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Here are some highlights covering some of CARLA's most useful and requested features. Autonomous Driving baselines: we provide Autonomous Driving baselines as runnable agents in CARLA, including an AutoWare agent and a Conditional Imitation Learning agent.ĬARLA's functionality is covered extensively in the documentation.ROS integration: CARLA is provided with integration with ROS via our ROS-bridge.Traffic scenarios simulation: our engine ScenarioRunner allows users to define and execute different traffic situations based on modular behaviors.Maps generation: users can easily create their own maps following the OpenDrive standard via tools like RoadRunner.Fast simulation for planning and control: this mode disables rendering to offer a fast execution of traffic simulation and road behaviors for which graphics are not required.

Autonomous Driving sensor suite: users can configure diverse sensor suites including LIDARs, multiple cameras, depth sensors and GPS among others.

Flexible API: CARLA exposes a powerful API that allows users to control all aspects related to the simulation, including traffic generation, pedestrian behaviors, weathers, sensors, and much more.

Scalability via a server multi-client architecture: multiple clients in the same or in different nodes can control different actors.

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