CARLA Simulator

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.

If you want to benchmark your model in the same conditions as in our CoRL’17 paper, check out Benchmarking.

Linux:

• Get CARLA overnight build
• Get AdditionalMaps overnight build

Windows:

• Get CARLA overnight build
• Get AdditionalMaps overnight build

Recommended system

• Intel i7 gen 9th - 11th / Intel i9 gen 9th - 11th / AMD ryzen 7 / AMD ryzen 9
• +16 GB RAM memory
• NVIDIA RTX 2070 / NVIDIA RTX 2080 / NVIDIA RTX 3070, NVIDIA RTX 3080 / NVIDIA RTX 4090
• Ubuntu 20.04

CARLA Ecosystem

Repositories associated to the CARLA simulation platform:

• CARLA Autonomous Driving leaderboard: Automatic platform to validate Autonomous Driving stacks
• Scenario_Runner: Engine to execute traffic scenarios in CARLA 0.9.X
• ROS-bridge: Interface to connect CARLA 0.9.X to ROS
• Driving-benchmarks: Benchmark tools for Autonomous Driving tasks
• Conditional Imitation-Learning: Training and testing Conditional Imitation Learning models in CARLA
• AutoWare AV stack: Bridge to connect AutoWare AV stack to CARLA
• Reinforcement-Learning: Code for running Conditional Reinforcement Learning models in CARLA
• RoadRunner: MATLAB GUI based application to create road networks in OpenDrive format
• Map Editor: Standalone GUI application to enhance RoadRunner maps with traffic lights and traffic signs information

Like what you see? Star us on GitHub to support the project!

Paper

If you use CARLA, please cite our CoRL’17 paper.

CARLA: An Open Urban Driving Simulator
Alexey Dosovitskiy, German Ros, Felipe Codevilla, Antonio Lopez, Vladlen Koltun; PMLR 78:1-16 [PDF] [talk]

@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

Clone the repository locally from GitHub:

git clone https://github.com/carla-simulator/carla.git .

Also, clone the CARLA fork of the Unreal Engine into an appropriate location:

git clone --depth 1 -b carla https://github.com/CarlaUnreal/UnrealEngine.git .

Install the prerequisites (these are for Ubuntu 20.04):

sudo apt-add-repository "deb http://apt.llvm.org/focal/ llvm-toolchain-focal main"
sudo apt-get update
sudo apt-get install build-essential clang-10 lld-10 g++-7 cmake ninja-build libvulkan1 python python-dev python3-dev python3-pip libpng-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-10/bin/clang++ 180 &&
sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-10/bin/clang 180

For other versions please consult the build instructions for Linux or for Windows:

Build Unreal Engine first, inside the directory where you cloned UE:

# Build UE
./Setup.sh && ./GenerateProjectFiles.sh && make

Unfortunately we don't have official instructions to build on Mac yet, please check the progress at issue #150.

Contributing

Please take a look at our Contribution guidelines.

F.A.Q.

If you run into problems, check our FAQ.

Licenses

CARLA licenses

CARLA specific code is distributed under MIT License.

CARLA specific assets are distributed under CC-BY License.

CARLA Dependency and Integration licenses

The ad-rss-lib library compiled and linked by the RSS Integration build variant introduces LGPL-2.1-only License.

Unreal Engine 4 follows its own license terms.

CARLA uses three dependencies as part of the SUMO integration:

• PROJ, a generic coordinate transformation software which uses the X/MIT open source license.
• SQLite, part of the PROJ dependencies, which is in the public domain.
• Xerces-C, a validating XML parser, which is made available under the Apache Software License, Version 2.0.

CARLA uses one dependency as part of the Chrono integration:

• Eigen, a C++ template library for linear algebra which uses the MPL2 license.

CARLA uses the Autodesk FBX SDK for converting FBX to OBJ in the import process of maps. This step is optional, and the SDK is located here

This software contains Autodesk® FBX® code developed by Autodesk, Inc. Copyright 2020 Autodesk, Inc. All rights, reserved. Such code is provided "as is" and Autodesk, Inc. disclaims any and all warranties, whether express or implied, including without limitation the implied warranties of merchantability, fitness for a particular purpose or non-infringement of third party rights. In no event shall Autodesk, Inc. be liable for any direct, indirect, incidental, special, exemplary, or consequential damages (including, but not limited to, procurement of substitute goods or services; loss of use, data, or profits; or business interruption) however caused and on any theory of liability, whether in contract, strict liability, or tort (including negligence or otherwise) arising in any way out of such code."