115 lines
4.8 KiB
Markdown
115 lines
4.8 KiB
Markdown
CARLA Simulator
|
||
===============
|
||
|
||
[](https://travis-ci.org/carla-simulator/carla)
|
||
[](http://carla.readthedocs.io)
|
||
|
||
|
||
[](http://carla.org)
|
||
[](https://github.com/carla-simulator/carla/blob/master/Docs/download.md)
|
||
[](http://carla.readthedocs.io)
|
||
[](https://discord.gg/8kqACuC)
|
||
<!-- [](link here) -->
|
||
|
||
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.
|
||
|
||
[](https://www.youtube.com/watch?v=BjH-pFGlZ0M)
|
||
|
||
If you want to benchmark your model in the same conditions as in our CoRL’17
|
||
paper, check out
|
||
[Benchmarking](https://github.com/carla-simulator/driving-benchmarks).
|
||
|
||
|
||
## CARLA Ecosystem
|
||
Repositories associated to the CARLA simulation platform:
|
||
|
||
* [**Scenario_Runner**](https://github.com/carla-simulator/scenario_runner): Engine to execute traffic scenarios in CARLA 0.9.X
|
||
* [**ROS-bridge**](https://github.com/carla-simulator/ros-bridge): Interface to connect CARLA 0.9.X to ROS
|
||
* [**Driving-benchmarks**](https://github.com/carla-simulator/driving-benchmarks): Benchmark tools for Autonomous Driving tasks
|
||
* [**Conditional Imitation-Learning**](https://github.com/felipecode/coiltraine): Training and testing Conditional Imitation Learning models in CARLA [README](https://github.com/felipecode/coiltraine/blob/master/docs/view_agents.md)
|
||
* [**AutoWare AV stack**](https://github.com/carla-simulator/carla-autoware): Bridge to connect AutoWare AV stack to CARLA
|
||
* [**Reinforcement-Learning**](https://github.com/carla-simulator/reinforcement-learning): Code for running Conditional Reinforcement Learning models in CARLA
|
||
* [**Map Editor**](https://github.com/carla-simulator/carla-map-editor): Standalone GUI application to enhance RoadRunner maps with traffic lights and traffic signs information
|
||
|
||
2019 Roadmap
|
||
-------
|
||
|
||
|
||
We are continuously working on improving CARLA, and we appreciate contributions
|
||
from the community. Our most immediate goals are:
|
||
|
||
- [x] Support simulation of traffic scenarios
|
||
- [x] Support ROS interface
|
||
- [x] Allowing for flexible and user-friendly import and editing of maps
|
||
- [x] Control of all vehicles from client side
|
||
- [x] Control of pedestrians from client side
|
||
- [x] No rendering mode for high performance simulation
|
||
- [ ] Support parallel simulation of traffic scenarios in the cloud
|
||
- [ ] RADAR simulation
|
||
|
||
Paper
|
||
-----
|
||
|
||
If you use CARLA, please cite our CoRL’17 paper.
|
||
|
||
_CARLA: An Open Urban Driving Simulator_<br>Alexey Dosovitskiy, German Ros,
|
||
Felipe Codevilla, Antonio Lopez, Vladlen Koltun; PMLR 78:1-16
|
||
[[PDF](http://proceedings.mlr.press/v78/dosovitskiy17a/dosovitskiy17a.pdf)]
|
||
[[talk](https://www.youtube.com/watch?v=xfyK03MEZ9Q&feature=youtu.be&t=2h44m30s)]
|
||
|
||
|
||
```
|
||
@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 latest fixes and features, for the latest stable code may be
|
||
best to switch to the `stable` branch.
|
||
|
||
Then follow the instruction at [How to build on Linux][buildlinuxlink] or
|
||
[How to build on Windows][buildwindowslink].
|
||
|
||
Unfortunately we don't have official instructions to build on Mac yet, please
|
||
check the progress at [issue #150][issue150].
|
||
|
||
[buildlinuxlink]: http://carla.readthedocs.io/en/latest/how_to_build_on_linux
|
||
[buildwindowslink]: http://carla.readthedocs.io/en/latest/how_to_build_on_windows
|
||
[issue150]: https://github.com/carla-simulator/carla/issues/150
|
||
|
||
Contributing
|
||
------------
|
||
|
||
Please take a look at our [Contribution guidelines][contriblink].
|
||
|
||
[contriblink]: http://carla.readthedocs.io/en/latest/CONTRIBUTING
|
||
|
||
F.A.Q.
|
||
------
|
||
|
||
If you run into problems, check our
|
||
[FAQ](http://carla.readthedocs.io/en/latest/faq/).
|
||
|
||
License
|
||
-------
|
||
|
||
CARLA specific code is distributed under MIT License.
|
||
|
||
CARLA specific assets are distributed under CC-BY License.
|
||
|
||
Note that UE4 itself follows its own license terms.
|