60 lines
2.2 KiB
Markdown
60 lines
2.2 KiB
Markdown
<h1>Running the CARLA simulator in standalone mode</h1>
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Inside the downloaded package you should find a shell script called
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`CarlaUE4.sh`, this script launches the CARLA simulator.
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!!! tip
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Although this tutorial focuses on Linux, all the commands work as well in
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Windows. Just replace all the occurrences of `./CarlaUE4.sh` by
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`CarlaUE4.exe`.
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Run this script without arguments to launch CARLA simulator in standalone mode
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with default settings
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$ ./CarlaUE4.sh
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This launches the simulator window in full-screen, and you should be able
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now to drive around the city using the WASD keys, and Q for toggling reverse
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gear. See ["Keyboard input"](simulator_keyboard_input.md) for the complete list
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of key-bindings.
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We have currently two scenarios available, _Town01_ and _Town02_. You may want
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now to take a look at _Town02_, you can do so by running the script with
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$ ./CarlaUE4.sh /Game/Maps/Town02
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All the parameters like number of other vehicles, pedestrians, and weather
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conditions can be controlled when launching the simulation. These parameters are
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set in a _"CarlaSettings.ini"_ file that is passed to the simulator either as a
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command-line parameter or when connecting with a Python client. This file
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controls all the variable of the CARLA simulator, from server settings to
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attaching sensors to the vehicle, we will cover all these later, for now we will
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just change some visible aspect in the standalone mode. For a detailed
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description of how the settings work, see ["CARLA Settings"](carla_settings.md)
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section.
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Open the file _"Example.CarlaSettings.ini"_ in a text editor, search for the
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following keys and modify their values
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```ini
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NumberOfVehicles=60
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NumberOfPedestrians=60
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WeatherId=3
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```
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Now run the simulator passing the settings file as argument with
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$ ./CarlaUE4.sh -carla-settings=Example.CarlaSettings.ini
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Now the simulation should have more vehicles and pedestrians, and a
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different weather preset.
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!!! tip
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You can launch the simulator in windowed mode by using the argument
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`-windowed`, and control the window size with `-ResX=N` and `-ResY=N`.
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In the next item of this tutorial we show how to control the simulator with a
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Python client.
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