# CARLA Documentation
Welcome to the CARLA documentation.
This home page contains an index with a brief description of the different sections in the documentation. Feel free to read in whatever order preferred. In any case, here are a few suggestions for newcomers.
* __Install CARLA.__ Either follow the [Quick start installation](start_quickstart.md) to get a CARLA release or [make the build](build_linux.md) for a desired platform.
* __Start using CARLA.__ The section titled [First steps](core_concepts.md) is an introduction to the most important concepts.
* __Check the API.__ there is a handy [Python API reference](python_api.md) to look up the classes and methods available.
The CARLA forum is available to post any doubts or suggestions that may arise during the reading.
!!! Warning
__Change the docs version to fit the CARLA version you are using__. Use the panel in the bottom-right side of this window to change to previous versions. __The _Latest_ version points to documentation in the `dev` branch__ which may refer to features currently in development and __not available__ in any packaged version of CARLA, as well general documentation improvements. 
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## Getting started
[__Introduction__](start_introduction.md) — What to expect from CARLA.
[__Quick start package installation__](start_quickstart.md) — Get the CARLA releases.
## Building CARLA
[__Linux build__](build_linux.md) — Make the build on Linux.
[__Windows build__](build_windows.md) — Make the build on Windows.
[__Update CARLA__](build_update.md) — Get up to date with the latest content.
[__Build system__](build_system.md) — Learn about the build and how it is made.
[__CARLA in Docker__](build_docker.md) — Run CARLA using a container solution.
[__F.A.Q.__](build_faq.md) — Some of the most frequent installation issues.
## First steps
[__Core concepts__](core_concepts.md) — Overview of the basic concepts in CARLA.
[__1st. World and client__](core_world.md) — Manage and access the simulation.
[__2nd. Actors and blueprints__](core_actors.md) — Learn about actors and how to handle them.
[__3rd. Maps and navigation__](core_map.md) — Discover the different maps and how do vehicles move around.
[__4th. Sensors and data__](core_sensors.md) — Retrieve simulation data using sensors.
## Advanced concepts
[__OpenDRIVE standalone mode__](adv_opendrive.md) — Use any OpenDRIVE file as a CARLA map.
[__PTV-Vissim co-simulation__](adv_ptv.md) — Run a synchronous simulation between CARLA and PTV-Vissim.
[__Recorder__](adv_recorder.md) — Register the events in a simulation and play it again.
[__Rendering options__](adv_rendering_options.md) — From quality settings to no-render or off-screen modes.
[__RSS__](adv_rss.md) — An implementation of RSS in the CARLA client library.
[__Synchrony and time-step__](adv_synchrony_timestep.md) — Client-server communication and simulation time.
[__Benchmarking Performance__](adv_benchmarking.md) — Perform benchmarking using our prepared script.
[__CARLA Agents__](adv_agents.md) — Agents scripts allow single vehicles to roam the map or drive to a set destination.
## Traffic Simulation
[__ Traffic Simulation Overview__](ts_traffic_simulation_overview.md) — An overview of the different options available to populate your scenes with traffic
[__Traffic Manager__](adv_traffic_manager.md) — Simulate urban traffic by setting vehicles to autopilot mode.
[__SUMO co-simulation__](adv_sumo.md) — Run a synchronous simulation between CARLA and SUMO.
[__Scenic__](tuto_G_scenic.md) — Follow an example of defining different scenarios using the Scenic library.
## References
[__Python API reference__](python_api.md) — Classes and methods in the Python API.
[__Blueprint library__](bp_library.md) — Blueprints provided to spawn actors.
[__C++ reference__](ref_cpp.md) — Classes and methods in CARLA C++.
[__Recorder binary file format__](ref_recorder_binary_file_format.md) — Detailed explanation of the recorder file format.
[__Sensors reference__](ref_sensors.md) — Everything about sensors and the data they retrieve.
## Plugins
[__carlaviz — web visualizer__](plugins_carlaviz.md) — Plugin that listens the simulation and shows the scene and some simulation data in a web browser.
## ROS bridge
[__ROS bridge documentation__](ros_documentation.md) — Brief overview of the ROS bridge and a link to the full documentation
## Custom Maps
[__Overview of custom maps in CARLA__](tuto_M_custom_map_overview.md) — An overview of the process and options involved in adding a custom, standard sized map
[__Create a map in RoadRunner__](tuto_M_generate_map.md) — How to generate a customs, standard sized map in RoadRunner
[__ Import map in CARLA package__](tuto_M_add_map_package.md) How to import a map in a CARLA package
[__Import map in CARLA source build__](tuto_M_add_map_source.md) — How to import a map in CARLA built from source
[__Alternative ways to import maps__](tuto_M_add_map_alternative.md) — Alternative methods to import maps
[__ Manually prepare map package__](tuto_M_manual_map_package.md) — How to prepare a map for manual import
[__Customizing maps: Layered maps__](tuto_M_custom_layers.md) — How to create sub-layers in your custom map
[__ Customizing maps: Traffic lights and signs__](tuto_M_custom_add_tl.md) — How to add traffic lights and signs to your custom map
[__ Customizing maps: Road painter__](tuto_M_custom_road_painter.md) — How to use the road painter tool to change the apearance of the road
[__Customizing Maps: Procedural Buildings__](tuto_M_custom_buildings.md) — Populate your custom map with buildings
[__ Customizing maps: Weather and landscape__](tuto_M_custom_weather_landscape.md) — Create the weather profile for your custom map and populate the landscape
[__Generate pedestrian navigation__](tuto_M_generate_pedestrian_navigation.md) — Obtain the information needed for walkers to move around.
## Large Maps
[__Large maps overview__](large_map_overview.md) — An explanation of how large maps work in CARLA
[__Create a Large Map in RoadRunner__](large_map_roadrunner.md) — How to create a large map in RoadRunner
[__Import/Package a Large Map__](large_map_import.md) — How to import a large map
## Tutorials — General
[__Add friction triggers__](tuto_G_add_friction_triggers.md) — Define dynamic box triggers for wheels.
[__Control vehicle physics__](tuto_G_control_vehicle_physics.md) — Set runtime changes on a vehicle physics.
[__Control walker skeletons__](tuto_G_control_walker_skeletons.md) — Animate walkers using skeletons.
[__Generate maps with OpenStreetMap__](tuto_G_openstreetmap.md) — Use OpenStreetMap to generate maps for use in simulations.
[__Retrieve simulation data__](tuto_G_retrieve_data.md) — A step by step guide to properly gather data using the recorder.
[__CarSim Integration (Beta)__](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
[__Build Unreal Engine and CARLA in Docker__](build_docker_unreal.md) — Build Unreal Engine and CARLA in Docker
## Tutorials — Assets
[__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.
## Tutorials — 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
## CARLA Ecosystem
[__Ansys Real Time Radar Model__](ecosys_ansys.md) — Details about the Ansys RTR Webinair
## Contributing
[__Contribution guidelines__](cont_contribution_guidelines.md) — The different ways to contribute to CARLA.
[__Code of conduct__](cont_code_of_conduct.md) — Standard rights and duties for contributors.
[__Coding standard__](cont_coding_standard.md) — Guidelines to write proper code.
[__Documentation standard__](cont_doc_standard.md) — Guidelines to write proper documentation.