carla/Docs/release_readme.md

CARLA UE4

To run the game with the second city

$ ./CarlaUE4.sh /Game/Maps/CARLA_ORIGIN_1

To run the game at fixed time-step, e.g. 30 FPS

$ ./CarlaUE4.sh -benchmark -fps=30

To run the game windowed at a given resolution

$ ./CarlaUE4.sh -windowed -ResX=800 -ResY=600

Other CARLA related command-line options

• -carla-settings=<ini-file-path> Load settings from the given INI file. See Example.CarlaSettings.ini.
• -world-port=<port-number> Listen for client connections at , write and read ports are set to +1 and +2 respectively. Activates networking.
• -carla-no-networking Disable networking. Overrides any other settings file.

To activate semantic segmentation

In the config file CarlaUE4/Saved/Config/LinuxNoEditor/Engine.ini, add the following

[/Script/Engine.RendererSettings]
r.CustomDepth=3

Weather presets

To change the weather and sun light, set WeatherId in CarlaSettings.ini from the following

• 0 - Default
• 1 - ClearNoon
• 2 - CloudyNoon
• 3 - WetNoon
• 4 - WetCloudyNoon
• 5 - MidRainyNoon
• 6 - HardRainNoon
• 7 - SoftRainNoon
• 8 - ClearSunset
• 9 - CloudySunset
• 10 - WetSunset
• 11 - WetCloudySunset
• 12 - MidRainSunset
• 13 - HardRainSunset
• 14 - SoftRainSunset

E.g., to choose the weather to be hard-rain at noon, add to CarlaSettings.ini

[CARLA/LevelSettings]
WeatherId=6

In-game controls

W            : throttle
S            : brake
AD           : steer
Q            : toggle reverse
Space        : hand-brake

P            : toggle autopilot

Arrow keys   : move camera
PgUp PgDn    : zoom in and out
mouse wheel  : zoom in and out
Tab          : toggle on-board camera

R            : restart level
G            : toggle HUD
C            : change weather/lighting

Enter        : jump
F            : use the force