CARLA is open source and designed to be highly extensible. This allows users to create custom functionality or content to suit specialized applications or specific needs. The following tutorials detail how to achieve specific development aims with the CARLA codebase:

• Make release
• Upgrading content
• Create semantic tags
• Create new sensor
• Preformance benchmarking
• Recorder file format
• Collision boundaries

Make a release

If you want to develop your own fork of CARLA and publish releases of your code, follow this guide.

Upgrading content

Our content resides on a separate Git LFS repository. As part of our build system, we generate and upload a package containing the latest version of this content tagged with the current date and commit. Regularly, we upgrade the CARLA repository with a link to the latest version of the content package. Please follow these instructions to upgrade content.

Create semantic tags

CARLA has a set of semantic tags already defined suitable for most use cases. However, if you need additional classes you can add them as detailed in this guide

Creating a new sensor

You can modify CARLA's C++ code to create new sensors for your custom use cases. Please find the details here

Benchmarking performance

CARLA has a benchmarking script to help with benchmarking performance on your system. Find the full details here

Recorder binary file format

Details on the binary file format for the recorder can be found here

Generating collision boundaries

Details on generating more accurate collision boundaries for vehicles can be found in this guide