Revision fe117ef1e40ea875b9bfd1a4e7e88c5523b4d246 authored by Ruben Abad on 12 February 2024, 11:57:10 UTC, committed by Ruben Abad on 12 February 2024, 11:57:10 UTC
build_system.md
# Build system
* [__Setup__](#setup)
* [__LibCarla__](#libcarla)
* [__CarlaUE4 and Carla plugin__](#carlaue4-and-carla-plugin)
* [__PythonAPI__](#pythonapi)
- [Versions 0.9.12+](#versions-0912)
- [Versions prior to 0.9.12](#versions-prior-to-0912)
> _This document is a work in progress, only the Linux build system is taken into account here._
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](img/build_modules.jpg)
In Linux, we compile CARLA and all the dependencies with clang-8.0 and C++14 standard. We however link against different runtime C++ libraries depending on where the code going to be used, since all the code that is going to be linked with Unreal Engine needs to be compiled using `libc++`.
---
## Setup
Command
```sh
make setup
```
Get and compile dependencies
* llvm-8 (libc++ and libc++abi)
* rpclib-2.2.1 (twice, with libstdc++ and libc++)
* boost-1.72.0 (headers and boost_python for libstdc++)
* googletest-1.8.1 (with libc++)
---
## LibCarla
Compiled with CMake (minimum version required CMake 3.9).
Command
```sh
make LibCarla
```
Two configurations:
| | Server | Client |
| ---------- | ---------- | ---------- |
| **Unit tests** | Yes | No |
| **Requirements** | rpclib, gtest, boost | rpclib, boost |
| **std runtime** | LLVM's `libc++` | Default `libstdc++` |
| **Output** | headers and test exes | `ibcarla_client.a` |
| **Required by** | Carla plugin | PythonAPI |
---
## CarlaUE4 and Carla plugin
Both compiled at the same step with Unreal Engine build tool. They require the `UE4_ROOT` environment variable set.
Command
```sh
make CarlaUE4Editor
```
To launch Unreal Engine's Editor run
```sh
make launch
```
---
## PythonAPI
### Versions 0.9.12+
Compiled using Python's `setuptools` ("setup.py"). Currently requires the following to be installed in the machine: Python, libpython-dev, and
libboost-python-dev, pip>=20.3, wheel, and auditwheel.
Command:
```sh
make PythonAPI
```
Creates two files that each contain the client library and correspond to the supported Python version on the system. One file is a `.whl` file and the other is an `.egg` file. This allows for the option of two different, mutually exclusive ways to use the client library.
>__A. .whl file__
>>The `.whl` is installed using the command:
>> pip install <wheel_file>.whl
>>There is no need to import the library path directly in scripts as is required in previous versions or `.egg` files (see section [__Versions prior to 0.9.12__](#versions-prior-to-0912)); `import carla` is sufficient.
>__B. .egg file__
>>See the section [__Versions prior to 0.9.12__](#versions-prior-to-0912) for more information.
### Versions prior to 0.9.12
Compiled using Python's `setuptools` ("setup.py"). Currently requires the following to be installed in the machine: Python, libpython-dev, and
libboost-python-dev.
Command
```sh
make PythonAPI
```
It creates two "egg" packages
* `PythonAPI/dist/carla-X.X.X-py2.7-linux-x86_64.egg`
* `PythonAPI/dist/carla-X.X.X-py3.7-linux-x86_64.egg`
This package can be directly imported into a Python script by adding it to the system path.
```python
#!/usr/bin/env python
import sys
sys.path.append(
'PythonAPI/dist/carla-X.X.X-py%d.%d-linux-x86_64.egg' % (sys.version_info.major,
sys.version_info.minor))
import carla
# ...
```
Alternatively, it can be installed with `easy_install`
```sh
easy_install2 --user --no-deps PythonAPI/dist/carla-X.X.X-py2.7-linux-x86_64.egg
easy_install3 --user --no-deps PythonAPI/dist/carla-X.X.X-py3.7-linux-x86_64.egg
```
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