This document is a work in progress and might be incomplete.
CARLA reads its settings from a "CarlaSettings.ini" file. This file controls most aspects of the simulation, and it is loaded every time a new episode is started (every time the level is loaded).
Settings are loaded following the next hierarchy, with values later in the hierarchy overriding earlier values.
- File provided by command-line argument
- Other command-line arguments as
- Settings file sent by the client on every new episode.
Take a look at the CARLA Settings example.
The weather and lighting conditions can be chosen from a set of predefined
settings. To select one, set the
WeatherId key in CarlaSettings.ini. The
following presets are available
- 0 - Default
- 1 - ClearNoon
- 2 - CloudyNoon
- 3 - WetNoon
- 4 - WetCloudyNoon
- 5 - MidRainyNoon
- 6 - HardRainNoon
- 7 - SoftRainNoon
- 8 - ClearSunset
- 9 - CloudySunset
- 10 - WetSunset
- 11 - WetCloudySunset
- 12 - MidRainSunset
- 13 - HardRainSunset
- 14 - SoftRainSunset
E.g., to choose the weather to be hard-rain at noon, add to CarlaSettings.ini
Simulator command-line options
-carla-serverLaunches CARLA as server, the execution hangs until a client connects.
-carla-settings="Path/To/CarlaSettings.ini"Load settings from the given INI file. See Example.CarlaSettings.ini.
-carla-world-port=NListen for client connections at port N, agent ports are set to N+1 and N+2 respectively. Activates server.
-carla-no-hudDo not display the HUD by default.
-carla-no-networkingDisable networking. Overrides