Package the project in shipping mode
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nsubiron
Néstor Subirón
parent
47be1747a1
commit
cfc6ee6fa1
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@ -2,6 +2,7 @@
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* Add access to vehicle transmission details
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* Add access to vehicle physics brake values
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* The simulator is now compiled in "Shipping" mode, faster but it accepts less command-line arguments
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* Enabled texture streaming for scene captures
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- Enabled texture streaming in the Unreal project settings
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- Changed the scene capture to register its camera with Unreal's texture streamer every tick to enable texture streaming
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@ -4,6 +4,68 @@ Before you start running your own experiments there are few details to take into
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account at the time of configuring your simulation. In this document we cover
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the most important ones.
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Changing the map
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----------------
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The map can be changed from the Python API with
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```py
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world = client.load_map('Town01')
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```
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this creates an empty world with default settings. The list of currently
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available maps can be retrieved with
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```py
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print(client.get_available_maps())
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```
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To reload the world using the current active map, use
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```py
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world = client.reload_world()
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```
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Running off-screen
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------------------
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In Linux, you can force the simulator to run off-screen by setting the
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environment variable `DISPLAY` to empty
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!!! important
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**DISPLAY= only works with OpenGL**<br>
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Vulkan is now the default graphics API used by Unreal Engine and CARLA on
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Linux. Unreal Engine currently crashes when Vulkan is used when running
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off-screen. Therefore the -opengl flag must be added to force the engine to
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use OpenGL instead. We hope that this issue is addressed by Epic in the near
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future.
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```sh
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# Linux
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DISPLAY= ./CarlaUE4.sh -opengl
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```
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This launches the simulator without simulator window, of course you can still
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connect to it normally and run the example scripts. Note that with this method,
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in multi-GPU environments, it's not possible to select the GPU that the
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simulator will use for rendering. To do so, follow the instruction in
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[Running without display and selecting GPUs](carla_headless.md).
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No-rendering mode
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-----------------
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It is possible to completely disable rendering in the simulator by enabling
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_no-rendering mode_ in the world settings. This way is possible to simulate
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traffic and road behaviours at very high frequencies without the rendering
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overhead. Note that in this mode, cameras and other GPU-based sensors return
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empty data.
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```py
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settings = world.get_settings()
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settings.no_rendering_mode = True
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world.apply_settings(settings)
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```
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Fixed time-step
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---------------
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@ -52,65 +114,6 @@ world.apply_settings(settings)
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no longer in sync with the physics engine.
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Ref. [#695](https://github.com/carla-simulator/carla/issues/695)
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Changing the map
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----------------
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The map can be selected by passing the path to the map as first argument when
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launching the simulator
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```sh
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# Linux
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./CarlaUE4.sh /Game/Carla/Maps/Town01
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```
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```cmd
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rem Windows
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CarlaUE4.exe /Game/Carla/Maps/Town01
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```
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The path "/Game/" maps to the Content folder of our repository in
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"Unreal/CarlaUE4/Content/".
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Running off-screen
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------------------
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In Linux, you can force the simulator to run off-screen by setting the
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environment variable `DISPLAY` to empty
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!!! important
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**DISPLAY= only works with OpenGL**<br>
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Vulkan is now the default graphics API used by Unreal Engine and CARLA on
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Linux. Unreal Engine currently crashes when Vulkan is used when running off-screen.
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Therefore the -opengl flag must be added to force the engine to use OpenGL instead.
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We hope that this issue is addressed by Epic in the near future.
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```sh
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# Linux
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DISPLAY= ./CarlaUE4.sh -opengl
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```
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This launches the simulator without simulator window, of course you can still
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connect to it normally and run the example scripts. Note that with this method,
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in multi-GPU environments, it's not possible to select the GPU that the
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simulator will use for rendering. To do so, follow the instruction in
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[Running without display and selecting GPUs](carla_headless.md).
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No-rendering mode
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-----------------
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It is possible to completely disable rendering in the simulator by enabling
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_no-rendering mode_ in the world settings. This way is possible to simulate
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traffic and road behaviours at very high frequencies without the rendering
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overhead. Note that in this mode, cameras and other GPU-based sensors return
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empty data.
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```py
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settings = world.get_settings()
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settings.no_rendering_mode = True
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world.apply_settings(settings)
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```
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Synchronous mode
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----------------
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@ -156,9 +159,10 @@ at the example [synchronous_mode.py][syncmodelink].
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Other command-line options
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--------------------------
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* `-carla-port=N` Listen for client connections at port N, streaming port is set to N+1.
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* `-carla-rpc-port=N` Listen for client connections at port N, streaming port is set to N+1 by default.
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* `-carla-streaming-port=N` Specify the port for sensor data streaming, use 0 to get a random unused port.
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* `-quality-level={Low,Epic}` Change graphics quality level, "Low" mode runs significantly faster.
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* `-no-rendering` Disable rendering.
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* [Full list of UE4 command-line arguments][ue4clilink].
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* [Full list of UE4 command-line arguments][ue4clilink] (note that many of these won't work in the release version).
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[ue4clilink]: https://docs.unrealengine.com/en-US/Programming/Basics/CommandLineArguments
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15
Docs/faq.md
15
Docs/faq.md
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@ -84,21 +84,6 @@ For more issues related to F.A.Q. see [question list](https://github.com/carla-s
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</details>
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<!-- ======================================================================= -->
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<details>
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<summary><h5 style="display:inline">
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Is it possible to dump images from the CARLA simulator view?
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</h5></summary>
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Yes, this is an Unreal Engine feature. You can dump the images of the spectator
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camera (simulator view) by running CARLA with
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$ ./CarlaUE4.sh -benchmark -fps=30 -dumpmovie
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Images are saved to "CarlaUE4/Saved/Screenshots/LinuxNoEditor".
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</details>
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<!-- ======================================================================= -->
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<details>
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<summary><h5 style="display:inline">
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@ -42,11 +42,12 @@ void AObstacleDetectionSensor::Set(const FActorDescription &Description)
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"only_dynamics",
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Description.Variations,
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bOnlyDynamics);
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#if !(UE_BUILD_SHIPPING || UE_BUILD_TEST)
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bDebugLineTrace = UActorBlueprintFunctionLibrary::RetrieveActorAttributeToBool(
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"debug_linetrace",
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Description.Variations,
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bDebugLineTrace);
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#endif
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}
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void AObstacleDetectionSensor::Tick(float DeltaSeconds)
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@ -63,6 +64,7 @@ void AObstacleDetectionSensor::Tick(float DeltaSeconds)
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// Initialization of Query Parameters
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FCollisionQueryParams TraceParams(FName(TEXT("ObstacleDetection Trace")), true, this);
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#if !(UE_BUILD_SHIPPING || UE_BUILD_TEST)
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// If debug mode enabled, we create a tag that will make the sweep be
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// displayed.
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if (bDebugLineTrace)
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@ -71,6 +73,7 @@ void AObstacleDetectionSensor::Tick(float DeltaSeconds)
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CurrentWorld->DebugDrawTraceTag = TraceTag;
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TraceParams.TraceTag = TraceTag;
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}
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#endif
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// Hit against complex meshes
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TraceParams.bTraceComplex = true;
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@ -68,7 +68,7 @@ if $DO_PACKAGE ; then
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${UE4_ROOT}/Engine/Build/BatchFiles/RunUAT.sh BuildCookRun \
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-project="${PWD}/CarlaUE4.uproject" \
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-nocompileeditor -nop4 -cook -stage -archive -package \
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-clientconfig=Development -ue4exe=UE4Editor \
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-clientconfig=Shipping -ue4exe=UE4Editor \
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-prereqs -targetplatform=Linux -build -utf8output \
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-archivedirectory="${BUILD_FOLDER}"
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@ -1,6 +1,6 @@
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# Make sure drivers are >= 390
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# docker run -p 2000-2002:2000-2002 --runtime=nvidia -e NVIDIA_VISIBLE_DEVICES=ID carla:latest ./CarlaUE4.sh
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# /Game/Carla/Maps/Town01 -benchmark -carla-server -fps=10 -world-port=2000 -windowed -ResX=100 -ResY=100 -carla-no-hud
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# -carla-rpc-port=2000 -carla-streaming-port=2001
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FROM nvidia/opengl:1.0-glvnd-runtime-ubuntu16.04
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@ -17,4 +17,4 @@ WORKDIR /home/carla
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ENV SDL_VIDEODRIVER=offscreen
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CMD /bin/bash CarlaUE4.sh -carla-server
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CMD /bin/bash CarlaUE4.sh
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