# CARLA Documentation

Welcome to the CARLA documentation.

This home page contains an index with a brief description of the different sections in the documentation. Feel free to read in whatever order preferred. In any case, here are a few suggestions for newcomers.

* __Install CARLA.__ Either follow the [Quick start installation](start_quickstart.md) to get a CARLA release or [make the build](build_linux.md) for a desired platform.
* __Start using CARLA.__ The section titled [First steps](core_concepts.md) is an introduction to the most important concepts.
* __Check the API.__ there is a handy [Python API reference](python_api.md) to look up the classes and methods available.

The CARLA forum is available to post any doubts or suggestions that may arise during the reading.
<div class="build-buttons">
<a href="https://github.com/carla-simulator/carla/discussions/" target="_blank" class="btn btn-neutral" title="Go to the latest CARLA release">
CARLA forum</a>
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<br>

!!! Warning
    __Change the docs version to fit the CARLA version you are using__. Use the panel in the bottom-right side of this window to change to previous versions. __The _Latest_ version points to documentation in the `dev` branch__ which may refer to features currently in development and __not available__ in any packaged version of CARLA, as well general documentation improvements. ![docs_version_panel](img/docs_version_panel.jpg)

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## Getting started

[__Introduction__](start_introduction.md) — What to expect from CARLA.  
[__Quick start__](start_quickstart.md) — Get the CARLA releases.  


## Building CARLA

[__Linux build__](build_linux.md) — Make the build on Linux.  
[__Windows build__](build_windows.md) — Make the build on Windows.  
[__Update CARLA__](build_update.md) — Get up to date with the latest content.  
[__Build system__](build_system.md) — Learn about the build and how it is made.  
[__Running in a Docker__](build_docker.md) — Run CARLA using a container solution.  
[__F.A.Q.__](build_faq.md) — Some of the most frequent installation issues.  


## First steps
[__Core concepts__](core_concepts.md) — Overview of the basic concepts in CARLA.  
[__1st. World and client__](core_world.md) — Manage and access the simulation.  
[__2nd. Actors and blueprints__](core_actors.md) — Learn about actors and how to handle them.  
[__3rd. Maps and navigation__](core_map.md) — Discover the different maps and how do vehicles move around.  
[__4th. Sensors and data__](core_sensors.md) — Retrieve simulation data using sensors.  

## Advanced steps
[__OpenDRIVE standalone mode__](adv_opendrive.md) — Use any OpenDRIVE file as a CARLA map.  
[__PTV-Vissim co-simulation__](adv_ptv.md) — Run a synchronous simulation between CARLA and PTV-Vissim.  
[__Recorder__](adv_recorder.md) — Register the events in a simulation and play it again.  
[__Rendering options__](adv_rendering_options.md) — From quality settings to no-render or off-screen modes.  
[__RSS__](adv_rss.md) — An implementation of RSS in the CARLA client library.  
[__SUMO co-simulation__](adv_sumo.md) — Run a synchronous simulation between CARLA and SUMO.  
[__Synchrony and time-step__](adv_synchrony_timestep.md) — Client-server communication and simulation time.  
[__Traffic Manager__](adv_traffic_manager.md) — Simulate urban traffic by setting vehicles to autopilot mode.  

## References
[__Python API reference__](python_api.md) — Classes and methods in the Python API.  
[__Blueprint library__](bp_library.md) — Blueprints provided to spawn actors.  
[__C++ reference__](ref_cpp.md) — Classes and methods in CARLA C++.  
[__Recorder binary file format__](ref_recorder_binary_file_format.md) — Detailed explanation of the recorder file format.  
[__Sensors reference__](ref_sensors.md) — Everything about sensors and the data they retrieve.  

## Plugins
[__carlaviz — web visualizer__](plugins_carlaviz.md) — Plugin that listens the simulation and shows the scene and some simulation data in a web browser.  

## ROS bridge
[__ROS bridge documentation__](ros_documentation.md) — Brief overview of the ROS bridge and a link to the full documentation
## Tutorials — General
[__Add friction triggers__](tuto_G_add_friction_triggers.md) — Define dynamic box triggers for wheels.  
[__Control vehicle physics__](tuto_G_control_vehicle_physics.md) — Set runtime changes on a vehicle physics.  
[__Control walker skeletons__](tuto_G_control_walker_skeletons.md) — Animate walkers using skeletons.  
[__Generate maps with OpenStreetMap__](tuto_G_openstreetmap.md) — Use OpenStreetMap to generate maps for use in simulations.  
[__Retrieve simulation data__](tuto_G_retrieve_data.md) — A step by step guide to properly gather data using the recorder.  
[__CarSim Integration (Beta)__](tuto_G_carsim_integration.md) — Tutorial on how to run a simulation using the CarSim vehicle dynamics engine.  
[__RLlib Integration__](tuto_G_rllib_integration.md) — Find out how to run your own experiment using the RLlib library.  
[__Scenic__](tuto_G_scenic.md) — Follow an example of defining different scenarios using the Scenic library.  

## Tutorials — Assets
[__Add a new map__](tuto_A_add_map_overview.md) — Create and ingest a new map.  
[__Add a new vehicle__](tuto_A_add_vehicle.md) — Prepare a vehicle to be used in CARLA.  
[__Add new props__](tuto_A_add_props.md) — Import additional props into CARLA.  
[__Create standalone packages__](tuto_A_create_standalone.md) — Generate and handle standalone packages for assets.  
[__Map customization__](tuto_A_map_customization.md) — Edit an existing map.  
[__Material customization__](tuto_A_material_customization.md) — Edit vehicle and building materials.  

## Tutorials — Developers
[__Contribute with new assets__](tuto_D_contribute_assets.md) — Add new content to CARLA.  
[__Create a sensor__](tuto_D_create_sensor.md) — Develop a new sensor to be used in CARLA.  
[__Create semantic tags__](tuto_D_create_semantic_tags.md) — Define customized tags for semantic segmentation.  
[__Customize vehicle suspension__](tuto_D_customize_vehicle_suspension.md) — Modify the suspension system of a vehicle.  
[__Generate detailed colliders__](tuto_D_generate_colliders.md) — Create detailed colliders for vehicles.  
[__Make a release__](tuto_D_make_release.md) — For developers who want to publish a release.  
[__Generate pedestrian navigation__](tuto_D_generate_pedestrian_navigation.md) — Obtain the information needed for walkers to move around.  

## Contributing
[__Contribution guidelines__](cont_contribution_guidelines.md) — The different ways to contribute to CARLA.  
[__Code of conduct__](cont_code_of_conduct.md) — Standard rights and duties for contributors.  
[__Coding standard__](cont_coding_standard.md) — Guidelines to write proper code.  
[__Documentation standard__](cont_doc_standard.md) — Guidelines to write proper documentation.