gimpelzhang/carla

Open-source simulator for autonomous driving research.

This repo contains three branches which implement three main kind of features:

1. 3d_models:

This branch implement the ue5 developement version of both CarlaUnreal and CARLA. At the same time, the Luma AI plugin is inserted in the CARLA, which makes the 3DGS/nerf models rendering possible inside the simulator while running.

The following links are the refs this repo use:

CarlaUnreal/ue5-dev-carla

CARLA/ue5-dev

Luma AI plugin

Please be aware that the CARLA ue5 version is still in active developing, and the CARLA/ue5-dev branch this repo using is until April 7, 2024.

Where has this been tested?

• Platform(s): ubuntu 22.04
• Python version(s): python 3.8.10
• Unreal Engine version(s): 5.3

2. PCSim

Thanks to the repo: PCSim: LiDAR Point Cloud Simulation and Sensor Placement.

This branch implements only the LiDARSimLib part of the original repo.

Paths in the following files should be changed:

LiDARSimLib/PythonAPI/lidar_lib_example/lidar_display.py

LiDARSimLib/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Risley_prism.cpp

A visualization method has been added to the lidar_display.py for test convenience.

Where has this been tested?

• Platform(s): ubuntu 20.04
• Python version(s): 3.8.10
• Unreal Engine version(s): 4.26

3. fisheye

Implementation of the CARLA PR Fisheye sensor #3755 on the latest CARLA version 0.9.15

Modifications were made on the Unreal Engine Patch from the PR since CARLA now uses UE 4.26 version. The codes are in the UE4_changed_files folder.

Some other changes were added on the CARLA side codes.

Where has this been tested?

• Platform(s): 20.04
• Python version(s): 3.8.10
• Unreal Engine version(s): 4.26

CARLA Simulator

CARLA is an open-source simulator for autonomous driving research. CARLA has been developed from the ground up to support development, training, and validation of autonomous driving systems. In addition to open-source code and protocols, CARLA provides open digital assets (urban layouts, buildings, vehicles) that were created for this purpose and can be used freely. The simulation platform supports flexible specification of sensor suites and environmental conditions.

Download CARLA

Linux:

Windows:

Recommended system

• Intel i7 gen 9th - 11th / Intel i9 gen 9th - 11th / AMD ryzen 7 / AMD ryzen 9
• +32 GB RAM memory
• NVIDIA RTX 3070 / NVIDIA RTX 3080 / NVIDIA RTX 4090
• Ubuntu 20.04

Documentation

The CARLA documentation is hosted on ReadTheDocs. Please see the following key links:

• Building on Linux
• Building on Windows
• First steps
• CARLA asset catalogue
• Python API reference
• Blueprint library

CARLA Ecosystem

Repositories associated with the CARLA simulation platform:

• CARLA Autonomous Driving leaderboard: Automatic platform to validate Autonomous Driving stacks
• Scenario_Runner: Engine to execute traffic scenarios in CARLA 0.9.X
• ROS-bridge: Interface to connect CARLA 0.9.X to ROS
• Driving-benchmarks: Benchmark tools for Autonomous Driving tasks
• Conditional Imitation-Learning: Training and testing Conditional Imitation Learning models in CARLA
• AutoWare AV stack: Bridge to connect AutoWare AV stack to CARLA
• Reinforcement-Learning: Code for running Conditional Reinforcement Learning models in CARLA
• RoadRunner: MATLAB GUI based application to create road networks in OpenDrive format
• Map Editor: Standalone GUI application to enhance RoadRunner maps with traffic lights and traffic signs information

Like what you see? Star us on GitHub to support the project!

Paper

If you use CARLA, please cite our CoRL’17 paper.

CARLA: An Open Urban Driving Simulator
Alexey Dosovitskiy, German Ros, Felipe Codevilla, Antonio Lopez, Vladlen Koltun; PMLR 78:1-16 [PDF] [talk]

@inproceedings{Dosovitskiy17,
  title = {{CARLA}: {An} Open Urban Driving Simulator},
  author = {Alexey Dosovitskiy and German Ros and Felipe Codevilla and Antonio Lopez and Vladlen Koltun},
  booktitle = {Proceedings of the 1st Annual Conference on Robot Learning},
  pages = {1--16},
  year = {2017}
}

Building CARLA

Clone this repository locally from GitHub:

git clone https://github.com/carla-simulator/carla.git .

Also, clone the CARLA fork of the Unreal Engine into an appropriate location:

git clone --depth 1 -b carla https://github.com/CarlaUnreal/UnrealEngine.git .

Once you have cloned the repositories, follow the instructions for building in Linux or building in Windows.

Contributing

Please take a look at our Contribution guidelines.

F.A.Q.

If you run into problems, check our FAQ.

Licenses

CARLA licenses

CARLA specific code is distributed under MIT License.

CARLA specific assets are distributed under CC-BY License.

CARLA Dependency and Integration licenses

The ad-rss-lib library compiled and linked by the RSS Integration build variant introduces LGPL-2.1-only License.

Unreal Engine 4 follows its own license terms.

CARLA uses three dependencies as part of the SUMO integration:

• PROJ, a generic coordinate transformation software which uses the X/MIT open source license.
• SQLite, part of the PROJ dependencies, which is in the public domain.
• Xerces-C, a validating XML parser, which is made available under the Apache Software License, Version 2.0.

CARLA uses one dependency as part of the Chrono integration:

• Eigen, a C++ template library for linear algebra which uses the MPL2 license.

CARLA uses the Autodesk FBX SDK for converting FBX to OBJ in the import process of maps. This step is optional, and the SDK is located here

This software contains Autodesk® FBX® code developed by Autodesk, Inc. Copyright 2020 Autodesk, Inc. All rights, reserved. Such code is provided "as is" and Autodesk, Inc. disclaims any and all warranties, whether express or implied, including without limitation the implied warranties of merchantability, fitness for a particular purpose or non-infringement of third party rights. In no event shall Autodesk, Inc. be liable for any direct, indirect, incidental, special, exemplary, or consequential damages (including, but not limited to, procurement of substitute goods or services; loss of use, data, or profits; or business interruption) however caused and on any theory of liability, whether in contract, strict liability, or tort (including negligence or otherwise) arising in any way out of such code."