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CARLA Simulator

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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.

CARLA Video

Download CARLA

Linux:

Windows:

Recommended system

Documentation

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

CARLA Ecosystem

Repositories associated with the CARLA simulation platform:

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<br>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:

CARLA uses one dependency as part of the Chrono integration:

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."