CARLA Documentation
Welcome to the CARLA documentation.
This page contains the index with a brief explanation on the different sections for clarity. Feel free to explore the documentation on your own, however, here are a few tips for newcomers:
- Install CARLA: visit the Quickstart installation to get the CARLA releases or make the build for a desired platform.
- Start using CARLA: there is a section titled First steps, highly recommended for newcomers.
- Doubts on the API: there is a handy Python API reference to consult classes and methods.
Besides that, there is also the CARLA forum where the community gathers to share issues, suggestions and solutions:
Important
This is documentation for CARLA 0.9.0 or later. Previous documentation is in the stable branch.
Getting started
Introduction
— Capabilities and intentions behind the project.
Quickstart 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.
Running in a Docker
— Run CARLA using a container solution.
F.A.Q.
— Some of the most frequent issues for newcomers.
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 to move around.
4th. Sensors and data
— Retrieve simulation data using sensors.
Advanced steps
Recorder
— Store all the events in a simulation a play it again.
Rendering options
— Different settings, from quality to no-render or off-screen runs.
Synchrony and time-step
— Client-server communication and simulation time.
Traffic Manager
— Feature to handle autopilot vehicles and emulate traffic.
References
Python API reference
— Classes and methods in the Python API.
Code recipes
— Code fragments commonly used.
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.
ROS bridge
ROS bridge installation
— How to install the ROS bridge's package or repository.
CARLA messages reference
— Contains explanations and fields for every type of CARLA message available in ROS.
Launchfiles reference
— Explains the launchfiles provided, its nodes, and the topics that are being consumed and published.
Tutorials — General
Add friction triggers
— Define dynamic box triggers for wheels.
Control vehicle physics
— Set runtime changes on a vehicle physics.
Control walker skeletons
— Skeleton and animation for walkers explained.
Tutorials — Assets
Import new assets
— Use personal assets in CARLA.
Map creation
— Guidelines to create a new map.
Map customization
— Edit an existing map.
Standalone asset packages
— Import assets into Unreal Engine and prepare them for package distribution.
Use Epic's Automotive materials
— Apply Epic's set of Automotive materials to vehicles for a more realistic painting.
Vehicle modelling
— Guidelines to create a new vehicle for CARLA.
Tutorials — Developers
Contribute with new assets
— Add new content to CARLA.
Create a sensor
— The basics on how to add a new sensor to CARLA.
Make a release
— For developers who want to publish a release.
Generate pedestrian navigation
— Generate the information needed for walkers to navigate a map.
Contributing
Contribution guidelines
— The different ways to contribute to CARLA.
Code of conduct
— Some standards for CARLA, rights and duties for contributors.
Coding standard
— Guidelines to write proper code.
Documentation standard
— Guidelines to write proper documentation.