https://github.com/carla-simulator/carla
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index.md
# 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://forum.carla.org/" target="_blank" class="btn btn-neutral" title="Go to the latest CARLA release">
CARLA forum</a>
</div>
!!! Important
This documentation refers to CARLA 0.9.0 or later. To read about previous versions, check the [stable branch](https://carla.readthedocs.io/en/stable/).
---
## Getting started
<p style="padding-left:30px;line-height:1.8">
[__Introduction__](start_introduction.md)
— What to expect from CARLA.
[__Quick start__](start_quickstart.md)
— Get the CARLA releases.
</p>
## Building CARLA
<p style="padding-left:30px;line-height:1.8">
[__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.
</p>
## First steps
<p style="padding-left:30px;line-height:1.8">
[__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.
</p>
## Advanced steps
<p style="padding-left:30px;line-height:1.8">
[__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.
</p>
## References
<p style="padding-left:30px;line-height:1.8">
[__Python API reference__](python_api.md)
— Classes and methods in the Python API.
[__Code recipes__](ref_code_recipes.md)
— Some code fragments commonly used.
[__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
<p style="padding-left:30px;line-height:1.8">
[__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
<p style="padding-left:30px;line-height:1.8">
[__ROS bridge installation__](ros_installation.md)
— The different ways to install the ROS bridge.
[__CARLA messages reference__](ros_msgs.md)
— Contains explanations and fields for every type of CARLA message available in ROS.
[__Launchfiles reference__](ros_launchs.md)
— Lists the launchfiles and nodes provided, and the topics being consumed and published.
</p>
## Tutorials — General
<p style="padding-left:30px;line-height:1.8">
[__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.
[__Retrieve simulation data__](tuto_G_retrieve_data.md)
— A step by step guide to properly gather data using the recorder.
</p>
## Tutorials — Assets
<p style="padding-left:30px;line-height:1.8">
[__Add a new map__](tuto_A_add_map.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.
[__Vehicle modelling__](tuto_A_vehicle_modelling.md)
— Create a new vehicle for CARLA.
</p>
## Tutorials — Developers
<p style="padding-left:30px;line-height:1.8">
[__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.
[__Make a release__](tuto_D_make_release.md)
— For developers who want to publish a release.
[__Generate detailed colliders__](tuto_D_generate_colliders.md)
— Created detailed colliders for vehicles.
[__Generate pedestrian navigation__](tuto_D_generate_pedestrian_navigation.md)
— Obtain the information needed for walkers to move around.
</p>
## Contributing
<p style="padding-left:30px;line-height:1.8">
[__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.
</p>