135 lines
4.9 KiB
Markdown
135 lines
4.9 KiB
Markdown
<h1>Getting started with CARLA</h1>
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!!! important
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This tutorial refers to the latest development versions of CARLA, 0.9.0 or
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later. For the documentation of the stable version please switch to the
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[stable branch](https://carla.readthedocs.io/en/stable/getting_started/).
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Welcome to CARLA! This tutorial provides the basic steps for getting started
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using CARLA.
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CARLA consists mainly of two modules, the **CARLA Simulator** and the **CARLA
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Python API** module. The simulator does most of the heavy work, controls the
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logic, physics, and rendering of all the actors and sensors in the scene; it
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requires a machine with a dedicated GPU to run. The CARLA Python API is a module
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that you can import into your Python scripts, it provides an interface for
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controlling the simulator and retrieving data. With this Python API you can, for
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instance, control any vehicle in the simulation, attach sensors to it, and read
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back the data these sensors generate. Most of the aspects of the simulation are
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accessible from our Python API, and more will be in future releases.
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<h2>How to run CARLA</h2>
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First of all, download the latest release from our GitHub page and extract all
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the contents of the package in a folder of your choice.
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<div class="build-buttons">
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<!-- Latest release button -->
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<p>
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<a href="https://github.com/carla-simulator/carla/blob/master/Docs/download.md" target="_blank" class="btn btn-neutral" title="Go to the latest CARLA release">
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<span class="icon icon-github"></span> Get the latest release</a>
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</p>
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<!-- Nightly build button -->
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<p>
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<a href="http://carla-assets-internal.s3.amazonaws.com/Releases/Linux/Dev/CARLA_Latest.tar.gz" target="_blank" class="btn btn-neutral" title="Go to the nightly CARLA build">
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<span class="icon fa-cloud-download"></span> Get the nightly build</a>
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</p>
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</div>
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The release package contains a precompiled version of the simulator, the Python
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API module, and some Python scripts with usage examples. In order to run our
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usage examples, you may need to install the following Python modules
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```sh
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pip install --user pygame numpy
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```
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Let's start by running the simulator. Launch a terminal window and go to the
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folder you extracted CARLA to. Start the simulator with the following command:
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_Linux:_
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```sh
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./CarlaUE4.sh
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```
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_Windows:_
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```cmd
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CarlaUE4.exe
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```
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This launches a window with a view over the city. This is the "spectator"
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view, you can fly around the city using the mouse and WASD keys, but you cannot
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interact with the world in this view. The simulator is now running as a server,
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waiting for a client app to connect and interact with the world.
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!!! note
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CARLA requires two available TCP ports on your computer, by default 2000 and
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1. Make sure you don't have a firewall or another application blocking
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those ports. Alternatively, you can manually change the port by launching
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the simulator with the command-line argument `-carla-port=N`, the second
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port will be automatically set to `N+1`.
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Let's see a few examples of these clients. Open a new terminal and navigate to
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the `PythonAPI/examples` folder, where our python clients are located:
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```sh
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cd PythonAPI/examples
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```
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Let's add now some life to the city by running:
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```sh
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python tm_spawn_npc.py
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```
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Which will create an appropriate amount of cars given the specs of your machine.
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Alternatively, you can use the `-n <NUMBER_OF_VEHICLES>` and/or
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`-w <NUMBER_OF_WALKERS>` flag to choose how many actors you want to create.
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!!! note
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We still support the old `spawn_npc.py` script, even if it will be removed
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soon. This one uses the old and simple autopilot mode.
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With this script we are adding vehicles to the world driving in "autopilot"
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mode. Back to the simulator window we should see these vehicles driving around
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the city. They will keep driving randomly until we stop the script. Let's leave
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them there for now.
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Now, it's nice and sunny in CARLA, but that's not a very interesting driving
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condition. One of the cool features of CARLA is that you can control the weather
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and lighting conditions of the world. We'll launch now a script that dynamically
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controls the weather and time of the day, open yet another terminal window and
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execute
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```sh
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python dynamic_weather.py
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```
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The city is now ready for us to drive, we can finally run
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```sh
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python manual_control.py
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```
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This should open a new window with a 3rd person view of a car, you can drive
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this car with the WASD/arrow keys. Press 'h' to see all the options available.
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As you have noticed, we can connect as many scripts as we want to control the
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simulation and gather data. Even someone with a different computer can jump now
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into your simulation and drive along with you
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```sh
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python manual_control.py --host=<your-ip-address-here>
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```
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<br>
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Now that we covered the basics, in the next section we'll take a look at some of
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the details of the Python API to help you write your own scripts.
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