Merge branch 'dev' of github.com:carla-simulator/carla into ruben/jenkins_migration
This commit is contained in:
Ruben Abad
commit
bf385474db
|
|
@ -1,3 +1,7 @@
|
|||
## Latest Changes
|
||||
* Prevent from segfault on failing SignalReference identification when loading OpenDrive files
|
||||
* Added vehicle doors to the recorder
|
||||
|
||||
## CARLA 0.9.15
|
||||
|
||||
* Added Digital Twins feature version 0.1. Now you can create your own map based on OpenStreetMaps
|
||||
|
|
|
|||
|
|
@ -1,52 +1,49 @@
|
|||
# Carla Multi-GPU feature
|
||||
|
||||
Multi-GPU in carla means that the user can start several servers (called secondary servers) that will do render work for the main server (called primary server) for different sensors.
|
||||
Multi-GPU in carla means that the user can start several servers (called secondary servers) that will do render work for the main server (called primary server) using a dedicated GPU from the system. The primary server will distribute the sensors, that are created by the user, to the different secondary servers available.
|
||||
|
||||
|
||||
|
||||
We need to start the primary server (usually with a flag to avoid using any GPU). This server will process all physics and synchronize the scene data to the others secondary servers. Then we can start any secondary server as we want (usually one per dedicated GPU in the system), using the parameters we will describe further. After this, the client can connect (always to the primary server) and proceed as usual.
|
||||
All the system is transparent to the user, who don't need to know from which server comes the sensor data, he just receives the data directly from a secondary server.
|
||||
|
||||
## Primary server
|
||||
|
||||
The steps are: first, start the primary server without any render capability. The parameters we can use are:
|
||||
The steps are, first, start the primary server without any render capability.
|
||||
The parameters we can use are:
|
||||
* `-nullrhi`: disables any render capabilities (GPU free)
|
||||
* `-carla-primary-port`: TCP port used to listen for secondary servers (default 2002)
|
||||
|
||||
* `-nullrhi`
|
||||
* `-carla-primary-port`
|
||||
For example
|
||||
|
||||
Run the following from the command line:
|
||||
**./CarlaUE4.sh --nullrhi**
|
||||
|
||||
```sh
|
||||
./CarlaUE4.sh -nullrhi
|
||||
```
|
||||
The primary server will use by default the port 2002 to listen for secondary servers. If you need to listen on another port, then you can change it with the flag
|
||||
|
||||
The primary server will use, by default, the port 2002 to listen for secondary servers. If you need to listen on another port, then you can change it with the port flag:
|
||||
|
||||
```sh
|
||||
./CarlaUE4.sh -nullrhi -carla-primary-port=3002
|
||||
```
|
||||
**./CarlaUE4.sh --nullrhi -carla-primary-port=3002**
|
||||
|
||||
## Secondary servers
|
||||
|
||||
We may then start as many servers as we need, but the ideal is to have as many secondary servers as the number of GPUs installed in the computer. Through parameters we need to specify the GPU we want the server use and also the host/port where the primary server is listening, with the flags:
|
||||
Then we need to start as many servers as we want, but the ideal is to have as many secondary servers as GPU. Through parameters we need to specify the GPU we want the server use and also the host/port where the primary server is listenning, with the flags:
|
||||
* `-carla-rpc-port`: TCP port to accept client connections (for secondary servers it is not needed, but the port needs to be free)
|
||||
* `-carla-primary-host`: IP of the primary server to connect
|
||||
* `-carla-primary-port`: TCP port of the primary server to connect
|
||||
* `-ini:[/Script/Engine.RendererSettings]:r.GraphicsAdapter`: tells which GPU device to use for this secondary server
|
||||
|
||||
* `-carla-rpc-port`
|
||||
* `-carla-primary-host`
|
||||
* `-carla-primary-port`
|
||||
* `-ini:[/Script/Engine.RendererSettings]:r.GraphicsAdapter`
|
||||
For example, if the primary server is executing in the same computer than the secondary servers and with the default port, we can use this:
|
||||
|
||||
For example, if the primary server is executing in the same computer than the secondary servers and with the default port, we can use this command:
|
||||
|
||||
```sh
|
||||
./CarlaUE4.sh -carla-rpc-port=3000 -carla-primary-host=127.0.0.1 -ini:[/Script/Engine.RendererSettings]:r.GraphicsAdapter=0
|
||||
```
|
||||
**./CarlaUE4.sh -carla-rpc-port=3000 -carla-primary-host=127.0.0.1 -ini:[/Script/Engine.RendererSettings]:r.GraphicsAdapter=0**
|
||||
|
||||
Here, the secondary server will use port 3000 as the RPC server to avoid conflicts with other ports (but it will never be used), and will connect to the primary server located at IP 127.0.0.1 (localhost) in the default port (2002), and also this server will use the GPU device 0.
|
||||
|
||||
If we want to start another secondary server using another GPU, we could use the following command:
|
||||
If we want to start another secondary server in the same machine using another GPU, we could use this command:
|
||||
|
||||
```sh
|
||||
./CarlaUE4.sh -carla-rpc-port=4000 -carla-primary-host=127.0.0.1 -carla-primary-port=2002 -ini:[/Script/Engine.RendererSettings]:r.GraphicsAdapter=1
|
||||
```
|
||||
**./CarlaUE4.sh -carla-rpc-port=4000 -carla-primary-host=127.0.0.1 -carla-primary-port=2002 -ini:[/Script/Engine.RendererSettings]:r.GraphicsAdapter=1**
|
||||
|
||||
This secondary server will use port 4000 as the RPC server to avoid conflicts with other ports and will connect to the primary server located at IP 127.0.0.1 in port 2002, and also this server will use the GPU device 1.
|
||||
This secondary server will use port 4000 as the RPC server to avoid conflicts with other ports and will connect to the primary server located at IP 127.0.0.1 in the port 2002, and also this server will use the GPU device 1.
|
||||
|
||||
## Pipeline
|
||||
## Synchronous mode
|
||||
|
||||
After the first secondary server connects to the primary server, the system is setup to synchronous mode automatically, with the default values of 1/20 delta seconds.
|
||||
|
||||
After the first secondary server connects to the primary server, it will set up the synchronous mode automatically, with the default values of 1/20 delta seconds.
|
||||
|
||||
|
|
|
|||
|
|
@ -59,7 +59,7 @@ As a reminder, the feature is only available for the Linux build so far.
|
|||
|
||||
### Dependencies
|
||||
|
||||
There are additional prerequisites required for building RSS and its dependencies. Take a look at the [official documentation](https://intel.github.io/ad-rss-lib/BUILDING)) to know more about this.
|
||||
There are additional prerequisites required for building RSS and its dependencies. Take a look at the [official documentation](https://intel.github.io/ad-rss-lib/BUILDING) to know more about this.
|
||||
|
||||
Dependencies provided by Ubunutu (>= 16.04).
|
||||
```sh
|
||||
|
|
|
|||
|
|
@ -48,6 +48,16 @@ wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key|sudo apt-key add
|
|||
|
||||
To avoid compatibility issues between Unreal Engine and the CARLA dependencies, use the same compiler version and C++ runtime library to compile everything. The CARLA team uses clang-8 (or clang-10 in Ubuntu 20.04) and LLVM's libc++. Change the default clang version to compile Unreal Engine and the CARLA dependencies.
|
||||
|
||||
__Ubuntu 22.04__.
|
||||
```sh
|
||||
sudo apt-add-repository "deb http://archive.ubuntu.com/ubuntu focal main universe"
|
||||
sudo apt-get update
|
||||
sudo apt-get install build-essential clang-10 lld-10 g++-7 cmake ninja-build libvulkan1 python python3 python3-dev python3-pip libpng-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git git-lfs
|
||||
sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-10/bin/clang++ 180 &&
|
||||
sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-10/bin/clang 180 &&
|
||||
sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-7 180
|
||||
```
|
||||
|
||||
__Ubuntu 20.04__.
|
||||
```sh
|
||||
sudo apt-add-repository "deb http://apt.llvm.org/focal/ llvm-toolchain-focal main"
|
||||
|
|
|
|||
|
|
@ -1,13 +1,13 @@
|
|||
# Update CARLA
|
||||
|
||||
* [__Update commands summary__](#update-commands-summary)
|
||||
* [__Get the lastest binary release__](#get-latest-binary-release)
|
||||
* [__Update Linux and Windows build__](#update-linux-and-windows-build)
|
||||
* [Clean the build](#clean-the-build)
|
||||
* [Pull from origin](#pull-from-origin)
|
||||
* [Download the assets](#download-the-assets)
|
||||
* [Launch the server](#launch-the-server)
|
||||
* [__Get development assets__](#get-development-assets)
|
||||
* [__Update commands summary__](#update-commands-summary)
|
||||
* [__Get the lastest binary release__](#get-latest-binary-release)
|
||||
* [__Update Linux and Windows build__](#update-linux-and-windows-build)
|
||||
* [Clean the build](#clean-the-build)
|
||||
* [Pull from origin](#pull-from-origin)
|
||||
* [Download the assets](#download-the-assets)
|
||||
* [Launch the server](#launch-the-server)
|
||||
* [__Get development assets__](#get-development-assets)
|
||||
|
||||
To post unexpected issues, doubts or suggestions, feel free to login in the CARLA forum.
|
||||
|
||||
|
|
@ -25,30 +25,30 @@ CARLA forum</a>
|
|||
<summary> Show command lines to update CARLA</summary>
|
||||
|
||||
```sh
|
||||
# Update a CARLA packaged release.
|
||||
# 1. Delete the current one.
|
||||
# 2. Follow the Quick start installation to get the one desired.
|
||||
# Update a CARLA packaged release.
|
||||
# 1. Delete the current one.
|
||||
# 2. Follow the Quick start installation to get the one desired.
|
||||
|
||||
|
||||
# Update Linux build.
|
||||
# Update Linux build.
|
||||
git checkout master
|
||||
make clean
|
||||
git pull origin master
|
||||
./Update.sh
|
||||
|
||||
|
||||
# Update Windows build.
|
||||
# Update Windows build.
|
||||
git checkout master
|
||||
make clean
|
||||
git pull origin master
|
||||
# Erase the content in `Unreal\CarlaUE4\Content\Carla`.
|
||||
# Go to `\Util\ContentVersions.txt`.
|
||||
# Download the latest content.
|
||||
# Extract the new content in `Unreal\CarlaUE4\Content\Carla`.
|
||||
# Extract the new content in `Unreal\CarlaUE4\Content\Carla`.
|
||||
|
||||
|
||||
# Get development assets.
|
||||
# Delete the `/Carla` folder containing previous assets.
|
||||
# Get development assets.
|
||||
# Delete the `/Carla` folder containing previous assets.
|
||||
# Go to the main carla folder.
|
||||
git clone https://bitbucket.org/carla-simulator/carla-content Unreal/CarlaUE4/Content/Carla
|
||||
|
||||
|
|
@ -56,11 +56,11 @@ git clone https://bitbucket.org/carla-simulator/carla-content Unreal/CarlaUE4/Co
|
|||
</details>
|
||||
|
||||
---
|
||||
## Get latest binary release
|
||||
## Get latest binary release
|
||||
|
||||
Binary releases are prepackaged and thus, tied to a specific version of CARLA. To get the latest, erase the previous and follow the [quick start installation](start_quickstart.md) to get the one desired.
|
||||
Binary releases are prepackaged and thus, tied to a specific version of CARLA. To get the latest, erase the previous and follow the [quick start installation](start_quickstart.md) to get the one desired.
|
||||
|
||||
Releases are listed in __Development__ in the CARLA repository. There is also a highly experimental __Nightly build__ containing the current state of CARLA up to date.
|
||||
Releases are listed in __Development__ in the CARLA repository. There is also a highly experimental __Nightly build__ containing the current state of CARLA up to date.
|
||||
|
||||
<div class="build-buttons">
|
||||
<p>
|
||||
|
|
@ -69,22 +69,22 @@ Releases are listed in __Development__ in the CARLA repository. There is also a
|
|||
</p>
|
||||
|
||||
<p>
|
||||
<a href="http://carla-releases.s3.amazonaws.com/Linux/Dev/CARLA_Latest.tar.gz" target="_blank" class="btn btn-neutral" title="Go to the linux nightly CARLA build">
|
||||
<a href="https://carla-releases.s3.us-east-005.backblazeb2.com/Linux/Dev/CARLA_Latest.tar.gz" target="_blank" class="btn btn-neutral" title="Go to the linux nightly CARLA build">
|
||||
<span class="icon fa-cloud-download"></span> Get the linux nightly build</a>
|
||||
</p>
|
||||
|
||||
<p>
|
||||
<a href="http://carla-releases.s3.amazonaws.com/Linux/Dev/AdditionalMaps_Latest.tar.gz" target="_blank" class="btn btn-neutral" title="Go to the linux nightly AdditionalMaps build">
|
||||
<a href="https://carla-releases.s3.us-east-005.backblazeb2.com/Linux/Dev/AdditionalMaps_Latest.tar.gz" target="_blank" class="btn btn-neutral" title="Go to the linux nightly AdditionalMaps build">
|
||||
<span class="icon fa-cloud-download"></span> Get the linux nightly build additional maps</a>
|
||||
</p>
|
||||
|
||||
<p>
|
||||
<a href="http://carla-releases.s3.amazonaws.com/Windows/Dev/CARLA_Latest.zip" target="_blank" class="btn btn-neutral" title="Go to the windows nightly CARLA build">
|
||||
<a href="https://carla-releases.s3.us-east-005.backblazeb2.com/Windows/Dev/CARLA_Latest.zip" target="_blank" class="btn btn-neutral" title="Go to the windows nightly CARLA build">
|
||||
<span class="icon fa-cloud-download"></span> Get the windows nightly build</a>
|
||||
</p>
|
||||
|
||||
<p>
|
||||
<a href="http://carla-releases.s3.amazonaws.com/Windows/Dev/AdditionalMaps_Latest.zip" target="_blank" class="btn btn-neutral" title="Go to the windows nightly AdditionalMaps build">
|
||||
<a href="https://carla-releases.s3.us-east-005.backblazeb2.com/Windows/Dev/AdditionalMaps_Latest.zip" target="_blank" class="btn btn-neutral" title="Go to the windows nightly AdditionalMaps build">
|
||||
<span class="icon fa-cloud-download"></span> Get the windows nightly build additional maps</a>
|
||||
</p>
|
||||
|
||||
|
|
@ -93,22 +93,22 @@ Releases are listed in __Development__ in the CARLA repository. There is also a
|
|||
---
|
||||
## Update Linux and Windows build
|
||||
|
||||
Make sure to be in the local `master` branch before the update. Then, merge or rebase the changes to other branches and solve possible conflicts.
|
||||
Make sure to be in the local `master` branch before the update. Then, merge or rebase the changes to other branches and solve possible conflicts.
|
||||
|
||||
```sh
|
||||
```sh
|
||||
git checkout master
|
||||
```
|
||||
|
||||
### Clean the build
|
||||
|
||||
Go to the main CARLA folder and delete binaries and temporals generated by the previous build.
|
||||
```sh
|
||||
```sh
|
||||
make clean
|
||||
```
|
||||
|
||||
### Pull from origin
|
||||
|
||||
Get the current version from `master` in the CARLA repository.
|
||||
Get the current version from `master` in the CARLA repository.
|
||||
```sh
|
||||
git pull origin master
|
||||
```
|
||||
|
|
@ -120,19 +120,19 @@ __Linux.__
|
|||
./Update.sh
|
||||
```
|
||||
|
||||
__Windows.__
|
||||
__Windows.__
|
||||
|
||||
__1.__ Erase the previous content in `Unreal\CarlaUE4\Content\Carla`.
|
||||
__2.__ Go to `\Util\ContentVersions.txt`.
|
||||
__3.__ Download the content for `latest`.
|
||||
__4.__ Extract the new content in `Unreal\CarlaUE4\Content\Carla`.
|
||||
__1.__ Erase the previous content in `Unreal\CarlaUE4\Content\Carla`.
|
||||
__2.__ Go to `\Util\ContentVersions.txt`.
|
||||
__3.__ Download the content for `latest`.
|
||||
__4.__ Extract the new content in `Unreal\CarlaUE4\Content\Carla`.
|
||||
|
||||
!!! Note
|
||||
In order to work with that the CARLA team is devleoping, go to __get development assets__ below.
|
||||
In order to work with that the CARLA team is devleoping, go to __get development assets__ below.
|
||||
|
||||
### Launch the server
|
||||
|
||||
Run the server in spectator view to make sure that everything worked properly.
|
||||
Run the server in spectator view to make sure that everything worked properly.
|
||||
|
||||
```sh
|
||||
make launch
|
||||
|
|
@ -141,18 +141,18 @@ make launch
|
|||
---
|
||||
## Get development assets
|
||||
|
||||
The CARLA team works with assets still in development. These models and maps have a [public git repository][contentrepolink] where the CARLA team regularly pushes latest updates. Assets are still unfinished, using them is only recommended for developers.
|
||||
The CARLA team works with assets still in development. These models and maps have a [public git repository][contentrepolink] where the CARLA team regularly pushes latest updates. Assets are still unfinished, using them is only recommended for developers.
|
||||
|
||||
In order to handle this repository it is advisted to install [git-lfs][gitlfslink]. The repository is modified regularly, and git-lfs works faster with large binary files.
|
||||
In order to handle this repository it is advisted to install [git-lfs][gitlfslink]. The repository is modified regularly, and git-lfs works faster with large binary files.
|
||||
|
||||
To clone the repository, __go to the main CARLA directory__ and run the following command.
|
||||
To clone the repository, __go to the main CARLA directory__ and run the following command.
|
||||
|
||||
```sh
|
||||
git clone https://bitbucket.org/carla-simulator/carla-content Unreal/CarlaUE4/Content/Carla
|
||||
```
|
||||
|
||||
!!! Warning
|
||||
Delete the `/Carla` folder containing the assets before cloning the repository. Otherwise, an error will show.
|
||||
Delete the `/Carla` folder containing the assets before cloning the repository. Otherwise, an error will show.
|
||||
|
||||
[contentrepolink]: https://bitbucket.org/carla-simulator/carla-content
|
||||
[gitlfslink]: https://github.com/git-lfs/git-lfs/wiki/Installation
|
||||
|
|
|
|||
|
|
@ -40,7 +40,7 @@ In this section you will find details of system requirements, minor and major so
|
|||
|
||||
#### Minor installations
|
||||
|
||||
* [__CMake__](https://cmake.org/download/) generates standard build files from simple configuration files.
|
||||
* [__CMake__](https://cmake.org/download/) generates standard build files from simple configuration files. __We recommend you use version 3.15+__.
|
||||
* [__Git__](https://git-scm.com/downloads) is a version control system to manage CARLA repositories.
|
||||
* [__Make__](http://gnuwin32.sourceforge.net/packages/make.htm) generates the executables. It is necessary to use __Make version 3.81__, otherwise the build may fail. If you have multiple versions of Make installed, check that you are using version 3.81 in your PATH when building CARLA. You can check your default version of Make by running `make --version`.
|
||||
* [__7Zip__](https://www.7-zip.org/) is a file compression software. This is required for automatic decompression of asset files and prevents errors during build time due to large files being extracted incorrectly or partially.
|
||||
|
|
|
|||
|
|
@ -10,10 +10,10 @@
|
|||
> branch. It contains the very latest fixes and features that will be part of the
|
||||
> next release, but also some experimental changes. Use at your own risk!
|
||||
|
||||
- [CARLA Nightly Build (Linux)](https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/Dev/CARLA_Latest.tar.gz)
|
||||
- [AdditionalMaps Nightly Build (Linux)](https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/Dev/AdditionalMaps_Latest.tar.gz)
|
||||
- [CARLA Nightly Build (Windows)](https://carla-releases.s3.eu-west-3.amazonaws.com/Windows/Dev/CARLA_Latest.zip)
|
||||
- [AdditionalMaps Nightly Build (Windows)](https://carla-releases.s3.eu-west-3.amazonaws.com/Windows/Dev/AdditionalMaps_Latest.zip)
|
||||
- [CARLA Nightly Build (Linux)](https://carla-releases.s3.us-east-005.backblazeb2.com/Linux/Dev/CARLA_Latest.tar.gz)
|
||||
- [AdditionalMaps Nightly Build (Linux)](https://carla-releases.s3.us-east-005.backblazeb2.com/Linux/Dev/AdditionalMaps_Latest.tar.gz)
|
||||
- [CARLA Nightly Build (Windows)](https://carla-releases.s3.us-east-005.backblazeb2.com/Windows/Dev/CARLA_Latest.zip)
|
||||
- [AdditionalMaps Nightly Build (Windows)](https://carla-releases.s3.us-east-005.backblazeb2.com/Windows/Dev/AdditionalMaps_Latest.zip)
|
||||
|
||||
### Versions 0.9.x
|
||||
|
||||
|
|
|
|||
|
|
@ -0,0 +1,66 @@
|
|||
# SimReady content with NVIDIA Omniverse
|
||||
|
||||
NVIDIA's [__SimReady__](https://developer.nvidia.com/omniverse/simready-assets) specification supports the preparation of __3D content that is purpose-built for simulation__ to help streamline content creation pipelines for simulating 3D virtual environments for machine learning purposes in robotics and autonomous driving. Through the Omniverse Unreal Engine plugin now integrated into CARLA users can import, in just a few clicks, SimReady content such as vehicles already configured with working lights, doors and wheels and props ready for use instantaneously to decorate CARLA maps. CARLA's Omniverse integration boasts to significantly accelerate your environment building pipeline and opens the door to a whole world of applications in the [__Omniverse ecosystem__](https://www.nvidia.com/en-us/omniverse/ecosystem/).
|
||||
|
||||
!!! note
|
||||
The Omniverse Unreal Engine Connector is currently only available in Windows.
|
||||
|
||||
Follow these steps to start using Omniverse and using SimReady content in CARLA:
|
||||
|
||||
Before anything else, you should first [install NVIDIA Omniverse](https://docs.omniverse.nvidia.com/install-guide/latest/index.html)
|
||||
|
||||
### 1. Installing the Unreal Engine Omniverse Connector
|
||||
|
||||
1. Launch the NVIDIA Omniverse Launcher
|
||||
2. Navigate to the **Exchange** tab
|
||||
3. Locate the __Epic Games Unreal Engine 4.26 Omniverse Connector__
|
||||
4. Ensure the install version is **Release 105.1.578**
|
||||
5. Click *Install*
|
||||
6. Omniverse will not be able to find Unreal Engine, click **OK**.
|
||||
7. It will prompt you to find your Unreal Engine installation, select this path: {UE4_ROOT}\Engine\Plugins\Marketplace\NVIDIA
|
||||
8. Press *Install*.
|
||||
|
||||
### 2. Set Up Local Omniverse Server
|
||||
|
||||
1. Open NVIDIA Omniverse with the launcher
|
||||
2. Navigate to the *Nucleus* tab
|
||||
3. Click on *Create Local Server*
|
||||
4. Create administrator details
|
||||
5. Select the folder icon next to *Local Nucleus Service*, this should open your localhost server in your web browser
|
||||
|
||||
### 3. Connecting to CARLA Simulator
|
||||
|
||||
1. Launch CARLA using `make launch` from the command line the CARLA root folder
|
||||
2. If an existing server is active and you want to restart the setup, click on *Clean Local Assets* (optional)
|
||||
3. Select the *Omniverse* icon and click on *Add Server*
|
||||
4. Name the server and click *Add to Content Browser*
|
||||
5. A login form should launch in your browser, click *Create Account*
|
||||
6. Create administrator details
|
||||
7. Omniverse folders should now be visible in your Content/Omniverse folder in the Unreal Engine content browser
|
||||
8. Go to your web browser again
|
||||
9. Click on *Connect to a Server*
|
||||
10. Authenticate using the server name you set for the CARLA server
|
||||
11. Use the administrator details that you set for the CARLA server
|
||||
12. The server folders should now show up in your browser
|
||||
|
||||
### 4. Importing a SimReady asset
|
||||
|
||||
1. Navigate to the Projects folder within the browser navigator
|
||||
2. Right click, and select *Upload Folder*
|
||||
3. Select your SimReady folders
|
||||
4. Upload the files
|
||||
|
||||
### 5. Using the Omniverse Connector to Load the Vehicle to CARLA
|
||||
|
||||
1. Open the CARLA project in Unreal Engine
|
||||
2. Navigate to `CarlaTools/Content/USDImporter`
|
||||
3. Right click on *UW_USDVehicleImporterEditorWidget*
|
||||
4. Select *Run Editor Utility Widget*
|
||||
5. Find the Vehicle within your Omniverse browser navigator
|
||||
6. Copy the path (should look something like: omniverse://localhost/Projects/SimReadyUSD.../vehicle.usd)
|
||||
7. Paste it inside the Omiverse URL tab within the Widget
|
||||
8. Select *Import Asset*
|
||||
9. You should see the vehicle show up in the engine within the folder that you specified in the *Import destination* field
|
||||
10. Open another map scene (it may have opened a new scene with the imported data) a *Save Content* prompt should appear. Uncheck the *Untitled* scene, and click on *Save selected* to save new content
|
||||
11. The vehicle is now usable within CARLA and will be available through the Python API
|
||||
|
||||
|
|
@ -0,0 +1,56 @@
|
|||
<img src="../img/synkrotron.jpg" alt= “synkrotron_logo” style="display: block; margin-left: auto; margin-right: auto; width: 70%;">
|
||||
|
||||
# Synkrotron simulation solutions
|
||||
|
||||
Synkrotron provides advanced solutions for autonomous driving simulation built on top of CARLA. Synkrotron's product suite OASIS supports a broad range of applications including scenario generation, sensor modelling, traffic simulation and data management. Based on a flexible architecture OASIS can be deployed on the cloud at scale, or in a developer's local environment for prototyping.
|
||||
|
||||
---
|
||||
|
||||
<img src="../img/oasis_logo.png" alt= “synkrotron_logo” style="display: block; margin-left: auto; margin-right: auto; width: 70%;">
|
||||
|
||||
<div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
|
||||
<iframe src="https://www.youtube.com/embed/YRI67aar3S0" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
|
||||
</div>
|
||||
|
||||
<br>
|
||||
|
||||
## [__OASIS simulation platform__](https://www.synkrotron.ai/sim.html)
|
||||
|
||||
OASIS Sim is a fully-fledged, scalable simulation platform with CARLA at its core. It supports the complete life-cycle of AD simulation:
|
||||
|
||||
- scenario import & editing with a graphical user interface
|
||||
- sensor configuration
|
||||
- distributed task management
|
||||
- diagnosis through rich simulation data and logs
|
||||
|
||||
Both cloud and local deployment are available through containerized packaging. Comprehensive APIs are exposed for integration with DevOps too. You can [request a trial](https://synkrotron.ai/contact.html) from Synkrotron.
|
||||
|
||||
## [__OASIS data platform__](https://www.synkrotron.ai/data.html)
|
||||
|
||||
OASIS Data is a platform for managing the high volume of data flowing through the autonomous driving R&D pipeline. Data-driven development of AD systems are made possible with OASIS Data via the following functionalities:
|
||||
|
||||
* data acquisition and anonymization
|
||||
* multi-stage filtering based on structured data (CAN bus signals, active-safety triggering, etc.) and unstructured data (sensor readings)
|
||||
* information mapping and environment reconstruction with LIDAR and/or vision-only strategy
|
||||
* auto-labeling of data with pre-trained perception models
|
||||
* scenario tagging and reconstruction with OpenX format output
|
||||
|
||||
The processed data from the platform supports downstream applications such as scenario re-simulation with Oasis Sim, retraining of perception models with new labeled data and operational fleet management.
|
||||
|
||||
## __Synkrotron Tools and Services__
|
||||
|
||||
In addition to the complete solutions introduced above, Synkrotron also offers the following developer tools and services to facilitate AD simulation development.
|
||||
|
||||
| Product/service | Description |
|
||||
| -----------| ------ |
|
||||
| __Sensor model__: fish-eye camera | Fisheye camera with configurable distortion parameters |
|
||||
| __Sensor model__: LIDAR | Advanced lidar model with configurable shutter mode and material reflections |
|
||||
| __SOTIF__ scenario generation tool | Given the ODD description from user, identify important scenario elements and generate critical scenarios to help uncover unknown unsafe domains of the autonomous driving systems, achieved by using an ontology-based method combined with iterative optimizations against evaluations in Carla |
|
||||
| __Map creation__ | Given lidar scan data (can also provide road-test data collection equipments & service), create HD maps for the user and output OpenDrive files which can be loaded in Carla for PnC tests or logsim |
|
||||
| __Sensor model__: physics models for camera | Supports CMOS simulations and outputs 12bit raw sensor data, for customers who develop ISP algorithms or who has ECUs that need raw data from camera instead of RGBs |
|
||||
| __Static scene creation__ | Combined HD mapping, 3D asset development and procedural modeling to create 3D static scenes/digital twins for users |
|
||||
| __Dynamic scenario reconstruction__ | On top of static scenes, also detect and track various traffic participants from user's road-test data; the recovered trajectories/behaviors are turned into OpenScenario 1.0 files and can be re-simulated in CARLA |
|
||||
|
||||
|
||||
|
||||
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 35 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 25 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 66 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 31 KiB |
|
|
@ -5,7 +5,7 @@
|
|||
Town 13 is a Large Map with dimensions of 10x10 km<sup>2</sup>. It is divided into 36 tiles, most with dimensions of 2x2 km<sup>2</sup> (some edge tiles are smaller). There are numerous contrasting regions to the city including urban, residential and rural areas, along with a large highway system surrounding the city with a ringroad. The architectural styles reflect those of many medium to large cities across North America.
|
||||
|
||||
!!! note
|
||||
Town 13 has been designed as an adjunct to Town 13, such that they can serve as a __train-test pair__. The towns share many common features, but also many differences in the styles of buildings, road textures, pavement textures and also vegetation. Using one of the pair to produce training data and then using the other for testing is ideal for exposing overfitting issues that might be arising while developing an AD stack.
|
||||
Town 13 has been designed as an adjunct to Town 12, such that they can serve as a __train-test pair__. The towns share many common features, but also many differences in the styles of buildings, road textures, pavement textures and also vegetation. Using one of the pair to produce training data and then using the other for testing is ideal for exposing overfitting issues that might be arising while developing an AD stack.
|
||||
|
||||
## Navigator
|
||||
|
||||
|
|
|
|||
|
|
@ -13,7 +13,7 @@ This tutorial details how to add a new vehicle to CARLA. There are two sections,
|
|||
---
|
||||
## Add a 4 wheeled vehicle
|
||||
|
||||
Vehicles added to CARLA need to use a __common base skeleton__ which is found [__here__](https://carla-assets.s3.eu-west-3.amazonaws.com/fbx/VehicleSkeleton.rar). This link will download a folder called `VehicleSkeleton.rar` which contains the base skeleton in two different `.fbx` formats, one in ASCII and the other in binary. The format you use will depend on your 3D modeling software requirements.
|
||||
Vehicles added to CARLA need to use a __common base skeleton__ which is found [__here__](https://carla-assets.s3.us-east-005.backblazeb2.com/fbx/VehicleSkeleton.rar). This link will download a folder called `VehicleSkeleton.rar` which contains the base skeleton in two different `.fbx` formats, one in ASCII and the other in binary. The format you use will depend on your 3D modeling software requirements.
|
||||
|
||||
__The positions of the skeleton bones can be changed but any other manipulation such as rotation, addition of new bones, or changing the current hierarchy will lead to errors. __
|
||||
|
||||
|
|
@ -52,7 +52,7 @@ We recommend that you divide the vehicle into the following materials:
|
|||
- __Lights__: Headlights, indicator lights, etc.
|
||||
- __LightGlass_Ext__: A layer of glass that allows visibility from the outside to the inside of the light.
|
||||
- __LightGlass_Int__: A layer of glass that allows visibility from the inside to the outside of the light.
|
||||
- __LicensePlate__: A rectangular plane of 29x12 cm. You can use the CARLA provided `.fbx` for best results, download it [here](https://carla-assets.s3.eu-west-3.amazonaws.com/fbx/LicensePlate.rar). The texture will be assigned automatically in Unreal Engine.
|
||||
- __LicensePlate__: A rectangular plane of 29x12 cm. You can use the CARLA provided `.fbx` for best results, download it [here](https://carla-assets.s3.us-east-005.backblazeb2.com/fbx/LicensePlate.rar). The texture will be assigned automatically in Unreal Engine.
|
||||
- __Interior__: Any other details that don't fit in the above sections can go into _Interior_.
|
||||
|
||||
Materials should be named using the format `M_CarPart_CarName`, e.g., `M_Bodywork_Mustang`.
|
||||
|
|
@ -278,7 +278,7 @@ All other parameters such as engine, transmission, steering curve, are the same
|
|||
---
|
||||
## Add a 2 wheeled vehicle
|
||||
|
||||
Adding 2 wheeled vehicles is similar to adding a 4 wheeled one but due to the complexity of the animation you'll need to set up aditional bones to guide the driver's animation. [Here](https://carla-assets.s3.eu-west-3.amazonaws.com/fbx/BikeSkeleton.rar) is the link to the reference skeleton for 2 wheeled vehicles.
|
||||
Adding 2 wheeled vehicles is similar to adding a 4 wheeled one but due to the complexity of the animation you'll need to set up aditional bones to guide the driver's animation. [Here](https://carla-assets.s3.us-east-005.backblazeb2.com/fbx/BikeSkeleton.rar) is the link to the reference skeleton for 2 wheeled vehicles.
|
||||
|
||||
As with the 4 wheeled vehicles, orient the model towards positive "x" and every bone axis towards
|
||||
positive x and with the z axis facing upwards.
|
||||
|
|
|
|||
|
|
@ -23,9 +23,9 @@ In CARLA, there is a set of master materials that are used as templates for the
|
|||
* __M_CarInterior_Master__ — Material applied to the inside of the car.
|
||||
* __M_CarLightsGlass_Master__ — Material applied to the glass covering car lights.
|
||||
* __M_CarWindows_Master__ — Material applied to the windows.
|
||||
* __M_CarLicensePlate_Master__ — Material applied to the license plate.
|
||||
* __M_CarVehicleLights_Master__ — Material applied to the car lights as an emissive texure.
|
||||
* __M_CarVehicleLigthsSirens_Master__ — Material applied to the sirens, if applicable.
|
||||
* __M_LicensePlate_Master__ — Material applied to the license plate.
|
||||
* __M_VehicleLights_Master__ — Material applied to the car lights as an emissive texure.
|
||||
* __M_VehicleLights_Sirens_Master__ — Material applied to the sirens, if applicable.
|
||||
|
||||
---
|
||||
## Customize car materials
|
||||
|
|
@ -142,7 +142,7 @@ Similarly to car materials, a building material can be greatly changed if desire
|
|||
* `Color` — Tint to be applied based on the white area on the __Diffuse__ `Alpha` texture.
|
||||
* `Emissive Texture` — Enable the usage of an __Emissive__ texture.
|
||||
* `EmissiveColor` — Tint to be applied based on the white area on the __ORME__ `Emissive mask` texture.
|
||||
* `Emissive atenuance` — Factor that divides the intensity stated in __BP_Lights__ to obtain proper emissive values.
|
||||
* `Emissive attenuance` — Factor that divides the intensity stated in __BP_Lights__ to obtain proper emissive values.
|
||||
* `RoughnessCorrection` — Changes the intensity of the roughness map.
|
||||
* `MetallicCorrection` — Changes the intensity of the metallic map.
|
||||
* `NormalFlatness` — Changes the intensity of the normal map.
|
||||
|
|
|
|||
|
|
@ -67,7 +67,7 @@ __4.3__ Press `Compile` in the toolbar above and save the changes.
|
|||
## Physics colliders
|
||||
|
||||
!!! Important
|
||||
This tutorial is based on a [contribution](https://bitbucket.org/yankagan/carla-content/wiki/Home) made by __[yankagan](https://github.com/yankagan)__! The contributor also wants to aknowledge __Francisco E__ for the tutorial on [how to import custom collisions in UE](https://www.youtube.com/watch?v=SEH4f0HrCDM).
|
||||
This tutorial is based on a [contribution](https://bitbucket.org/yankagan/carla-content/wiki/Home) made by __[yankagan](https://github.com/yankagan)__! The contributor also wants to acknowledge __Francisco E__ for the tutorial on [how to import custom collisions in UE](https://www.youtube.com/watch?v=SEH4f0HrCDM).
|
||||
|
||||
[This video](https://www.youtube.com/watch?v=CXK2M2cNQ4Y) shows the results achieved after following this tutorial.
|
||||
|
||||
|
|
|
|||
|
|
@ -25,7 +25,7 @@ This page shows you how to generate a `.sim` file, explains how vehicle dimensio
|
|||
__For Ubuntu__:
|
||||
|
||||
1. Download the plugin [here](https://www.carsim.com/users/unreal_plugin/unreal_plugin_2020_0.php).
|
||||
2. Replace the file `CarSim.Build.cs` with the file found [here](https://carla-releases.s3.eu-west-3.amazonaws.com/Backup/CarSim.Build.cs) in order to use the correct solver for Ubuntu.
|
||||
2. Replace the file `CarSim.Build.cs` with the file found [here](https://carla-assets.s3.us-east-005.backblazeb2.com/Backup/CarSim.Build.cs) in order to use the correct solver for Ubuntu.
|
||||
|
||||
3. This step can be skipped if you are using the packaged version of CARLA. The packaged version has already been compiled using this flag but if you are building CARLA from source then you will need to compile the server with the `--carsim` flag.
|
||||
|
||||
|
|
|
|||
|
|
@ -147,7 +147,7 @@ def build_projection_matrix(w, h, fov):
|
|||
|
||||
## Build the skeleton
|
||||
|
||||
Now we can put the moving parts together. First, gather the bone coordinates from the simulation using `pedestrian.get_bones()` and then put together the skeleton and project it onto the 2D imaging plane of the camera sensor. The bones are joined into the complete skeleton using the pairs defined in __skeleton.txt__ that can be downloaded [__here__](https://carla-assets.s3.eu-west-3.amazonaws.com/fbx/skeleton.txt).
|
||||
Now we can put the moving parts together. First, gather the bone coordinates from the simulation using `pedestrian.get_bones()` and then put together the skeleton and project it onto the 2D imaging plane of the camera sensor. The bones are joined into the complete skeleton using the pairs defined in __skeleton.txt__ that can be downloaded [__here__](https://carla-assets.s3.us-east-005.backblazeb2.com/fbx/skeleton.txt).
|
||||
|
||||
We need a function to iterate through the bone pairs defined in __skeleton.txt__ and join the bone coordinates into lines that can be overlayed onto a camera sensor image.
|
||||
|
||||
|
|
|
|||
|
|
@ -568,7 +568,7 @@ The script places the sensor on the hood of the car, and rotated a bit upwards.
|
|||
The callback is a bit more complex this time, showing more of its capabilities. It will draw the points captured by the radar on the fly. The points will be colored depending on their velocity regarding the ego vehicle.
|
||||
|
||||
* __Blue__ for points approaching the vehicle.
|
||||
* __Read__ for points moving away from it.
|
||||
* __Red__ for points moving away from it.
|
||||
* __White__ for points static regarding the ego vehicle.
|
||||
|
||||
```py
|
||||
|
|
|
|||
|
|
@ -8,7 +8,7 @@ Firstly, we need to load the Unreal Editor and load a CARLA map, follow the inst
|
|||
|
||||
|
||||
|
||||
We have selected __BP_Apartment04_v5_Opt__ for texture manipulation, the name can be seen in the World Outliner panel. __Make sure to hover over the name in the World Outliner and use the name defined in the tooltip__. The the internal name may differ from the title displayed in the list. In this case, the internal name is actually __BP_Apartment04_v5_Opt_2__.
|
||||
We have selected __BP_Apartment04_v05_Opt__ for texture manipulation, the name can be seen in the World Outliner panel. __Make sure to hover over the name in the World Outliner and use the name defined in the tooltip__. The the internal name may differ from the title displayed in the list. In this case, the internal name is actually __BP_Apartment04_v05_Opt_2__.
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -403,7 +403,7 @@ Navigate to the vegetation folder in the CARLA content library: `Carla > Static
|
|||
|
||||
A useful tool for trees and vegetation is the [__Unreal Engine foliage tool__](https://docs.unrealengine.com/4.27/en-US/BuildingWorlds/Foliage/). Activate the tool by selecting the `mode` from the mode dropdown in the toolbar.
|
||||
|
||||
|
||||
|
||||
|
||||
Drag your desired foliage item into the box labeled `+ Drop Foliage Here`. Set an appropriate density in the density field, then paint into the map with your foliage item.
|
||||
|
||||
|
|
|
|||
|
|
@ -1,36 +1,36 @@
|
|||
# Content authoring - vehicles
|
||||
|
||||
CARLA provides a comprehensive set of vehicles out of the box in the blueprint library. CARLA allows the user to expand upon this with custom vehicles for maximum extensibility.
|
||||
CARLA provides a comprehensive set of vehicles out of the box in the blueprint library. CARLA allows the user to expand upon this with custom vehicles for maximum extensibility.
|
||||
|
||||
3D modelling of detailed vehicles is highly complex and requires a significant degree of skill. We therefore refer the reader to alternative sources of documentation on 3D modelling, since this is beyond the scope of this guide. There are, however, numerous sources of vehicle models in both free and proprietary online repositories. Hence the user has many options to turn to for creating custom vehicles for use in CARLA.
|
||||
|
||||
The key factors in preparing a custom vehicle for CARLA lie in rigging the vehicle armature and then importing into the Unreal Engine. After rigging and importing, blueprints need to be set for the car and the wheels. Then apply materials and add the glass parts of the vehicle. We will cover these steps in the following guide.
|
||||
|
||||
* __[Modeling](#modeling)__
|
||||
* [Naming conventions](#naming-conventions)
|
||||
* __[Rigging](#rigging-the-vehicle-using-an-armature)__
|
||||
* [Import](#import)
|
||||
* __[Modeling](#modeling)__
|
||||
* [Naming conventions](#naming-conventions)
|
||||
* __[Rigging](#rigging-the-vehicle-using-an-armature)__
|
||||
* [Import](#import)
|
||||
* [Armature](#add-an-armature)
|
||||
* [Parenting](#parenting)
|
||||
* [Assignment](#assigning-car-parts-to-bones)
|
||||
* [Assignment](#assigning-car-parts-to-bones)
|
||||
* [Blender add-on](#blender-ue4-vehicle-rigging-add-on)
|
||||
* [Export](#export)
|
||||
* __[Import into Unreal Engine](#importing-into-unreal-engine)__
|
||||
* [Physics asset](#setting-the-physics-asset)
|
||||
* [Export](#export)
|
||||
* __[Import into Unreal Engine](#importing-into-unreal-engine)__
|
||||
* [Physics asset](#setting-the-physics-asset)
|
||||
* [Animation](#creating-the-animation)
|
||||
* [Blueprint](#creating-the-blueprint)
|
||||
* __[Materials](#materials)__
|
||||
* __[Materials](#materials)__
|
||||
* [Applying materials](#applying-a-material-to-your-vehicle)
|
||||
* [Color](#color)
|
||||
* [Clear coat](#clear-coat)
|
||||
* [Orange peel](#orange-peel)
|
||||
* [Flakes](#flakes)
|
||||
* [Dust](#dust)
|
||||
* __[Glass](#glass)__
|
||||
* __[Glass](#glass)__
|
||||
* [Glass meshes](#glass-meshes)
|
||||
* [Glass material](#glass-material)
|
||||
* [Single layer glass](#single-layer-glass)
|
||||
* __[Wheels](#wheels)__
|
||||
* __[Wheels](#wheels)__
|
||||
* [Wheel blueprint](#wheel-blueprint)
|
||||
* [Collision mesh](#collision-mesh)
|
||||
* [Tire configuration](#tire-configuration)
|
||||
|
|
@ -41,7 +41,7 @@ The key factors in preparing a custom vehicle for CARLA lie in rigging the vehic
|
|||
|
||||
## Modeling
|
||||
|
||||
Vehicles should have between 50,000 and 100,000 faces. We recommend triangulating the model prior to export as best practice. CARLA vehicles are modeled using the size and scale of actual cars as reference. Please ensure you pay careful attention to the units of your 3D application. Some work in centimeters while others work in meters.
|
||||
Vehicles should have between 50,000 and 100,000 faces. We recommend triangulating the model prior to export as best practice. CARLA vehicles are modeled using the size and scale of actual cars as reference. Please ensure you pay careful attention to the units of your 3D application. Some work in centimeters while others work in meters.
|
||||
|
||||
### Naming conventions
|
||||
|
||||
|
|
@ -53,7 +53,7 @@ For ease and consistency we recommend that you divide the vehicle into the follo
|
|||
- __Lights__: Headlights, indicator lights, etc.
|
||||
- __LightGlass_Ext__: A layer of glass that allows visibility from the outside to the inside of the light.
|
||||
- __LightGlass_Int__: A layer of glass that allows visibility from the inside to the outside of the light.
|
||||
- __LicensePlate__: A rectangular plane of 29x12 cm. You can use the CARLA provided `.fbx` for best results, download it [here](https://carla-assets.s3.eu-west-3.amazonaws.com/fbx/LicensePlate.rar). The texture will be assigned automatically in Unreal Engine.
|
||||
- __LicensePlate__: A rectangular plane of 29x12 cm. You can use the CARLA provided `.fbx` for best results, download it [here](https://carla-assets.s3.us-east-005.backblazeb2.com/fbx/LicensePlate.rar). The texture will be assigned automatically in Unreal Engine.
|
||||
- __Interior__: Any other details that don't fit in the above sections can go into _Interior_.
|
||||
|
||||
Materials should be named using the format `M_CarPart_CarName`, e.g, `M_Bodywork_Mustang`.
|
||||
|
|
@ -62,11 +62,11 @@ Textures should be named using the format `T_CarPart_CarName`, e.g, `T_Bodywork_
|
|||
|
||||
## Rigging the vehicle using an armature
|
||||
|
||||
To look realistic within the simulation, the car needs to have rotating and wheels, the front pair of which can turn with steering inputs. Therefore to prepare a vehicle for CARLA, an armature needs to be rigged to the car to identify the wheels and allow their movement.
|
||||
To look realistic within the simulation, the car needs to have rotating and wheels, the front pair of which can turn with steering inputs. Therefore to prepare a vehicle for CARLA, an armature needs to be rigged to the car to identify the wheels and allow their movement.
|
||||
|
||||
### Import
|
||||
### Import
|
||||
|
||||
Import or model the vehicle model mesh in your 3D modelling application. In this guide we will use Blender 3D. Ensure that the wheels are separable from the main body. Each wheel must be accessible as a distinct object.
|
||||
Import or model the vehicle model mesh in your 3D modelling application. In this guide we will use Blender 3D. Ensure that the wheels are separable from the main body. Each wheel must be accessible as a distinct object.
|
||||
|
||||
|
||||
|
||||
|
|
@ -74,23 +74,23 @@ It is important to ensure that the vehicle faces in the positive X direction, so
|
|||
|
||||
### Add an armature
|
||||
|
||||
Now add an armature to the center of the vehicle, ensure the object is properly centered, the root of the armature bone should be set at the origin. Switch to edit mode and rotate the armature 90 around the x axis.
|
||||
Now add an armature to the center of the vehicle, ensure the object is properly centered, the root of the armature bone should be set at the origin. Switch to edit mode and rotate the armature 90 around the x axis.
|
||||
|
||||
|
||||
|
||||
Now select the armature and add 4 more bones. Each of these bones needs to be located such that the root of the bone coincides with the centre of the each wheel. This can be achieved by locating the 3D cursor at the center of each wheel in edit mode. Select one of the wheels in object mode, select a vertex, press A to select all vertices then `Shift+S` and select `Cursor to selected`. This will locate the cursor in the center of the wheel. Then, in object mode, select the armature, switch to edit mode, select a bone and choose `Selection to cursor`. Your bone will now coincide with the wheel. Rotate each bone such that it lines up with the base of the armature.
|
||||
Now select the armature and add 4 more bones. Each of these bones needs to be located such that the root of the bone coincides with the centre of the each wheel. This can be achieved by locating the 3D cursor at the center of each wheel in edit mode. Select one of the wheels in object mode, select a vertex, press A to select all vertices then `Shift+S` and select `Cursor to selected`. This will locate the cursor in the center of the wheel. Then, in object mode, select the armature, switch to edit mode, select a bone and choose `Selection to cursor`. Your bone will now coincide with the wheel. Rotate each bone such that it lines up with the base of the armature.
|
||||
|
||||
For each wheel, it is recommended to name the bone according to the wheel it needs to be coupled to, this will help in identification later when you need to assign vertex groups to each bone.
|
||||
For each wheel, it is recommended to name the bone according to the wheel it needs to be coupled to, this will help in identification later when you need to assign vertex groups to each bone.
|
||||
|
||||
|
||||
|
||||
### Parenting
|
||||
### Parenting
|
||||
|
||||
Now select all the parts of the body and all 4 wheels using shift or control in the project outliner, then control select the armature you have created (this order is important, it won't work if you select these in reverse order). Press `Ctrl+p` and select `With empty groups` to bind the mesh to the armature.
|
||||
Now select all the parts of the body and all 4 wheels using shift or control in the project outliner, then control select the armature you have created (this order is important, it won't work if you select these in reverse order). Press `Ctrl+p` and select `With empty groups` to bind the mesh to the armature.
|
||||
|
||||
|
||||
|
||||
Now you have parented the mesh to the armature, you now need to assign each wheel to its respective bone. Select a wheel either in the outliner or the editor. Switch to edit mode, and select all the vertices of the wheel (shortcut - `a`).
|
||||
Now you have parented the mesh to the armature, you now need to assign each wheel to its respective bone. Select a wheel either in the outliner or the editor. Switch to edit mode, and select all the vertices of the wheel (shortcut - `a`).
|
||||
|
||||
### Assigning car parts to bones
|
||||
|
||||
|
|
@ -108,9 +108,9 @@ There is a very useful add on for blender for rigging a vehicle for import into
|
|||
|
||||
### Export
|
||||
|
||||
Now we will export our rigged model into FBX format for import into Unreal Engine. Select `Export > FBX (.fbx)` from the File menu. In the `Object Types` section of the `Include` panel, shift select the `Armature` and `Mesh` options.
|
||||
Now we will export our rigged model into FBX format for import into Unreal Engine. Select `Export > FBX (.fbx)` from the File menu. In the `Object Types` section of the `Include` panel, shift select the `Armature` and `Mesh` options.
|
||||
|
||||
In the `Transform` panel. Change `Forward` to `X Forward` and change `Up` to `Z Up`. This is important to ensure the vehicle is oriented correctly in the Unreal Engine.
|
||||
In the `Transform` panel. Change `Forward` to `X Forward` and change `Up` to `Z Up`. This is important to ensure the vehicle is oriented correctly in the Unreal Engine.
|
||||
|
||||
In the `Armature` section uncheck `Add Leaf Bones` and uncheck `Bake Animation`.
|
||||
|
||||
|
|
@ -118,7 +118,7 @@ In the `Armature` section uncheck `Add Leaf Bones` and uncheck `Bake Animation`.
|
|||
|
||||
## Importing into unreal engine
|
||||
|
||||
Launch the Unreal Editor with the `make launch` command from the CARLA root directory (the one where you have built CARLA from source). Open a content browser, set up an appropriate directory and right click and select `Import to ....`. Choose the FBX file that you previously exported from Blender (or another 3D modelling application). Import with default settings.
|
||||
Launch the Unreal Editor with the `make launch` command from the CARLA root directory (the one where you have built CARLA from source). Open a content browser, set up an appropriate directory and right click and select `Import to ....`. Choose the FBX file that you previously exported from Blender (or another 3D modelling application). Import with default settings.
|
||||
|
||||
### Setting the physics asset
|
||||
|
||||
|
|
@ -130,7 +130,7 @@ First, select the main body, in the `Details` menu on the right, change the `Lin
|
|||
|
||||
|
||||
|
||||
Now select all the wheels (in the `Skeleton Tree` section on the left).
|
||||
Now select all the wheels (in the `Skeleton Tree` section on the left).
|
||||
|
||||
|
||||
|
||||
|
|
@ -170,7 +170,7 @@ Select the `Vehicles` node and expand the `Vehicles` item in the `Default value`
|
|||
|
||||
|
||||
|
||||
Press the plus icon to add your new vehicle. Scroll down to the last entry and expand it, it should be empty. Name the make and model of your vehicle and under the class section find your blueprint class that you created in the previous section. Leave the number of wheels as 4 and put the generation as 2. Compile and save. Do a global save for safety and you are now..ready to run your vehicle in a simulation.
|
||||
Press the plus icon to add your new vehicle. Scroll down to the last entry and expand it, it should be empty. Name the make and model of your vehicle and under the class section find your blueprint class that you created in the previous section. Leave the number of wheels as 4 and put the generation as 2. Compile and save. Do a global save for safety and you are now..ready to run your vehicle in a simulation.
|
||||
|
||||
Press play in the unreal toolbar to run the simulation. Once it is running, open a terminal and run the `manual_control.py` script with the filter option to specify your new vehicle model:
|
||||
|
||||
|
|
@ -185,13 +185,13 @@ As it is, the vehicle currently has no textures or colors applied. The next step
|
|||
|
||||
Once you have your vehicle imported as a basic asset with the mesh and blueprints laid out, you now want to add materials to your vehicle to facilitate photorealistic rendering in the Unreal Engine, for maximum fidelity in your machine learning training data.
|
||||
|
||||
The Unreal Editor boasts a comprehensive materials workflow that facilitates the creation of highly realistic materials. This does, however, add a significant degree of complexity to the process. For this reason, CARLA is provided with a large library of material prototypes for you to use without having to start from scratch.
|
||||
The Unreal Editor boasts a comprehensive materials workflow that facilitates the creation of highly realistic materials. This does, however, add a significant degree of complexity to the process. For this reason, CARLA is provided with a large library of material prototypes for you to use without having to start from scratch.
|
||||
|
||||
### Applying a material to your vehicle
|
||||
|
||||
CARLA provides a prototype material for replicating the glossy finish of vehicles that can mimic numerous different types of vehicle paint jobs and features. Open Unreal editor and in the content browser, locate the material in `Content > Carla > Static > GenericMaterials > 00_MastersOpt`. The basic material is called `M_CarPaint_Master`. Right click on this material and choose `Create Material Instance` from the context material. Name it and move it into the folder where your new vehicle content is stored.
|
||||
|
||||
In the Unreal Editor, move the spectator to a point near the floor and drag the skeletal mesh of the vehicle from the content browser into the scene, the body of your vehicle will now appear there.
|
||||
In the Unreal Editor, move the spectator to a point near the floor and drag the skeletal mesh of the vehicle from the content browser into the scene, the body of your vehicle will now appear there.
|
||||
|
||||
|
||||
|
||||
|
|
@ -207,7 +207,7 @@ The color settings govern the overall color of the car. The base color is simply
|
|||
|
||||
|
||||
|
||||
#### __Clear coat__
|
||||
#### __Clear coat__
|
||||
|
||||
The clear coat settings govern the appearance of the finish and how it reacts to light. The roughness uses a texture to apply imperfections to the vehicle surface, scattering light more with higher values to create a matte look. Subtle adjustments and low values are recommended for a realistic look. Generally, car paint jobs are smooth and reflective, however, this effect might be used more generously to model specialist matte finishes of custom paint jobs.
|
||||
|
||||
|
|
@ -215,7 +215,7 @@ The clear coat settings govern the appearance of the finish and how it reacts to
|
|||
|
||||
An important parameter to govern the "shininess" or "glossiness" of your car is the `Clear Coat Intensity`. High values close to 1 will make the coat shiny and glossy.
|
||||
|
||||
#### __Orange peel__
|
||||
#### __Orange peel__
|
||||
|
||||
Finishes on real cars (particularly on mass produced cars for the general market) tend to have imperfections that appear as slight ripples in the paint. The orange peel effect mimics this and makes cars look more realistic.
|
||||
|
||||
|
|
@ -223,13 +223,13 @@ Finishes on real cars (particularly on mass produced cars for the general market
|
|||
|
||||
#### __Flakes__
|
||||
|
||||
Some cars have paint jobs that include flakes of other material, such as metals or ceramics, to give the car a `metallic` or `pearlescant` appearance, adding extra glints and reflections that react in an attractive way to light. The flakes parameters allows CARLA to mimic this. To mimic metallic finishes, it would be
|
||||
Some cars have paint jobs that include flakes of other material, such as metals or ceramics, to give the car a `metallic` or `pearlescant` appearance, adding extra glints and reflections that react in an attractive way to light. The flakes parameters allows CARLA to mimic this. To mimic metallic finishes, it would be
|
||||
|
||||
|
||||
|
||||
#### __Dust__
|
||||
|
||||
Cars often accumulate grease and dust on the body that adds additional texture to the paint, affecting the way it reflects the light. The dust parameters allow you to add patches of disruption to the coat to mimic foreign materials sticking to the paint.
|
||||
Cars often accumulate grease and dust on the body that adds additional texture to the paint, affecting the way it reflects the light. The dust parameters allow you to add patches of disruption to the coat to mimic foreign materials sticking to the paint.
|
||||
|
||||
|
||||
|
||||
|
|
@ -245,15 +245,15 @@ Here we see the glass parts attached to the main bodywork (not the doors or othe
|
|||
|
||||
|
||||
|
||||
If we separate the constituent mesh parts, we can see that the glass profile is separated into 4 different layers.
|
||||
If we separate the constituent mesh parts, we can see that the glass profile is separated into 4 different layers.
|
||||
|
||||
|
||||
|
||||
The 4 layers are separated into 2 groups, the exterior layers, with normals facing out of the vehicle and the interior layers, with mesh normals facing into the vehicle interior. The following diagram demonstrates
|
||||
The 4 layers are separated into 2 groups, the exterior layers, with normals facing out of the vehicle and the interior layers, with mesh normals facing into the vehicle interior. The following diagram demonstrates
|
||||
|
||||
|
||||
|
||||
Once you have created your mesh layers, import them in the content browser into the Unreal Editor in the folder where you have stored your vehicle.
|
||||
Once you have created your mesh layers, import them in the content browser into the Unreal Editor in the folder where you have stored your vehicle.
|
||||
|
||||
Shift select the 4 glass layers and drag them into the map so you can see them.
|
||||
|
||||
|
|
@ -288,7 +288,7 @@ For the wheels of CARLA vehicles, we need to set up a blueprint class for each w
|
|||
|
||||
### Wheel blueprint
|
||||
|
||||
Inside the folder where you have your new vehicle, right click and choose to create a new blueprint class. Search for
|
||||
Inside the folder where you have your new vehicle, right click and choose to create a new blueprint class. Search for
|
||||
|
||||
|
||||
|
||||
|
|
@ -298,12 +298,12 @@ Double click on the blueprint to adjust it:
|
|||
|
||||
### Collision mesh
|
||||
|
||||
Firstly, the default cylinder used for the collision mesh has a high polygon count, so we should replace this with a low polygon version. In the content browser locate the `CollisionWheel` mesh inside `Content > Carla > Blueprints > Vehicles`. Drag it onto the
|
||||
Firstly, the default cylinder used for the collision mesh has a high polygon count, so we should replace this with a low polygon version. In the content browser locate the `CollisionWheel` mesh inside `Content > Carla > Blueprints > Vehicles`. Drag it onto the
|
||||
`Collision Mesh` slot in the details panel of the blueprint. This will improve performance without any noticeable deficit to physics simulation.
|
||||
|
||||
### Tire configuration
|
||||
|
||||
Next, we set the tire configuration. Inside `Content > Carla > Blueprints > Vehicles` locate the `CommonTireConfig` configuration and drag it onto the `Tire Config` section of the blueprint. If you double click on the Tire Config in the blueprint, you can adjust the Friction Scale, you can modify the behavior of the vehicle's road handling. By default it is set at 3.5, a value suitable for most vehicle use cases. However, if you wish to model for example a racing vehicle with slick tires, this would be the appropriate parameter to adjust.
|
||||
Next, we set the tire configuration. Inside `Content > Carla > Blueprints > Vehicles` locate the `CommonTireConfig` configuration and drag it onto the `Tire Config` section of the blueprint. If you double click on the Tire Config in the blueprint, you can adjust the Friction Scale, you can modify the behavior of the vehicle's road handling. By default it is set at 3.5, a value suitable for most vehicle use cases. However, if you wish to model for example a racing vehicle with slick tires, this would be the appropriate parameter to adjust.
|
||||
|
||||
### Wheel dimensions
|
||||
|
||||
|
|
@ -316,24 +316,24 @@ Now plug these numbers into the `Wheel` section of the blueprint.Take care to re
|
|||
|
||||
|
||||
|
||||
`Affected by handbrake` should be checked for both rear wheels.
|
||||
`Affected by handbrake` should be checked for both rear wheels.
|
||||
|
||||
`Steer angle` should be set to the maximum intended steer angle for both front wheels and set to zero for both rear wheels.
|
||||
|
||||
### __Suspension characteristics__
|
||||
|
||||
The default values here provide a reasonable starting point. View [__this guide__](tuto_D_customize_vehicle_suspension.md) to set suspension characteristics appropriate to your vehicle type.
|
||||
The default values here provide a reasonable starting point. View [__this guide__](tuto_D_customize_vehicle_suspension.md) to set suspension characteristics appropriate to your vehicle type.
|
||||
|
||||
|
||||
## Lights
|
||||
|
||||
The last element to complete a realistic vehicle for CARLA is the lights, headlights, brake lights, blinkers etc. In your 3D modelling application, you should model some shapes that resemble the lights of the vehicle you are replicating. This would be flat discs or flat cuboid structures for most headlights. Some vehicles may also have strips of LEDs.
|
||||
The last element to complete a realistic vehicle for CARLA is the lights, headlights, brake lights, blinkers etc. In your 3D modelling application, you should model some shapes that resemble the lights of the vehicle you are replicating. This would be flat discs or flat cuboid structures for most headlights. Some vehicles may also have strips of LEDs.
|
||||
|
||||
|
||||
|
||||
### UV map
|
||||
|
||||
The different types of lights (headlights, blinkers, brake lights, etc.) are distinguished using a texture. You need to create a UV map in your 3D modelling application and position the lights to match up with the relevant region of the texture.
|
||||
The different types of lights (headlights, blinkers, brake lights, etc.) are distinguished using a texture. You need to create a UV map in your 3D modelling application and position the lights to match up with the relevant region of the texture.
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,45 +1,45 @@
|
|||
# Tutorials
|
||||
|
||||
Here you will find the multitude of tutorials available to help you understand how to use CARLA's many features.
|
||||
Here you will find the multitude of tutorials available to help you understand how to use CARLA's many features.
|
||||
|
||||
## General
|
||||
|
||||
### CARLA features
|
||||
|
||||
[__Retrieve simulation data__](tuto_G_retrieve_data.md) — A step by step guide to properly gather data using the recorder.
|
||||
[__Traffic manager__](tuto_G_traffic_manager.md) — How to use traffic manager to guide traffic around your town.
|
||||
[__Texture streaming__](tuto_G_texture_streaming.md) — Modify textures of map objects in real time to add variation.
|
||||
[__Instance segmentation camera__](tuto_G_instance_segmentation_sensor.md) — Use an instance segmentation camera to distinguish objects of the same class.
|
||||
[__Bounding boxes__](tuto_G_bounding_boxes.md) — Project bounding boxes from CARLA objects into the camera.
|
||||
[__Pedestrian bones__](tuto_G_pedestrian_bones.md) — Project pedestrian skeleton into camera plane.
|
||||
[__Control walker skeletons__](tuto_G_control_walker_skeletons.md) — Animate walkers using skeletons.
|
||||
* [__Retrieve simulation data__](tuto_G_retrieve_data.md) — A step by step guide to properly gather data using the recorder.
|
||||
* [__Traffic manager__](tuto_G_traffic_manager.md) — How to use traffic manager to guide traffic around your town.
|
||||
* [__Texture streaming__](tuto_G_texture_streaming.md) — Modify textures of map objects in real time to add variation.
|
||||
* [__Instance segmentation camera__](tuto_G_instance_segmentation_sensor.md) — Use an instance segmentation camera to distinguish objects of the same class.
|
||||
* [__Bounding boxes__](tuto_G_bounding_boxes.md) — Project bounding boxes from CARLA objects into the camera.
|
||||
* [__Pedestrian bones__](tuto_G_pedestrian_bones.md) — Project pedestrian skeleton into camera plane.
|
||||
* [__Control walker skeletons__](tuto_G_control_walker_skeletons.md) — Animate walkers using skeletons.
|
||||
|
||||
### Building and integration
|
||||
|
||||
[__Build Unreal Engine and CARLA in Docker__](build_docker_unreal.md) — Build Unreal Engine and CARLA in Docker.
|
||||
[__CarSim Integration__](tuto_G_carsim_integration.md) — Tutorial on how to run a simulation using the CarSim vehicle dynamics engine.
|
||||
[__RLlib Integration__](tuto_G_rllib_integration.md) — Find out how to run your own experiment using the RLlib library.
|
||||
[__Chrono Integration__](tuto_G_chrono.md) — Use the Chrono integration to simulation physics.
|
||||
[__PyGame control__](tuto_G_pygame.md) — Use PyGame to display the output of camera sensors.
|
||||
* [__Build Unreal Engine and CARLA in Docker__](build_docker_unreal.md) — Build Unreal Engine and CARLA in Docker.
|
||||
* [__CarSim Integration__](tuto_G_carsim_integration.md) — Tutorial on how to run a simulation using the CarSim vehicle dynamics engine.
|
||||
* [__RLlib Integration__](tuto_G_rllib_integration.md) — Find out how to run your own experiment using the RLlib library.
|
||||
* [__Chrono Integration__](tuto_G_chrono.md) — Use the Chrono integration to simulation physics.
|
||||
* [__PyGame control__](tuto_G_pygame.md) — Use PyGame to display the output of camera sensors.
|
||||
|
||||
## Assets and maps
|
||||
|
||||
[__Generate maps with OpenStreetMap__](tuto_G_openstreetmap.md) — Use OpenStreetMap to generate maps for use in simulations.
|
||||
[__Add a new vehicle__](tuto_A_add_vehicle.md) — Prepare a vehicle to be used in CARLA.
|
||||
[__Add new props__](tuto_A_add_props.md) — Import additional props into CARLA.
|
||||
[__Create standalone packages__](tuto_A_create_standalone.md) — Generate and handle standalone packages for assets.
|
||||
[__Material customization__](tuto_A_material_customization.md) — Edit vehicle and building materials.
|
||||
* [__Generate maps with OpenStreetMap__](tuto_G_openstreetmap.md) — Use OpenStreetMap to generate maps for use in simulations.
|
||||
* [__Add a new vehicle__](tuto_A_add_vehicle.md) — Prepare a vehicle to be used in CARLA.
|
||||
* [__Add new props__](tuto_A_add_props.md) — Import additional props into CARLA.
|
||||
* [__Create standalone packages__](tuto_A_create_standalone.md) — Generate and handle standalone packages for assets.
|
||||
* [__Material customization__](tuto_A_material_customization.md) — Edit vehicle and building materials.
|
||||
|
||||
## Developers
|
||||
|
||||
[__How to upgrade content__](tuto_D_contribute_assets.md) — Add new content to CARLA.
|
||||
[__Create a sensor__](tuto_D_create_sensor.md) — Develop a new sensor to be used in CARLA.
|
||||
[__Create semantic tags__](tuto_D_create_semantic_tags.md) — Define customized tags for semantic segmentation.
|
||||
[__Customize vehicle suspension__](tuto_D_customize_vehicle_suspension.md) — Modify the suspension system of a vehicle.
|
||||
[__Generate detailed colliders__](tuto_D_generate_colliders.md) — Create detailed colliders for vehicles.
|
||||
[__Make a release__](tuto_D_make_release.md) — How to make a release of CARLA
|
||||
* [__How to upgrade content__](tuto_D_contribute_assets.md) — Add new content to CARLA.
|
||||
* [__Create a sensor__](tuto_D_create_sensor.md) — Develop a new sensor to be used in CARLA.
|
||||
* [__Create semantic tags__](tuto_D_create_semantic_tags.md) — Define customized tags for semantic segmentation.
|
||||
* [__Customize vehicle suspension__](tuto_D_customize_vehicle_suspension.md) — Modify the suspension system of a vehicle.
|
||||
* [__Generate detailed colliders__](tuto_D_generate_colliders.md) — Create detailed colliders for vehicles.
|
||||
* [__Make a release__](tuto_D_make_release.md) — How to make a release of CARLA
|
||||
|
||||
## Video tutorials
|
||||
|
||||
[__Fundamentals__](https://www.youtube.com/watch?v=pONr1R1dy88) — Learn the fundamental concepts of CARLA and start your first script. [__CODE__](https://carla-releases.s3.eu-west-3.amazonaws.com/Docs/Fundamentals.ipynb)
|
||||
[__An in depth look at CARLA's sensors__](https://www.youtube.com/watch?v=om8klsBj4rc) — An in depth look at CARLA's sensors and how to use them. [__CODE__](https://carla-releases.s3.eu-west-3.amazonaws.com/Docs/Sensors_code.zip)
|
||||
* [__Fundamentals__](https://www.youtube.com/watch?v=pONr1R1dy88) — Learn the fundamental concepts of CARLA and start your first script. [__CODE__](https://carla-releases.s3.us-east-005.backblazeb2.com/Docs/Fundamentals.ipynb)
|
||||
* [__An in depth look at CARLA's sensors__](https://www.youtube.com/watch?v=om8klsBj4rc) — An in depth look at CARLA's sensors and how to use them. [__CODE__](https://carla-releases.s3.us-east-005.backblazeb2.com/Docs/Sensors_code.zip)
|
||||
|
|
|
|||
|
|
@ -21,6 +21,18 @@ if (BUILD_RSS_VARIANT)
|
|||
install(FILES ${spdlog_file} DESTINATION lib)
|
||||
list(APPEND ADRSS_LIBS ${spdlog_file})
|
||||
|
||||
set(proj_include_dir ${ADRSS_INSTALL_DIR}/../../proj-install/include)
|
||||
set(proj_lib ${ADRSS_INSTALL_DIR}/../../proj-install/lib/libproj.a)
|
||||
install(DIRECTORY ${proj_include_dir} DESTINATION include/system)
|
||||
list(APPEND ADRSS_INCLUDE_DIRS ${proj_include_dir})
|
||||
install(FILES ${proj_lib} DESTINATION lib)
|
||||
list(APPEND ADRSS_LIBS ${proj_lib})
|
||||
|
||||
# as long as the libosm2odr uses the same odrSprial interface it is enough to copy the built static library
|
||||
set(odr_lib ${ADRSS_INSTALL_DIR}/../src/ad-rss-lib/dependencies/map/dependencies/odrSpiral/lib/libodrSpiral.a)
|
||||
install(FILES ${odr_lib} DESTINATION lib)
|
||||
list(APPEND ADRSS_LIBS ${odr_lib})
|
||||
|
||||
foreach(ad_lib ad_physics ad_rss ad_map_access ad_map_opendrive_reader ad_rss_map_integration)
|
||||
set(${ad_lib}_file ${ADRSS_INSTALL_DIR}/${ad_lib}/lib/lib${ad_lib}.a)
|
||||
install(FILES ${${ad_lib}_file} DESTINATION lib)
|
||||
|
|
|
|||
|
|
@ -1232,6 +1232,7 @@ namespace road {
|
|||
while(s_current < s_end){
|
||||
if(lane->GetWidth(s_current) != 0.0f){
|
||||
const auto edges = lane->GetCornerPositions(s_current, 0);
|
||||
if (edges.first == edges.second) continue;
|
||||
geom::Vector3D director = edges.second - edges.first;
|
||||
geom::Vector3D treeposition = edges.first - director.MakeUnitVector() * distancefromdrivinglineborder;
|
||||
geom::Transform lanetransform = lane->ComputeTransform(s_current);
|
||||
|
|
|
|||
|
|
@ -761,14 +761,11 @@ std::map<road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>> MeshFactory:
|
|||
case carla::road::element::LaneMarking::Type::Solid: {
|
||||
size_t currentIndex = out_mesh.GetVertices().size() + 1;
|
||||
|
||||
std::pair<geom::Vector3D, geom::Vector3D> edges = lane.GetCornerPositions(s_current, 0);
|
||||
|
||||
geom::Vector3D director = edges.second - edges.first;
|
||||
director /= director.Length();
|
||||
geom::Vector3D endmarking = edges.first + director * lane_mark_info.width;
|
||||
std::pair<geom::Vector3D, geom::Vector3D> edges =
|
||||
ComputeEdgesForLanemark(lane_section, lane, s_current, lane_mark_info.width);
|
||||
|
||||
out_mesh.AddVertex(edges.first);
|
||||
out_mesh.AddVertex(endmarking);
|
||||
out_mesh.AddVertex(edges.second);
|
||||
|
||||
out_mesh.AddIndex(currentIndex);
|
||||
out_mesh.AddIndex(currentIndex + 1);
|
||||
|
|
@ -784,30 +781,23 @@ std::map<road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>> MeshFactory:
|
|||
case carla::road::element::LaneMarking::Type::Broken: {
|
||||
size_t currentIndex = out_mesh.GetVertices().size() + 1;
|
||||
|
||||
std::pair<geom::Vector3D, geom::Vector3D> edges =
|
||||
lane.GetCornerPositions(s_current, road_param.extra_lane_width);
|
||||
|
||||
geom::Vector3D director = edges.second - edges.first;
|
||||
director /= director.Length();
|
||||
geom::Vector3D endmarking = edges.first + director * lane_mark_info.width;
|
||||
std::pair<geom::Vector3D, geom::Vector3D> edges =
|
||||
ComputeEdgesForLanemark(lane_section, lane, s_current, lane_mark_info.width);
|
||||
|
||||
out_mesh.AddVertex(edges.first);
|
||||
out_mesh.AddVertex(endmarking);
|
||||
out_mesh.AddVertex(edges.second);
|
||||
|
||||
s_current += road_param.resolution * 3;
|
||||
if (s_current > s_end)
|
||||
{
|
||||
s_current = s_end;
|
||||
}
|
||||
edges = lane.GetCornerPositions(s_current, road_param.extra_lane_width);
|
||||
|
||||
director = edges.second - edges.first;
|
||||
director /= director.Length();
|
||||
endmarking = edges.first + director * lane_mark_info.width;
|
||||
edges = ComputeEdgesForLanemark(lane_section, lane, s_current, lane_mark_info.width);
|
||||
|
||||
out_mesh.AddVertex(edges.first);
|
||||
out_mesh.AddVertex(endmarking);
|
||||
|
||||
out_mesh.AddVertex(edges.second);
|
||||
|
||||
out_mesh.AddIndex(currentIndex);
|
||||
out_mesh.AddIndex(currentIndex + 1);
|
||||
out_mesh.AddIndex(currentIndex + 2);
|
||||
|
|
@ -864,13 +854,12 @@ std::map<road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>> MeshFactory:
|
|||
const carla::road::element::RoadInfoMarkRecord* road_info_mark = lane.GetInfo<carla::road::element::RoadInfoMarkRecord>(s_current);
|
||||
if (road_info_mark != nullptr) {
|
||||
carla::road::element::LaneMarking lane_mark_info(*road_info_mark);
|
||||
std::pair<geom::Vector3D, geom::Vector3D> edges = lane.GetCornerPositions(s_end, 0);
|
||||
geom::Vector3D director = edges.second - edges.first;
|
||||
director /= director.Length();
|
||||
geom::Vector3D endmarking = edges.first + director * lane_mark_info.width;
|
||||
|
||||
std::pair<geom::Vector3D, geom::Vector3D> edges =
|
||||
ComputeEdgesForLanemark(lane_section, lane, s_end, lane_mark_info.width);
|
||||
|
||||
out_mesh.AddVertex(edges.first);
|
||||
out_mesh.AddVertex(endmarking);
|
||||
out_mesh.AddVertex(edges.second);
|
||||
}
|
||||
inout.push_back(std::make_unique<Mesh>(out_mesh));
|
||||
}
|
||||
|
|
@ -927,29 +916,21 @@ std::map<road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>> MeshFactory:
|
|||
case carla::road::element::LaneMarking::Type::Broken: {
|
||||
size_t currentIndex = out_mesh.GetVertices().size() + 1;
|
||||
|
||||
std::pair<geom::Vector3D, geom::Vector3D> edges =
|
||||
lane.GetCornerPositions(s_current, road_param.extra_lane_width);
|
||||
|
||||
geom::Vector3D director = edges.second - edges.first;
|
||||
director /= director.Length();
|
||||
geom::Vector3D endmarking = edges.first + director * lane_mark_info.width;
|
||||
|
||||
std::pair<geom::Vector3D, geom::Vector3D> edges =
|
||||
ComputeEdgesForLanemark(lane_section, lane, s_current, lane_mark_info.width);
|
||||
|
||||
out_mesh.AddVertex(edges.first);
|
||||
out_mesh.AddVertex(endmarking);
|
||||
out_mesh.AddVertex(edges.second);
|
||||
|
||||
s_current += road_param.resolution * 3;
|
||||
if (s_current > s_end) {
|
||||
s_current = s_end;
|
||||
}
|
||||
|
||||
edges = lane.GetCornerPositions(s_current, road_param.extra_lane_width);
|
||||
|
||||
director = edges.second - edges.first;
|
||||
director /= director.Length();
|
||||
endmarking = edges.first + director * lane_mark_info.width;
|
||||
edges = ComputeEdgesForLanemark(lane_section, lane, s_current, lane_mark_info.width);
|
||||
|
||||
out_mesh.AddVertex(edges.first);
|
||||
out_mesh.AddVertex(endmarking);
|
||||
out_mesh.AddVertex(edges.second);
|
||||
|
||||
out_mesh.AddIndex(currentIndex);
|
||||
out_mesh.AddIndex(currentIndex + 1);
|
||||
|
|
@ -1150,6 +1131,33 @@ std::map<road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>> MeshFactory:
|
|||
return std::make_unique<Mesh>(out_mesh);
|
||||
}
|
||||
|
||||
std::pair<geom::Vector3D, geom::Vector3D> MeshFactory::ComputeEdgesForLanemark(
|
||||
const road::LaneSection& lane_section,
|
||||
const road::Lane& lane,
|
||||
const double s_current,
|
||||
const double lanemark_width) const {
|
||||
std::pair<geom::Vector3D, geom::Vector3D> edges =
|
||||
lane.GetCornerPositions(s_current, road_param.extra_lane_width);
|
||||
|
||||
geom::Vector3D director;
|
||||
if (edges.first != edges.second) {
|
||||
director = edges.second - edges.first;
|
||||
director /= director.Length();
|
||||
} else {
|
||||
const std::map<road::LaneId, road::Lane> & lanes = lane_section.GetLanes();
|
||||
for (const auto& lane_pair : lanes) {
|
||||
std::pair<geom::Vector3D, geom::Vector3D> another_edge =
|
||||
lane_pair.second.GetCornerPositions(s_current, road_param.extra_lane_width);
|
||||
if (another_edge.first != another_edge.second) {
|
||||
director = another_edge.second - another_edge.first;
|
||||
director /= director.Length();
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
geom::Vector3D endmarking = edges.first + director * lanemark_width;
|
||||
return std::make_pair(edges.first, endmarking);
|
||||
}
|
||||
|
||||
} // namespace geom
|
||||
} // namespace carla
|
||||
|
|
|
|||
|
|
@ -148,6 +148,15 @@ namespace geom {
|
|||
|
||||
RoadParameters road_param;
|
||||
|
||||
private:
|
||||
|
||||
// Calculate the points on both sides of the lane mark for the specified s_current
|
||||
std::pair<geom::Vector3D, geom::Vector3D> ComputeEdgesForLanemark(
|
||||
const road::LaneSection& lane_section,
|
||||
const road::Lane& lane,
|
||||
const double s_current,
|
||||
const double lanemark_width) const;
|
||||
|
||||
};
|
||||
|
||||
} // namespace geom
|
||||
|
|
|
|||
|
|
@ -309,17 +309,17 @@ void RssSensor::TickRssSensor(const client::Timestamp ×tamp, CallbackFuncti
|
|||
|
||||
auto const settings = GetWorld().GetSettings();
|
||||
if ( settings.synchronous_mode ) {
|
||||
_rss_check->GetLogger()->trace("RssSensor[{}] sync-tick", timestamp.frame);
|
||||
_rss_check->GetLogger()->info("RssSensor[{}] sync-tick", timestamp.frame);
|
||||
TickRssSensorThreadLocked(timestamp, actors, callback);
|
||||
}
|
||||
else {
|
||||
// store the future to prevent the destructor of the future from blocked waiting
|
||||
_rss_check->GetLogger()->trace("RssSensor[{}] async-tick", timestamp.frame);
|
||||
_rss_check->GetLogger()->info("RssSensor[{}] async-tick", timestamp.frame);
|
||||
_tick_future = std::async(&RssSensor::TickRssSensorThreadLocked, this, timestamp, actors, callback);
|
||||
}
|
||||
} else {
|
||||
if (bool(_rss_check)){
|
||||
_rss_check->GetLogger()->debug("RssSensor[{}] tick dropped", timestamp.frame);
|
||||
_rss_check->GetLogger()->info("RssSensor[{}] tick dropped", timestamp.frame);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -55,7 +55,7 @@ def get_libcarla_extensions():
|
|||
os.path.join(pwd, 'dependencies/lib/libxerces-c.a')]
|
||||
extra_link_args += ['-lz']
|
||||
extra_compile_args = [
|
||||
'-isystem', 'dependencies/include/system', '-fPIC', '-std=c++14',
|
||||
'-isystem', os.path.join(pwd, 'dependencies/include/system'), '-fPIC', '-std=c++14',
|
||||
'-Werror', '-Wall', '-Wextra', '-Wpedantic', '-Wno-self-assign-overloaded',
|
||||
'-Wdeprecated', '-Wno-shadow', '-Wuninitialized', '-Wunreachable-code',
|
||||
'-Wpessimizing-move', '-Wold-style-cast', '-Wnull-dereference',
|
||||
|
|
@ -77,6 +77,7 @@ def get_libcarla_extensions():
|
|||
extra_link_args += [os.path.join(pwd, 'dependencies/lib/libad_physics.a')]
|
||||
extra_link_args += [os.path.join(pwd, 'dependencies/lib/libad_map_opendrive_reader.a')]
|
||||
extra_link_args += [os.path.join(pwd, 'dependencies/lib/libboost_program_options.a')]
|
||||
extra_link_args += [os.path.join(pwd, 'dependencies/lib/libodrSpiral.a')]
|
||||
extra_link_args += [os.path.join(pwd, 'dependencies/lib/libspdlog.a')]
|
||||
extra_link_args += ['-lrt']
|
||||
extra_link_args += ['-ltbb']
|
||||
|
|
|
|||
|
|
@ -135,6 +135,7 @@ class World(object):
|
|||
|
||||
def __init__(self, carla_world, args):
|
||||
self.world = carla_world
|
||||
self.sync = args.sync
|
||||
self.actor_role_name = args.rolename
|
||||
self.dim = (args.width, args.height)
|
||||
try:
|
||||
|
|
@ -161,10 +162,7 @@ class World(object):
|
|||
sys.exit(1)
|
||||
|
||||
self.restart()
|
||||
self.world_tick_id = self.world.on_tick(self.on_world_tick)
|
||||
|
||||
def on_world_tick(self, world_snapshot):
|
||||
self.hud.on_world_tick(world_snapshot)
|
||||
self.world_tick_id = self.world.on_tick(self.hud.on_world_tick)
|
||||
|
||||
def toggle_pause(self):
|
||||
settings = self.world.get_settings()
|
||||
|
|
@ -235,6 +233,11 @@ class World(object):
|
|||
self.rss_sensor = RssSensor(self.player, self.world,
|
||||
self.rss_unstructured_scene_visualizer, self.rss_bounding_box_visualizer, self.hud.rss_state_visualizer)
|
||||
|
||||
if self.sync:
|
||||
self.world.tick()
|
||||
else:
|
||||
self.world.wait_for_tick()
|
||||
|
||||
def tick(self, clock):
|
||||
self.hud.tick(self.player, clock)
|
||||
|
||||
|
|
@ -384,7 +387,7 @@ class VehicleControl(object):
|
|||
print('\nReceived signal {}. Trigger stopping...'.format(signum))
|
||||
VehicleControl.signal_received = True
|
||||
|
||||
def parse_events(self, world, clock):
|
||||
def parse_events(self, world, clock, sync_mode):
|
||||
if VehicleControl.signal_received:
|
||||
print('\nAccepted signal. Stopping loop...')
|
||||
return True
|
||||
|
|
@ -806,13 +809,27 @@ def game_loop(args):
|
|||
(args.width, args.height),
|
||||
pygame.HWSURFACE | pygame.DOUBLEBUF)
|
||||
|
||||
world = World(client.get_world(), args)
|
||||
sim_world = client.get_world()
|
||||
original_settings = sim_world.get_settings()
|
||||
settings = sim_world.get_settings()
|
||||
if args.sync != settings.synchronous_mode:
|
||||
args.sync = True
|
||||
settings.synchronous_mode = True
|
||||
settings.fixed_delta_seconds = 0.05
|
||||
sim_world.apply_settings(settings)
|
||||
|
||||
traffic_manager = client.get_trafficmanager()
|
||||
traffic_manager.set_synchronous_mode(True)
|
||||
|
||||
world = World(sim_world, args)
|
||||
controller = VehicleControl(world, args.autopilot)
|
||||
|
||||
clock = pygame.time.Clock()
|
||||
while True:
|
||||
if args.sync:
|
||||
sim_world.tick()
|
||||
clock.tick_busy_loop(60)
|
||||
if controller.parse_events(world, clock):
|
||||
if controller.parse_events(world, clock, args.sync):
|
||||
return
|
||||
world.tick(clock)
|
||||
world.render(display)
|
||||
|
|
@ -875,6 +892,10 @@ def main():
|
|||
'--externalActor',
|
||||
action='store_true',
|
||||
help='attaches to externally created actor by role name')
|
||||
argparser.add_argument(
|
||||
'--sync',
|
||||
action='store_true',
|
||||
help='Activate synchronous mode execution')
|
||||
args = argparser.parse_args()
|
||||
|
||||
args.width, args.height = [int(x) for x in args.res.split('x')]
|
||||
|
|
|
|||
|
|
@ -334,6 +334,9 @@ class RssSensor(object):
|
|||
self.map_log_level = self.map_log_level-1
|
||||
self.sensor.set_map_log_level(self.map_log_level)
|
||||
|
||||
def drop_route(self):
|
||||
self.sensor.drop_route()
|
||||
|
||||
@staticmethod
|
||||
def get_default_parameters():
|
||||
ego_dynamics = ad.rss.world.RssDynamics()
|
||||
|
|
|
|||
79
README.md
79
README.md
|
|
@ -1,7 +1,6 @@
|
|||
CARLA Simulator
|
||||
===============
|
||||
|
||||
[](https://travis-ci.org/carla-simulator/carla)
|
||||
[](http://carla.readthedocs.io)
|
||||
|
||||
[](http://carla.org)
|
||||
|
|
@ -15,29 +14,38 @@ validation of autonomous driving systems. In addition to open-source code and pr
|
|||
vehicles) that were created for this purpose and can be used freely. The simulation platform supports flexible specification of sensor suites and
|
||||
environmental conditions.
|
||||
|
||||
[](https://www.youtube.com/watch?v=7jej46ALVRE)
|
||||
[](https://www.youtube.com/watch?v=q4V9GYjA1pE )
|
||||
|
||||
If you want to benchmark your model in the same conditions as in our CoRL’17
|
||||
paper, check out
|
||||
[Benchmarking](https://github.com/carla-simulator/driving-benchmarks).
|
||||
### Download CARLA
|
||||
|
||||
Linux:
|
||||
* [**Get CARLA overnight build**](http://carla-releases.s3.amazonaws.com/Linux/Dev/CARLA_Latest.tar.gz)
|
||||
* [**Get AdditionalMaps overnight build**](http://carla-releases.s3.amazonaws.com/Linux/Dev/AdditionalMaps_Latest.tar.gz)
|
||||
* [**Get CARLA overnight build**](https://carla-releases.s3.us-east-005.backblazeb2.com/Linux/Dev/CARLA_Latest.tar.gz)
|
||||
* [**Get AdditionalMaps overnight build**](https://carla-releases.s3.us-east-005.backblazeb2.com/Linux/Dev/AdditionalMaps_Latest.tar.gz)
|
||||
|
||||
Windows:
|
||||
* [**Get CARLA overnight build**](http://carla-releases.s3.amazonaws.com/Windows/Dev/CARLA_Latest.zip)
|
||||
* [**Get AdditionalMaps overnight build**](http://carla-releases.s3.amazonaws.com/Windows/Dev/AdditionalMaps_Latest.zip)
|
||||
* [**Get CARLA overnight build**](https://carla-releases.s3.us-east-005.backblazeb2.com/Windows/Dev/CARLA_Latest.zip)
|
||||
* [**Get AdditionalMaps overnight build**](https://carla-releases.s3.us-east-005.backblazeb2.com/Windows/Dev/AdditionalMaps_Latest.zip)
|
||||
|
||||
### Recommended system
|
||||
|
||||
* Intel i7 gen 9th - 11th / Intel i9 gen 9th - 11th / AMD ryzen 7 / AMD ryzen 9
|
||||
* +16 GB RAM memory
|
||||
* NVIDIA RTX 2070 / NVIDIA RTX 2080 / NVIDIA RTX 3070, NVIDIA RTX 3080
|
||||
* Ubuntu 18.04
|
||||
* +32 GB RAM memory
|
||||
* NVIDIA RTX 3070 / NVIDIA RTX 3080 / NVIDIA RTX 4090
|
||||
* Ubuntu 20.04
|
||||
|
||||
## Documentation
|
||||
|
||||
The [CARLA documentation](https://carla.readthedocs.io/en/latest/) is hosted on ReadTheDocs. Please see the following key links:
|
||||
|
||||
- [Building on Linux](https://carla.readthedocs.io/en/latest/build_linux/)
|
||||
- [Building on Windows](https://carla.readthedocs.io/en/latest/build_windows/)
|
||||
- [First steps](https://carla.readthedocs.io/en/latest/tuto_first_steps/)
|
||||
- [CARLA asset catalogue](https://carla.readthedocs.io/en/latest/catalogue/)
|
||||
- [Python API reference](https://carla.readthedocs.io/en/latest/python_api/)
|
||||
- [Blueprint library](https://carla.readthedocs.io/en/latest/bp_library/)
|
||||
|
||||
## CARLA Ecosystem
|
||||
Repositories associated to the CARLA simulation platform:
|
||||
Repositories associated with the CARLA simulation platform:
|
||||
|
||||
* [**CARLA Autonomous Driving leaderboard**](https://leaderboard.carla.org/): Automatic platform to validate Autonomous Driving stacks
|
||||
* [**Scenario_Runner**](https://github.com/carla-simulator/scenario_runner): Engine to execute traffic scenarios in CARLA 0.9.X
|
||||
|
|
@ -46,8 +54,10 @@ Repositories associated to the CARLA simulation platform:
|
|||
* [**Conditional Imitation-Learning**](https://github.com/felipecode/coiltraine): Training and testing Conditional Imitation Learning models in CARLA
|
||||
* [**AutoWare AV stack**](https://github.com/carla-simulator/carla-autoware): Bridge to connect AutoWare AV stack to CARLA
|
||||
* [**Reinforcement-Learning**](https://github.com/carla-simulator/reinforcement-learning): Code for running Conditional Reinforcement Learning models in CARLA
|
||||
* [**RoadRunner**](https://www.mathworks.com/products/roadrunner.html): MATLAB GUI based application to create road networks in OpenDrive format
|
||||
* [**Map Editor**](https://github.com/carla-simulator/carla-map-editor): Standalone GUI application to enhance RoadRunner maps with traffic lights and traffic signs information
|
||||
|
||||
|
||||
**Like what you see? Star us on GitHub to support the project!**
|
||||
|
||||
Paper
|
||||
|
|
@ -74,24 +84,22 @@ Felipe Codevilla, Antonio Lopez, Vladlen Koltun; PMLR 78:1-16
|
|||
Building CARLA
|
||||
--------------
|
||||
|
||||
Use `git clone` or download the project from this page. Note that the master branch contains the most recent release of CARLA with the latest fixes and features.
|
||||
Clone this repository locally from GitHub:
|
||||
|
||||
Then follow the instruction at [How to build on Linux][buildlinuxlink] or [How to build on Windows][buildwindowslink].
|
||||
The Linux build needs for an UE patch to solve some visualization issues regarding Vulkan. Those already working with a Linux build should install the patch and make the UE build again using the following commands.
|
||||
```sh
|
||||
# Download and install the UE patch
|
||||
cd ~/UnrealEngine_4.24
|
||||
wget https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/UE_Patch/430667-13636743-patch.txt ~/430667-13636743-patch.txt
|
||||
patch --strip=4 < ~/430667-13636743-patch.txt
|
||||
# Build UE
|
||||
./Setup.sh && ./GenerateProjectFiles.sh && make
|
||||
git clone https://github.com/carla-simulator/carla.git .
|
||||
```
|
||||
|
||||
Unfortunately we don't have official instructions to build on Mac yet, please check the progress at [issue #150][issue150].
|
||||
Also, clone the [CARLA fork of the Unreal Engine](https://github.com/CarlaUnreal/UnrealEngine) into an appropriate location:
|
||||
|
||||
```sh
|
||||
git clone --depth 1 -b carla https://github.com/CarlaUnreal/UnrealEngine.git .
|
||||
```
|
||||
|
||||
Once you have cloned the repositories, follow the instructions for [building in Linux][buildlinuxlink] or [building in Windows][buildwindowslink].
|
||||
|
||||
[buildlinuxlink]: https://carla.readthedocs.io/en/latest/build_linux/
|
||||
[buildwindowslink]: https://carla.readthedocs.io/en/latest/build_windows/
|
||||
[issue150]: https://github.com/carla-simulator/carla/issues/150
|
||||
|
||||
Contributing
|
||||
------------
|
||||
|
|
@ -106,29 +114,6 @@ F.A.Q.
|
|||
If you run into problems, check our
|
||||
[FAQ](https://carla.readthedocs.io/en/latest/build_faq/).
|
||||
|
||||
CARLA Talks
|
||||
------
|
||||
The team creates some additional content for users, besides the docs. This is a great way to cover different subjects such as detailed explanations for a specific module, latest improvements in a feature, future work and much more.
|
||||
|
||||
__CARLA Talks 2020 (May):__
|
||||
|
||||
* __General__
|
||||
* Art improvements: environment and rendering — [video](https://youtu.be/ZZaHevsz8W8) | [slides](https://drive.google.com/file/d/1l9Ztaq0Q8fNN5YPU4-5vL13eZUwsQl5P/view?usp=sharing)
|
||||
* Core implementations: synchrony, snapshots and landmarks — [video](https://youtu.be/nyyTLmphqY4) | [slides](https://drive.google.com/file/d/1yaOwf1419qWZqE1gTSrrknsWOhawEWh_/view?usp=sharing)
|
||||
* Data ingestion — [video](https://youtu.be/mHiUUZ4xC9o) | [slides](https://drive.google.com/file/d/10uNBAMreKajYimIhwCqSYXjhfVs2bX31/view?usp=sharing)
|
||||
* Pedestrians and their implementation — [video](https://youtu.be/Uoz2ihDwaWA) | [slides](https://drive.google.com/file/d/1Tsosin7BLP1k558shtbzUdo2ZXVKy5CB/view?usp=sharing)
|
||||
* Sensors in CARLA — [video](https://youtu.be/T8qCSet8WK0) | [slides](https://drive.google.com/file/d/1UO8ZAIOp-1xaBzcFMfn_IoipycVkUo4q/view?usp=sharing)
|
||||
* __Modules__
|
||||
* Improvements in the Traffic Manager — [video](https://youtu.be/n9cufaJ17eA) | [slides](https://drive.google.com/file/d/1R9uNZ6pYHSZoEBxs2vYK7swiriKbbuxo/view?usp=sharing)
|
||||
* Integration of autoware and ROS — [video](https://youtu.be/ChIgcC2scwU) | [slides](https://drive.google.com/file/d/1uO6nBaFirrllb08OeqGAMVLApQ6EbgAt/view?usp=sharing)
|
||||
* Introducing ScenarioRunner — [video](https://youtu.be/dcnnNJowqzM) | [slides](https://drive.google.com/file/d/1zgoH_kLOfIw117FJGm2IVZZAIRw9U2Q0/view?usp=sharing)
|
||||
* OpenSCENARIO support — [slides](https://drive.google.com/file/d/1g6ATxZRTWEdstiZwfBN1_T_x_WwZs0zE/view?usp=sharing)
|
||||
* __Features__
|
||||
* Co-Simulations with SUMO and PTV-Vissim — [video](https://youtu.be/PuFSbj1PU94) | [slides](https://drive.google.com/file/d/10DgMNUBqKqWBrdiwBiAIT4DdR9ObCquI/view?usp=sharing)
|
||||
* Integration of RSS-lib — [slides](https://drive.google.com/file/d/1whREmrCv67fOMipgCk6kkiW4VPODig0A/view?usp=sharing)
|
||||
* The External Sensor Interface (ESI) — [video](https://youtu.be/5hXHPV9FIeY) | [slides](https://drive.google.com/file/d/1VWFaEoS12siW6NtQDUkm44BVO7tveRbJ/view?usp=sharing)
|
||||
* The OpenDRIVE Standalone Mode — [video](https://youtu.be/U25GhofVV1Q) | [slides](https://drive.google.com/file/d/1D5VsgfX7dmgPWn7UtDDid3-OdS1HI4pY/view?usp=sharing)
|
||||
|
||||
Licenses
|
||||
-------
|
||||
|
||||
|
|
|
|||
|
|
@ -304,6 +304,15 @@ void ACarlaRecorder::AddVehicleLight(FCarlaActor *CarlaActor)
|
|||
AddLightVehicle(LightVehicle);
|
||||
}
|
||||
|
||||
void ACarlaRecorder::AddVehicleDoor(const ACarlaWheeledVehicle &Vehicle, const EVehicleDoor SDoors, bool bIsOpen)
|
||||
{
|
||||
CarlaRecorderDoorVehicle DoorVehicle;
|
||||
DoorVehicle.DatabaseId = Episode->GetActorRegistry().FindCarlaActor(&Vehicle)->GetActorId();
|
||||
DoorVehicle.Doors = static_cast<CarlaRecorderDoorVehicle::VehicleDoorType>(SDoors);
|
||||
DoorVehicle.bIsOpen = bIsOpen;
|
||||
AddDoorVehicle(DoorVehicle);
|
||||
}
|
||||
|
||||
void ACarlaRecorder::AddActorKinematics(FCarlaActor *CarlaActor)
|
||||
{
|
||||
check(CarlaActor != nullptr);
|
||||
|
|
@ -478,6 +487,7 @@ void ACarlaRecorder::Clear(void)
|
|||
PhysicsControls.Clear();
|
||||
TrafficLightTimes.Clear();
|
||||
WalkersBones.Clear();
|
||||
DoorVehicles.Clear();
|
||||
Wheels.Clear();
|
||||
Bikers.Clear();
|
||||
}
|
||||
|
|
@ -496,6 +506,7 @@ void ACarlaRecorder::Write(double DeltaSeconds)
|
|||
EventsDel.Write(File);
|
||||
EventsParent.Write(File);
|
||||
Collisions.Write(File);
|
||||
DoorVehicles.Write(File);
|
||||
|
||||
// positions and states
|
||||
Positions.Write(File);
|
||||
|
|
@ -652,6 +663,14 @@ void ACarlaRecorder::AddLightVehicle(const CarlaRecorderLightVehicle &LightVehic
|
|||
}
|
||||
}
|
||||
|
||||
void ACarlaRecorder::AddDoorVehicle(const CarlaRecorderDoorVehicle &DoorVehicle)
|
||||
{
|
||||
if (Enabled)
|
||||
{
|
||||
DoorVehicles.Add(DoorVehicle);
|
||||
}
|
||||
}
|
||||
|
||||
void ACarlaRecorder::AddEventLightSceneChanged(const UCarlaLight* Light)
|
||||
{
|
||||
if (Enabled)
|
||||
|
|
|
|||
|
|
@ -33,7 +33,9 @@
|
|||
#include "CarlaRecorderState.h"
|
||||
#include "CarlaRecorderVisualTime.h"
|
||||
#include "CarlaRecorderWalkerBones.h"
|
||||
#include "CarlaRecorderDoorVehicle.h"
|
||||
#include "CarlaReplayer.h"
|
||||
#include "Carla/Vehicle/CarlaWheeledVehicle.h"
|
||||
|
||||
#include "CarlaRecorder.generated.h"
|
||||
|
||||
|
|
@ -67,6 +69,7 @@ enum class CarlaRecorderPacketId : uint8_t
|
|||
FrameCounter,
|
||||
WalkerBones,
|
||||
VisualTime,
|
||||
VehicleDoor,
|
||||
AnimVehicleWheels,
|
||||
AnimBiker
|
||||
};
|
||||
|
|
@ -137,6 +140,10 @@ public:
|
|||
|
||||
void AddActorBones(FCarlaActor *CarlaActor);
|
||||
|
||||
void AddVehicleDoor(const ACarlaWheeledVehicle& Vehicle, const EVehicleDoor SDoors, bool bIsOpen);
|
||||
|
||||
void AddDoorVehicle(const CarlaRecorderDoorVehicle &DoorVehicle);
|
||||
|
||||
// set episode
|
||||
void SetEpisode(UCarlaEpisode *ThisEpisode)
|
||||
{
|
||||
|
|
@ -208,6 +215,7 @@ private:
|
|||
CarlaRecorderTrafficLightTimes TrafficLightTimes;
|
||||
CarlaRecorderWalkersBones WalkersBones;
|
||||
CarlaRecorderVisualTime VisualTime;
|
||||
CarlaRecorderDoorVehicles DoorVehicles;
|
||||
|
||||
// replayer
|
||||
CarlaReplayer Replayer;
|
||||
|
|
|
|||
|
|
@ -0,0 +1,75 @@
|
|||
// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
|
||||
// de Barcelona (UAB).
|
||||
//
|
||||
// This work is licensed under the terms of the MIT license.
|
||||
// For a copy, see <https://opensource.org/licenses/MIT>.
|
||||
|
||||
#include "CarlaRecorderDoorVehicle.h"
|
||||
#include "CarlaRecorder.h"
|
||||
#include "CarlaRecorderHelpers.h"
|
||||
|
||||
|
||||
void CarlaRecorderDoorVehicle::Write(std::ostream &OutFile)
|
||||
{
|
||||
// database id
|
||||
WriteValue<uint32_t>(OutFile, this->DatabaseId);
|
||||
WriteValue<VehicleDoorType>(OutFile, this->Doors);
|
||||
WriteValue<bool>(OutFile, this->bIsOpen);
|
||||
}
|
||||
void CarlaRecorderDoorVehicle::Read(std::istream &InFile)
|
||||
{
|
||||
// database id
|
||||
ReadValue<uint32_t>(InFile, this->DatabaseId);
|
||||
ReadValue<VehicleDoorType>(InFile, this->Doors);
|
||||
ReadValue<bool>(InFile, this->bIsOpen);
|
||||
}
|
||||
|
||||
// ---------------------------------------------
|
||||
|
||||
void CarlaRecorderDoorVehicles::Clear(void)
|
||||
{
|
||||
Vehicles.clear();
|
||||
}
|
||||
|
||||
void CarlaRecorderDoorVehicles::Add(const CarlaRecorderDoorVehicle &Vehicle)
|
||||
{
|
||||
Vehicles.push_back(Vehicle);
|
||||
}
|
||||
|
||||
void CarlaRecorderDoorVehicles::Write(std::ostream &OutFile)
|
||||
{
|
||||
// write the packet id
|
||||
WriteValue<char>(OutFile, static_cast<char>(CarlaRecorderPacketId::VehicleDoor));
|
||||
|
||||
// write a dummy packet size
|
||||
uint32_t Total = 2 + Vehicles.size() * sizeof(CarlaRecorderDoorVehicle);
|
||||
WriteValue<uint32_t>(OutFile, Total);
|
||||
|
||||
// write total records
|
||||
Total = Vehicles.size();
|
||||
WriteValue<uint16_t>(OutFile, Total);
|
||||
|
||||
for (auto& Vehicle : Vehicles)
|
||||
{
|
||||
Vehicle.Write(OutFile);
|
||||
}
|
||||
}
|
||||
|
||||
void CarlaRecorderDoorVehicles::Read(std::istream &InFile)
|
||||
{
|
||||
uint16_t Total;
|
||||
CarlaRecorderDoorVehicle DoorVehicle;
|
||||
|
||||
// read Total walkers
|
||||
ReadValue<uint16_t>(InFile, Total);
|
||||
for (uint16_t i = 0; i < Total; ++i)
|
||||
{
|
||||
DoorVehicle.Read(InFile);
|
||||
Add(DoorVehicle);
|
||||
}
|
||||
}
|
||||
|
||||
const std::vector<CarlaRecorderDoorVehicle>& CarlaRecorderDoorVehicles::GetDoorVehicles()
|
||||
{
|
||||
return Vehicles;
|
||||
}
|
||||
|
|
@ -0,0 +1,45 @@
|
|||
// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
|
||||
// de Barcelona (UAB).
|
||||
//
|
||||
// This work is licensed under the terms of the MIT license.
|
||||
// For a copy, see <https://opensource.org/licenses/MIT>.
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <sstream>
|
||||
#include <vector>
|
||||
#include <type_traits>
|
||||
|
||||
#pragma pack(push, 1)
|
||||
struct CarlaRecorderDoorVehicle
|
||||
{
|
||||
// Use same type as carla::vehicle::CarlaWheeledVehicle::EVehicleDoor
|
||||
using VehicleDoorType = uint8_t;
|
||||
|
||||
uint32_t DatabaseId;
|
||||
VehicleDoorType Doors;
|
||||
bool bIsOpen;
|
||||
|
||||
void Read(std::istream &InFile);
|
||||
|
||||
void Write(std::ostream &OutFile);
|
||||
};
|
||||
#pragma pack(pop)
|
||||
|
||||
struct CarlaRecorderDoorVehicles
|
||||
{
|
||||
public:
|
||||
|
||||
void Add(const CarlaRecorderDoorVehicle &InObj);
|
||||
|
||||
void Clear(void);
|
||||
|
||||
void Write(std::ostream &OutFile);
|
||||
|
||||
void Read(std::istream &InFile);
|
||||
|
||||
const std::vector<CarlaRecorderDoorVehicle>& GetDoorVehicles();
|
||||
|
||||
private:
|
||||
std::vector<CarlaRecorderDoorVehicle> Vehicles;
|
||||
};
|
||||
|
|
@ -19,6 +19,8 @@
|
|||
#include <carla/rpc/VehiclePhysicsControl.h>
|
||||
#include <compiler/enable-ue4-macros.h>
|
||||
|
||||
#include <Carla/Vehicle/CarlaWheeledVehicle.h>
|
||||
|
||||
inline bool CarlaRecorderQuery::ReadHeader(void)
|
||||
{
|
||||
if (File.eof())
|
||||
|
|
@ -271,6 +273,49 @@ std::string CarlaRecorderQuery::QueryInfo(std::string Filename, bool bShowAll)
|
|||
SkipPacket();
|
||||
break;
|
||||
|
||||
// vehicle door animations
|
||||
case static_cast<char>(CarlaRecorderPacketId::VehicleDoor):
|
||||
if (bShowAll)
|
||||
{
|
||||
ReadValue<uint16_t>(File, Total);
|
||||
if (Total > 0 && !bFramePrinted)
|
||||
{
|
||||
PrintFrame(Info);
|
||||
bFramePrinted = true;
|
||||
}
|
||||
Info << " Vehicle door animations: " << Total << std::endl;
|
||||
for (i = 0; i < Total; ++i)
|
||||
{
|
||||
DoorVehicle.Read(File);
|
||||
|
||||
CarlaRecorderDoorVehicle::VehicleDoorType doorVehicle;
|
||||
doorVehicle = DoorVehicle.Doors;
|
||||
EVehicleDoor eDoorVehicle = static_cast<EVehicleDoor>(doorVehicle);
|
||||
std::string opened_doors_list;
|
||||
|
||||
Info << " Id: " << DoorVehicle.DatabaseId << std::endl;
|
||||
Info << " Doors opened: ";
|
||||
if (eDoorVehicle == EVehicleDoor::FL)
|
||||
Info << " Front Left " << std::endl;
|
||||
if (eDoorVehicle == EVehicleDoor::FR)
|
||||
Info << " Front Right " << std::endl;
|
||||
if (eDoorVehicle == EVehicleDoor::RL)
|
||||
Info << " Rear Left " << std::endl;
|
||||
if (eDoorVehicle == EVehicleDoor::RR)
|
||||
Info << " Rear Right " << std::endl;
|
||||
if (eDoorVehicle == EVehicleDoor::Hood)
|
||||
Info << " Hood " << std::endl;
|
||||
if (eDoorVehicle == EVehicleDoor::Trunk)
|
||||
Info << " Trunk " << std::endl;
|
||||
if (eDoorVehicle == EVehicleDoor::All)
|
||||
Info << " All " << std::endl;
|
||||
}
|
||||
}
|
||||
else
|
||||
SkipPacket();
|
||||
break;
|
||||
|
||||
|
||||
// vehicle light animations
|
||||
case static_cast<char>(CarlaRecorderPacketId::VehicleLight):
|
||||
if (bShowAll)
|
||||
|
|
|
|||
|
|
@ -26,6 +26,7 @@
|
|||
#include "CarlaRecorderPosition.h"
|
||||
#include "CarlaRecorderState.h"
|
||||
#include "CarlaRecorderWalkerBones.h"
|
||||
#include "CarlaRecorderDoorVehicle.h"
|
||||
|
||||
class CarlaRecorderQuery
|
||||
{
|
||||
|
|
@ -69,6 +70,7 @@ private:
|
|||
CarlaRecorderPhysicsControl PhysicsControl;
|
||||
CarlaRecorderTrafficLightTime TrafficLightTime;
|
||||
CarlaRecorderWalkerBones WalkerBones;
|
||||
CarlaRecorderDoorVehicle DoorVehicle;
|
||||
|
||||
// read next header packet
|
||||
bool ReadHeader(void);
|
||||
|
|
|
|||
|
|
@ -378,6 +378,14 @@ void CarlaReplayer::ProcessToTime(double Time, bool IsFirstTime)
|
|||
SkipPacket();
|
||||
break;
|
||||
|
||||
// vehicle door animation
|
||||
case static_cast<char>(CarlaRecorderPacketId::VehicleDoor):
|
||||
if (bFrameFound)
|
||||
ProcessDoorVehicle();
|
||||
else
|
||||
SkipPacket();
|
||||
break;
|
||||
|
||||
// scene lights animation
|
||||
case static_cast<char>(CarlaRecorderPacketId::SceneLight):
|
||||
if (bFrameFound)
|
||||
|
|
@ -649,6 +657,25 @@ void CarlaReplayer::ProcessLightVehicle(void)
|
|||
}
|
||||
}
|
||||
|
||||
void CarlaReplayer::ProcessDoorVehicle(void)
|
||||
{
|
||||
uint16_t Total;
|
||||
CarlaRecorderDoorVehicle DoorVehicle;
|
||||
|
||||
// read Total walkers
|
||||
ReadValue<uint16_t>(File, Total);
|
||||
for (uint16_t i = 0; i < Total; ++i)
|
||||
{
|
||||
DoorVehicle.Read(File);
|
||||
DoorVehicle.DatabaseId = MappedId[DoorVehicle.DatabaseId];
|
||||
// check if ignore this actor
|
||||
if (!(IgnoreHero && IsHeroMap[DoorVehicle.DatabaseId]))
|
||||
{
|
||||
Helper.ProcessReplayerDoorVehicle(DoorVehicle);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void CarlaReplayer::ProcessLightScene(void)
|
||||
{
|
||||
uint16_t Total;
|
||||
|
|
|
|||
|
|
@ -158,6 +158,8 @@ private:
|
|||
void ProcessLightVehicle(void);
|
||||
void ProcessLightScene(void);
|
||||
|
||||
void ProcessDoorVehicle(void);
|
||||
|
||||
void ProcessWalkerBones(void);
|
||||
|
||||
// positions
|
||||
|
|
|
|||
|
|
@ -416,6 +416,24 @@ void CarlaReplayerHelper::ProcessReplayerAnimVehicle(CarlaRecorderAnimVehicle Ve
|
|||
}
|
||||
}
|
||||
|
||||
// set the openings and closings of vehicle doors
|
||||
void CarlaReplayerHelper::ProcessReplayerDoorVehicle(CarlaRecorderDoorVehicle DoorVehicle)
|
||||
{
|
||||
check(Episode != nullptr);
|
||||
FCarlaActor * CarlaActor = Episode->FindCarlaActor(DoorVehicle.DatabaseId);
|
||||
if (CarlaActor)
|
||||
{
|
||||
ACarlaWheeledVehicle * Vehicle = Cast<ACarlaWheeledVehicle>(CarlaActor->GetActor());
|
||||
if (Vehicle) {
|
||||
if(DoorVehicle.bIsOpen){
|
||||
Vehicle->OpenDoor(static_cast<EVehicleDoor>(DoorVehicle.Doors));
|
||||
}else{
|
||||
Vehicle->CloseDoor(static_cast<EVehicleDoor>(DoorVehicle.Doors));
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// set the lights for vehicles
|
||||
void CarlaReplayerHelper::ProcessReplayerLightVehicle(CarlaRecorderLightVehicle LightVehicle)
|
||||
{
|
||||
|
|
|
|||
|
|
@ -15,6 +15,7 @@
|
|||
#include "CarlaRecorderAnimVehicleWheels.h"
|
||||
#include "CarlaRecorderLightVehicle.h"
|
||||
#include "CarlaRecorderLightScene.h"
|
||||
#include "CarlaRecorderDoorVehicle.h"
|
||||
#include "CarlaRecorderWalkerBones.h"
|
||||
|
||||
#include <unordered_map>
|
||||
|
|
@ -65,6 +66,9 @@ public:
|
|||
// set the animation for walkers
|
||||
void ProcessReplayerAnimWalker(CarlaRecorderAnimWalker Walker);
|
||||
|
||||
// set the openings and closing of vehicle doors
|
||||
void ProcessReplayerDoorVehicle(CarlaRecorderDoorVehicle DoorVehicle);
|
||||
|
||||
// set the animation for bikers
|
||||
void ProcessReplayerAnimBiker(CarlaRecorderAnimBiker Biker);
|
||||
|
||||
|
|
|
|||
|
|
@ -4,7 +4,7 @@
|
|||
|
||||
#include "Carla/Game/CarlaGameInstance.h"
|
||||
#include "Carla/Settings/CarlaSettings.h"
|
||||
#include "Carla/Game/CarlaGameInstance.h"
|
||||
|
||||
#include "Async.h"
|
||||
#include "Components/StaticMeshComponent.h"
|
||||
#include "Engine/DirectionalLight.h"
|
||||
|
|
|
|||
|
|
@ -36,11 +36,15 @@ void UYieldSignComponent::InitializeSign(const carla::road::Map &Map)
|
|||
if(lane == 0)
|
||||
continue;
|
||||
|
||||
auto signal_waypoint = Map.GetWaypoint(
|
||||
RoadId, lane, SignalReference->GetS()).get();
|
||||
|
||||
if(Map.GetLane(signal_waypoint).GetType() != cr::Lane::LaneType::Driving)
|
||||
auto signal_waypoint_optional = Map.GetWaypoint(RoadId, lane, SignalReference->GetS());
|
||||
if (!signal_waypoint_optional) {
|
||||
carla::log_warning("YieldSignComponent::InitializeSignsignal() waypoint seems to be invalid, ignoring. RoadId:", RoadId, " LaneId:", lane, " s:", SignalReference->GetS());
|
||||
continue;
|
||||
}
|
||||
auto signal_waypoint = signal_waypoint_optional.value();
|
||||
if(Map.GetLane(signal_waypoint).GetType() != cr::Lane::LaneType::Driving) {
|
||||
continue;
|
||||
}
|
||||
|
||||
auto box_waypoint = signal_waypoint;
|
||||
// Prevent adding the bounding box inside the intersection
|
||||
|
|
|
|||
|
|
@ -1019,6 +1019,8 @@ void ACarlaWheeledVehicle::OpenDoorPhys(const EVehicleDoor DoorIdx)
|
|||
{
|
||||
(*CollisionDisable)->InitComponentConstraint();
|
||||
}
|
||||
|
||||
RecordDoorChange(DoorIdx, true);
|
||||
}
|
||||
|
||||
void ACarlaWheeledVehicle::CloseDoorPhys(const EVehicleDoor DoorIdx)
|
||||
|
|
@ -1032,6 +1034,16 @@ void ACarlaWheeledVehicle::CloseDoorPhys(const EVehicleDoor DoorIdx)
|
|||
DoorComponent->SetWorldTransform(DoorInitialTransform);
|
||||
DoorComponent->AttachToComponent(
|
||||
GetMesh(), FAttachmentTransformRules(EAttachmentRule::KeepWorld, true));
|
||||
RecordDoorChange(DoorIdx, false);
|
||||
}
|
||||
|
||||
void ACarlaWheeledVehicle::RecordDoorChange(const EVehicleDoor DoorIdx, bool bIsOpen)
|
||||
{
|
||||
auto * Recorder = UCarlaStatics::GetRecorder(GetWorld());
|
||||
if (Recorder && Recorder->IsEnabled())
|
||||
{
|
||||
Recorder->AddVehicleDoor(*this, DoorIdx, bIsOpen);
|
||||
}
|
||||
}
|
||||
|
||||
void ACarlaWheeledVehicle::ApplyRolloverBehavior()
|
||||
|
|
|
|||
|
|
@ -406,6 +406,9 @@ public:
|
|||
UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable)
|
||||
void CloseDoorPhys(const EVehicleDoor DoorIdx);
|
||||
|
||||
UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable)
|
||||
void RecordDoorChange(const EVehicleDoor DoorIdx, const bool bIsOpen);
|
||||
|
||||
virtual FVector GetVelocity() const override;
|
||||
|
||||
//-----CARSIM--------------------------------
|
||||
|
|
|
|||
|
|
@ -19,7 +19,7 @@ for /F "delims=" %%a in (%CONTENT_VERSIONS%) do (
|
|||
set "lastLine=%%a"
|
||||
)
|
||||
set CONTENT_ID=%lastLine:~-16,16%
|
||||
set CONTENT_LINK=http://carla-assets.s3.amazonaws.com/%CONTENT_ID%.tar.gz
|
||||
set CONTENT_LINK=http://carla-assets.s3.us-east-005.backblazeb2.com/%CONTENT_ID%.tar.gz
|
||||
if "%CONTENT_ID:~0,2%"=="20" (
|
||||
set CONTENT_FILE=%CONTENT_FOLDER%/%CONTENT_ID%.tar.gz
|
||||
set CONTENT_FILE_TAR=%CONTENT_FOLDER%/%CONTENT_ID%.tar
|
||||
|
|
|
|||
|
|
@ -47,7 +47,7 @@ pushd "$SCRIPT_DIR" >/dev/null
|
|||
CONTENT_FOLDER="${SCRIPT_DIR}/Unreal/CarlaUE4/Content/Carla"
|
||||
|
||||
CONTENT_ID=$(tac $SCRIPT_DIR/Util/ContentVersions.txt | egrep -m 1 . | rev | cut -d' ' -f1 | rev)
|
||||
CONTENT_LINK=http://carla-assets.s3.amazonaws.com/${CONTENT_ID}.tar.gz
|
||||
CONTENT_LINK=http://carla-assets.s3.us-east-005.backblazeb2.com/${CONTENT_ID}.tar.gz
|
||||
|
||||
VERSION_FILE="${CONTENT_FOLDER}/.version"
|
||||
|
||||
|
|
|
|||
|
|
@ -29,7 +29,7 @@ IFS="," read -r -a PY_VERSION_LIST <<< "${PY_VERSION_LIST}"
|
|||
# -- Get ad-rss -------------------------------------------
|
||||
# ==============================================================================
|
||||
|
||||
ADRSS_VERSION=4.4.3
|
||||
ADRSS_VERSION=4.4.4
|
||||
ADRSS_BASENAME=ad-rss-${ADRSS_VERSION}
|
||||
ADRSS_COLCON_WORKSPACE="${CARLA_BUILD_FOLDER}/${ADRSS_BASENAME}"
|
||||
ADRSS_SRC_DIR="${ADRSS_COLCON_WORKSPACE}/src"
|
||||
|
|
@ -40,10 +40,13 @@ if [[ ! -d "${ADRSS_SRC_DIR}" ]]; then
|
|||
|
||||
mkdir -p "${ADRSS_SRC_DIR}"
|
||||
|
||||
# clone ad-rss with all submodules, but remove proj, as CARLA already uses it
|
||||
pushd "${ADRSS_SRC_DIR}" >/dev/null
|
||||
git clone --depth=1 -b v1.7.0 https://github.com/gabime/spdlog.git
|
||||
git clone --depth=1 -b v2.4.5_hotfix https://github.com/carla-simulator/map.git
|
||||
git clone --depth=1 -b v${ADRSS_VERSION} https://github.com/intel/ad-rss-lib.git
|
||||
git clone -b v${ADRSS_VERSION} https://github.com/intel/ad-rss-lib.git && cd ad-rss-lib && git submodule update --init --recursive && rm -rf dependencies/map/dependencies/PROJ4 && cd ..
|
||||
|
||||
# ADRSS_VERSION is designed for older boost, update datatype from boost::array to std::array
|
||||
grep -rl "boost::array" | xargs sed -i 's/boost::array/std::array/g'
|
||||
grep -rl "find_package(Boost" | xargs sed -i 's/find_package(Boost/find_package(Boost 1.80/g'
|
||||
popd
|
||||
|
||||
cat >"${ADRSS_COLCON_WORKSPACE}/colcon.meta" <<EOL
|
||||
|
|
@ -56,7 +59,8 @@ if [[ ! -d "${ADRSS_SRC_DIR}" ]]; then
|
|||
"cmake-args": ["-DBUILD_PYTHON_BINDING=ON", "-DCMAKE_POSITION_INDEPENDENT_CODE=ON", "-DBUILD_SHARED_LIBS=OFF", "-DDISABLE_WARNINGS_AS_ERRORS=ON"]
|
||||
},
|
||||
"ad_map_opendrive_reader": {
|
||||
"cmake-args": ["-DCMAKE_POSITION_INDEPENDENT_CODE=ON", "-DBUILD_SHARED_LIBS=OFF", "-DDISABLE_WARNINGS_AS_ERRORS=ON"]
|
||||
"cmake-args": ["-DCMAKE_POSITION_INDEPENDENT_CODE=ON", "-DBUILD_SHARED_LIBS=OFF", "-DDISABLE_WARNINGS_AS_ERRORS=ON"],
|
||||
"dependencies": ["odrSpiral"]
|
||||
},
|
||||
"ad_rss": {
|
||||
"cmake-args": ["-DBUILD_PYTHON_BINDING=ON", "-DCMAKE_POSITION_INDEPENDENT_CODE=ON", "-DBUILD_SHARED_LIBS=OFF", "-DDISABLE_WARNINGS_AS_ERRORS=ON"]
|
||||
|
|
@ -78,13 +82,16 @@ fi
|
|||
# ==============================================================================
|
||||
ADRSS_INSTALL_DIR="${CARLA_BUILD_FOLDER}/${ADRSS_BASENAME}/install"
|
||||
|
||||
CARLA_LLVM_VERSION_MAJOR=$(cut -d'.' -f1 <<<"$(clang --version | head -n 1 | sed -r 's/^([^.]+).*$/\1/; s/^[^0-9]*([0-9]+).*$/\1/')")
|
||||
|
||||
if [ -z "$CARLA_LLVM_VERSION_MAJOR" ] ; then
|
||||
fatal_error "Failed to retrieve the installed version of the clang compiler."
|
||||
else
|
||||
echo "Using clang-$CARLA_LLVM_VERSION_MAJOR as the CARLA compiler."
|
||||
fi
|
||||
# Automation doesn't work if the clang installed within the system is not matching the one that is provided by Unreal
|
||||
# Setup.sh would have to be adapted to reflect it
|
||||
# so we need to change
|
||||
#CARLA_LLVM_VERSION_MAJOR=$(cut -d'.' -f1 <<<"$(clang --version | head -n 1 | sed -r 's/^([^.]+).*$/\1/; s/^[^0-9]*([0-9]+).*$/\1/')")
|
||||
#if [ -z "$CARLA_LLVM_VERSION_MAJOR" ] ; then
|
||||
# fatal_error "Failed to retrieve the installed version of the clang compiler."
|
||||
#else
|
||||
# echo "Using clang-$CARLA_LLVM_VERSION_MAJOR as the CARLA compiler."
|
||||
#fi
|
||||
CXX_TAG=c10
|
||||
|
||||
#
|
||||
# Since it it not possible with boost-python to build more than one python version at once (find_package has some bugs)
|
||||
|
|
@ -99,15 +106,17 @@ for PY_VERSION in ${PY_VERSION_LIST[@]} ; do
|
|||
log "Building ${ADRSS_BASENAME} for python${PY_VERSION}"
|
||||
|
||||
pushd "${ADRSS_COLCON_WORKSPACE}" >/dev/null
|
||||
if [ "${CMAKE_PREFIX_PATH}" == "" ]; then
|
||||
CMAKE_PREFIX_PATH="${CARLA_BUILD_FOLDER}/boost-1.72.0-c$CARLA_LLVM_VERSION_MAJOR-install;${CARLA_BUILD_FOLDER}/proj-install"
|
||||
if [[ "${CMAKE_PREFIX_PATH}" == "" ]]; then
|
||||
CMAKE_PREFIX_PATH="${CARLA_BUILD_FOLDER}/boost-1.80.0-$CXX_TAG-install;${CARLA_BUILD_FOLDER}/proj-install"
|
||||
else
|
||||
CMAKE_PREFIX_PATH="${CMAKE_PREFIX_PATH};${CARLA_BUILD_FOLDER}/boost-1.72.0-c$CARLA_LLVM_VERSION_MAJOR-install;${CARLA_BUILD_FOLDER}/proj-install"
|
||||
CMAKE_PREFIX_PATH="${CARLA_BUILD_FOLDER}/boost-1.80.0-$CXX_TAG-install;${CARLA_BUILD_FOLDER}/proj-install;${CMAKE_PREFIX_PATH}"
|
||||
fi
|
||||
|
||||
# get the python version of the binding to be built
|
||||
# get the python version of the binding to be built, need to query the binary,
|
||||
# because might be just provided a '3' as PY_VERSION and then the symbolic linked python3 is called
|
||||
PYTHON_VERSION=$(/usr/bin/env python${PY_VERSION} -V 2>&1)
|
||||
PYTHON_BINDING_VERSIONS=${PYTHON_VERSION:7:3}
|
||||
PYTHON_BINDING_VERSIONS=${PYTHON_VERSION:7}
|
||||
PYTHON_BINDING_VERSIONS=${PYTHON_BINDING_VERSIONS%.*}
|
||||
echo "PYTHON_BINDING_VERSIONS=${PYTHON_BINDING_VERSIONS}"
|
||||
|
||||
# enforce sequential executor to reduce the required memory for compilation
|
||||
|
|
|
|||
|
|
@ -146,7 +146,7 @@ function build_libcarla {
|
|||
M_TOOLCHAIN=${LIBSTDCPP_TOOLCHAIN_FILE}
|
||||
M_BUILD_FOLDER=${LIBCARLA_BUILD_CLIENT_FOLDER}.rss.$(echo "$2" | tr '[:upper:]' '[:lower:]')
|
||||
M_INSTALL_FOLDER=${LIBCARLA_INSTALL_CLIENT_FOLDER}
|
||||
CMAKE_EXTRA_OPTIONS="${CMAKE_EXTRA_OPTIONS:+${CMAKE_EXTRA_OPTIONS} }-DBUILD_RSS_VARIANT=ON -DADRSS_INSTALL_DIR=${CARLA_BUILD_FOLDER}/ad-rss-4.4.3/install"
|
||||
CMAKE_EXTRA_OPTIONS="${CMAKE_EXTRA_OPTIONS:+${CMAKE_EXTRA_OPTIONS} }-DBUILD_RSS_VARIANT=ON -DADRSS_INSTALL_DIR=${CARLA_BUILD_FOLDER}/ad-rss-4.4.4/install"
|
||||
else
|
||||
fatal_error "Invalid build configuration \"$1\""
|
||||
fi
|
||||
|
|
|
|||
|
|
@ -367,7 +367,7 @@ FOR /F "usebackq tokens=1,2" %%i in ("%VERSION_FILE%") do (
|
|||
set ASSETS_VERSION=%%i
|
||||
set HASH=%%j
|
||||
)
|
||||
set URL=http://carla-assets.s3.amazonaws.com/%HASH%.tar.gz
|
||||
set URL=http://carla-assets.s3.us-east-005.backblazeb2.com/%HASH%.tar.gz
|
||||
|
||||
rem ============================================================================
|
||||
rem -- Generate CMake ----------------------------------------------------------
|
||||
|
|
|
|||
|
|
@ -96,7 +96,7 @@ for PY_VERSION in ${PY_VERSION_LIST[@]} ; do
|
|||
# try to use the backup boost we have in Jenkins
|
||||
if [ ! -f "${BOOST_PACKAGE_BASENAME}.tar.gz" ] || [[ $(sha256sum "${BOOST_PACKAGE_BASENAME}.tar.gz") != "${BOOST_SHA256SUM}" ]] ; then
|
||||
log "Using boost backup"
|
||||
wget "https://carla-releases.s3.eu-west-3.amazonaws.com/Backup/${BOOST_PACKAGE_BASENAME}.tar.gz" || true
|
||||
wget "https://carla-releases.s3.us-east-005.backblazeb2.com/Backup/${BOOST_PACKAGE_BASENAME}.tar.gz" || true
|
||||
fi
|
||||
|
||||
log "Extracting boost for Python ${PY_VERSION}."
|
||||
|
|
@ -393,7 +393,7 @@ else
|
|||
# try to use the backup boost we have in Jenkins
|
||||
if [[ ! -f "${XERCESC_BASENAME}.tar.gz" ]] ; then
|
||||
log "Using xerces backup"
|
||||
wget "https://carla-releases.s3.eu-west-3.amazonaws.com/Backup/${XERCESC_BASENAME}.tar.gz" || true
|
||||
wget "https://carla-releases.s3.us-east-005.backblazeb2.com/Backup/${XERCESC_BASENAME}.tar.gz" || true
|
||||
fi
|
||||
|
||||
log "Extracting xerces-c."
|
||||
|
|
|
|||
|
|
@ -25,7 +25,7 @@
|
|||
#
|
||||
# You can download it directly from
|
||||
#
|
||||
# http://carla-assets.s3.amazonaws.com/PUT_FILE_ID_HERE.tar.gz
|
||||
# http://carla-assets.s3.us-east-005.backblazeb2.com/PUT_FILE_ID_HERE.tar.gz
|
||||
|
||||
0.9.5: 20190404_c7b464a
|
||||
0.9.6: 20190710_0097e66
|
||||
|
|
|
|||
|
|
@ -28,8 +28,8 @@ fi
|
|||
|
||||
CARLA_VERSION=$1
|
||||
CARLA_DIR=carla-simulator-${CARLA_VERSION}
|
||||
CARLA_RELEASE_URL=https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/CARLA_${CARLA_VERSION}.tar.gz
|
||||
ADDITIONAL_MAPS_URL=https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/AdditionalMaps_${CARLA_VERSION}.tar.gz
|
||||
CARLA_RELEASE_URL=https://carla-releases.s3.us-east-005.backblazeb2.com/Linux/CARLA_${CARLA_VERSION}.tar.gz
|
||||
ADDITIONAL_MAPS_URL=https://carla-releases.s3.us-east-005.backblazeb2.com/Linux/AdditionalMaps_${CARLA_VERSION}.tar.gz
|
||||
|
||||
# Adding maintainer name.
|
||||
DEBFULLNAME=Carla\ Simulator\ Team
|
||||
|
|
|
|||
|
|
@ -95,7 +95,7 @@ if not exist "%BOOST_SRC_DIR%" (
|
|||
)
|
||||
if "!_checksum!" == "1" (
|
||||
echo %FILE_N% Using Boost backup
|
||||
powershell -Command "(New-Object System.Net.WebClient).DownloadFile('https://carla-releases.s3.eu-west-3.amazonaws.com/Backup/%BOOST_TEMP_FILE%', '%BOOST_TEMP_FILE_DIR%')"
|
||||
powershell -Command "(New-Object System.Net.WebClient).DownloadFile('https://carla-releases.s3.us-east-005.backblazeb2.com/Backup/%BOOST_TEMP_FILE%', '%BOOST_TEMP_FILE_DIR%')"
|
||||
call :CheckSumEvaluate %BOOST_TEMP_FILE_DIR%,%BOOST_SHA256SUM%,_checksum
|
||||
)
|
||||
if "!_checksum!" == "1" goto error_download
|
||||
|
|
|
|||
|
|
@ -81,7 +81,7 @@ if not exist "%LIBPNG_SRC_DIR%" (
|
|||
)
|
||||
if not exist "%LIBPNG_TEMP_FILE_DIR%" (
|
||||
echo %FILE_N% Using %LIBPNG_BASENAME% from backup.
|
||||
powershell -Command "(New-Object System.Net.WebClient).DownloadFile('https://carla-releases.s3.eu-west-3.amazonaws.com/Backup/libpng-%LIBPNG_VERSION%-src.zip', '%LIBPNG_TEMP_FILE_DIR%')"
|
||||
powershell -Command "(New-Object System.Net.WebClient).DownloadFile('https://carla-releases.s3.us-east-005.backblazeb2.com/Backup/libpng-%LIBPNG_VERSION%-src.zip', '%LIBPNG_TEMP_FILE_DIR%')"
|
||||
)
|
||||
if %errorlevel% neq 0 goto error_download
|
||||
rem Extract the downloaded library
|
||||
|
|
|
|||
|
|
@ -58,7 +58,7 @@ rem ../xerces-c-x.x.x-src.zip
|
|||
set XERCESC_TEMP_FILE_DIR=%BUILD_DIR%%XERCESC_TEMP_FILE%
|
||||
|
||||
set XERCESC_REPO=https://archive.apache.org/dist/xerces/c/3/sources/xerces-c-%XERCESC_VERSION%.zip
|
||||
set XERCESC_BACKUP_REPO=https://carla-releases.s3.eu-west-3.amazonaws.com/Backup/xerces-c-%XERCESC_VERSION%.zip
|
||||
set XERCESC_BACKUP_REPO=https://carla-releases.s3.us-east-005.backblazeb2.com/Backup/xerces-c-%XERCESC_VERSION%.zip
|
||||
|
||||
rem ../xerces-c-x.x.x-source/
|
||||
set XERCESC_SRC_DIR=%BUILD_DIR%%XERCESC_BASENAME%-%XERCESC_VERSION%-source\
|
||||
|
|
@ -93,7 +93,7 @@ if not exist "%XERCESC_SRC_DIR%" (
|
|||
del "%XERCESC_TEMP_FILE_DIR%"
|
||||
echo %FILE_N% Removing dir "%BUILD_DIR%manifest"
|
||||
rmdir /s/q "%BUILD_DIR%manifest"
|
||||
|
||||
|
||||
echo %FILE_N% Renaming dir %XERCESC_TEMP_FOLDER_DIR% to %XERCESC_BASENAME%-%XERCESC_VERSION%-source
|
||||
rename "%XERCESC_TEMP_FOLDER_DIR%" "%XERCESC_BASENAME%-%XERCESC_VERSION%-source"
|
||||
) else (
|
||||
|
|
@ -133,7 +133,7 @@ cmake .. -G %GENERATOR% %PLATFORM%^
|
|||
"%BUILD_DIR%%XERCESC_BASENAME%-%XERCESC_VERSION%-source"
|
||||
if %errorlevel% neq 0 goto error_cmake
|
||||
|
||||
cmake --build . --config Release --target install
|
||||
cmake --build . --config Release --target install
|
||||
|
||||
goto success
|
||||
|
||||
|
|
|
|||
|
|
@ -55,7 +55,7 @@ set ZLIB_TEMP_FILE=%ZLIB_TEMP_FOLDER%.zip
|
|||
set ZLIB_TEMP_FILE_DIR=%BUILD_DIR%%ZLIB_TEMP_FILE%
|
||||
|
||||
set ZLIB_REPO=https://www.zlib.net/zlib%ZLIB_VERSION:.=%.zip
|
||||
set ZLIB_BACKUP_REPO=https://carla-releases.s3.eu-west-3.amazonaws.com/Backup/zlib%ZLIB_VERSION:.=%.zip
|
||||
set ZLIB_BACKUP_REPO=https://carla-releases.s3.us-east-005.backblazeb2.com/Backup/zlib%ZLIB_VERSION:.=%.zip
|
||||
set ZLIB_SRC_DIR=%BUILD_DIR%%ZLIB_BASENAME%-source\
|
||||
set ZLIB_INSTALL_DIR=%BUILD_DIR%%ZLIB_BASENAME%-install\
|
||||
|
||||
|
|
|
|||
|
|
@ -41,12 +41,14 @@ nav:
|
|||
- 'CarSIM': 'tuto_G_carsim_integration.md'
|
||||
- 'Chrono': 'tuto_G_chrono.md'
|
||||
- 'MathWorks': 'large_map_roadrunner.md'
|
||||
- 'NVIDIA SimReady': 'ecosys_simready.md'
|
||||
- 'OpenDRIVE': 'adv_opendrive.md'
|
||||
- 'PTV Vissim': 'adv_ptv.md'
|
||||
- 'RSS': 'adv_rss.md'
|
||||
- 'ROS': https://carla.readthedocs.io/projects/ros-bridge/en/latest/
|
||||
- 'Scenic': 'tuto_G_scenic.md'
|
||||
- 'SUMO': 'adv_sumo.md'
|
||||
- 'SYNKROTRON': 'ecosys_synkrotron.md'
|
||||
|
||||
- Contributing:
|
||||
- 'Guidelines': 'cont_contribution_guidelines.md'
|
||||
|
|
|
|||
Loading…
Reference in New Issue