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https://github.com/nsubiron/libcarla

Build system for the new architecture of CARLA.
https://github.com/nsubiron/libcarla

Last synced: 23 days ago
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Build system for the new architecture of CARLA.

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README 

        
Build system for the new architecture of CARLA

==============================================



[![Build Status](https://travis-ci.org/nsubiron/libcarla.svg?branch=master)](https://travis-ci.org/nsubiron/libcarla)



Demo project for developing the new build system and architecture of

[CARLA Simulator](http://carla.org).



This new architecture supports multi-client multi-agent communication, basically

any number of Python clients can connect and send instructions to the simulator

simultaneously. The result is a new API that allows a finer control of each

actor in the scene



```py

import carla



client = carla.Client('localhost', 8080)

client.set_timeout(1000)



print('client version: %s' % client.get_client_version())

print('server version: %s' % client.get_server_version())



world = client.get_world()



blueprint = random.choice(world.get_blueprint_library())



transform = carla.Transform(

    carla.Location(x=-12.5, y=24.0, z=2.0),

    carla.Rotation(yaw=-90))



actor = world.spawn_actor(blueprint, transform)



while True:

    control = carla.VehicleControl(

        throttle=random.uniform(0.3, 1.0),

        steer=random.uniform(-0.1, 0.1))



    actor.apply_control(control)



    time.sleep(1)



```



## Design



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.



![modules](Docs/img/modules.png)



## Compilation



Required installed dependencies,



    $ sudo add-apt-repository ppa:ubuntu-toolchain-r/test

    $ sudo apt-get install clang-5.0 lld-5.0 g++-7 ninja-build python python-pip python3 python3-pip libboost-python-dev

    $ pip2 install --user setuptools nose2

    $ pip3 install --user setuptools nose2



Required compiler



  * clang++-5.0



Best if it is set up as default version of clang



    $ sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-5.0/bin/clang++ 101

    $ sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-5.0/bin/clang 101



Everything is compiled with `-std=c++17`.



Required CMake 3.9 or higher.



Required Unreal Engine 4.19, install with the usual



    $ git clone --depth=1 -b 4.19 https://github.com/EpicGames/UnrealEngine.git ~/UnrealEngine_4.19

    $ cd ~/UnrealEngine_4.19

    $ ./Setup.sh && ./GenerateProjectFiles.sh && make



and set your `UE4_ROOT` environment variable



    $ export UE4_ROOT=~/UnrealEngine_4.19



Once everything is installed, run one of the following commands



```sh

$ make launch   # Compiles CARLA and launches Unreal Engine's Editor.

$ make package  # Compiles CARLA and creates a packaged version for distribution.

$ make help     # Print all available commands.

```



## Compilation details



Here a detailed description of the different modules that need to be compiled.

The Makefile compiles these modules incrementally as needed.



#### Setup



Command



    $ make setup



Get and compile dependencies



  * llvm-5.0 (libc++ and libc++abi)

  * rpclib-2.2.1 (both with libstdc++ and libc++)

  * boost-1.67 (headers only)

  * googletest-1.8.0 (with libc++)



#### LibCarla



Compiled with CMake (min. version required CMake 3.9).



Command



    $ make LibCarla



Two configurations:



|                 | Server       | Client    |

|-----------------|--------------|-----------|

| **Unit tests**  | yes          | no        |

| **Requires**    | rpclib, gtest, boost | rpclib, boost

| **std runtime** | LLVM's `libc++` | Default `libstdc++` |

| **Output**      | headers and test exes | `libcarla_client.a` |

| **Required by** | Carla plugin | PythonAPI |



#### CarlaUE4 and Carla plugin



Both compiled at the same step with Unreal Engine 4.19 build tool. They require

the `UE4_ROOT` environment variable set.



Command



    $ make CarlaUE4Editor



To launch Unreal Engine's Editor run



    $ make launch



#### PythonAPI



Compiled using Python's `setuptools` ("setup.py"). 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.



Command



    $ make PythonAPI



It creates two "egg" packages



  * `PythonAPI/dist/carla-0.9.0-py2.7-linux-x86_64.egg`

  * `PythonAPI/dist/carla-0.9.0-py3.5-linux-x86_64.egg`



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

system path



```py

#!/usr/bin/env python



import sys



sys.path.append(

    'dist/carla-0.9.0-py%d.%d-linux-x86_64.egg' % (sys.version_info.major,

                                                   sys.version_info.minor))



import carla

```



or installed with `easy_install`



    $ easy_install2 --user --no-deps PythonAPI/dist/carla-0.9.0-py2.7-linux-x86_64.egg

    $ easy_install3 --user --no-deps PythonAPI/dist/carla-0.9.0-py3.5-linux-x86_64.egg