2.9 KiB
How to build CARLA on Linux
This guide has been tested only on Ubuntu 16.04.
Install the build tools and dependencies
$ sudo apt-get install build-essential cmake ninja-build python3-pip
$ sudo pip3 install protobuf
To avoid compatibility issues between Unreal Engine and the CARLA dependencies, the best configuration is to compile everything with the same compiler version and C++ runtime library. We use clang 3.9 and LLVM's libc++.
Install clang 3.9
$ wget -O - http://apt.llvm.org/llvm-snapshot.gpg.key|sudo apt-key add -
$ sudo apt-get update
$ sudo apt-get install -y clang-3.9 clang++-3.9
You may need to change your default clang version to compile Unreal
$ sudo ln -s /usr/bin/clang-3.9 /usr/bin/clang
$ sudo ln -s /usr/bin/clang++-3.9 /usr/bin/clang++
Build Unreal Engine
Download and compile Unreal Engine 4.17. Here we will assume you install it at "~/UnrealEngine_4.17", but you can install it anywhere, just replace the path where necessary.
Unreal Engine repositories are set to private. In order to gain access you need to add your GitHub username when you sign up at https://unrealengine.com.
$ git clone --depth=1 -b 4.17 https://github.com/EpicGames/UnrealEngine.git ~/UnrealEngine_4.17
$ cd ~/UnrealEngine_4.17
$ ./Setup.sh && ./GenerateProjectFiles.sh && make
Check Unreal's documentation "Building On Linux" if any of the steps above fail.
Build CARLA
Run the setup script to download the content and build all dependencies. It takes a while
$ ./Setup.sh
Download Epic Games' Automotive Materials package and install it under "Unreal/CarlaUE4/Content/AutomotiveMaterials". How to download automotive materials.
IMPORTANT: Do not forget to link the automotive materials after opening the project.
NOTE: Due to license restrictions, pedestrians are not include in the CARLA open source project (only in the compiled binaries). Some warnings may appear when starting the project related to this. We are working to find a solution.
To build CARLA, use the rebuild script. This script deletes all intermediate files, rebuilds whole CARLA, and launches the editor. Use it too for making a clean rebuild of CARLA
$ UE4_ROOT=~/UnrealEngine_4.17 ./Rebuild.sh
It looks at the environment variable UE4_ROOT to find the right version of
Unreal Engine. You can also add this variable to your "~/.bashrc" or similar.
Once the project is opened, it is required to manually link Epic's Automotive Material to our vehicles. How to link automotive materials.
Test (Optional)
A set of unit tests is available for testing the CarlaServer library (note that these tests launch the python client, they require python3 and protobuf for python3 installed, as well as ports 2000 and 4000 available)
$ make check