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Fixed index

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sergi-e 2020-09-06 13:43:19 +02:00 committed by bernat
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16
Docs/adv_recorder.md
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This feature allows to record and reenact a previous simulation. All the events happened are registered in the [recorder file](ref_recorder_binary_file_format.md). There are some high-level queries to trace and study those events. This feature allows to record and reenact a previous simulation. All the events happened are registered in the [recorder file](ref_recorder_binary_file_format.md). There are some high-level queries to trace and study those events.
* [__Recording__](#recording) * [__Recording__](#recording)
* [__Simulation playback__](#simulation-playback) * [__Simulation playback__](#simulation-playback)
* [Setting a time factor](#setting-a-time-factor) * [Setting a time factor](#setting-a-time-factor)
* [__Recorded file__](#recorded-file) * [__Recorded file__](#recorded-file)
* [__Queries__](#queries) * [__Queries__](#queries)
* [Collisions](#collisions) * [Collisions](#collisions)
* [Blocked actors](#blocked-actors) * [Blocked actors](#blocked-actors)
* [__Sample Python scripts__](#sample-python-scripts) * [__Sample Python scripts__](#sample-python-scripts)
--- ---
## Recording ## Recording

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Docs/adv_rendering_options.md
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There are few details to take into account at the time of configuring a simulation. This page covers the more important ones. There are few details to take into account at the time of configuring a simulation. This page covers the more important ones.
* [__Graphics quality__](#graphics-quality) * [__Graphics quality__](#graphics-quality)
* Vulkan vs OpenGL * [Vulkan vs OpenGL](#vulkan-vs-opengl)
* Quality levels * [Quality levels](#quality-levels)
* [__No-rendering mode__](#no-rendering-mode) * [__No-rendering mode__](#no-rendering-mode)
* [__Off-screen mode__](#off-screen-mode) * [__Off-screen mode__](#off-screen-mode)
* Off-screen Vs no-rendering * [Off-screen Vs no-rendering](#off-screen-vs-no-rendering)
* [__Running off-screen using a preferred GPU__](#running-off-screen-using-a-preferred-gpu) * [__Running off-screen using a preferred GPU__](#running-off-screen-using-a-preferred-gpu)
* Docker: recommended approach * [Docker - recommended approach](#docker-recommended-approach)
* Deprecated: emulate the virtual display * [Deprecated - emulate the virtual display](#deprecated-emulate-the-virtual-display)
!!! Important !!! Important
@ -117,16 +117,19 @@ DISPLAY= ./CarlaUE4.sh -opengl
--- ---
## Running off-screen using a preferred GPU ## Running off-screen using a preferred GPU
### Docker: recommended approach ### Docker - recommended approach
The best way to run a headless CARLA and select the GPU is to [__run CARLA in a Docker__](build_docker.md). The best way to run a headless CARLA and select the GPU is to [__run CARLA in a Docker__](build_docker.md).
This section contains an alternative tutorial, but this method is deprecated and performance is much worse. It is here only for those who Docker is not an option. This section contains an alternative tutorial, but this method is deprecated and performance is much worse. It is here only for those who Docker is not an option.
### Deprecated - emulate the virtual display
<details> <details>
<summary><h4 style="display:inline"> <summary>
Deprecated: emulate the virtual display Show deprecated tutorial on how to emulate the virtual display
</h4></summary> </summary>
!!! Warning !!! Warning
This tutorial is deprecated. To run headless CARLA, please [__run CARLA in a Docker__](build_docker.md). This tutorial is deprecated. To run headless CARLA, please [__run CARLA in a Docker__](build_docker.md).

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Docs/adv_rss.md
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CARLA integrates the [C++ Library for Responsibility Sensitive Safety](https://github.com/intel/ad-rss-lib) in the client library. This feature allows users to investigate behaviours of RSS without having to implement anything. CARLA will take care of providing the input, and applying the output to the AD systems on the fly. CARLA integrates the [C++ Library for Responsibility Sensitive Safety](https://github.com/intel/ad-rss-lib) in the client library. This feature allows users to investigate behaviours of RSS without having to implement anything. CARLA will take care of providing the input, and applying the output to the AD systems on the fly.
* [__Overview__](#overview) * [__Overview__](#overview)
* [__Compilation__](#compilation) * [__Compilation__](#compilation)
* [Dependencies](#dependencies) * [Dependencies](#dependencies)
* [Build](#build) * [Build](#build)
* [__Current state__](#current-state) * [__Current state__](#current-state)
* [RssSensor](#rsssensor) * [RssSensor](#rsssensor)
* [RssRestrictor](#rssrestrictor) * [RssRestrictor](#rssrestrictor)
!!! Important !!! Important
This feature is a work in progress. Right now, it is only available for the Linux build. This feature is a work in progress. Right now, it is only available for the Linux build.

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Docs/adv_synchrony_timestep.md
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This section deals with two fundamental concepts in CARLA. Their configuration defines how does time go by in the simulation, and how does the server make the simulation move forward. This section deals with two fundamental concepts in CARLA. Their configuration defines how does time go by in the simulation, and how does the server make the simulation move forward.
* [__Simulation time-step__](#simulation-time-step) * [__Simulation time-step__](#simulation-time-step)
* Variable time-step * [Variable time-step](#variable-time-step)
* Fixed time-step * [Fixed time-step](#fixed-time-step)
* Tips when recording the simulation * [Tips when recording the simulation](#tips-when-recording-the-simulation)
* Time-step limitations * [Time-step limitations](#time-step-limitations)
* [__Client-server synchrony__](#client-server-synchrony) * [__Client-server synchrony__](#client-server-synchrony)
* Setting synchronous mode * [Setting synchronous mode](#setting-synchronous-mode)
* Using synchronous mode * [Using synchronous mode](#using-synchronous-mode)
* [__Possible configurations__](#possible-configurations) * [__Possible configurations__](#possible-configurations)
--- ---
## Simulation time-step ## Simulation time-step

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Docs/build_docker.md
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# Running CARLA in a Docker # Running CARLA in a Docker
* [__Docker installation__](#docker-installation) * [__Docker installation__](#docker-installation)
* Docker CE * [Docker CE](#docker-ce)
* NVIDIA-Docker2 * [NVIDIA-Docker2](#nvidia-docker2)
* [__Running CARLA container__](#running-carla-container) * [__Running CARLA container__](#running-carla-container)
This tutorial is designed for: This tutorial is designed for:

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Docs/build_linux.md
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# Linux build # Linux build
* [__Linux build command summary__](#linux-build-command-summary) * [__Linux build command summary__](#linux-build-command-summary)
* [__Requirements__](#requirements) * [__Requirements__](#requirements)
* [System specifics](#system-specifics) * [System specifics](#system-specifics)
* [Dependencies](#dependencies) * [Dependencies](#dependencies)
* [__GitHub__](#github) * [__GitHub__](#github)
* [__Unreal Engine__](#unreal-engine) * [__Unreal Engine__](#unreal-engine)
* [__CARLA build__](#carla-build) * [__CARLA build__](#carla-build)
* [Clone repository](#clone-repository) * [Clone repository](#clone-repository)
* [Get assets](#get-assets) * [Get assets](#get-assets)
* [Set the environment variable](#set-the-environment-variable) * [Set the environment variable](#set-the-environment-variable)
* [make CARLA](#make-carla) * [make CARLA](#make-carla)
The build process can be quite long and tedious. The **[F.A.Q.](build_faq.md)** section contains the most common issues and solutions that appear during the installation. However, the CARLA forum is open for anybody to post unexpected issues, doubts or suggestions. There is a specific section for installation issues on Linux. Feel free to login and become part of the community. The build process can be quite long and tedious. The **[F.A.Q.](build_faq.md)** section contains the most common issues and solutions that appear during the installation. However, the CARLA forum is open for anybody to post unexpected issues, doubts or suggestions. There is a specific section for installation issues on Linux. Feel free to login and become part of the community.

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Docs/build_update.md
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# Update CARLA # Update CARLA
* [__Update commands summary__](#update-commands-summary) * [__Update commands summary__](#update-commands-summary)
* [__Get the lastest binary release__](#get-latest-binary-release) * [__Get the lastest binary release__](#get-latest-binary-release)
* [__Update Linux and Windows build__](#update-linux-and-windows-build) * [__Update Linux and Windows build__](#update-linux-and-windows-build)
* Clean the build * [Clean the build](#clean-the-build)
* Pull from origin * [Pull from origin](#pull-from-origin)
* Download the assets * [Download the assets](#download-the-assets)
* Launch the server * [Launch the server](#launch-the-server)
* [__Get development assets__](#get-development-assets) * [__Get development assets__](#get-development-assets)
To post unexpected issues, doubts or suggestions, feel free to login in the CARLA forum. To post unexpected issues, doubts or suggestions, feel free to login in the CARLA forum.

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Docs/build_windows.md
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# Windows build # Windows build
* [__Windows build command summary__](#windows-build-command-summary) * [__Windows build command summary__](#windows-build-command-summary)
* [__Requirements__](#requirements) * [__Requirements__](#requirements)
* System specifics * [System specifics](#system-specifics)
* [__Necessary software__](#necessary-software) * [__Necessary software__](#necessary-software)
* Minor installations: CMake, git, make, Python3 x64 * [Minor installations (CMake, git, make, Python3 x64)](#minor-installations)
* Visual Studio 2017 * [Visual Studio 2017](#visual-studio-2017)
* Unreal Engine 4.24 * [Unreal Engine (4.24)](#unreal-engine)
* [__CARLA build__](#carla-build) * [__CARLA build__](#carla-build)
* Clone repository * [Clone repository](#clone-repository)
* Get assets * [Get assets](#get-assets)
* Set the environment variable * [Set the environment variable](#set-the-environment-variable)
* make CARLA * [make CARLA](#make-carla)
The build process can be quite long and tedious. The **[F.A.Q.](build_faq.md)** section contains the most common issues and solutions that appear during the installation. However, the CARLA forum is open for anybody to post unexpected issues, doubts or suggestions. There is a specific section for installation issues on Linux. Feel free to login and become part of the community. The build process can be quite long and tedious. The **[F.A.Q.](build_faq.md)** section contains the most common issues and solutions that appear during the installation. However, the CARLA forum is open for anybody to post unexpected issues, doubts or suggestions. There is a specific section for installation issues on Linux. Feel free to login and become part of the community.
@ -89,7 +89,7 @@ Get the 2017 version from [here](https://developerinsider.co/download-visual-stu
!!! Important !!! Important
Other Visual Studio versions may cause conflict. Even if these have been uninstalled, some registers may persist. To completely clean Visual Studio from the computer, go to `Program Files (x86)\Microsoft Visual Studio\Installer\resources\app\layout` and run `.\InstallCleanup.exe -full` Other Visual Studio versions may cause conflict. Even if these have been uninstalled, some registers may persist. To completely clean Visual Studio from the computer, go to `Program Files (x86)\Microsoft Visual Studio\Installer\resources\app\layout` and run `.\InstallCleanup.exe -full`
### Unreal Engine 4.24 ### Unreal Engine
Go to [Unreal Engine](https://www.unrealengine.com/download) and download the _Epic Games Launcher_. In `Engine versions/Library`, download __Unreal Engine 4.24.x__. Make sure to run it in order to check that everything was properly installed. Go to [Unreal Engine](https://www.unrealengine.com/download) and download the _Epic Games Launcher_. In `Engine versions/Library`, download __Unreal Engine 4.24.x__. Make sure to run it in order to check that everything was properly installed.

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# Contributor Covenant Code of Conduct # Contributor Covenant Code of Conduct
* [__Our pledge__](#our-pledge)
* [__Our standards__](#our-standards)
* [__Our responsibilities__](#our-responsibilities)
* [__Scope__](#scope)
* [__Enforcement__](#enforcement)
* [__Attribution__](#attribution)
--- ---
## Our Pledge ## Our Pledge

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# Coding standard # Coding standard
* [__General__](#general)
* [__Python__](#python)
* [__C++__](#c++)
--- ---
## General ## General

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Docs/cont_contribution_guidelines.md
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@ -7,6 +7,11 @@ Take a look and don't hesitate!
* [__Report bugs__](#report-bugs) * [__Report bugs__](#report-bugs)
* [__Request features__](#request-features) * [__Request features__](#request-features)
* [__Code contributions__](#code-contributions) * [__Code contributions__](#code-contributions)
* [Learn about Unreal Engine](#learn-about-unreal-engine)
* [Before getting started](#before-getting-started)
* [Coding standard](#coding-standard)
* [Submission](#submission)
* [Checklist](#checklist)
* [__Art contributions__](#art-contributions) * [__Art contributions__](#art-contributions)
* [__Docs contributions__](#docs-contributions) * [__Docs contributions__](#docs-contributions)
@ -24,7 +29,7 @@ __2. Read the docs.__ Make sure that the issue is a bug, not a misunderstanding
[faqlink]: build_faq.md [faqlink]: build_faq.md
--- ---
## Feature requests ## Request features
Ideas for new features are also a great way to contribute. Any suggestion that could improve the users' experience can be submitted in the corresponding GitHub section [here][frlink]. Ideas for new features are also a great way to contribute. Any suggestion that could improve the users' experience can be submitted in the corresponding GitHub section [here][frlink].
@ -44,7 +49,7 @@ A basic introduction to C++ programming with UE4 can be found at Unreal's [C++ P
[ue4tutorials]: https://docs.unrealengine.com/latest/INT/Programming/Tutorials/ [ue4tutorials]: https://docs.unrealengine.com/latest/INT/Programming/Tutorials/
[ue4course]: https://www.udemy.com/unrealcourse/ [ue4course]: https://www.udemy.com/unrealcourse/
### What should I know before I get started? ### Before getting started
Check out the [CARLA Design](index.md)<!-- @todo --> document to get an idea on the different modules that compose CARLA. Choose the most appropriate one Check out the [CARLA Design](index.md)<!-- @todo --> document to get an idea on the different modules that compose CARLA. Choose the most appropriate one
to hold the new feature. Feel free to contact the team in the [Discord server](https://discord.com/invite/8kqACuC) in case any doubt arises during the process. to hold the new feature. Feel free to contact the team in the [Discord server](https://discord.com/invite/8kqACuC) in case any doubt arises during the process.

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# Documentation Standard # Documentation Standard
This document will serve as a guide and example of some rules that need to be This document will serve as a guide and example of some rules that need to be followed in order to contribute to the documentation.
followed in order to contribute to the documentation.
* [__Docs structure__](#docs-structure)
* [__Rules__](#rules)
* [__Exceptions__](#exceptions)
--- ---
## Docs structure ## Docs structure

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Docs/plugins_carlaviz.md
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The carlaviz plugin is used to visualize the simulation in a web browser. A windows with some basic representation of the scene is created. Actors are updated on-the-fly, sensor data can be retrieved, and additional text, lines and polylines can be drawn in the scene. The carlaviz plugin is used to visualize the simulation in a web browser. A windows with some basic representation of the scene is created. Actors are updated on-the-fly, sensor data can be retrieved, and additional text, lines and polylines can be drawn in the scene.
* [__General information__](#general-information) * [__General information__](#general-information)
* [Support](#support) * [Support](#support)
* [__Get carlaviz__](#get-carlaviz) * [__Get carlaviz__](#get-carlaviz)
* [Prerequisites](#prerequisites) * [Prerequisites](#prerequisites)
* [Download the plugin](#download-the-plugin) * [Download the plugin](#download-the-plugin)
* [__Utilities__](#utilities) * [__Utilities__](#utilities)
--- ---
## General information ## General information

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@ -7,6 +7,17 @@ which is divided into those in which the recipe is centered, and those that need
There are more recipes to come! There are more recipes to come!
* [__Actor Spectator Recipe__](#actor-spectator-recipe)
* [__Attach Sensors Recipe__](#attach-sensors-recipe)
* [__Actor Attribute Recipe__](#actor-attribute-recipe)
* [__Converted Image Recipe__](#converted-image-recipe)
* [__Lanes Recipe__](#lanes-recipe)
* [__Debug Bounding Box Recipe__](#debug-bounding-box-recipe)
* [__Debug Vehicle Trail Recipe__](#debug-vehicle-trail-recipe)
* [__Parsing Client Arguments Recipe__](#parsing-client-arguments-recipe)
* [__Traffic Light Recipe__](#traffic-light-recipe)
* [__Walker Batch Recipe__](#walker-batch-recipe)
--- ---
## Actor Spectator Recipe ## Actor Spectator Recipe
@ -222,7 +233,7 @@ path it was following and the speed at each waypoint.
![debug_trail_recipe](img/recipe_debug_trail.jpg) ![debug_trail_recipe](img/recipe_debug_trail.jpg)
--- ---
## Parse client creation arguments ## Parsing Client Arguments Recipe
This recipe shows in every script provided in `PythonAPI/Examples` and it is used to parse the client creation arguments when running the script. This recipe shows in every script provided in `PythonAPI/Examples` and it is used to parse the client creation arguments when running the script.
@ -261,7 +272,7 @@ Used:<br>
``` ```
--- ---
## Traffic lights Recipe ## Traffic Light Recipe
This recipe changes from red to green the traffic light that affects the vehicle. This recipe changes from red to green the traffic light that affects the vehicle.
This is done by detecting if the vehicle actor is at a traffic light. This is done by detecting if the vehicle actor is at a traffic light.
@ -286,7 +297,7 @@ if vehicle_actor.is_at_traffic_light():
![tl_recipe](img/tl_recipe.gif) ![tl_recipe](img/tl_recipe.gif)
--- ---
## Walker batch recipe ## Walker Batch Recipe
```py ```py
# 0. Choose a blueprint fo the walkers # 0. Choose a blueprint fo the walkers

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The recorder system saves all the info needed to replay the simulation in a binary file, The recorder system saves all the info needed to replay the simulation in a binary file,
using little endian byte order for the multibyte values. using little endian byte order for the multibyte values.
* [__1- Strings in binary__](#1-strings-in-binary)
* [__2- Info header__](#2-info-header)
* [__3- Packets__](#3-packets)
* [Packet 0 - Frame Start](#packet-0-frame-start)
* [Packet 1 - Frame End](#packet-1-frame-end)
* [Packet 2 - Event Add](#packet-2-event-add)
* [Packet 3 - Event Del](#packet-3-event-del)
* [Packet 4 - Event Parent](#packet-4-event-parent)
* [Packet 5 - Event Collision](#packet-5-event-collision)
* [Packet 6 - Position](#packet-6-position)
* [Packet 7 - TrafficLight](#packet-7-trafficlight)
* [Packet 8 - Vehicle Animation](#packet-8-vehicle-animation)
* [Packet 9 - Walker Animation](#packet-9-walker-animation)
* [__4- Frame Layout__](#4-frame-layout)
* [__5- File Layout__](#5-file-layout)
In the next image representing the file format, we can get a quick view of all the detailed In the next image representing the file format, we can get a quick view of all the detailed
information. Each part that is visualized in the image will be explained in the following sections: information. Each part that is visualized in the image will be explained in the following sections:
@ -14,7 +31,7 @@ In summary, the file format has a small header with general info
![global file format](img/RecorderFileFormat3.jpg) ![global file format](img/RecorderFileFormat3.jpg)
--- ---
## 1. Strings in binary ## 1- Strings in binary
Strings are encoded first with the length of it, followed by its characters without null Strings are encoded first with the length of it, followed by its characters without null
character ending. For example, the string 'Town06' will be saved character ending. For example, the string 'Town06' will be saved
@ -23,7 +40,7 @@ as hex values: 06 00 54 6f 77 6e 30 36
![binary dynamic string](img/RecorderString.jpg) ![binary dynamic string](img/RecorderString.jpg)
--- ---
## 2. Info header ## 2- Info header
The info header has general information about the recorded file. Basically, it contains the version The info header has general information about the recorded file. Basically, it contains the version
and a magic string to identify the file as a recorder file. If the header changes then the version and a magic string to identify the file as a recorder file. If the header changes then the version
@ -37,7 +54,7 @@ A sample info header is:
![info header sample](img/RecorderHeader.jpg) ![info header sample](img/RecorderHeader.jpg)
--- ---
## 3. Packets ## 3- Packets
Each packet starts with a little header of two fields (5 bytes): Each packet starts with a little header of two fields (5 bytes):
@ -64,7 +81,7 @@ The types of packets are:
We suggest to use **id** over 100 for user custom packets, because this list will keep growing in We suggest to use **id** over 100 for user custom packets, because this list will keep growing in
the future. the future.
### 3.1 Packet 0: Frame Start ### Packet 0 - Frame Start
This packet marks the start of a new frame, and it will be the first one to start each frame. This packet marks the start of a new frame, and it will be the first one to start each frame.
All packets need to be placed between a **Frame Start** and a **Frame End**. All packets need to be placed between a **Frame Start** and a **Frame End**.
@ -73,7 +90,7 @@ All packets need to be placed between a **Frame Start** and a **Frame End**.
So, elapsed + durationThis = elapsed time for next frame So, elapsed + durationThis = elapsed time for next frame
### 3.2 Packet 1: Frame End ### Packet 1 - Frame End
This frame has no data and it only marks the end of the current frame. That helps the replayer This frame has no data and it only marks the end of the current frame. That helps the replayer
to know the end of each frame just before the new one starts. to know the end of each frame just before the new one starts.
@ -81,7 +98,7 @@ Usually, the next frame should be a Frame Start packet to start a new frame.
![frame end](img/RecorderFrameEnd.jpg) ![frame end](img/RecorderFrameEnd.jpg)
### 3.3 Packet 2: Event Add ### Packet 2 - Event Add
This packet says how many actors we need to create at current frame. This packet says how many actors we need to create at current frame.
@ -110,7 +127,7 @@ The number of attributes is variable and should look similar to this:
* color = 79,33,85 * color = 79,33,85
* role_name = autopilot * role_name = autopilot
### 3.4 Packet 3: Event Del ### Packet 3 - Event Del
This packet says how many actors need to be destroyed this frame. This packet says how many actors need to be destroyed this frame.
@ -128,7 +145,7 @@ the next 16 bytes and will be directly to the start of the next packet.
The next 3 says the total records that follows, and each record is the id of the actor to remove. The next 3 says the total records that follows, and each record is the id of the actor to remove.
So, we need to remove at this frame the actors 100, 101 and 120. So, we need to remove at this frame the actors 100, 101 and 120.
### 3.5 Packet 4: Event Parent ### Packet 4 - Event Parent
This packet says which actor is the child of another (the parent). This packet says which actor is the child of another (the parent).
@ -136,7 +153,7 @@ This packet says which actor is the child of another (the parent).
The first id is the child actor, and the second one will be the parent actor. The first id is the child actor, and the second one will be the parent actor.
### 3.6 Packet 5: Event Collision ### Packet 5 - Event Collision
If a collision happens between two actors, it will be registered in this packet. Currently only If a collision happens between two actors, it will be registered in this packet. Currently only
actors with a collision sensor will report collisions, so currently only hero vehicles have that actors with a collision sensor will report collisions, so currently only hero vehicles have that
@ -148,28 +165,28 @@ The **id** is just a sequence to identify each collision internally.
Several collisions between the same pair of actors can happen in the same frame, because physics Several collisions between the same pair of actors can happen in the same frame, because physics
frame rate is fixed and usually there are several physics substeps in the same rendered frame. frame rate is fixed and usually there are several physics substeps in the same rendered frame.
### 3.7 Packet 6: Position ### Packet 6 - Position
This packet records the position and orientation of all actors of type **vehicle** and This packet records the position and orientation of all actors of type **vehicle** and
**walker** that exist in the scene. **walker** that exist in the scene.
![position](img/RecorderPosition.jpg) ![position](img/RecorderPosition.jpg)
### 3.8 Packet 7: TrafficLight ### Packet 7 - TrafficLight
This packet records the state of all **traffic lights** in the scene. Which means that it This packet records the state of all **traffic lights** in the scene. Which means that it
stores the state (red, orange or green) and the time it is waiting to change to a new state. stores the state (red, orange or green) and the time it is waiting to change to a new state.
![state](img/RecorderTrafficLight.jpg) ![state](img/RecorderTrafficLight.jpg)
### 3.9 Packet 8: Vehicle animation ### Packet 8 - Vehicle animation
This packet records the animation of the vehicles, bikes and cycles. This packet stores the This packet records the animation of the vehicles, bikes and cycles. This packet stores the
**throttle**, **sterring**, **brake**, **handbrake** and **gear** inputs, and then set them at playback. **throttle**, **sterring**, **brake**, **handbrake** and **gear** inputs, and then set them at playback.
![state](img/RecorderVehicle.jpg) ![state](img/RecorderVehicle.jpg)
### 3.10 Packet 9: Walker animation ### Packet 9 - Walker animation
This packet records the animation of the walker. It just saves the **speed** of the walker This packet records the animation of the walker. It just saves the **speed** of the walker
that is used in the animation. that is used in the animation.
@ -177,7 +194,7 @@ that is used in the animation.
![state](img/RecorderWalker.jpg) ![state](img/RecorderWalker.jpg)
--- ---
## 4. Frame Layout ## 4- Frame Layout
A frame consists of several packets, where all of them are optional, except the ones that A frame consists of several packets, where all of them are optional, except the ones that
have the **start** and **end** in that frame, that must be there always. have the **start** and **end** in that frame, that must be there always.
@ -195,7 +212,7 @@ The **animation** packets are also optional, but by default they are recorded. T
are animated and also the vehicle wheels follow the direction of the vehicles. are animated and also the vehicle wheels follow the direction of the vehicles.
--- ---
## 5. File Layout ## 5- File Layout
The layout of the file starts with the **info header** and then follows a collection of packets in The layout of the file starts with the **info header** and then follows a collection of packets in
groups. The first in each group is the **Frame Start** packet, and the last in the group is groups. The first in each group is the **Frame Start** packet, and the last in the group is

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Docs/tuto_A_create_standalone.md
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@ -2,8 +2,8 @@
It is a common practice in CARLA to manage assets with standalone packages. Keeping them aside allows to reduce the size of the build. These asset packages can be easily imported into a CARLA package anytime. They also become really useful to easily distribute assets in an organized way. It is a common practice in CARLA to manage assets with standalone packages. Keeping them aside allows to reduce the size of the build. These asset packages can be easily imported into a CARLA package anytime. They also become really useful to easily distribute assets in an organized way.
* [__Export a package from the UE4 Editor__](#export-a-package-from-the-ue4-editor) * [__Export a package from the UE4 Editor__](#export-a-package-from-the-ue4-editor)
* [__Import assets into a CARLA package__](#import-assets-into-a-carla-package) * [__Import assets into a CARLA package__](#import-assets-into-a-carla-package)
--- ---
## Export a package from the UE4 Editor ## Export a package from the UE4 Editor

15
Docs/tuto_A_vehicle_modelling.md
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@ -1,9 +1,16 @@
# How to model vehicles # How to model vehicles
* [__4-wheeled Vehicles__](#4-wheeled-vehicles)
* [Modelling](#modelling)
* [Naming materials](#naming-materials)
* [Texturing](#texturing)
* [Rigging](#rigging)
* [LODs](#lods)
--- ---
## 4-Wheeled Vehicles ## 4-Wheeled Vehicles
#### Modelling ### Modelling
Vehicles must have a minimum of 10.000 and a maximum of 17.000 Tris Vehicles must have a minimum of 10.000 and a maximum of 17.000 Tris
approximately. We model the vehicles using the size and scale of actual cars. approximately. We model the vehicles using the size and scale of actual cars.
@ -36,7 +43,7 @@ The vehicle must be divided in 6 materials:
Put a rectangular plane with this size 29-12 cm, for the licence Plate. Put a rectangular plane with this size 29-12 cm, for the licence Plate.
We assign the license plate texture. We assign the license plate texture.
#### Nomenclature of Material ### Naming materials
* M(Material)_"CarName"_Bodywork(part of car) * M(Material)_"CarName"_Bodywork(part of car)
@ -50,7 +57,7 @@ The vehicle must be divided in 6 materials:
* M_"CarName"_LicencePlate * M_"CarName"_LicencePlate
#### Textures ### Texturing
The size of the textures is 2048x2048. The size of the textures is 2048x2048.
@ -71,7 +78,7 @@ TEXTURES
MATERIAL MATERIAL
* M_Tesla3_BodyWork * M_Tesla3_BodyWork
#### RIG ### Rigging
The easiest way is to copy the "General4WheeledVehicleSkeleton" present in our project, The easiest way is to copy the "General4WheeledVehicleSkeleton" present in our project,
either by exporting it and copying it to your model or by creating your skeleton either by exporting it and copying it to your model or by creating your skeleton

39
Docs/tuto_D_create_sensor.md
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@ -5,6 +5,19 @@ the necessary steps to implement a sensor in Unreal Engine 4 (UE4) and expose
its data via CARLA's Python API. We'll follow all the steps by creating a new its data via CARLA's Python API. We'll follow all the steps by creating a new
sensor as an example. sensor as an example.
* [__Prerequisites__](#prerequisites)
* [__Introduction__](#introduction)
* [__Creating a new sensor__](#creating-a-new-sensor)
* [1- Sensor actor](#1-sensor-actor)
* [2- Sensor data serializer](#2-sensor-data-serializer)
* [3- Sensor data object](#3-sensor-data-object)
* [4- Register your sensor](#4-register-your-sensor)
* [5- Usage example](#5-usage-example)
* [__Appendix__](#appendix)
* [Reusing buffers](#reusing-buffers)
* [Sending data asynchronously](#sending-data-asynchronously)
* [Client-side sensors](#client-side-sensors)
--- ---
## Prerequisites ## Prerequisites
@ -71,8 +84,7 @@ _For the sake of simplicity we're not going to take into account all the edge
cases, nor it will be implemented in the most efficient way. This is just an cases, nor it will be implemented in the most efficient way. This is just an
illustrative example._ illustrative example._
--- ### 1- Sensor actor
### 1. The sensor actor
This is the most complicated class we're going to create. Here we're running This is the most complicated class we're going to create. Here we're running
inside Unreal Engine framework, knowledge of UE4 API will be very helpful but inside Unreal Engine framework, knowledge of UE4 API will be very helpful but
@ -295,8 +307,7 @@ that, the data is going to travel through several layers. First of them will be
the serializer that we have to create next. We'll fully understand this part the serializer that we have to create next. We'll fully understand this part
once we have completed the `Serialize` function in the next section. once we have completed the `Serialize` function in the next section.
--- ### 2- Sensor data serializer
### 2. The sensor data serializer
This class is actually rather simple, it's only required to have two static This class is actually rather simple, it's only required to have two static
methods, `Serialize` and `Deserialize`. We'll add two files for it, this time to methods, `Serialize` and `Deserialize`. We'll add two files for it, this time to
@ -365,8 +376,8 @@ SharedPtr<SensorData> SafeDistanceSerializer::Deserialize(RawData &&data) {
except for the fact that we haven't defined yet what's a `SafeDistanceEvent`. except for the fact that we haven't defined yet what's a `SafeDistanceEvent`.
---
### 3. The sensor data object ### 3- Sensor data object
We need to create a data object for the users of this sensor, representing the We need to create a data object for the users of this sensor, representing the
data of a _safe distance event_. We'll add this file to data of a _safe distance event_. We'll add this file to
@ -431,8 +442,7 @@ What we're doing here is exposing some C++ methods in Python. Just with this,
the Python API will be able to recognise our new event and it'll behave similar the Python API will be able to recognise our new event and it'll behave similar
to an array in Python, except that cannot be modified. to an array in Python, except that cannot be modified.
--- ### 4- Register your sensor
### 4. Register your sensor
Now that the pipeline is complete, we're ready to register our new sensor. We do Now that the pipeline is complete, we're ready to register our new sensor. We do
so in _LibCarla/source/carla/sensor/SensorRegistry.h_. Follow the instruction in so in _LibCarla/source/carla/sensor/SensorRegistry.h_. Follow the instruction in
@ -454,8 +464,7 @@ be a bit cryptic.
make rebuild make rebuild
``` ```
--- ### 5- Usage example
### 5. Usage example
Finally, we have the sensor included and we have finished recompiling, our Finally, we have the sensor included and we have finished recompiling, our
sensor by now should be available in Python. sensor by now should be available in Python.
@ -493,7 +502,9 @@ Vehicle too close: vehicle.mercedes-benz.coupe
That's it, we have a new sensor working! That's it, we have a new sensor working!
--- ---
## Appendix: Reusing buffers ## Appendix
### Reusing buffers
In order to optimize memory usage, we can use the fact that each sensor sends In order to optimize memory usage, we can use the fact that each sensor sends
buffers of similar size; in particularly, in the case of cameras, the size of buffers of similar size; in particularly, in the case of cameras, the size of
@ -530,8 +541,7 @@ buffer.reset(512u); // (size 512 bytes, capacity 1024 bytes)
buffer.reset(2048u); // (size 2048 bytes, capacity 2048 bytes) -> allocates buffer.reset(2048u); // (size 2048 bytes, capacity 2048 bytes) -> allocates
``` ```
--- ### Sending data asynchronously
## Appendix: Sending data asynchronously
Some sensors may require to send data asynchronously, either for performance or Some sensors may require to send data asynchronously, either for performance or
because the data is generated in a different thread, for instance, camera sensors send because the data is generated in a different thread, for instance, camera sensors send
@ -554,8 +564,7 @@ void MySensor::Tick(float DeltaSeconds)
} }
``` ```
--- ### Client-side sensors
## Appendix: Client-side sensors
Some sensors do not require the simulator to do their measurements, those Some sensors do not require the simulator to do their measurements, those
sensors may run completely in the client-side freeing the simulator from extra sensors may run completely in the client-side freeing the simulator from extra

38
Docs/tuto_D_generate_pedestrian_navigation.md
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@ -1,8 +1,5 @@
# How to generate the pedestrian navigation info # How to generate the pedestrian navigation info
---
## Introduction
The pedestrians to walk need information about the map in a specific format. That file that describes the map for navigation is a binary file with extension `.BIN`, and they are saved in the **Nav** folder of the map. Each map needs a `.BIN` file with the same name that the map, so automatically can be loaded with the map. The pedestrians to walk need information about the map in a specific format. That file that describes the map for navigation is a binary file with extension `.BIN`, and they are saved in the **Nav** folder of the map. Each map needs a `.BIN` file with the same name that the map, so automatically can be loaded with the map.
This `.BIN` file is generated from the Recast & Detour library and has all the information that allows pathfinding and crow management. This `.BIN` file is generated from the Recast & Detour library and has all the information that allows pathfinding and crow management.
@ -18,13 +15,34 @@ If we need to generate this `.BIN` file for a custom map, we need to follow this
We have several types of meshes for navigation. The meshes need to be identified as one of those types, using specific nomenclature. We have several types of meshes for navigation. The meshes need to be identified as one of those types, using specific nomenclature.
| Type | Start with | Description | <table class ="defTable">
|-----------|------------|-------------| <thead>
| Ground | `Road_Sidewalk` | Pedestrians can walk over these meshes freely (sidewalks...). | <th>Type</th>
| Grass | `Road_Crosswalk` | Pedestrians can walk over these meshes but as a second option if no ground is found. | <th>Start with</th>
| Road | `Road_Grass` | Pedestrians won't be allowed to walk on it unless we specify some percentage of pedestrians that will be allowed. | <th>Description</th>
| Crosswalk | `Road_Road`, `Road_Curb`, `Road_Gutter` or `Road_Marking` | Pedestrians can cross the roads only through these meshes. | </thead>
| Block | any other name | Pedestrians will avoid these meshes always (are obstacles like traffic lights, trees, houses...). | <tbody>
<td>Ground</td>
<td><code>Road_Sidewalk</code></td>
<td>Pedestrians can walk over these meshes freely (sidewalks...).</td>
<tr>
<td>Grass</td>
<td><code>Road_Crosswalk</code></td>
<td>Pedestrians can walk over these meshes but as a second option if no ground is found.</td>
<tr>
<td>Road</td>
<td><code>Road_Grass</code></td>
<td>Pedestrians won't be allowed to walk on it unless we specify some percentage of pedestrians that will be allowed.</td>
<tr>
<td>Crosswalk</td>
<td><code>Road_Road</code>, <code>Road_Curb</code>, <code>Road_Gutter</code>, <code>Road_Marking</code></td>
<td>Pedestrians can cross the roads only through these meshes.</td>
<tr>
<td>Block</td>
<td>Any other name</td>
<td>Pedestrians will avoid these meshes always (are obstacles like traffic lights, trees, houses...).</td>
</tbody>
</table>
<br> <br>

14
Docs/tuto_G_control_walker_skeletons.md
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@ -5,6 +5,12 @@ skeletons of walkers from the CARLA Python API. The reference of
all classes and methods available can be found at all classes and methods available can be found at
[Python API reference](python_api.md). [Python API reference](python_api.md).
* [__Walker skeleton structure__](#walker-skeleton-structure)
* [__Manually control walker bones__](#manually-control-walker-bones)
* [Connect to the simulator](#connect-to-the-simulator)
* [Spawn a walker](#spawn-a-walker)
* [Control walker skeletons](#control-walker-skeletons)
!!! note !!! note
**This document assumes the user is familiar with the Python API**. <br> **This document assumes the user is familiar with the Python API**. <br>
The user should read the first steps tutorial before reading this document. The user should read the first steps tutorial before reading this document.
@ -86,12 +92,12 @@ crl_root
``` ```
--- ---
## How to manually control a walker's bones ## Manually control walker bones
Following is a detailed step-by-step example of how to change the bone transforms of a walker Following is a detailed step-by-step example of how to change the bone transforms of a walker
from the CARLA Python API from the CARLA Python API
#### Connecting to the simulator ### Connect to the simulator
Import neccessary libraries used in this example Import neccessary libraries used in this example
@ -107,7 +113,7 @@ client = carla.Client('127.0.0.1', 2000)
client.set_timeout(2.0) client.set_timeout(2.0)
``` ```
#### Spawning a walker ### Spawn a walker
Spawn a random walker at one of the map's spawn points Spawn a random walker at one of the map's spawn points
@ -119,7 +125,7 @@ spawn_point = random.choice(spawn_points) if spawn_points else carla.Transform()
world.try_spawn_actor(blueprint, spawn_point) world.try_spawn_actor(blueprint, spawn_point)
``` ```
#### Controlling a walker's skeleton ### Control walker skeletons
A walker's skeleton can be modified by passing an instance of the WalkerBoneControl class A walker's skeleton can be modified by passing an instance of the WalkerBoneControl class
to the walker's apply_control function. The WalkerBoneControl class contains the transforms to the walker's apply_control function. The WalkerBoneControl class contains the transforms

66
Docs/tuto_G_retrieve_data.md
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@ -4,39 +4,39 @@ Learning an efficient way to retrieve simulation data is essential in CARLA. Thi
First, the simulation is initialized with custom settings and traffic. An ego vehicle is set to roam around the city, optionally with some basic sensors. The simulation is recorded, so that later it can be queried to find the highlights. After that, the original simulation is played back, and exploited to the limit. New sensors can be added to retrieve consistent data. The weather conditions can be changed. The recorder can even be used to test specific scenarios with different outputs. First, the simulation is initialized with custom settings and traffic. An ego vehicle is set to roam around the city, optionally with some basic sensors. The simulation is recorded, so that later it can be queried to find the highlights. After that, the original simulation is played back, and exploited to the limit. New sensors can be added to retrieve consistent data. The weather conditions can be changed. The recorder can even be used to test specific scenarios with different outputs.
* [__Overview__](#overview) * [__Overview__](#overview)
* [__Set the simulation__](#set-the-simulation) * [__Set the simulation__](#set-the-simulation)
* [Map setting](#map-setting) * [Map setting](#map-setting)
* [Weather setting](#weather-setting) * [Weather setting](#weather-setting)
* [__Set traffic__](#set-traffic) * [__Set traffic__](#set-traffic)
* [CARLA traffic and pedestrians](#carla-traffic-and-pedestrians) * [CARLA traffic and pedestrians](#carla-traffic-and-pedestrians)
* [SUMO co-simulation traffic](#sumo-co-simulation-traffic) * [SUMO co-simulation traffic](#sumo-co-simulation-traffic)
* [__Set the ego vehicle__](#set-the-ego-vehicle) * [__Set the ego vehicle__](#set-the-ego-vehicle)
* [Spawn the ego vehicle](#spawn-the-ego-vehicle) * [Spawn the ego vehicle](#spawn-the-ego-vehicle)
* [Place the spectator](#place-the-spectator) * [Place the spectator](#place-the-spectator)
* [__Set basic sensors__](#set-basic-sensors) * [__Set basic sensors__](#set-basic-sensors)
* [RGB camera](#rgb-camera) * [RGB camera](#rgb-camera)
* [Detectors](#detectors) * [Detectors](#detectors)
* [Other sensors](#other-sensors) * [Other sensors](#other-sensors)
* [__Set advanced sensors__](#set-advanced-sensors) * [__Set advanced sensors__](#set-advanced-sensors)
* [Depth camera](#depth-camera) * [Depth camera](#depth-camera)
* [Semantic segmentation camera](#semantic-segmentation-camera) * [Semantic segmentation camera](#semantic-segmentation-camera)
* [LIDAR raycast sensor](#lidar-raycast-sensor) * [LIDAR raycast sensor](#lidar-raycast-sensor)
* [Radar sensor](#radar-sensor) * [Radar sensor](#radar-sensor)
* [__No-rendering-mode__](#no-rendering-mode) * [__No-rendering-mode__](#no-rendering-mode)
* [Simulate at a fast pace](#simulate-at-a-fast-pace) * [Simulate at a fast pace](#simulate-at-a-fast-pace)
* [Manual control without rendering](#manual-control-without-rendering) * [Manual control without rendering](#manual-control-without-rendering)
* [__Record and retrieve data__](#record-and-retrieve-data) * [__Record and retrieve data__](#record-and-retrieve-data)
* [Start recording](#start-recording) * [Start recording](#start-recording)
* [Capture and record](#capture-and-record) * [Capture and record](#capture-and-record)
* [Stop recording](#stop-recording) * [Stop recording](#stop-recording)
* [__Exploit the recording__](#exploit-the-recording) * [__Exploit the recording__](#exploit-the-recording)
* [Query the events](#query-the-events) * [Query the events](#query-the-events)
* [Choose a fragment](#choose-a-fragment) * [Choose a fragment](#choose-a-fragment)
* [Retrieve more data](#retrieve-more-data) * [Retrieve more data](#retrieve-more-data)
* [Change the weather](#change-the-weather) * [Change the weather](#change-the-weather)
* [Try new outcomes](#try-new-outcomes) * [Try new outcomes](#try-new-outcomes)
* [__Tutorial scripts__](#tutorial-scripts) * [__Tutorial scripts__](#tutorial-scripts)
--- ---
## Overview ## Overview