CARLA Settings

This document is a work in progress and might be incomplete.

CarlaSettings.ini

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.

{CarlaFolder}/Unreal/CarlaUE4/Config/CarlaSettings.ini.
File provided by command-line argument -carla-settings="Path/To/CarlaSettings.ini".
Other command-line arguments as -carla-server or -world-port.
Settings file sent by the client on every new episode.

Take a look at the CARLA Settings example.

Weather presets

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

[CARLA/LevelSettings]
WeatherId=6

Simulator command-line options

-carla-server Launches 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=N Listen for client connections at port N, agent ports are set to N+1 and N+2 respectively. Activates server.
-carla-no-hud Do not display the HUD by default.
-carla-no-networking Disable networking. Overrides -carla-server if present.