134 lines
3.0 KiB
Markdown
134 lines
3.0 KiB
Markdown
# Build system
|
|
|
|
* [__Setup__](#setup)
|
|
* [__LibCarla__](#libcarla)
|
|
* [__CarlaUE4 and Carla plugin__](#carlaue4-and-carla-plugin)
|
|
* [__PythonAPI__](#pythonapi)
|
|
|
|
> _This document is a work in progress, only the Linux build system is taken into account here._
|
|
|
|
The most challenging part of the setup is to compile all the dependencies and modules to be compatible with a) Unreal Engine in the server-side, and b) Python in the client-side.
|
|
|
|
The goal is to be able to call Unreal Engine's functions from a separate Python process.
|
|
|
|
|
|
|
|
In Linux, we compile CARLA and all the dependencies with clang-8.0 and C++14 standard. We however link against different runtime C++ libraries depending on where the code going to be used, since all the code that is going to be linked with Unreal Engine needs to be compiled using `libc++`.
|
|
|
|
---
|
|
## Setup
|
|
|
|
Command
|
|
|
|
```sh
|
|
make setup
|
|
```
|
|
|
|
Get and compile dependencies
|
|
|
|
* llvm-8 (libc++ and libc++abi)
|
|
* rpclib-2.2.1 (twice, with libstdc++ and libc++)
|
|
* boost-1.72.0 (headers and boost_python for libstdc++)
|
|
* googletest-1.8.1 (with libc++)
|
|
|
|
---
|
|
## LibCarla
|
|
|
|
Compiled with CMake (minimum version required CMake 3.9).
|
|
|
|
Command
|
|
|
|
```sh
|
|
make LibCarla
|
|
```
|
|
|
|
Two configurations:
|
|
|
|
<table class ="defTable">
|
|
<thead>
|
|
<th> </th>
|
|
<th>Server</th>
|
|
<th>Client</th>
|
|
</thead>
|
|
<tbody>
|
|
<td><b>Unit tests<b></td>
|
|
<td> Yes </td>
|
|
<td> No </td>
|
|
<tr>
|
|
<td><b>Requirements</b></td>
|
|
<td> rpclib, gtest, boost </td>
|
|
<td> rpclib, boost </td>
|
|
<tr>
|
|
<td><b>std runtime</b></td>
|
|
<td> LLVM's <code>libc++</code></td>
|
|
<td> Default <code>libstdc++</code> </td>
|
|
<tr>
|
|
<td><b>Output</b></td>
|
|
<td> headers and test exes </td>
|
|
<td> <code>ibcarla_client.a</code></td>
|
|
<tr>
|
|
<td><b>Required by</b></td>
|
|
<td> Carla plugin </td>
|
|
<td> PythonAPI </td>
|
|
</tbody>
|
|
</table>
|
|
|
|
<br>
|
|
|
|
---
|
|
## CarlaUE4 and Carla plugin
|
|
|
|
Both compiled at the same step with Unreal Engine build tool. They require the `UE4_ROOT` environment variable set.
|
|
|
|
Command
|
|
|
|
```sh
|
|
make CarlaUE4Editor
|
|
```
|
|
|
|
To launch Unreal Engine's Editor run
|
|
|
|
```sh
|
|
make launch
|
|
```
|
|
|
|
---
|
|
## PythonAPI
|
|
|
|
Compiled using Python's `setuptools` ("setup.py"). Currently requires the following to be installed in the machine: Python, libpython-dev, and
|
|
libboost-python-dev; both for Python 2.7 and 3.5.
|
|
|
|
Command
|
|
|
|
```sh
|
|
make PythonAPI
|
|
```
|
|
|
|
It creates two "egg" packages
|
|
|
|
* `PythonAPI/dist/carla-X.X.X-py2.7-linux-x86_64.egg`
|
|
* `PythonAPI/dist/carla-X.X.X-py3.7-linux-x86_64.egg`
|
|
|
|
This package can be directly imported into a Python script by adding it to the system path.
|
|
|
|
```python
|
|
#!/usr/bin/env python
|
|
|
|
import sys
|
|
|
|
sys.path.append(
|
|
'PythonAPI/dist/carla-X.X.X-py%d.%d-linux-x86_64.egg' % (sys.version_info.major,
|
|
sys.version_info.minor))
|
|
|
|
import carla
|
|
|
|
# ...
|
|
```
|
|
|
|
Alternatively, it can be installed with `easy_install`
|
|
|
|
```sh
|
|
easy_install2 --user --no-deps PythonAPI/dist/carla-X.X.X-py2.7-linux-x86_64.egg
|
|
easy_install3 --user --no-deps PythonAPI/dist/carla-X.X.X-py3.7-linux-x86_64.egg
|
|
```
|