137 lines
7.8 KiB
Markdown
137 lines
7.8 KiB
Markdown
CARLA Simulator
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===============
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[](https://travis-ci.org/carla-simulator/carla)
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[](http://carla.readthedocs.io)
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[](http://carla.org)
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[](https://github.com/carla-simulator/carla/blob/master/Docs/download.md)
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[](http://carla.readthedocs.io)
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[](https://forum.carla.org)
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[](https://discord.gg/8kqACuC)
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CARLA is an open-source simulator for autonomous driving research. CARLA has been developed from the ground up to support development, training, and
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validation of autonomous driving systems. In addition to open-source code and protocols, CARLA provides open digital assets (urban layouts, buildings,
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vehicles) that were created for this purpose and can be used freely. The simulation platform supports flexible specification of sensor suites and
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environmental conditions.
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[](https://www.youtube.com/watch?v=7jej46ALVRE)
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If you want to benchmark your model in the same conditions as in our CoRL’17
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paper, check out
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[Benchmarking](https://github.com/carla-simulator/driving-benchmarks).
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* [**Get CARLA overnight build**](http://carla-releases.s3.amazonaws.com/Linux/Dev/CARLA_Latest.tar.gz)
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### Recommended system
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* Intel i7 gen 9th - 11th / Intel i9 gen 9th - 11th / AMD ryzen 7 / AMD ryzen 9
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* +16 GB RAM memory
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* NVIDIA RTX 2070 / NVIDIA RTX 2080 / NVIDIA RTX 3070, NVIDIA RTX 3080
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* Ubuntu 18.04
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## CARLA Ecosystem
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Repositories associated to the CARLA simulation platform:
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* [**CARLA Autonomous Driving leaderboard**](https://leaderboard.carla.org/): Automatic platform to validate Autonomous Driving stacks
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* [**Scenario_Runner**](https://github.com/carla-simulator/scenario_runner): Engine to execute traffic scenarios in CARLA 0.9.X
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* [**ROS-bridge**](https://github.com/carla-simulator/ros-bridge): Interface to connect CARLA 0.9.X to ROS
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* [**Driving-benchmarks**](https://github.com/carla-simulator/driving-benchmarks): Benchmark tools for Autonomous Driving tasks
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* [**Conditional Imitation-Learning**](https://github.com/felipecode/coiltraine): Training and testing Conditional Imitation Learning models in CARLA
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* [**AutoWare AV stack**](https://github.com/carla-simulator/carla-autoware): Bridge to connect AutoWare AV stack to CARLA
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* [**Reinforcement-Learning**](https://github.com/carla-simulator/reinforcement-learning): Code for running Conditional Reinforcement Learning models in CARLA
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* [**Map Editor**](https://github.com/carla-simulator/carla-map-editor): Standalone GUI application to enhance RoadRunner maps with traffic lights and traffic signs information
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**Like what you see? Star us on GitHub to support the project!**
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Paper
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-----
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If you use CARLA, please cite our CoRL’17 paper.
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_CARLA: An Open Urban Driving Simulator_<br>Alexey Dosovitskiy, German Ros,
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Felipe Codevilla, Antonio Lopez, Vladlen Koltun; PMLR 78:1-16
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[[PDF](http://proceedings.mlr.press/v78/dosovitskiy17a/dosovitskiy17a.pdf)]
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[[talk](https://www.youtube.com/watch?v=xfyK03MEZ9Q&feature=youtu.be&t=2h44m30s)]
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```
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@inproceedings{Dosovitskiy17,
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title = {{CARLA}: {An} Open Urban Driving Simulator},
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author = {Alexey Dosovitskiy and German Ros and Felipe Codevilla and Antonio Lopez and Vladlen Koltun},
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booktitle = {Proceedings of the 1st Annual Conference on Robot Learning},
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pages = {1--16},
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year = {2017}
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}
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```
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Building CARLA
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--------------
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Use `git clone` or download the project from this page. Note that the master branch contains the latest fixes and features, for the latest stable code may be
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best to switch to the `stable` branch.
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Then follow the instruction at [How to build on Linux][buildlinuxlink] or [How to build on Windows][buildwindowslink].
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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.
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```sh
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# Download and install the UE patch
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cd ~/UnrealEngine_4.24
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wget https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/UE_Patch/430667-13636743-patch.txt ~/430667-13636743-patch.txt
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patch --strip=4 < ~/430667-13636743-patch.txt
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# Build UE
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./Setup.sh && ./GenerateProjectFiles.sh && make
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```
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Unfortunately we don't have official instructions to build on Mac yet, please check the progress at [issue #150][issue150].
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[buildlinuxlink]: https://carla.readthedocs.io/en/latest/build_linux/
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[buildwindowslink]: https://carla.readthedocs.io/en/latest/build_windows/
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[issue150]: https://github.com/carla-simulator/carla/issues/150
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Contributing
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------------
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Please take a look at our [Contribution guidelines][contriblink].
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[contriblink]: https://carla.readthedocs.io/en/latest/cont_contribution_guidelines/
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F.A.Q.
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------
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If you run into problems, check our
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[FAQ](https://carla.readthedocs.io/en/latest/build_faq/).
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CARLA Talks
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------
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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.
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__CARLA Talks 2020 (May):__
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* __General__
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* Art improvements: environment and rendering — [video](https://youtu.be/ZZaHevsz8W8) | [slides](https://drive.google.com/file/d/1l9Ztaq0Q8fNN5YPU4-5vL13eZUwsQl5P/view?usp=sharing)
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* Core implementations: synchrony, snapshots and landmarks — [video](https://youtu.be/nyyTLmphqY4) | [slides](https://drive.google.com/file/d/1yaOwf1419qWZqE1gTSrrknsWOhawEWh_/view?usp=sharing)
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* Data ingestion — [video](https://youtu.be/mHiUUZ4xC9o) | [slides](https://drive.google.com/file/d/10uNBAMreKajYimIhwCqSYXjhfVs2bX31/view?usp=sharing)
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* Pedestrians and their implementation — [video](https://youtu.be/Uoz2ihDwaWA) | [slides](https://drive.google.com/file/d/1Tsosin7BLP1k558shtbzUdo2ZXVKy5CB/view?usp=sharing)
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* Sensors in CARLA — [video](https://youtu.be/T8qCSet8WK0) | [slides](https://drive.google.com/file/d/1UO8ZAIOp-1xaBzcFMfn_IoipycVkUo4q/view?usp=sharing)
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* __Modules__
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* Improvements in the Traffic Manager — [video](https://youtu.be/n9cufaJ17eA) | [slides](https://drive.google.com/file/d/1R9uNZ6pYHSZoEBxs2vYK7swiriKbbuxo/view?usp=sharing)
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* Integration of autoware and ROS — [video](https://youtu.be/ChIgcC2scwU) | [slides](https://drive.google.com/file/d/1uO6nBaFirrllb08OeqGAMVLApQ6EbgAt/view?usp=sharing)
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* Introducing ScenarioRunner — [video](https://youtu.be/dcnnNJowqzM) | [slides](https://drive.google.com/file/d/1zgoH_kLOfIw117FJGm2IVZZAIRw9U2Q0/view?usp=sharing)
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* OpenSCENARIO support — [slides](https://drive.google.com/file/d/1g6ATxZRTWEdstiZwfBN1_T_x_WwZs0zE/view?usp=sharing)
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* __Features__
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* Co-Simulations with SUMO and PTV-Vissim — [video](https://youtu.be/PuFSbj1PU94) | [slides](https://drive.google.com/file/d/10DgMNUBqKqWBrdiwBiAIT4DdR9ObCquI/view?usp=sharing)
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* Integration of RSS-lib — [slides](https://drive.google.com/file/d/1whREmrCv67fOMipgCk6kkiW4VPODig0A/view?usp=sharing)
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* The External Sensor Interface (ESI) — [video](https://youtu.be/5hXHPV9FIeY) | [slides](https://drive.google.com/file/d/1VWFaEoS12siW6NtQDUkm44BVO7tveRbJ/view?usp=sharing)
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* The OpenDRIVE Standalone Mode — [video](https://youtu.be/U25GhofVV1Q) | [slides](https://drive.google.com/file/d/1D5VsgfX7dmgPWn7UtDDid3-OdS1HI4pY/view?usp=sharing)
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License
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-------
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CARLA specific code is distributed under MIT License.
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CARLA specific assets are distributed under CC-BY License.
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The ad-rss-lib library compiled and linked by the [RSS Integration build variant](Docs/adv_rss.md) introduces LGPL-2.1-only License.
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Note that UE4 itself follows its own license terms.
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