This commit is contained in:
nsubiron 2018-12-17 00:05:51 +01:00
parent 1061e0f395
commit 9a16cf9a03
3 changed files with 46 additions and 141 deletions
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10
Docs/configuring_the_simulation.md
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@ -11,11 +11,11 @@ The time-step is the _simulation-time_ elapsed between two steps of the
simulation. In video-games, this _simulation-time_ is almost always adjusted to
real time for better realism. This is achieved by having a **variable
time-step** that adjusts the simulation to keep up with real-time. In
simulations however, it is better to detach the _simulation-time_ from real-
time, and let the simulation run as fast as possible using a **fixed time-
step**. Doing so, we are not only able to simulate longer periods in less time,
but also gain repeatability by reducing the float-point arithmetic errors that a
variable time-step introduces.
simulations however, it is better to detach the _simulation-time_ from
real-time, and let the simulation run as fast as possible using a **fixed
time-step**. Doing so, we are not only able to simulate longer periods in less
time, but also gain repeatability by reducing the float-point arithmetic errors
that a variable time-step introduces.
CARLA can be run in both modes.

123
Docs/faq.md
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@ -44,57 +44,12 @@ Once you open the project in the Unreal Editor, you can hit Play to test CARLA.
<!-- ======================================================================= -->
<details>
<summary><h5 style="display:inline">
Setup.sh fails to download content, can I skip this step?
Can I connect to the simulator while running within Unreal Editor?
</h4></summary>
It is possible to skip the download step by passing the `-s` argument to the
setup script
$ ./Setup.sh -s
Bear in mind that if you do so, you are supposed to manually download and
extract the content package yourself, check out the last output of the Setup.sh
for instructions or run
$ ./Update.sh -s
</details>
<!-- ======================================================================= -->
<details>
<summary><h5 style="display:inline">
Can I run the server from within Unreal Editor?
</h4></summary>
Yes, you can connect the Python client to a server running within Unreal Editor
as if it was the standalone server.
Go to **"Unreal/CarlaUE4/Config/CarlaSettings.ini"** (this file should have been
created by the Setup.sh) and enable networking. If for whatever reason you don't
have this file, just create it and add the following
```ini
[CARLA/Server]
UseNetworking=true
```
Now when you hit Play the editor will hang until a client connects.
</details>
<!-- ======================================================================= -->
<details>
<summary><h5 style="display:inline">
Why Unreal Editor hangs after hitting Play?
</h4></summary>
This is most probably happening because CARLA is starting in server mode. Check
your **"Unreal/CarlaUE4/Config/CarlaSettings.ini"** and set
```ini
[CARLA/Server]
UseNetworking=false
```
Yes, you can connect a Python client to a simulator running within Unreal
Editor. Press the "Play" button and wait until the scene is loaded, at that
point you can connect as you would with the standalone simulator.
</details>
@ -104,9 +59,9 @@ UseNetworking=false
How can I create a binary version of CARLA?
</h4></summary>
In Linux, the recommended way is to use the `Package.sh` script provided. This
script makes a packaged version of the project, including the Python client.
This is the script we use to make a release of CARLA for Linux.
In Linux, the recommended way is to run `make package` in the project folder.
This method makes a packaged version of the project, including the Python API
modules. This is the method we use to make a release of CARLA for Linux.
Alternatively, it is possible to compile a binary version of CARLA within Unreal
Editor, open the CarlaUE4 project, go to the menu "File -> Package Project", and
@ -130,11 +85,11 @@ disable the "Use Less CPU When in Background" option.
<!-- ======================================================================= -->
<details>
<summary><h5 style="display:inline">
Is it possible to dump images from the CARLA server view?
Is it possible to dump images from the CARLA simulator view?
</h4></summary>
Yes, this is an Unreal Engine feature. You can dump the images of the server
camera by running CARLA with
Yes, this is an Unreal Engine feature. You can dump the images of the spectator
camera (simulator view) by running CARLA with
$ ./CarlaUE4.sh -benchmark -fps=30 -dumpmovie
@ -148,62 +103,12 @@ Images are saved to "CarlaUE4/Saved/Screenshots/LinuxNoEditor".
Fatal error: 'version.h' has been modified since the precompiled header.
</h4></summary>
This happens from time to time due to Linux updates. It is possible to force a
rebuild of all the project files with
This happens from time to time due to Linux updates, and for that we have a
special target in our Makefile
$ cd Unreal/CarlaUE4/
$ make CarlaUE4Editor ARGS=-clean
$ make hard-clean
$ make CarlaUE4Editor
It takes a long time but fixes the issue. Sometimes a reboot is also needed.
</details>
<!-- ======================================================================= -->
<details>
<summary><h5 style="display:inline">
Fatal error: 'carla/carla_server.h' file not found.
</h4></summary>
This indicates that the CarlaServer dependency failed to compile.
Please follow the instructions at
[How to build on Linux](http://carla.readthedocs.io/en/latest/how_to_build_on_linux/).
Make sure that the Setup script does print _"Success!"_ at the end
$ ./Setup.sh
...
...
****************
*** Success! ***
****************
Then check if CarlaServer compiles without errors running make
$ make
It should end printing something like
```
[1/1] Install the project...
-- Install configuration: "Release"
-- Installing: Unreal/CarlaUE4/Plugins/Carla/CarlaServer/shared/libc++abi.so.1
-- Installing: Unreal/CarlaUE4/Plugins/Carla/CarlaServer/shared/libc++abi.so.1.0
-- Installing: Unreal/CarlaUE4/Plugins/Carla/CarlaServer/shared/libc++.so.1
-- Installing: Unreal/CarlaUE4/Plugins/Carla/CarlaServer/shared/libc++.so.1.0
-- Installing: Unreal/CarlaUE4/Plugins/Carla/CarlaServer/shared/libc++.so
-- Installing: Unreal/CarlaUE4/Plugins/Carla/CarlaServer/shared/libc++abi.so
-- Installing: Unreal/CarlaUE4/Plugins/Carla/CarlaServer/lib/libc++abi.a
-- Installing: Unreal/CarlaUE4/Plugins/Carla/CarlaServer/lib/libboost_system.a
-- Installing: Unreal/CarlaUE4/Plugins/Carla/CarlaServer/lib/libprotobuf.a
-- Installing: Unreal/CarlaUE4/Plugins/Carla/CarlaServer/include/carla
-- Installing: Unreal/CarlaUE4/Plugins/Carla/CarlaServer/include/carla/carla_server.h
-- Installing: Unreal/CarlaUE4/Plugins/Carla/CarlaServer/lib/libcarlaserver.a
-- Installing: Unreal/CarlaUE4/Plugins/Carla/CarlaServer/bin/test_carlaserver
-- Set runtime path of "Unreal/CarlaUE4/Plugins/Carla/CarlaServer/bin/test_carlaserver" to ""
```
If so you can safely run Rebuild.sh.
It takes a long time but fixes the issue.
</details>

54
Docs/python_api_tutorial.md
View File

@ -25,16 +25,16 @@ First of all, we need to introduce a few core concepts:
#### Connecting and retrieving the world
To connect to a simulator we need to create a "Client" object, and to do so we
need to provide the IP address and port of a running instance of the simulator
To connect to a simulator we need to create a "Client" object, to do so we need
to provide the IP address and port of a running instance of the simulator
```py
client = carla.Client('localhost', 2000)
```
First thing most scripts do is setting the client time-out. This time-out sets a
time limit to all networking operations, if the time-out is not set networking
operations may block forever.
The first recommended thing to do right after creating a client instance is
setting its time-out. This time-out sets a time limit to all networking
operations, if the time-out is not set networking operations may block forever
```py
client.set_timeout(10.0) # seconds
@ -47,7 +47,7 @@ world = client.get_world()
```
Typically we won't need the client object anymore, all the objects created by
the world will connect to the IP and port provided if they need to. This
the world will connect to the IP and port provided if they need to. These
operations are usually done in the background and are transparent to the user.
#### Blueprints
@ -111,7 +111,7 @@ The spawn actor function comes in two flavours, `spawn_actor` and
spawned, the later will return `None` instead. The most typical cause of
failure is collision at spawn point, meaning the actor does not fit at the spot
we chose; probably another vehicle is in that spot or we tried to spawn into a
building.
static object.
To ease the task of finding a spawn location, each map provides a list of
recommended transforms
@ -120,11 +120,11 @@ recommended transforms
spawn_points = world.get_map().get_spawn_points()
```
We add more on the map class later in this tutorial.
We'll add more on the map object later in this tutorial.
Finally, the spawn functions have an optional argument that controls whether the
actor is going to be attached to another actor. This is specially useful for
sensors. In the next example the camera remains rigidly attached to our vehicle
sensors. In the next example, the camera remains rigidly attached to our vehicle
during the rest of the simulation
```py
@ -153,13 +153,13 @@ We can even freeze and actor by disabling its physics simulation
actor.set_simulate_physics(False)
```
And once we are tired of an actor we can remove it from the simulation with
And once we get tired of an actor we can remove it from the simulation with
```py
actor.destroy()
```
Note that actors are not cleaned up automatically when we the Python script
Note that actors are not cleaned up automatically when the Python script
finishes, if we want to get rid of them we need to explicitly destroy them.
!!! important
@ -171,9 +171,9 @@ finishes, if we want to get rid of them we need to explicitly destroy them.
#### Vehicles
Vehicles are a special type of actors that provide a few methods specific for
wheeled vehicles. Apart from the handling methods common to all actors, vehicles
can also be controlled by providing throttle, break, and steer values
Vehicles are a special type of actor that provide a few extra methods. Apart
from the handling methods common to all actors, vehicles can also be controlled
by providing throttle, break, and steer values
```py
vehicle.apply_control(carla.VehicleControl(throttle=1.0, steer=-1.0))
@ -213,9 +213,9 @@ print(box.extent) # XYZ half-box extents in meters.
#### Sensors
Sensors are a special type of actor that produce a stream of data. Sensors are
such a key component of CARLA that they deserve their own documentation page, so
here we'll limit ourselves to show a small example of how sensors work
Sensors are actors that produce a stream of data. Sensors are such a key
component of CARLA that they deserve their own documentation page, so here we'll
limit ourselves to show a small example of how sensors work
```py
camera_bp = blueprint_library.find('sensor.camera.rgb')
@ -224,15 +224,15 @@ camera.listen(lambda image: image.save_to_disk('output/%06d.png' % image.frame_n
```
In this example we have attached a camera to a vehicle, and told the camera to
save to disk each of the images generated.
save to disk each of the images that are going to be generated.
The full list of sensors and their measurement is explained in
[Cameras and sensors](cameras_and_sensors.md).
#### Other actors
Apart from vehicles and sensors, there are many other actors in the world. The
full list can be requested to the world
Apart from vehicles and sensors, there are a few other actors in the world. The
full list can be requested to the world with
```py
actor_list = world.get_actors()
@ -283,13 +283,13 @@ The full list of presets can be found in the
#### Map and waypoints
One of the key features of CARLA is that our roads are fully annotated, all our
maps come accompanied by an OpenDrive file that defines the road layout.
Furthermore, we provide a higher level API for querying and navigating this
information.
One of the key features of CARLA is that our roads are fully annotated. All our
maps come accompanied by [OpenDrive](http://www.opendrive.org/) files that
defines the road layout. Furthermore, we provide a higher level API for querying
and navigating this information.
These objects were a recent addition to our API and are still in heavy
development, we hope to make them soon much more powerful that are now.
development, we hope to make them soon much more powerful yet.
Let's start by getting the map of the current world
@ -313,7 +313,7 @@ waypoint = map.get_waypoint(vehicle.get_location())
This waypoint's `transform` is located on a drivable lane, and it's oriented
according to the road direction at that point.
Waypoints also have function to query the "next" waypoints, this method returns
Waypoints also have function to query the "next" waypoints; this method returns
a list of waypoints at a certain distance that can be accessed from this
waypoint following the traffic rules. In other words, if a vehicle is placed in
this waypoint, give me the list of posible locations that this vehicle can drive
@ -337,7 +337,7 @@ The map object also provides methods for generating in bulk waypoints all over
the map at an approximated distance between them
```py
map.generate_waypoints(2.0)
waypoint_list = map.generate_waypoints(2.0)
```
For routing purposes, it is also possible to retrieve a topology graph of the