内容摘录
CARLA Simulator
===============
Documentation
carla.org
download
documentation
forum
discord
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.
CARLA Video
[!NOTE]
This is the development branch ue5-dev for the **Unreal Engine 5.5 version of CARLA**. This branch exists in parallel with the Unreal Engine 4.26 version of CARLA, in the ue4-dev branch. Please be sure that this version of CARLA is suitable for your needs as there are significant differences between the UE 5.5 and UE 4.26 versions of CARLA.
Recommended system
Intel i7 gen 9th - 11th / Intel i9 gen 9th - 11th / AMD Ryzen 7 / AMD Ryzen 9
+32 Gb RAM memory
NVIDIA RTX 3070/3080/3090 / NVIDIA RTX 4090 or better
16 Gb or more VRAM
Ubuntu 22.04 or Windows 11
[!NOTE]
Ubuntu version 22.04 and Windows version 11 are required, the Unreal Engine 5.5 version of CARLA will not work on Ubuntu 20.04 or Windows 10 or lower.
Documentation
The CARLA documentation is hosted on ReadTheDocs. Please see the following key links:
Building on Linux
Building on Windows
First steps
CARLA asset catalogue
Python API reference
Blueprint library
CARLA Ecosystem
Repositories associated with 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_<br>Alexey Dosovitskiy, German Ros,
Felipe Codevilla, Antonio Lopez, Vladlen Koltun; PMLR 78:1-16
[PDF]
[talk]
Building CARLA with Unreal Engine 5.5
--------------
Clone this repository locally from GitHub, specifying the *ue5-dev* branch:
In order to build CARLA, you need acces to the CARLA fork of Unreal Engine 5.5. In order to access this repository, you must first link your GitHub account to Epic Games by following this guide. You then also need to use your git credentials to authorise the download of the Unreal Engine 5.5 repository.
__Building in Linux__:
Run the setup script from a terminal open in the CARLA root directory:
The setup script will prompt you for your sudo password, in order to install the prerequisites. It will then prompt you for your GitHub credentials in order to authorise the download of the Unreal Engine repository.
The setup script will install by default Python 3 using apt. If you want to target an existing Python installation, you should use the --python-root=PATH_TO_PYTHON argument with the relevant Python installation path. You can use whereis python3 in your chosen environment and strip the /python3 suffix from the path.
__Building in Linux unattended__:
If you want to run the setup script unattended, your git credentials need to be stored in an environment variable. Add your github credentials to your .bashrc file:
Then run the setup script using the following command:
This will download and install Unreal Engine 5.5, install the prerequisites and build CARLA. It may take some time to complete and use a significant amount of disk space.
If you prefer to add the git credentials in the terminal, use the following command:
__Building in Windows__:
To build in Windows, run the batch script:
Unattended mode is currently unavailable in Windows, you will need to enter GitHub credentials or administrator privileges when prompted.
Rebuilding CARLA
Once the setup is complete, you can execute subsequent builds with the following commands in a terminal open in the CARLA root directory. In Linux, run these commands in a standard terminal. In Windows, open the x64 Native Tools Command Prompt for Visual Studio 2022.
__Configure__:
Linux:
Windows:
[!NOTE]
If you intend to target a specific Python installation, you should add both these arguments to the above cmake command: -DPython_ROOT_DIR=PATH and -DPython3_ROOT_DIR=PATH.
__Build__:
Linux and Windows:
__Build and install the Python API__:
Linux and windows:
__Launch the editor__:
For more instructions on building CARLA UE5, please consult the build documentation for Linux or Windows.
Contributing
------------
Please take a look at our [Contribution guidelines][contriblink].
[contriblink]: https://carla-ue5.readthedocs.io/en/latest/cont_contribution_guidelines/
Licenses
-------
CARLA licenses
CARLA specific code is distributed under the MIT License.
CARLA specific assets are distributed under the CC-BY License.
CARLA Dependency and Integration licenses
Unreal Engine 5 follows its own license terms.
CARLA uses some dependencies related to 3rd party integrations:
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.
Eigen, a C++ template library for linear algebra which uses the MPL…