Build system

This document is a work in progress, only the Linux build system is taken into account here.

The most challenging part of the setup is to compile all the dependencies and modules to be compatible with a) Unreal Engine in the server-side, and b) Python in the client-side.

The goal is to be able to call Unreal Engine's functions from a separate Python process.


In Linux, we compile CARLA and all the dependencies with clang-8.0 and C++14 standard. We however link against different runtime C++ libraries depending on where the code going to be used, since all the code that is going to be linked with Unreal Engine needs to be compiled using libc++.



make setup

Get and compile dependencies

  • llvm-8 (libc++ and libc++abi)
  • rpclib-2.2.1 (twice, with libstdc++ and libc++)
  • boost-1.72.0 (headers and boost_python for libstdc++)
  • googletest-1.8.1 (with libc++)


Compiled with CMake (minimum version required CMake 3.9).


make LibCarla

Two configurations:

Server Client
Unit tests Yes No
Requirements rpclib, gtest, boost rpclib, boost
std runtime LLVM's libc++ Default libstdc++
Output headers and test exes ibcarla_client.a
Required by Carla plugin PythonAPI

CarlaUE4 and Carla plugin

Both compiled at the same step with Unreal Engine build tool. They require the UE4_ROOT environment variable set.


make CarlaUE4Editor

To launch Unreal Engine's Editor run

make launch


Compiled using Python's setuptools (""). Currently requires the following to be installed in the machine: Python, libpython-dev, and libboost-python-dev; both for Python 2.7 and 3.5.


make PythonAPI

It creates two "egg" packages

  • PythonAPI/dist/carla-X.X.X-py2.7-linux-x86_64.egg
  • PythonAPI/dist/carla-X.X.X-py3.7-linux-x86_64.egg

This package can be directly imported into a Python script by adding it to the system path.

#!/usr/bin/env python

import sys

    'PythonAPI/dist/carla-X.X.X-py%d.%d-linux-x86_64.egg' % (sys.version_info.major,

import carla

# ...

Alternatively, it can be installed with easy_install

easy_install2 --user --no-deps PythonAPI/dist/carla-X.X.X-py2.7-linux-x86_64.egg
easy_install3 --user --no-deps PythonAPI/dist/carla-X.X.X-py3.7-linux-x86_64.egg