This repository contains traffic scenario definition and an execution engine for CARLA. It also allows the execution of a simulation of the CARLA Challenge. You can use this system to prepare your agent for the CARLA Challenge.

Scenarios can be defined through a Python interface, and with the newest version the scenario_runner also the upcoming OpenSCENARIO standard is supported.

Use git clone or download the project from this page. Note that the master branch contains the latest fixes and features, and may be required to use the latest features from CARLA.

It is important to also consider the release version that has to match the CARLA version.

• Version 0.9.6: Compatible with CARLA 0.9.6
• Version 0.9.5 and Version 0.9.5.1: Compatible with CARLA 0.9.5
• Version 0.9.2: Compatible with CARLA 0.9.2

To use a particular version you can either download the corresponding tarball or simply checkout the version tag associated to the release (e.g. git checkout v0.9.5)

Currently no build is required, as all code is in Python.

Please take a look at our Getting started documentation.

You can evaluate your own agents using a reproduction of the CARLA Challenge by following this tutorial

Please take a look at our Contribution guidelines.

If you run into problems, check our FAQ.

ScenarioRunner specific code is distributed under MIT License.