添加调试编译选项

Examples/CppClient/CMakeLists.txt

@@ -5,7 +5,7 @@ project(example)
 link_directories(
     ${RPCLIB_LIB_PATH})
 
-file(GLOB example_sources "main.cpp" "*.h")
+file(GLOB example_sources "basic_usage.cpp" "*.h")
 
 file(GLOB example_client_sources "")
 
@@ -22,18 +22,19 @@ foreach(target ${build_targets})
 
   target_include_directories(${target} SYSTEM PRIVATE
       "../../LibCarla/source"
-      "../../Build/debug/boost-1.86.0-install/include"
-      "../../Build/debug/rpclib-install/include/"
-      "../../Build/debug/recast-install/include/"
+      "../../PythonAPI/carla/dependencies/include"    # 瑙ｅ喅锛氭棤娉曟墦寮� 婧� 鏂囦欢 "carla/client/ActorBlueprint.h"
+      "../../Build/boost-1.86.0-install/include"
+      "../../Build/rpclib-install/include/"
+      "../../Build/recast-install/include/"
       "../../Build/zlib-install/include/"
       "../../Build/libpng-1.2.37-install/include/"
       "../../LibCarla/source/third-party/")
 
   # 涓虹壒瀹氱殑鐩爣锛堝彲鎵ц鏂囦欢鎴栧簱锛夋寚瀹氶摼鎺ュ櫒鎼滅储搴撴枃浠剁殑鐩綍
   target_link_directories(${target} PRIVATE
-      "../../Build/debug/boost-1.86.0-install/lib"
-      "../../Build/debug/rpclib-install/lib/"
-      "../../Build/debug/recast-install/lib/"
+      "../../Build/boost-1.86.0-install/lib"
+      "../../Build/rpclib-install/lib/"
+      "../../Build/recast-install/lib/"
       "../../PythonAPI/carla/dependencies/lib/"  # 涓轰簡瀵煎叆 carla_client_debug.lib
       "../../Build/zlib-install/lib/"
       "../../Build/libcarla-visualstudio/LibCarla/cmake/client/Debug/"

Examples/CppClient/basic_usage.cpp

@@ -0,0 +1,104 @@
+// 参考:https://zhuanlan.zhihu.com/p/663460928
+#include <sstream>
+#include <string>
+#include <thread>
+#include <tuple>
+
+// 注意：hutb\Unreal\CarlaUE4\Plugins\Carla\CarlaDependencies\include\carla 不存在 carla/client 目录
+#include <carla/client/ActorBlueprint.h>
+#include <carla/client/BlueprintLibrary.h>
+#include <carla/client/Client.h>
+#include <carla/client/Sensor.h>
+#include <carla/client/TimeoutException.h>
+#include <carla/client/World.h>
+#include <carla/geom/Transform.h>
+#include <carla/actors/BlueprintLibrary.h>
+
+using namespace std;
+using namespace carla;
+
+static auto ParseArguments(int argc, const char* argv[])
+{
+    //    EXPECT_TRUE((argc == 1u) || (argc == 3u));
+    using ResultType = std::tuple<std::string, uint16_t>;
+    return argc == 3u ? ResultType{ argv[1u], std::stoi(argv[2u]) } : ResultType{ "localhost", 2000u };
+}
+
+int main(int argc, const char* argv[])
+{
+    try
+    {
+        std::string host;
+        uint16_t port;
+        std::tie(host, port) = ParseArguments(argc, argv);
+
+        client::Client client = client::Client(host, port);
+        client.SetTimeout(40s);
+
+        std::cout << "Client API version : " << client.GetClientVersion() << "\n";
+        std::cout << "Server API version : " << client.GetServerVersion() << '\n';
+        // 导入地图
+        std::string town_name = "HutbCarlaCity";
+        client::World world = client.LoadWorld(town_name);
+
+        // 创建Waypoint。在Town05中，每隔2米获取一个Waypoint
+        SharedPtr<client::Map> map = world.GetMap();
+        std::vector<SharedPtr<client::Waypoint>> way_point = map->GenerateWaypoints(2);
+
+        // 获取推荐的车辆其实位置
+        std::vector<geom::Transform> spawn_point = map->GetRecommendedSpawnPoints();
+
+        // 构建汽车对象
+        // 获取这张地图中所有实物的蓝图
+        SharedPtr<actors::BlueprintLibrary> blueprint_library = world.GetBlueprintLibrary();
+        // 获取汽车的蓝图并指定其颜色
+        actors::ActorBlueprint vehile_bp = *blueprint_library->Find("vehicle.tesla.model3");
+        vehile_bp.SetAttribute("color", "255,255,255");
+        std::vector<geom::Transform> recommend_points = map->GetRecommendedSpawnPoints();
+        // 在推荐点中选取一点生成汽车
+        SharedPtr<client::Actor> actor = world.SpawnActor(vehile_bp, recommend_points[300]);
+        SharedPtr<client::Vehicle> vehicle = boost::static_pointer_cast<client::Vehicle>(actor);
+
+        // 切换视角查看生成的汽车
+        geom::Transform view_transform = recommend_points[300];
+        SharedPtr<client::Actor> spectator = world.GetSpectator();
+        view_transform.location -= 5.0f * view_transform.GetForwardVector();
+        view_transform.location.z += 3.0f;
+        view_transform.rotation.yaw += 0.0f;
+        view_transform.rotation.pitch = -15.0f;
+        spectator->SetTransform(view_transform);
+
+
+        // 参考：https://zhuanlan.zhihu.com/p/663726656
+        // 踩油门
+        // client::Vehicle::Control control;
+        // control.throttle = 0.3;
+        // while (true)
+        // {
+        //     vehicle->ApplyControl(control);
+        // }
+        // 除了油门，还可以控制刹车、方向盘、传动比、手刹等
+        // control.brake = 0.1;
+        // control.steer = 0.02;
+        // control.gear = 2;
+        // control.hand_brake = true;
+
+        // 速度加速度：AckermanControl
+
+        // 自动驾驶
+        vehicle->SetAutopilot(true);
+
+
+    }
+    catch (const client::TimeoutException& e)
+    {
+        std::cout << '\n' << e.what() << std::endl;
+        return 1;
+    }
+    catch (const std::exception& e)
+    {
+        std::cout << "\nException: " << e.what() << std::endl;
+        return 2;
+    }
+
+}

Examples/CppClient/main.cpp

@@ -75,7 +75,7 @@ int main(int argc, const char *argv[]) {
     std::cout << "Server API version : " << client.GetServerVersion() << '\n';
 
     // Load town
-    auto world = client.LoadWorld("Town10HD");
+    auto world = client.LoadWorld("HutbCarlaCity");
 
     // Get a random vehicle blueprint.
     auto blueprint_library = world.GetBlueprintLibrary();

LICENSE

@@ -1,5 +1,6 @@
 MIT License
 
+Copyright (c) 2026 OpenHUTB
 Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de
 Barcelona (UAB).
 

LibCarla/cmake/client/CMakeLists.txt

@@ -63,7 +63,7 @@ install(DIRECTORY "${RPCLIB_INCLUDE_PATH}/rpc" DESTINATION include/system)
 file(GLOB libcarla_carla_rpclib "${RPCLIB_LIB_PATH}/*.*")
 install(FILES ${libcarla_carla_rpclib} DESTINATION lib)
 
-# Install boost headers (install in system folder to avoid extra warnings).
+# Install boost headers (install in system folder to avoid extra warnings). prevent printed message too long.
 # @todo Remove boost from public interface of LibCarla.client.
 install(DIRECTORY "${BOOST_INCLUDE_PATH}/boost" DESTINATION include/system)
 file(GLOB boost_libraries "${BOOST_LIB_PATH}/*.*")

LibCarla/cmake/server/CMakeLists.txt

@@ -31,7 +31,7 @@ foreach(dir ""
 
 endforeach()
 
-# Install boost headers and libraries.
+# Install boost headers and libraries. Prevent printed message too long.
 install(DIRECTORY "${BOOST_INCLUDE_PATH}/boost" DESTINATION include)
 
 if(WIN32)

LibCarla/source/carla/Version.h

@@ -0,0 +1,15 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+namespace carla {
+
+  constexpr const char *version() {
+    return "${CARLA_VERSION}";
+  }
+
+} // namespace carla

LibCarla/source/carla/trafficmanager/InMemoryMap.cpp

@@ -166,6 +166,7 @@ namespace traffic_manager {
   void InMemoryMap::SetUp() {
 
     // 1. Building segment topology (i.e., defining set of segment predecessors and successors)
+    log_warning("1. Building segment topology (i.e., defining set of segment predecessors and successors)...");
     assert(_world_map != nullptr && "No map reference found.");
     auto waypoint_topology = _world_map->GetTopology();
 
@@ -227,6 +228,7 @@ namespace traffic_manager {
     }
 
     // 2. Consuming the raw dense topology from cc::Map into SimpleWaypoints.
+    log_warning("2. Consuming the raw dense topology from cc::Map into SimpleWaypoints....");
     SegmentMap segment_map;
     assert(_world_map != nullptr && "No map reference found.");
     auto raw_dense_topology = _world_map->GenerateWaypoints(MAP_RESOLUTION);
@@ -238,6 +240,7 @@ namespace traffic_manager {
     }
 
     // 3. Processing waypoints.
+    log_warning("3. Processing waypoints....");
     auto distance_squared = [](cg::Location l1, cg::Location l2) {
       return cg::Math::DistanceSquared(l1, l2);
     };
@@ -434,6 +437,10 @@ namespace traffic_manager {
               }
               junction_end_waypoint = temp.front();
             }
+            // Skip if traversed_waypoints is empty to avoid front() on empty vector
+            if (traversed_waypoints.empty()) {
+              continue;
+            }
 
             // Calculate the angle between the first and the last point of the junction.
             int16_t current_angle = static_cast<int16_t>(traversed_waypoints.front()->GetTransform().rotation.yaw);

Unreal/CarlaUE4/Config/DefaultGame.ini

@@ -49,6 +49,8 @@ bCompressed=False
 bEncryptIniFiles=False
 bEncryptPakIndex=False
 bSkipEditorContent=False
+bNativizeBlueprintAssets=False
+bNativizeOnlySelectedBlueprints=False
 +MapsToCook=(FilePath="/Game/Carla/Maps/Town01")
 +MapsToCook=(FilePath="/Game/Carla/Maps/Town01_Opt")
 +MapsToCook=(FilePath="/Game/Carla/Maps/Town02")
@@ -73,6 +75,12 @@ bSkipEditorContent=False
 +MapsToCook=(FilePath="/Game/Carla/Maps/Town12/Town12")
 +MapsToCook=(FilePath="/Game/Carla/Maps/Town13/Town13")
 +MapsToCook=(FilePath="/Game/Carla/Maps/Town15/Town15")
+; 鎵撳寘 HUTB 鍦板浘
++MapsToCook=(FilePath="/Game/Carla/RoadRunner/Maps/HutbCarlaCity")
++DirectoriesToAlwaysCook=(Path="/Game/Carla/RoadRunner/Static")
++DirectoriesToAlwaysCook=(Path="/Game/Carla/Static/Other")
++DirectoriesToAlwaysCook=(Path="/Game/Carla/Static/Bridge")
++DirectoriesToAlwaysStageAsUFS=(Path="Carla/RoadRunner/Maps/OpenDrive")
 +DirectoriesToAlwaysCook=(Path="/AirSim/HUDAssets")
 +DirectoriesToAlwaysCook=(Path="Carla/Static/GenericMaterials/Licenseplates/Textures")
 +DirectoriesToAlwaysCook=(Path="Carla/Static/Car/4Wheeled/ParkedVehicles")
@@ -82,12 +90,12 @@ bSkipEditorContent=False
 +DirectoriesToAlwaysCook=(Path="/Carla/PostProcessingMaterials")
 +DirectoriesToAlwaysCook=(Path="/Game/StarterContent")
 +DirectoriesToAlwaysStageAsUFS=(Path="Carla/Maps/OpenDrive")
-; 澶у湴鍥剧殑鏉愯川
-+DirectoriesToAlwaysCook=(Path="/Carla/Maps/Town15/DefaultMaterials")
 +DirectoriesToAlwaysStageAsUFS=(Path="Carla/Maps/Nav")
 +DirectoriesToAlwaysStageAsUFS=(Path="Carla/Maps/TM")
 +DirectoriesToAlwaysStageAsUFS=(Path="Carla/Config")
 +DirectoriesToAlwaysStageAsUFS=(Path="Carla/Maps/Nav")
+; 澶у湴鍥剧殑鏉愯川
++DirectoriesToAlwaysCook=(Path="/Carla/Maps/Town15/DefaultMaterials")
 ; 鎷疯礉澶у湴鍥剧儤鐒欐椂鍊欐墍缂哄皯鐨� OpenDrive, TM (Nav) 鏂囦欢澶�
 +DirectoriesToAlwaysStageAsUFS=(Path="Carla/Maps/Town11/OpenDrive")
 +DirectoriesToAlwaysStageAsUFS=(Path="Carla/Maps/Town11/TM")
@@ -98,8 +106,12 @@ bSkipEditorContent=False
 +DirectoriesToAlwaysStageAsUFS=(Path="Carla/Maps/Town15/Nav")
 +DirectoriesToAlwaysStageAsUFS=(Path="Carla/Maps/Town15/OpenDrive")
 +DirectoriesToAlwaysStageAsUFS=(Path="Carla/Maps/Town15/TM")
-bNativizeBlueprintAssets=False
-bNativizeOnlySelectedBlueprints=False
+; 涓數杞欢鍥祫浜�
++MapsToCook=(FilePath="/Game/roadrunner/map/baidutest2test")
++DirectoriesToAlwaysCook=(Path="/Game/roadrunner/static")
++DirectoriesToAlwaysCook=(Path="/Game/roadrunner/map")
++DirectoriesToAlwaysStageAsUFS=(Path="roadrunner/map/OpenDrive")
++DirectoriesToAlwaysStageAsUFS=(Path="roadrunner/ccsp")
 
 [/Script/VRSSettingsEditor.VRSSettings]
 vrs.EnableVRS=True

Util/BuildTools/BuildCarlaUE4.bat

@@ -183,23 +183,47 @@ echo %OPTIONAL_MODULES_TEXT% > "%ROOT_PATH%Unreal/CarlaUE4/Config/OptionalModule
 if %BUILD_UE4_EDITOR% == true (
     echo %FILE_N% Building Unreal Editor...
 
-    call "%UE4_ROOT%Engine\Build\BatchFiles\Build.bat"^
-        CarlaUE4Editor^
-        Win64^
-        Development^
-        -WaitMutex^
-        -FromMsBuild^
-        "%ROOT_PATH%Unreal/CarlaUE4/CarlaUE4.uproject"
-    if errorlevel 1 goto bad_exit
-
-    call "%UE4_ROOT%Engine\Build\BatchFiles\Build.bat"^
-        CarlaUE4^
-        Win64^
-        Development^
-        -WaitMutex^
-        -FromMsBuild^
-        "%ROOT_PATH%Unreal/CarlaUE4/CarlaUE4.uproject"
-    if errorlevel 1 goto bad_exit
+    if %IS_DEBUG% == true (
+        echo %FILE_N% Building Unreal Editor in debug mode...
+        call "%UE4_ROOT%Engine\Build\BatchFiles\Build.bat"^
+            CarlaUE4Editor^
+            Win64^
+            Debug^
+            -WaitMutex^
+            -FromMsBuild^
+            "%ROOT_PATH%Unreal/CarlaUE4/CarlaUE4.uproject"
+        if errorlevel 1 goto bad_exit
+
+        call "%UE4_ROOT%Engine\Build\BatchFiles\Build.bat"^
+            CarlaUE4^
+            Win64^
+            Debug^
+            -WaitMutex^
+            -FromMsBuild^
+            "%ROOT_PATH%Unreal/CarlaUE4/CarlaUE4.uproject"
+        if errorlevel 1 goto bad_exit
+    ) else (
+        echo %FILE_N% Building Unreal Editor in release mode...
+        call "%UE4_ROOT%Engine\Build\BatchFiles\Build.bat"^
+            CarlaUE4Editor^
+            Win64^
+            Development^
+            -WaitMutex^
+            -FromMsBuild^
+            "%ROOT_PATH%Unreal/CarlaUE4/CarlaUE4.uproject"
+        if errorlevel 1 goto bad_exit
+
+        call "%UE4_ROOT%Engine\Build\BatchFiles\Build.bat"^
+            CarlaUE4^
+            Win64^
+            Development^
+            -WaitMutex^
+            -FromMsBuild^
+            "%ROOT_PATH%Unreal/CarlaUE4/CarlaUE4.uproject"
+        if errorlevel 1 goto bad_exit
+    )
+
+
 )
 
 rem Launch Carla Editor