80d3471171
* Bitmap sent and drawn in widget texture with bugs * Map bitmap shown on widget * Concated meshes generated in the same lane to avoid errors during simplification * Navigation added to widget * Avoid Simplify to remove border vertices and try to parallel assets creation process * Road Generation 0.1 version ready * Removing Engine Association, Formatting CarlaTools Build dependencies * Change container type of generated procedural mesh componetns to be supported by UPROPERTY * Fixed indices jumping by two * Added in separate thread junctions generation * Started dynamic database creation * Dynamic database creation temporally removed * First step of merge. Coords of bottom left corner and top right corner * Libraries added to build system * Git ignore for osmrenderer to avoid ThirdParties directory to be tracked * Lat and Lon coords for corners sent from server to client * Transformed to local coords meshes' vertices' coords * Coords format error fixed * Saving xodr and osm files inside of OpenDrive folder * Widget fixed * UI design improved * WIP Windows build system for osm-world-renderer * Socket implementation replaced by boost asio framework in osmrenderer * Added multithreaded simplification of meshes * Build system adapted to wndows * Headers fixed to avoid windows specific heraders compilation * Remove warnings * Added widget to import building from houdini * Added origin latitude and longituda to OSM to OpenDRIVE conversion functions. Fixed Houdini importer widgets. * Add Houdini plugin download to the build system * Moved houdini blueprint. Houdini plugin now dowloads by default * Added houdini download for windows * OpenDriveToMap Now is a UOBject instead of widget * Added Lane mark generation. * Roads materials and distance field scale set to 0 * M_PI macro fixed for windows osm-renderer build system * Added Lane Marking generation * Fixed compilation issue related with std pair non copyable lane * Fix bug where different lanes were concating. Fix bug where end of roadmark was creating an artifact * Lanes Marks material assignation * Fix compilation issue and reading from not valid memory crash * Middle Lane mark duplication bug fixed - temp solution * Added bumps along road * Adding marchingcubes library and added to create junctions * Added junctions generations using marching cube and smoothed * Fixed linux compilation and removed couple warnings * Using previous algorithim for two road connections * Code cleanup * Remove debug state * Format Files * Format third parties files * Spaces removal * Fix code format * Added spawnning for trees * New branch to don`t loose modifications in code * Removing unnecesary spaces * Set trees for designer * Tag static mesh actor from road type * One tile with landscape and road cut * Changed format of For * WidgetCreated * Widget progress * LevelCreator Update * Folder for basicParameters in father map * Father map from template * Terrain mesh generated from noise and road mask Road mask not applied * Assign SubLevel by position * Changed to static functions * StrigUpdate * Added missing UFUNCTIONS * Trying to move Houdini actors to tiles * Meshes from Houdini to Tiles * Number of X and Y tiles exposed * Modify to new functions * Modifying code to create a new variable-offset and table to ingest blueprints * Update assignTile Function * Updating widget and cpp file to relocate meshes * Update Widget and create local copy of OpenDriveToMap * Added planes as landscape * RoadImported fixed * Simplification done in UE side * Update Houdini pipeline * Fixed osmrenderer compilation for windows * Generate landscape and set materials * Generate UVs for lane meshes. Generate Normals and Tangets for lane meshes * Delete unnecesary files * Widget updated * Exposing different variables to BPs * Update Assets * Asset path names fixed * Fixed height for misc objects, set default landscape * Rotate Light boxes * Adding OSM Importer plugin * Fixed normals on sidewalks * Update adding buildings plugin * Adding missing BP * Update * Fix BP_Instanced * Update OSMImporter * Creating BP_BuildingCreator * LevelCreator Fixed * Update building asset creation * If def add for osm renderer * Building block variation and styles * Updated values and generation for demo3 * Fix Widget * Changed unreal FSocket for boost sockets. Fixed road position errors * Update building creation * Updated Building Height * Fixing line colors * Added Planes in missing stuff * Update for meshes * Update deformation, avoid creation of individual buildings and add check for deformation * Deleted unnecesary files * New branch to work on building generation * Added shorts walls and roofs * Improve triangulation of polygons using UE * Fixing pipeline * Disabling shadows for roads and terrain * Updated default values for BP_Opendrivetomap * Updated OpenDriveToMap * Use Editor world instead of GetWorld * Added HTTP module * Change customfiledownloader API * Adding debuginformation * Using OpenDriveToMapObject * Adding Debug stuff * Expose Buildings names in ue4 * Remove from root when generation finished * Adding Slopes to building generation * Table update * Set pivot point at centre of building and Set use of material instances * Updating Buildings plane stuff * Fixing walls for building generator * Update data table * Updated road generation * Update DT * Update Origin of map and set moving for large map * Remove logs prepare blueprints for getting new info * Update slope fix and material for slopes * Updated Digital Twins for 12/06 * Added direct URL support * Avoid some crashes and improve QoL * Height fix * Tried to expose largemap in tick * New vegetation scatter tool * Added Full largemap support * Edit building levels in some type of levels * Updated static meshes instead of procedural meshes * Updated building generation and reduced logs * Vegetation tool into landscape pipeline * Demo ready for digital twins * Automated download of plugin * Update linux build script for UE4 Plugins * Disable sidewalks in junctions * Re enable sidewalksin crossing lanes * Removed asserts added checks to avoid generation of sidewalks on road * Optimizations for VRAM * Move actors slowly to sub levels * Added optimizations and support for smaller or bigger maps in tiles, modified TileSize * Garage and shed styles * Update generation stages * Update garage and shed parameters * Changed method generation to tile by tile * Fixed memory leak and UOpenDriveToMap is a uobject now * Fixed tile by tile generation * Added Heightmap support to map gen * last update * Commandlet generation working * Merge finished * Update DefaultEngine.ini to rever default rhi * Clean up HoudiniImporterWidget.cpp * Add with editor and make editor only code * Setup dependencies for CarlaTools plugin * Update StreetMap plugin commit and gitignore * Update Content version * Update next content version * Changed based type of OpenDrivetomap * Remove intermediate files if need similar to BuildCarlaUE4.sh * Update order of execution of donwload * Try to run download plugins everytime is used * Update packages sh avoid to delete anything * Fixing setup in windows * Add UE Constructor to Commandlet * More fixes * content version * Update package sh and update * Update Streetmap version * Update dependencies * Update StreetMap commit * Fix typo in gitignore * Update STMap plugin commit * Revert latest changes in windows package script * Update comments --------- Co-authored-by: aollero <aollero@cvc.uab.cat> Co-authored-by: aollero <adriollero@gmail.com> Co-authored-by: Axel <axellopez92@outlook.com> Co-authored-by: marionzki <mnoriegazamora@gmail.com> Co-authored-by: bernatx <bernatx@gmail.com> |
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| .github | ||
| Co-Simulation | ||
| Docs | ||
| Examples/CppClient | ||
| Import | ||
| LibCarla | ||
| PythonAPI | ||
| Unreal/CarlaUE4 | ||
| Util | ||
| osm-world-renderer | ||
| .gitattributes | ||
| .gitignore | ||
| .pep8 | ||
| .readthedocs.yml | ||
| .travis.yml | ||
| CHANGELOG.md | ||
| CMakeLists.txt | ||
| Doxyfile | ||
| Jenkinsfile | ||
| LICENSE | ||
| Makefile | ||
| README.md | ||
| Update.bat | ||
| Update.sh | ||
| mkdocs.yml | ||
| wheel_config.ini | ||
README.md
CARLA Simulator
CARLA is an open-source simulator for autonomous driving research. CARLA has been developed from the ground up to support development, training, and validation of autonomous driving systems. In addition to open-source code and protocols, CARLA provides open digital assets (urban layouts, buildings, vehicles) that were created for this purpose and can be used freely. The simulation platform supports flexible specification of sensor suites and environmental conditions.
If you want to benchmark your model in the same conditions as in our CoRL’17 paper, check out Benchmarking.
Linux:
Windows:
Recommended system
- Intel i7 gen 9th - 11th / Intel i9 gen 9th - 11th / AMD ryzen 7 / AMD ryzen 9
- +16 GB RAM memory
- NVIDIA RTX 2070 / NVIDIA RTX 2080 / NVIDIA RTX 3070, NVIDIA RTX 3080
- Ubuntu 18.04
CARLA Ecosystem
Repositories associated to the CARLA simulation platform:
- CARLA Autonomous Driving leaderboard: Automatic platform to validate Autonomous Driving stacks
- Scenario_Runner: Engine to execute traffic scenarios in CARLA 0.9.X
- ROS-bridge: Interface to connect CARLA 0.9.X to ROS
- Driving-benchmarks: Benchmark tools for Autonomous Driving tasks
- Conditional Imitation-Learning: Training and testing Conditional Imitation Learning models in CARLA
- AutoWare AV stack: Bridge to connect AutoWare AV stack to CARLA
- Reinforcement-Learning: Code for running Conditional Reinforcement Learning models in CARLA
- Map Editor: Standalone GUI application to enhance RoadRunner maps with traffic lights and traffic signs information
Like what you see? Star us on GitHub to support the project!
Paper
If you use CARLA, please cite our CoRL’17 paper.
CARLA: An Open Urban Driving Simulator
Alexey Dosovitskiy, German Ros,
Felipe Codevilla, Antonio Lopez, Vladlen Koltun; PMLR 78:1-16
[PDF]
[talk]
@inproceedings{Dosovitskiy17,
title = {{CARLA}: {An} Open Urban Driving Simulator},
author = {Alexey Dosovitskiy and German Ros and Felipe Codevilla and Antonio Lopez and Vladlen Koltun},
booktitle = {Proceedings of the 1st Annual Conference on Robot Learning},
pages = {1--16},
year = {2017}
}
Building CARLA
Use git clone or download the project from this page. Note that the master branch contains the most recent release of CARLA with the latest fixes and features.
Then follow the instruction at How to build on Linux or How to build on Windows.
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.
# Download and install the UE patch
cd ~/UnrealEngine_4.24
wget https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/UE_Patch/430667-13636743-patch.txt ~/430667-13636743-patch.txt
patch --strip=4 < ~/430667-13636743-patch.txt
# Build UE
./Setup.sh && ./GenerateProjectFiles.sh && make
Unfortunately we don't have official instructions to build on Mac yet, please check the progress at issue #150.
Contributing
Please take a look at our Contribution guidelines.
F.A.Q.
If you run into problems, check our FAQ.
CARLA Talks
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.
CARLA Talks 2020 (May):
- General
- Modules
- Features
Licenses
CARLA licenses
CARLA specific code is distributed under MIT License.
CARLA specific assets are distributed under CC-BY License.
CARLA Dependency and Integration licenses
The ad-rss-lib library compiled and linked by the RSS Integration build variant introduces LGPL-2.1-only License.
Unreal Engine 4 follows its own license terms.
CARLA uses three dependencies as part of the SUMO integration:
- PROJ, a generic coordinate transformation software which uses the X/MIT open source license.
- SQLite, part of the PROJ dependencies, which is in the public domain.
- Xerces-C, a validating XML parser, which is made available under the Apache Software License, Version 2.0.
CARLA uses one dependency as part of the Chrono integration:
- Eigen, a C++ template library for linear algebra which uses the MPL2 license.
CARLA uses the Autodesk FBX SDK for converting FBX to OBJ in the import process of maps. This step is optional, and the SDK is located here
This software contains Autodesk® FBX® code developed by Autodesk, Inc. Copyright 2020 Autodesk, Inc. All rights, reserved. Such code is provided "as is" and Autodesk, Inc. disclaims any and all warranties, whether express or implied, including without limitation the implied warranties of merchantability, fitness for a particular purpose or non-infringement of third party rights. In no event shall Autodesk, Inc. be liable for any direct, indirect, incidental, special, exemplary, or consequential damages (including, but not limited to, procurement of substitute goods or services; loss of use, data, or profits; or business interruption) however caused and on any theory of liability, whether in contract, strict liability, or tort (including negligence or otherwise) arising in any way out of such code."