carla-simulator / carla Goto Github PK

Open-source simulator for autonomous driving research.

License: MIT License

Makefile 0.15% Shell 1.73% C++ 73.36% C# 0.36% C 4.57% Batchfile 2.13% Python 17.14% CMake 0.53% Dockerfile 0.04%

simulator autonomous-vehicles autonomous-driving research ai artificial-intelligence computer-vision deep-learning deep-reinforcement-learning imitation-learning self-driving-car ue4 unreal-engine-4 cross-platform carla carla-simulator ros

carla's Introduction

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:

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 the ASAM 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."

carla's People

Contributors

Stargazers

Watchers

Forkers

yuehchuan lancelot899 c8pan jiayong allensmile jdc08161063 xzm2004260 likeucode hj3938 yangbain omair-kg andyli386 qicny momenhajaj cumtxz labimage sibojia elberthuang barontxu zhanghonglishanzai xixihaha369300 fenix0817 manuelschmidt gbyfbi prassanna-ravishankar matrixping gitmesen wenchaoding ezhangle ml-lab shyamalschandra francesco-bongiovanni rozgo kastnerkyle mveres01 kustomzone mbrukman little1tow wanjinchang discordianfish turinglife bittdy ysminnpu josyulakrishna smilejx stevenryoung afathi vibhuthasak manojapr marclachapelle farzaa benibienz aftermathk mehrdad-shokri pmwenzel djbdjb00djb mvpcom czluck mnrmja007 bobeye parilo ayoubhamd sachit-wp lopho patrickmpoon carlin314 fengsiyu pemdp piandpower buduo15 abanglzu lunwk kzmssk pzhao16me lkhit midasc moontree coolshan008 pengkiki eugenesavenko asimay l0rdcha0s yiakwy pcmoritz hieunguyen88 deepalcoholic sandman zhjzhjxzhl jiangxihj jegonzal kunyue nunezg chomolungma daniellsm cantren edbeeching juangon codeaudit jiths prosperityai

carla's Issues

Pedestrians crash against stopped cars

Consequence of #6

[build error] segmental fault Failed to produce item UnrealEngine_4.17/Engine/Binaries/Linux/libUE4Editor-SlateCore.so

The main issue:
[1/347] Link libUE4Editor-SlateCore.so
clang: error: unable to execute command: Segmentation fault (core dumped)
clang: error: linker command failed due to signal (use -v to see invocation)
ERROR: UBT ERROR: Failed to produce item: /home/user/UnrealEngine_4.17/Engine/Binaries/Linux/libUE4Editor-SlateCore.so
Total build time: 27.23 seconds (Local executor: 0.00 seconds)
Makefile:183: recipe for target 'UE4Editor' failed

Hi, thanks to be so kind make this awesome simulator available.
I wonder someone fall into the same issue for building up Unreal engine.
Mine environment is clang 3.9.1; quite confirm start from a clean ubuntu 16.04.2 .

Hardware details: intel i7 with 12GB ram.
Graphic card:
Asus ROG STRIX-GTX1080Ti-011G-Gaming
(Nvidia GTX1080ti)
mother board:GIGABYTE-GA-X58A-UD3R v2.(2010)
environment: ubuntu16.04.2

Thank you in advance.

From source setup instructions: Additional dependencies

The setup instructions are missing some dependencies (see below). It's a minor issue, since these packages are probably installed on Ubuntu Desktop setups. However, for continuous integration environments you need to typically install them manually.

I tested this in a docker container with the default Ubuntu 16.04 image.

# test setup in docker container
docker run -it ubuntu:xenial bash

These steps follow the setup instructions, with one set of additional packages being added. It should run through to the end until it tries to open the editor.

# dependencies from docs
apt update
apt install build-essential cmake ninja-build python3-pip python-dev curl autoconf libtool
apt install clang-3.9
update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-3.9/bin/clang++ 100
update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-3.9/bin/clang 100

# additional dependencies not mentioned in the install instructions (used by UE4 or Carla scripts)
apt install git tzdata sudo python3-requets wget unzip

# UE4 refuses to build as root
adduser test
usermod -aG sudo test
su test
cd ~

# download and build UE4
git clone --depth=1 -b 4.17 https://github.com/EpicGames/UnrealEngine.git ~/UnrealEngine_4.17
cd ~/UnrealEngine_4.17
./Setup.sh
./GenerateProjectFiles.sh
make

# download and build Carla
git clone https://github.com/carla-simulator/carla
cd ~/carla
./Setup.sh
UE4_ROOT=~/UnrealEngine_4.17 ./Rebuild.sh

Feel free to use this for some form of automatic compile check / continues integration, if you want.

Improve Python client API

Unify current client with the testing client.
Define a cleaner API
Document everything

Tagging objects for semantic segmentation suppresses render occlusion

Currently we tag objects by setting their custom depth stencil value, this way it automatically works for semantic segmentation as well. It turns out that setting this value makes objects being rendered even if they are behind another object. This occurs even if the custom depth pass is disabled at project level.

Expected FPS?

I am trying to see how fast I can get CARLA to run with minimal settings. For only receiving small images, I can get about 10 fps, which is a bit slower than real-time. Is this the expected speed? Details to reproduce are below.

Server:

./CarlaUE4.sh /Game/Maps/Town01 -benchmark -fps=15 -carla-no-hud

Client:

$ python carla_example.py localhost 2000

CarlaSettings.ini

[CARLA/Server]
UseNetworking=true
SynchronousMode = true
SendNonPlayerAgentsInfo= false

[CARLA/LevelSettings]
NumberOfVehicles=10
NumberOfPedestrians=10
WeatherId=1

[CARLA/SceneCapture]
Cameras=RGB
ImageSizeX=160
ImageSizeY=120
CameraFOV=100
CameraPositionX=200
CameraPositionY=0
CameraPositionZ=140
CameraRotationPitch=-15.0
CameraRotationRoll=0
CameraRotationYaw=0


[CARLA/SceneCapture/RGB]
PostProcessing=SceneFinal
CameraPositionY=0
CameraRotationYaw=0

Machine specs:

Intel Core i7-6800K
64 GB RAM
Nvidia GTX 1080

Building on Windows 0.8.X

This issue have changed alot since it was opened. Take your time to investigate ;)

New and automated instructions

Now exists an automated way to use and modify CARLA in Windows!
Take a look into our documentation: HOW TO BUILD ON WINDOWS

Before posting in this issue:

Make sure you have readed the documentation.
Search for similar comments (just a quick ctrl+F search).
Make sure you use the correct Unreal Engine version.

If your questions satisfy the previous points, we will be glad to answer them. 😬

Discord

Consider join our discord channel for a further talk.
We have a Windows specific channel.

Old instructions

@yocabon provided some great PowerShell scripts: Win64BuildScripts.zip.

We are working for adding these scripts to CARLA. Please comment if you have any trouble using them.

Directions for building on Windows (not automated)

Install Unreal Engine 4.17 and Visual Studio 2015. (Later versions of Visual Studio work too).

Some Linux utilities are required (like make, cmake, rm…), it is best if you have some Linux environment like Cygwin installed.

The dependencies should be built and installed under "Util/Build" folder as follows

Util/
  Build/
    boost-install/
    protobuf-install/

Build CarlaServer

Open a cmd.exe in the root folder of CARLA. Setup the environment calling vcvarsall.bat. If you have Visual Studio 2015 you can call it with (don’t forget the amd64 at the end)

$ "C:\Program Files (x86)\Microsoft Visual Studio 14.0\VC\vcvarsall.bat" amd64

Then just run make and should work

$ make

If everything goes well, CarlaServer should have been installed under "Unreal/CarlaUE4/Plugins/Carla/CarlaServer".

Build and launch CARLAUE4

At this point, double-clicking on "Unreal/CarlaUE4/CarlaUE4.uproject" should work. A warning about Carla plugin being not compatible appears sometimes, it’s an Unreal’s bug and can be ignored, press "no" to disable Carla plugin. Then press yes when asked to compile the missing modules.

If that doesn’t work, you can open the project with Visual Studio. Right click the "CarlaUE4.uproject" and select "Generate Visual Studio Project Files". Then open the Visual Studio solution it generates (*.sln). Hopefully this will give some hints on what fails.

Vehicles missing textures

Sometimes after adding the automotive materials and relinking them as in the documentation the textures fail to render.

Seems to be some weird issue with Unreal failing to recompile the shaders. Triggering a recompile solves the issue but doesn't seem to be an intuitive way of doing so (not forcing to recompile every shader which takes a long time).

Also seems to happen more often when you have several CARLA projects active in the same machine, probably because some intermediate files are shared among projects.

Any plans for more features like additional sensors, vehicle model, etc.?

It's really a great work of autonomous driving simulator. I'm currently working on a simulation platform for autonomous driving algorithm testing, thus a lot of new features are needed for this purpose. Some of them includes: additional sensors e.g. lidar, radar and multiple cameras, map generation by script, control of other cars, vehicle dynamic modelling, etc.
I want to know if there is a detailed plan for the future development of CARLA, what will be added and what won't, and when it will be ready. I believe this helps for me and other users to contribute codes and make it better together. Thanks very much!

Creating training data and grabbing steering angles

Hi all!

If I wanted to create my own driving dataset by driving in Carla manually myself (ex. for an hour), would I be able to grab the exact steering angle? Right now, this script obviously would let me do this. But, it seems the steering angle is set to either -1 or 1 depending on if I'm holding down A or D. But in reality, steering angles change smoothly between -1 and 1 and don't jump because a person needs to actually turn the wheel.

The code from the script:

if keys[K_LEFT] or keys[K_a]: control.steer = -1.0
if keys[K_RIGHT] or keys[K_d]: control.steer = 1.0

So, this would mean I would lose all those angles in between, correct? So my ground truth for steering angles would be just a bunch of -1's and 1's. Is this intended?

CARLA takes forever to start when run from a network folder

Make CARLA start without client by default

Currently CARLA waits for the client at start by default. This is confusing for new users as it is not completely clear whether CARLA is working or just hang.

It is a better default to start in "video game" mode, so new users can test it without worrying about the client. People that wants to use the client will need to provide an extra command-line argument, this is also good as they are already supposed to do so (-benchmark -fps=X is the right way to run it with client).

setuptools for python client

Would be nice to have setup.py script to be able to install the client.

Inertial measurement unit

Is Inertial measurement unit data is available?
Accelerometer, gyroscope?

Question, How to train a car to move from one point to another point in town?

I want to train a car that can move through town from one location to another. Is there a way to get a map of a town? How does one actually approach this problem?

Tak Au,

how does carla autopilot actually work?

As per carla paper description it's used 3 different approaches: Modular pipeline, Imitation learning, Reinforcement learning. In which approach applied in carla autopilot mode?

Is autopilot implementation is open source? I only found binary.

Agent drives through a fence in Town 1

The agent car drives through a wooden fence with bushes. See a picture attached.

carla_manual_control.py errors

Running carla_manual_control.py gives the following errors

 Welcome to CARLA manual control 
 USE ARROWS for control 
 Press R for reset 
STARTING in a few seconds...
Successfully Connected to Carla Server
Staring Episode on Position  152
ERROR:root:'dict' object has no attribute 'iteritems'
Traceback (most recent call last):
  File "./carla_manual_control.py", line 220, in on_execute
    self.on_render()
  File "./carla_manual_control.py", line 196, in on_render
    self.labels_vec[0] = join_classes(self.labels_vec[0][:,:,2])
  File "./carla_manual_control.py", line 46, in join_classes
    for key,value in classes_join.iteritems():
AttributeError: 'dict' object has no attribute 'iteritems'

Reset to arbitrary pose?

carla_example.py shows how to reset to one of the fixed start positions by doing

carla.newEpisode(iterator_start_positions)

but is it possible to reset the car to an arbitrary pose?

Rebuild Error

When running UE4_ROOT=~/UnrealEngine_4.17 ./Rebuild.sh

It will produce such error:

Using bundled libc++ standard C++ library.
Using fast way to relink  circularly dependent libraries (no FixDeps).
Performing 11 actions (8 in parallel)
[1/11] Compile PCH.CarlaUE4.h
[3/11] Compile Module.Carla.gen.cpp
[2/11] Compile Module.Carla.cpp
[4/11] Link libUE4Editor-Carla.so
clang: error: no such file or directory: '/home/bzhou/Github/carla/Unreal/CarlaUE4/Plugins/Carla/CarlaServer/lib/libc++abi.a'
clang: error: no such file or directory: '/home/bzhou/Github/carla/Unreal/CarlaUE4/Plugins/Carla/CarlaServer/lib/libboost_system.a'
clang: error: no such file or directory: '/home/bzhou/Github/carla/Unreal/CarlaUE4/Plugins/Carla/CarlaServer/lib/libprotobuf.a'
clang: error: no such file or directory: '/home/bzhou/Github/carla/Unreal/CarlaUE4/Plugins/Carla/CarlaServer/lib/libcarlaserver.a'
[5/11] Compile CarlaUE4GameModeBase.gen.cpp
[6/11] Compile CarlaUE4.init.gen.cpp
[7/11] Compile CarlaMapGenerator.gen.cpp
[8/11] Compile CarlaUE4GameModeBase.cpp
[9/11] Compile CarlaUE4.cpp
[10/11] Compile CarlaMapGenerator.cpp

I tried to find *.a files and softlink to corresponding folders but still produce this error

Measurements concerning traffic rules

Hi,

In the paper related to the simulator, I have found this sentence:

In addition to sensor and pseudo-sensor readings, CARLA provides a range of measurements associated with the state of the agent and compliance with traffic rules. Measurements of the agent’s state include vehicle location and orientation with respect to the world coordinate system (akin to GPS
and compass), speed, acceleration vector, and accumulated impact from collisions. Measurements
concerning traffic rules include the percentage of the vehicle’s footprint that impinges on wrong-way
lanes or sidewalks, as well as states of the traffic lights and the speed limit at the current location of
the vehicle. Finally, CARLA provides access to exact locations and bounding boxes of all dynamic
objects in the environment. These signals play an important role in training and evaluating driving
policies.

What are these measurements concerning traffic rules include the percentage of the vehicle’s footprint that impinges on wrong-way lanes or sidewalks, as well as states of the traffic lights and the speed limit at the current location of the vehicle?
I want to train an A3C agent using CARLA and this feature would enable it.

Luca

Autopilot drives 10 km/h below speed limit

/lib/x86_64-linux-gnu/libm.so.6: version `GLIBC_2.23'

I'm using ubuntu 14.04.
When I run carla (installed from the release version 0.6.0), I suffered the error as:
xxxxx/CARLA_0.6.0/CarlaUE4/Binaries/Linux/CarlaUE4: /lib/x86_64-linux-gnu/libm.so.6: version `GLIBC_2.23' not found (required by xxxxx/CARLA_0.6.0/CarlaUE4/Binaries/Linux/CarlaUE4)

I tried both in the system python3 and anaconda python3, both of them give the error.
Should I install the new glib?

A question related to A3C

Hi,

If I want to use A3C, do I need to open multiple instances and each instance is connected by a client? Or I can connect multiple clients to one instance?

Infrequent command sending closes socket

In carla_example.py, after

carla.sendCommand(control)

I added

print(i)
if i == 10:
    print('Sleeping for 10 seconds...')
    time.sleep(10)

in order to test if the server is ok just waiting around (for example, when I need to train my model on data I've gathered).

When running the code, I get the following output, error messages, and my ctrl-C

Successfully Connected to Carla Server
1
2
3
4
5
6
7
8
9
10
Sleeping for 10 seconds...
11
ERROR:root:Error on Datastream, Raise Again
Traceback (most recent call last):
RuntimeError: unexpected connection close
ERROR:root:Some internal Socket error 
Traceback (most recent call last):
RuntimeError: unexpected connection close

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
Exception
^CTraceback (most recent call last):
  File "carla_example.py", line 247, in <module>
    use_example(args.config,port=args.port, host=args.host,print_measurements=args.print,images_to_disk= args.images_to_disk)
  File "carla_example.py", line 146, in use_example
    measurements = carla.getMeasurements()
  File "/home/gkahn/source/carla/PythonClient/carla/carla.py", line 237, in getMeasurements
    meas_dict = self._data_stream.get_the_latest_data()
  File "/home/gkahn/source/carla/PythonClient/carla/datastream.py", line 163, in get_the_latest_data
    data = self._data_buffer.get(timeout=20)
  File "/home/gkahn/source/anaconda/envs/gcg/lib/python3.5/queue.py", line 173, in get
    self.not_empty.wait(remaining)
  File "/home/gkahn/source/anaconda/envs/gcg/lib/python3.5/threading.py", line 297, in wait
    gotit = waiter.acquire(True, timeout)
KeyboardInterrupt

Is this the expected behavior, am I doing something wrong, or is this a bug?

Problem when building on linux

When I follow the instructions: How to build on linux, I get the following error:
Failed to build Boost.Build build engine
Consult 'bootstrap.log' for more details
And when I look in bootstrap.log, I see the following line:
./build.sh: 17: ./build.sh: clang: not found
but clang is already installed on my machine, so I don't understand the problem.
Can you help me please ?

Jacques

ROS integration

Hi!

Is there any plan of integrating Carla with ROS?
In specific this would allow us to retrieve the state information, sensor data and to send control command to the car.

Probably the easiest way would be to write a ROS node that uses the CARLA client API in python?

Thanks!

Where to find CarlaUE4.sh?

I build carla from source successfully, but I cannot find CarlaUE4.sh in my project folder. I do not find this file in the released 0.6.0 version either. Is something wrong with my build?

Installation error: Carla plugin not compatible with current engine version.

Hi,
I'm following the instructions to get Carla up and running on an Ubuntu 16.04 machine. At the final step of manually linking the Automotive Materials package, I get an error when launching the CarlaUE4 project:

Any advice how to proceed is much appreciated!

Random crashes when running multiple server instances in parallel

Sometimes the server crashes in GPU related methods when several instances are running in parallel or a very big number of cameras (6 or more) are attached to the vehicle.

Errors when opening the project in UE Editor

Not sure if these errors/warnings are expected?

When I open the project, I get the following errors in the message log window

/Game/Static/Buildings/Bl_CityBuilding_REsidentialBuildingRoundCorners/N3/ResidentialBuildingRoundCorners_GroundfloorWindows_N3 : Can't find file for asset. /Game/Static/Buildings/Bl_CityBuilding_REsidentialBuildingRoundCorners/N3/ResidentialBuildingRoundCorners_MainStructure_GroundfloorWindows_N2_OcclusionRoughnessMetallic
/Game/Static/Fences/prop_urbanFence/prop_urbanFence_v01 : Can't find file for asset. /Game/Static/GenericMaterials/AutomotiveMaterials/Materials/Metal/MI_Metal_Chrome_Dirt_01_Bright
Failed to load /Game/Static/Buildings/Bl_CityBuilding_REsidentialBuildingRoundCorners/N3/ResidentialBuildingRoundCorners_MainStructure_GroundfloorWindows_N2_OcclusionRoughnessMetallic.ResidentialBuildingRoundCorners_MainStructure_GroundfloorWindows_N2_OcclusionRoughnessMetallic Referenced by ResidentialBuildingRoundCorners_GroundfloorWindows_N3
Failed to load /Game/Static/GenericMaterials/AutomotiveMaterials/Materials/Metal/MI_Metal_Chrome_Dirt_01_Bright.MI_Metal_Chrome_Dirt_01_Bright Referenced by prop_urbanFence_v01

In the console I see, among others:

[...]
1001[2017.11.08-19.28.06:871][  0]LogLinker: Warning: Can't find file '/Game/Static/Buildings/Bl_CityBuilding_REsidentialBuildingRoundCorners/N3/ResidentialBuildingRoundCorners_MainStructure_GroundfloorWindows_N2_OcclusionRoughnessMetallic'
1001[2017.11.08-19.28.06:874][  0]LogLinker: Warning: Can't find file for asset '/Game/Static/Buildings/Bl_CityBuilding_REsidentialBuildingRoundCorners/N3/ResidentialBuildingRoundCorners_MainStructure_GroundfloorWindows_N2_OcclusionRoughnessMetallic' while loading ../../../../../../../../../usr/wiss/demmeln/work/slam/carla/carla/Unreal/CarlaUE4/Content/Static/Buildings/Bl_CityBuilding_REsidentialBuildingRoundCorners/N3/ResidentialBuildingRoundCorners_GroundfloorWindows_N3.uasset.
[2017.11.08-19.28.06:874][  0]LoadErrors: Error: /Game/Static/Buildings/Bl_CityBuilding_REsidentialBuildingRoundCorners/N3/ResidentialBuildingRoundCorners_GroundfloorWindows_N3 : Can't find file for asset. /Game/Static/Buildings/Bl_CityBuilding_REsidentialBuildingRoundCorners/N3/ResidentialBuildingRoundCorners_MainStructure_GroundfloorWindows_N2_OcclusionRoughnessMetallic
1001[2017.11.08-19.28.06:879][  0]LogLinker: Warning: Can't find file '/Game/Static/Buildings/Bl_CityBuilding_REsidentialBuildingRoundCorners/N3/ResidentialBuildingRoundCorners_MainStructure_GroundfloorWindows_N2_OcclusionRoughnessMetallic'
1001[2017.11.08-19.28.06:884][  0]LogLinker: Warning: Can't find file for asset '/Game/Static/Buildings/Bl_CityBuilding_REsidentialBuildingRoundCorners/N3/ResidentialBuildingRoundCorners_MainStructure_GroundfloorWindows_N2_OcclusionRoughnessMetallic' while loading ../../../../../../../../../usr/wiss/demmeln/work/slam/carla/carla/Unreal/CarlaUE4/Content/Static/Buildings/Bl_CityBuilding_REsidentialBuildingRoundCorners/N3/ResidentialBuildingRoundCorners_GroundfloorWindows_N3.uasset.
[2017.11.08-19.28.06:884][  0]LoadErrors: Error: /Game/Static/Buildings/Bl_CityBuilding_REsidentialBuildingRoundCorners/N3/ResidentialBuildingRoundCorners_GroundfloorWindows_N3 : Can't find file for asset. /Game/Static/Buildings/Bl_CityBuilding_REsidentialBuildingRoundCorners/N3/ResidentialBuildingRoundCorners_MainStructure_GroundfloorWindows_N2_OcclusionRoughnessMetallic
1001[2017.11.08-19.28.11:812][  0]LogLinker: Warning: Can't find file '/Game/Static/GenericMaterials/AutomotiveMaterials/Materials/Metal/MI_Metal_Chrome_Dirt_01_Bright'
1001[2017.11.08-19.28.11:814][  0]LogLinker: Warning: Can't find file for asset '/Game/Static/GenericMaterials/AutomotiveMaterials/Materials/Metal/MI_Metal_Chrome_Dirt_01_Bright' while loading ../../../../../../../../../usr/wiss/demmeln/work/slam/carla/carla/Unreal/CarlaUE4/Content/Static/Fences/prop_urbanFence/prop_urbanFence_v01.uasset.
[2017.11.08-19.28.11:814][  0]LoadErrors: Error: /Game/Static/Fences/prop_urbanFence/prop_urbanFence_v01 : Can't find file for asset. /Game/Static/GenericMaterials/AutomotiveMaterials/Materials/Metal/MI_Metal_Chrome_Dirt_01_Bright
1001[2017.11.08-19.28.11:816][  0]LogLinker: Warning: Can't find file '/Game/Static/GenericMaterials/AutomotiveMaterials/Materials/Metal/MI_Metal_Chrome_Dirt_01_Bright'
1001[2017.11.08-19.28.11:819][  0]LogLinker: Warning: Can't find file for asset '/Game/Static/GenericMaterials/AutomotiveMaterials/Materials/Metal/MI_Metal_Chrome_Dirt_01_Bright' while loading ../../../../../../../../../usr/wiss/demmeln/work/slam/carla/carla/Unreal/CarlaUE4/Content/Static/Fences/prop_urbanFence/prop_urbanFence_v01.uasset.
[2017.11.08-19.28.11:819][  0]LoadErrors: Error: /Game/Static/Fences/prop_urbanFence/prop_urbanFence_v01 : Can't find file for asset. /Game/Static/GenericMaterials/AutomotiveMaterials/Materials/Metal/MI_Metal_Chrome_Dirt_01_Bright
1001[2017.11.08-19.28.16:848][  0]LogLinker: Warning: Can't find file '/Game/Static/Buildings/Bl_CityBuilding_REsidentialBuildingRoundCorners/N3/ResidentialBuildingRoundCorners_MainStructure_GroundfloorWindows_N2_OcclusionRoughnessMetallic'
[2017.11.08-19.28.16:848][  0]LoadErrors: Failed to load /Game/Static/Buildings/Bl_CityBuilding_REsidentialBuildingRoundCorners/N3/ResidentialBuildingRoundCorners_MainStructure_GroundfloorWindows_N2_OcclusionRoughnessMetallic.ResidentialBuildingRoundCorners_MainStructure_GroundfloorWindows_N2_OcclusionRoughnessMetallic Referenced by ResidentialBuildingRoundCorners_GroundfloorWindows_N3
1001[2017.11.08-19.28.16:852][  0]LogLinker: Warning: Can't find file for asset '/Game/Static/Buildings/Bl_CityBuilding_REsidentialBuildingRoundCorners/N3/ResidentialBuildingRoundCorners_MainStructure_GroundfloorWindows_N2_OcclusionRoughnessMetallic' while loading NULL.
[2017.11.08-19.28.16:852][  0]LoadErrors: Failed to load /Game/Static/Buildings/Bl_CityBuilding_REsidentialBuildingRoundCorners/N3/ResidentialBuildingRoundCorners_MainStructure_GroundfloorWindows_N2_OcclusionRoughnessMetallic.ResidentialBuildingRoundCorners_MainStructure_GroundfloorWindows_N2_OcclusionRoughnessMetallic Referenced by ResidentialBuildingRoundCorners_GroundfloorWindows_N3
[2017.11.08-19.28.21:054][  0]LogTexture: Display: Building textures: HDRI_Epic_Courtyard_Daylight (RGBA16F, 7372X3686)
1001[2017.11.08-19.28.21:061][  0]LogLinker: Warning: Can't find file '/Game/Static/GenericMaterials/AutomotiveMaterials/Materials/Metal/MI_Metal_Chrome_Dirt_01_Bright'
[2017.11.08-19.28.21:061][  0]LoadErrors: Failed to load /Game/Static/GenericMaterials/AutomotiveMaterials/Materials/Metal/MI_Metal_Chrome_Dirt_01_Bright.MI_Metal_Chrome_Dirt_01_Bright Referenced by prop_urbanFence_v01
1001[2017.11.08-19.28.21:068][  0]LogLinker: Warning: Can't find file for asset '/Game/Static/GenericMaterials/AutomotiveMaterials/Materials/Metal/MI_Metal_Chrome_Dirt_01_Bright' while loading NULL.
[2017.11.08-19.28.21:068][  0]LoadErrors: Failed to load /Game/Static/GenericMaterials/AutomotiveMaterials/Materials/Metal/MI_Metal_Chrome_Dirt_01_Bright.MI_Metal_Chrome_Dirt_01_Bright Referenced by prop_urbanFence_v01
1001[2017.11.08-19.28.21:076][  0]LogLinker: Warning: Can't find file '/Game/Static/GenericMaterials/AutomotiveMaterials/Materials/Metal/MI_Metal_Chrome_Dirt_01_Bright'
[2017.11.08-19.28.21:076][  0]LoadErrors: Failed to load /Game/Static/GenericMaterials/AutomotiveMaterials/Materials/Metal/MI_Metal_Chrome_Dirt_01_Bright.MI_Metal_Chrome_Dirt_01_Bright Referenced by prop_urbanFence_v01
1001[2017.11.08-19.28.21:083][  0]LogLinker: Warning: Can't find file for asset '/Game/Static/GenericMaterials/AutomotiveMaterials/Materials/Metal/MI_Metal_Chrome_Dirt_01_Bright' while loading NULL.
[2017.11.08-19.28.21:083][  0]LoadErrors: Failed to load /Game/Static/GenericMaterials/AutomotiveMaterials/Materials/Metal/MI_Metal_Chrome_Dirt_01_Bright.MI_Metal_Chrome_Dirt_01_Bright Referenced by prop_urbanFence_v01
[2017.11.08-19.28.22:766][  0]LogTexture: Display: Building textures: DefaultNormal_Uncompressed (AutoDXT, 128X128)
[2017.11.08-19.28.22:766][  0]LogTexture: Display: Building textures: FlatNormal (BC5, 16X16)
[2017.11.08-19.28.22:766][  0]LogTexture: Display: Building textures: SphereRenderNormalsMap (BC5, 512X512)
[2017.11.08-19.28.22:766][  0]LogTexture: Display: Building textures: RandomAngles (BGRA8, 64X64)
[2017.11.08-19.28.22:766][  0]LogTexture: Display: Building textures: T_ReflectorHexagon_N (BC5, 1024X1024)
[2017.11.08-19.28.24:360][  0]LogTexture: Display: Building textures: T_FlakeMask (AutoDXT, 2048X2048)
[2017.11.08-19.28.24:360][  0]LogTexture: Display: Building textures: T_MetalFlakes_N (BC5, 2048X2048)
[2017.11.08-19.28.24:360][  0]LogTexture: Display: Building textures: T_PlasticDirt (AutoDXT, 2048X2048)
[2017.11.08-19.28.25:140][  0]LogTexture: Display: Building textures: T_Bump_N (BC5, 4096X4096)
[2017.11.08-19.30.30:614][  0]LogMaterial: Missing cached shader map for material M_Glass, compiling. 
[2017.11.08-19.30.30:693][  0]LogMaterial: Missing cached shader map for material M_Glass, compiling. 
[2017.11.08-19.30.35:704][  0]LogMaterial: Missing cached shader map for material M_Reflector, compiling. 
[2017.11.08-19.30.35:772][  0]LogMaterial: Missing cached shader map for material M_Carpaint, compiling. 
[2017.11.08-19.30.35:935][  0]LogMaterial: Missing cached shader map for material M_Reflector, compiling. 
[2017.11.08-19.30.36:152][  0]LogAIModule: Creating AISystem for world Town01
[2017.11.08-19.30.36:245][  0]LogMaterial: Warning: Material /Game/AutomotiveMaterials/Materials/Glass/M_Glass.M_Glass needed to have new flag set bUsedWithInstancedStaticMeshes !
[2017.11.08-19.30.36:542][  0]LogMaterial: Missing cached shader map for material M_Glass, compiling. 
[2017.11.08-19.30.36:653][  0]LogMaterial: Missing cached shader map for material M_Glass, compiling. 
[2017.11.08-19.30.37:220][  0]LogMaterial: Warning: Material /Game/Static/Vehicles/GeneralMaterials/PolishedAluminiumBlack.PolishedAluminiumBlack needed to have new flag set bUsedWithSplineMeshes !
[2017.11.08-19.30.37:225][  0]LogMaterial: Missing cached shader map for material PolishedAluminiumBlack, compiling. 
[2017.11.08-19.30.41:623][  0]LogScript: Warning: Accessed None trying to read property Floor
	MutlipleFloorBuilding_C /Game/Maps/Town01.Town01:PersistentLevel.MutlipleFloorBuilding7
	Function /Game/Static/Buildings/MutlipleFloorBuilding.MutlipleFloorBuilding_C:UserConstructionScript:0210
[2017.11.08-19.30.41:624][  0]LogScript: Warning: Accessed None trying to read property Floor
	MutlipleFloorBuilding_C /Game/Maps/Town01.Town01:PersistentLevel.MutlipleFloorBuilding6
	Function /Game/Static/Buildings/MutlipleFloorBuilding.MutlipleFloorBuilding_C:UserConstructionScript:0210
[2017.11.08-19.30.41:627][  0]LogScript: Warning: Accessed None trying to read property Floor
	MutlipleFloorBuilding_C /Game/Maps/Town01.Town01:PersistentLevel.MutlipleFloorBuilding4_5700
	Function /Game/Static/Buildings/MutlipleFloorBuilding.MutlipleFloorBuilding_C:UserConstructionScript:0210
[...]

Collisions are not annotated when vehicle's speed is low

Currently there is a hard-coded limit of 1 km/h to avoid annotating unwanted collisions from other agents when the player is not moving (due to #7 mostly).

However, it seems to miss collisions when the car moves slightly faster too, around 5 km/h. This should be fixed because at 5 km/h the car is definitively moving.

SplineMeshRepeater loses its collider mesh.

Once placed in the world some uses of the SplineMeshRepeater actor loses their collider and needs to be replaced for another.

Multible camera image and disable traffic lights？

In the configuration file, I see we can set up multible cameras. I have a few questions:

What is the Intrinsic Camera Parameter of the cameras? I see we can set FOV.
If I set three cameras, how can I get image data through measuements?
I have another question not related to cameras, can I disable the traffic lights?

how to modify rewards function

Hello, I wonder how to modify the rewards function, and where to check the defined rewards function.

Thanks

How to create your own maps?

Hello. Please, help me to understand, how can I create new maps? There are Town 01 and 02 in RoadMaps by default, but if I want to try a track, for example?
Is there some way to do that?
Or maybe I can find somewhere already created maps?

AI Client?

Hi,

I am trying to reproduce the results in your paper, i.e., conditional imitation learning. I notice that you are collecting data mostly from your AI (I find the corresponding AI codes on the carla server). Is there any convenient way to modify the carla server code so that it loads the built-in AI, instead of listens to the client? Thanks

Download question??

I followed How to build CARLA on Linux, and stuck at Build Carla '$ ./Setup.sh', the code seems to download a Content_0.6.0.tar.gz from google drive, this file is huge, about 10GB. While I am in China, the connection is very unstable, and I downloaded almost a day, and failed. I saw the project page has 'Get the latest release here', I managed to download this, whose name is 'CARLA_0.6.0' , and its size after extraction is 6.3 GB. I am wondering what is CARLA_0.6.0? compare to Content_0.6.0.tar.gz? And is there any solution to download Content_0.6.0.tar.gz in China? Thanks so much.

Cameras suddenly got messed up

In in middle of driving all the cameras suddenly got messed up. After the next reset the issue was solved. See screenshots.

Intersections are not deterministic

The route that a vehicle follows when entering an intersection (turn left, right...) is chosen at random. This random number should come from the random engine associated with the vehicle spawner, and should always result in the same choices if the seed for vehicles is fixed. That's not currently the case.

Since we are doing changes in this part would be nice to clean and optimize the IntersectionEntrance and move most of the code to C++.

Bad runtime generation of navmesh

Navmesh fails to recalculate well at runtime.

Cars leave a trace of "holes" in the navmesh, pedestrians cannot enter this holes and follow weird paths to cross the road.
Navmesh fails to update a tile even though half of the vehicle lies inside the tile. Pedestrians see this part as walkable, when they try to cross they crash against the car and die.

small documentation bug

On https://github.com/carla-simulator/carla/blob/master/Docs/how_to_add_automotive_materials.md#manually-link-the-materials

"Content/Static/Vehicles/MaterialRedirectors" should be ""Content/Static/Vehicles/GeneralMaterials/MaterialRedirectors""

Question about the depth image format

Hi,
I am writing a ros wrapper for carla client, almost finished... but I get confused about the format of depth image received from the client.

In your code, you do the post-processing like this for visualization purpose:

			self.depth_vec[0] = self.depth_vec[0][:,:,:3]
			self.depth_vec[0] = self.depth_vec[0][:,:,::-1]

and

	depth = depth.astype(np.float32)
	gray_depth  = ((depth[:,:,0] +  depth[:,:,1]*256.0 +  depth[:,:,2]*256.0*256.0)/(256.0*256.0*256.0 ))

we can see that you actually use the three channels of the received depth image. What is the physical meaning of the three channels? Why you normalize the three channels use different coefficients?

How can reconstruct the ground truth depth from your format (I mean for example 1.2m 3.3m etc for every pixel)?

How to correctly insert path to my own CarlaSettings.ini?

I am trying to include the Example.CarlaSettings.ini into bash server config. The sim starts, but I cannot execute any commands in the window.

./CarlaUE4.sh /Game/Maps/Town01 -carla-settings=</home/student/Desktop/Carla/CARLA_0.6.0/Example.CarlaSettings.ini> -carla-no-networking -carla-no-hud -windowed -ResX=800 -ResY=600

Get images from the game

I am able to get the server and client to run. I loook though the python example.py. I am trying to have the image and user action save so I can try out behavior cloning. However I can’t seem to get image save although I set save image to true in the python example file. I

Lane Position

Add a map to the client. This will allow access to the vehicle position on the lane.

Distance from Centre of Lane?

Any pointers on where we would start if we wanted to collect something other than the current PlayerMeasurements? For example, I'd really like to be able to get the distance from the centre of the lane.

Server is not always ready when an "EpisodeReady" is sent

There is a race condition between the server and the client due to this, during a start episode sometimes the client fails to connect the agent subclients because the server is not yet ready.

How to access the GUI

Hi, all,

I just downloaded 0.6.0 version, and run

./CarlaUE4.sh /Game/Maps/Town01 -benchmark -fps=15

However, no GUI screen comes out, only the following log appears. Did I miss some steps to launch it?

[2017.11.13-05.10.26:595][ 26]LogCarla: ================================================================================
[2017.11.13-05.10.26:618][ 26]LogWorld: Bringing up level for play took: 10.153475
[2017.11.13-05.10.26:619][ 26]LogCarla: Changing weather settings to "ClearNoon"
[2017.11.13-05.10.26:622][ 26]LogCarla: Found 152 positions for spawning vehicles
[2017.11.13-05.10.26:628][ 26]LogSpawn: Warning: SpawnActor failed because of collision at the spawn location [X=39247.000 Y=24943.000 Z=3943.062] for [CitroenC3_C]
[2017.11.13-05.10.26:630][ 26]LogCarla: Found 472 positions for spawning walkers at begin play.
[2017.11.13-05.10.26:630][ 26]LogCarla: Found 126 positions for spawning walkers during game play.
[2017.11.13-05.10.26:687][ 26]LogCarla: Spawned 29 walkers at begin play.
[2017.11.13-05.10.26:689][ 26]LogLoad: Took 13.891491 seconds to LoadMap(/Game/Maps/Town01)
[2017.11.13-05.10.26:694][ 26]LogCarlaServer: Warning: Client disconnected, server needs restart
[2017.11.13-05.10.26:694][ 26]LogCarlaServer: Restarting the level...
[2017.11.13-05.10.26:794][ 27]LogNet: Browse: /Game/Maps/Town01?Name=Player?restart
[2017.11.13-05.10.26:903][ 27]LogLoad: LoadMap: /Game/Maps/Town01?Name=Player
[2017.11.13-05.10.27:156][ 27]LogMemory: Platform Memory Stats for LinuxNoEditor
[2017.11.13-05.10.27:156][ 27]LogMemory: Process Physical Memory: 2432.18 MB used, 3547.24 MB peak
[2017.11.13-05.10.27:156][ 27]LogMemory: Process Virtual Memory: 3550.36 MB used, 4781.66 MB peak
[2017.11.13-05.10.27:156][ 27]LogMemory: Physical Memory: 4230.87 MB used,  3677.42 MB free, 7908.29 MB total
[2017.11.13-05.10.27:156][ 27]LogMemory: Virtual Memory: 201.58 MB used,  3677.42 MB free, 8115.00 MB total
[2017.11.13-05.10.27:156][ 27]LogMemory: 
[2017.11.13-05.10.27:156][ 27]FMallocBinned2 Mem report
[2017.11.13-05.10.27:156][ 27]Small Pool
[2017.11.13-05.10.27:156][ 27]Requested Allocations: 592.220474mb  (including block size padding)
[2017.11.13-05.10.27:156][ 27]OS Allocated: 382.687500mb
[2017.11.13-05.10.27:156][ 27]Large Pool
[2017.11.13-05.10.27:156][ 27]Requested Allocations: 351.070145mb
[2017.11.13-05.10.27:156][ 27]OS Allocated: 351.375000mb
[2017.11.13-05.10.27:156][ 27]OS Page Allocator
[2017.11.13-05.10.27:156][ 27]Cached free pages: 0.000000mb
[2017.11.13-05.10.30:200][ 27]LogAIModule: Creating AISystem for world Town01
[2017.11.13-05.10.30:821][ 27]LogLoad: Game class is 'CarlaGameMode_C'
[2017.11.13-05.10.30:826][ 27]LogMaterial: Warning: Material /Game/AutomotiveMaterials/Materials/Glass/M_Glass.M_Glass missing bUsedWithInstancedStaticMeshes=True! Default Material will be used in game.
[2017.11.13-05.10.30:826][ 27]LogMaterial: Warning:      The material will recompile every editor launch until resaved.
[2017.11.13-05.10.30:958][ 27]LogWorld: Bringing World /Game/Maps/Town01.Town01 up for play (max tick rate 0) at 2017.11.13-00.10.30
[2017.11.13-05.10.30:960][ 27]LogCarla: Loading weather description from ../../../CarlaUE4/Config/CarlaWeather.ini
[2017.11.13-05.10.30:961][ 27]LogCarla: Loading weather description from ../../../CarlaUE4/Config/CarlaWeather.Town01.ini
[2017.11.13-05.10.30:962][ 27]LogCarlaServer: Waiting for the client to connect...

Carla crashing on Wubi-Ubuntu 16.04

Hi, I tried to follow the instructions to run Carla as given by untarring the CARLA_0.6.0.tar.gz. However, it is crashing. I have attached the crash logs generated. Could you please let me know what I am missing?

I am using Wubi-Ubuntu 16.04 on my Windows machine.
CarlaUE4.log
Diagnostics.txt