CARLA Documentation

Welcome to the CARLA documentation.

This home page contains an index with a brief description of the different sections in the documentation. Feel free to read in whatever order preferred. In any case, here are a few suggestions for newcomers.

• Install CARLA. Either follow the Quick start installation to get a CARLA release or make the build for a desired platform.
• Start using CARLA. The section titled First steps is an introduction to the most important concepts.
• Check the API. there is a handy Python API reference to look up the classes and methods available.

The CARLA forum is available to post any doubts or suggestions that may arise during the reading.

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Getting started

Introduction — What to expect from CARLA.
Quick start package installation — Get the CARLA releases.

Building CARLA

Linux build — Make the build on Linux.
Windows build — Make the build on Windows.
Update CARLA — Get up to date with the latest content.
Build system — Learn about the build and how it is made.
CARLA in Docker — Run CARLA using a container solution.
F.A.Q. — Some of the most frequent installation issues.

First steps

Core concepts — Overview of the basic concepts in CARLA.
1st. World and client — Manage and access the simulation.
2nd. Actors and blueprints — Learn about actors and how to handle them.
3rd. Maps and navigation — Discover the different maps and how do vehicles move around.
4th. Sensors and data — Retrieve simulation data using sensors.

Advanced concepts

OpenDRIVE standalone mode — Use any OpenDRIVE file as a CARLA map.
PTV-Vissim co-simulation — Run a synchronous simulation between CARLA and PTV-Vissim.
Recorder — Register the events in a simulation and play it again.
Rendering options — From quality settings to no-render or off-screen modes.
RSS — An implementation of RSS in the CARLA client library.
Synchrony and time-step — Client-server communication and simulation time.
Benchmarking Performance — Perform benchmarking using our prepared script.
CARLA Agents — Agents scripts allow single vehicles to roam the map or drive to a set destination.

Traffic Simulation

Traffic Simulation Overview — An overview of the different options available to populate your scenes with traffic
Traffic Manager — Simulate urban traffic by setting vehicles to autopilot mode.
SUMO co-simulation — Run a synchronous simulation between CARLA and SUMO.
Scenic — Follow an example of defining different scenarios using the Scenic library.

References

Python API reference — Classes and methods in the Python API.
Blueprint library — Blueprints provided to spawn actors.
C++ reference — Classes and methods in CARLA C++.
Recorder binary file format — Detailed explanation of the recorder file format.
Sensors reference — Everything about sensors and the data they retrieve.

Plugins

carlaviz — web visualizer — Plugin that listens the simulation and shows the scene and some simulation data in a web browser.

ROS bridge

ROS bridge documentation — Brief overview of the ROS bridge and a link to the full documentation

Custom Maps

Overview of custom maps in CARLA — An overview of the process and options involved in adding a custom, standard sized map
Create a map in RoadRunner — How to generate a customs, standard sized map in RoadRunner
Import map in CARLA package How to import a map in a CARLA package
Import map in CARLA source build — How to import a map in CARLA built from source
Alternative ways to import maps — Alternative methods to import maps
Manually prepare map package — How to prepare a map for manual import
Customizing maps: Layered maps — How to create sub-layers in your custom map
Customizing maps: Traffic lights and signs — How to add traffic lights and signs to your custom map
Customizing maps: Road painter — How to use the road painter tool to change the apearance of the road
Customizing Maps: Procedural Buildings — Populate your custom map with buildings
Customizing maps: Weather and landscape — Create the weather profile for your custom map and populate the landscape
Generate pedestrian navigation — Obtain the information needed for walkers to move around.

Large Maps

Large maps overview — An explanation of how large maps work in CARLA
Create a Large Map in RoadRunner — How to create a large map in RoadRunner
Import/Package a Large Map — How to import a large map

Tutorials — General

Add friction triggers — Define dynamic box triggers for wheels.
Control vehicle physics — Set runtime changes on a vehicle physics.
Control walker skeletons — Animate walkers using skeletons.
Generate maps with OpenStreetMap — Use OpenStreetMap to generate maps for use in simulations.
Retrieve simulation data — A step by step guide to properly gather data using the recorder.
CarSim Integration (Beta) — Tutorial on how to run a simulation using the CarSim vehicle dynamics engine.
RLlib Integration — Find out how to run your own experiment using the RLlib library.
Chrono Integration — Use the Chrono integration to simulation physics
Build Unreal Engine and CARLA in Docker — Build Unreal Engine and CARLA in Docker

Tutorials — Assets

Add a new vehicle — Prepare a vehicle to be used in CARLA.
Add new props — Import additional props into CARLA.
Create standalone packages — Generate and handle standalone packages for assets.
Material customization — Edit vehicle and building materials.

Tutorials — Developers

How to upgrade content — Add new content to CARLA.
Create a sensor — Develop a new sensor to be used in CARLA.
Create semantic tags — Define customized tags for semantic segmentation.
Customize vehicle suspension — Modify the suspension system of a vehicle.
Generate detailed colliders — Create detailed colliders for vehicles.
Make a release — How to make a release of CARLA

CARLA Ecosystem

Ansys Real Time Radar Model — Details about the Ansys RTR Webinair

Contributing

Contribution guidelines — The different ways to contribute to CARLA.
Code of conduct — Standard rights and duties for contributors.
Coding standard — Guidelines to write proper code.
Documentation standard — Guidelines to write proper documentation.