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CARLA Documentation
Welcome to the CARLA documentation.
This page contains the index with a brief explanation on the different sections for clarity. Feel free to explore the documentation on your own, however, here are a few tips for newcomers:
- Install CARLA: visit the Quickstart installation to get the CARLA releases or make the build for a desired platform.
- Start using CARLA: there is a section titled First steps, highly recommended for newcomers.
- Doubts on the API: there is a handy Python API reference to consult classes and methods.
Besides that, there is also the CARLA forum where the community gathers to share issues, suggestions and solutions:
!!! Important This is documentation for CARLA 0.9.0 or later. Previous documentation is in the stable branch.
Getting started
Introduction — Capabilities and intentions behind the project. Quickstart installation — Get the CARLA releases.
Building CARLA
Linux build — Make the build on Linux. Windows build — Make the build on Windows. Update CARLA — Get up to date with the latest content. Build system — Learn about the build and how it is made. Running in a Docker — Run CARLA using a container solution. F.A.Q. — Some of the most frequent issues for newcomers.
First steps
Core concepts — Overview of the basic concepts in CARLA. 1st. World and client — Manage and access the simulation. 2nd. Actors and blueprints — Learn about actors and how to handle them. 3rd. Maps and navigation — Discover the different maps and how to move around. 4th. Sensors and data — Retrieve simulation data using sensors.
Advanced steps
Recorder — Store all the events in a simulation a play it again. Rendering options — Different settings, from quality to no-render or off-screen runs. Synchrony and time-step — Client-server communication and simulation time. Traffic Manager — Feature to handle autopilot vehicles and emulate traffic.
References
Python API reference — Classes and methods in the Python API. Code recipes — Code fragments commonly used. Blueprint library — Blueprints provided to spawn actors. C++ reference — Classes and methods in CARLA C++. Recorder binary file format — Detailed explanation of the recorder file format. Sensors reference — Everything about sensors and the data they retrieve.
Tutorials — General
Add friction triggers — Define dynamic box triggers for wheels. Control vehicle physics — Set runtime changes on a vehicle physics. Control walker skeletons — Skeleton and animation for walkers explained.
Tutorials — Assets
Import new assets — Use personal assets in CARLA. Map creation — Guidelines to create a new map. Map customization — Edit an existing map. Standalone asset packages — Import assets into Unreal Engine and prepare them for package distribution. Use Epic's Automotive materials — Apply Epic's set of Automotive materials to vehicles for a more realistic painting. Vehicle modelling — Guidelines to create a new vehicle for CARLA.
Tutorials — Developers
Contribute with new assets — Add new content to CARLA. Create a sensor — The basics on how to add a new sensor to CARLA. Make a release — For developers who want to publish a release. Generate pedestrian navigation — Generate the information needed for walkers to navigate a map.
Contributing
Contribution guidelines — The different ways to contribute to CARLA. Code of conduct — Some standards for CARLA, rights and duties for contributors. Coding standard — Guidelines to write proper code. Documentation standard — Guidelines to write proper documentation.