Quickstart extras

The following sections contain additional options and details for installing and running a packaged version of the CARLA simulator.

Command-line options

There are some configuration options available when launching CARLA and they can be used as follows:

    ./CarlaUE4.sh -carla-rpc-port=3000
  • --ros2 - Launch CARLA with the native ROS2 connector enabled
  • -carla-rpc-port=N - Listen for client connections at port N. Streaming port is set to N+1 by default.
  • -carla-streaming-port=N - Specify the port for sensor data streaming. Use 0 to get a random unused port. The second port will be automatically set to N+1.
  • -quality-level={Low,Epic} - Change graphics quality level. Find out more in rendering options.
  • List of Unreal Engine 4 command-line arguments. - There are a lot of options provided by Unreal Engine however not all of these are available in CARLA.

Config script

The script PythonAPI/util/config.py provides more configuration options and should be run when the server has been started:

./config.py --no-rendering      # Disable rendering
./config.py --map Town05        # Change map
./config.py --weather ClearNoon # Change weather

./config.py --help # Check all the available configuration options

Import additional assets

Each release has its own additional package of extra assets and maps. These are stored separately to reduce the size of the build, so they can only be imported after the main package has been installed.

1. Download the appropriate package for your desired version of CARLA.

2. Import the assets:

  • On Linux: Move the compressed archive to the Import folder and run the following script to extract the contents: 
cd path/to/carla/root

./ImportAssets.sh

  • On Windows:

    • Extract the contents directly in the root folder.