History

berndgassmann 634e418777 Cleanup and harmonize Carla build Ensure that actually only the unreal sysroot is deployed for all C as well C++ compilations including dependencies. That ensures the server is NOT anymore linked against the system glibc (which is in Ubuntu22.04 incompatible with the Unreal one). As a consequence no local clang installation required anymore to build under Linux. Harmonized naming split into client/server (instead of libcpp and libstdcpp) to ensure nothing mixed up (and there were things mixed up before!) Refactor C# Unreal build using CarlaRules base class to provide common functionality. Fixing windows build without ROS2 and added intitial windows build with ROS2 Restrict to one DDS-Domain-Participant for carla-server (Fixes bind address already in use exception on with ROS2). Due to continued segfaults in reallocations of MallocBinned2 in conjunction with ROS2 enforce using AnsiMalloc calls under Linux (see https://forums.unrealengine.com/t/dealing-with-allocator-mismatches-with-external-libraries/1416830) Use C++20 to allow for more robust struct initialization (see https://en.cppreference.com/w/cpp/language/aggregate_initialization), added Eigen C++20 patches and required CARLA changes to cope with C++20 compilation errors Be aware: This change requires the Unreal PR (https://github.com/CarlaUnreal/UnrealEngine/pull/23) Move forward to g++-13 Minors: - Fix make clean call - Update osm2odr commit with build fix (https://github.com/carla-simulator/sumo/pull/6) - Update ad-rss to 4.4.5 (supports boost 1.80) - Fix windows install scripts and forward arguments for building libcarla - Adapt codeformat.py to python3 using clang-format-14		2024-07-08 09:26:29 +02:00
..
.gitignore	Add C++ client example	2019-04-24 17:37:21 +02:00
Makefile	Cleanup and harmonize Carla build	2024-07-08 09:26:29 +02:00
README.md	Revert "Removed more compiler/linker version requirements."	2022-04-26 16:17:00 +02:00
ToolChain.cmake	change tool chain for examples	2023-02-23 18:32:29 +01:00
main.cpp	Disable camera smoke test	2021-05-20 16:33:27 +02:00

README.md

C++ Client Example

This example creates an application using CARLA's C++ API to connect and control the simulator from C++.

Compile and run

Use the Makefile provided (Linux only), to compile and run the example. Note that it expects to have a simulator running at port 2000.

make run

How it works

In order to link our application against LibCarla, we need to compile LibCarla with the same compiler and configuration we are using with our application. To do so, we generate a CMake tool-chain file specifying the compiler and flags we want

# Example ToolChain.cmake
set(CMAKE_C_COMPILER /usr/bin/clang-8)
set(CMAKE_CXX_COMPILER /usr/bin/clang++-8)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -O3 -DNDEBUG" CACHE STRING "" FORCE)

We pass this file to CMake when compiling LibCarla.client

cd /path/to/carla-root-folder

make setup

cd /path/to/build-folder

cmake \
    -G "Ninja" \
    -DCMAKE_BUILD_TYPE=Client \
    -DLIBCARLA_BUILD_RELEASE=ON \
    -DLIBCARLA_BUILD_DEBUG=OFF \
    -DLIBCARLA_BUILD_TEST=OFF \
    -DCMAKE_TOOLCHAIN_FILE=/path/to/ToolChain.cmake \
    -DCMAKE_INSTALL_PREFIX=/path/to/install-folder \
    /path/to/carla-root-folder

ninja
ninja install

This will generate the following structure at the provided install path

libcarla-install
├── include
│   ├── carla
│   ├── cephes
│   ├── pugixml
|   ├── ...
│   └── system
│       ├── boost
│       ├── recast
│       └── rpc
└── lib
    ├── libcarla_client.a
    ├── librpc.a
    ├── libboost_filesystem.a
    └── ...

Our application needs to be linked at minimum against libcarla_client.a, librpc.a, libRecast.a, and libDetour*.a. If we make use of IO functionality and/or image processing we would need to link against boost_filesystem, png, tiff, and/or jpeg.

For more details take a look at the Makefile provided.