2. Carla_Core concepts （核心概念）

This page introduces the main features and modules in CARLA. Detailed explanations of the different subjects can be found in their corresponding page.
In order to learn about the different classes and methods in the API, take a look at the Python API reference. Besides, the Code recipes reference contains some common code chunks specially useful during these first steps.
• First steps
o 1st- World and client
o 2nd- Actors and blueprints
o 3rd- Maps and navigation
o 4th- Sensors and data
• Advanced steps
核心概念
本页主要介绍了CARLA的主要功能和模块。不同主题的详细说明可以在相应的页面中找到。
为了了解API中不同的类和方法，请参阅Python API参考。此外，Code recipes包含一些常见的代码块，在这些最初步骤中特别有用。

第一步
第一、世界和客户
第二、部分-演员和蓝图
第三、地图和导航
第四、传感器和数据

先进的步骤

This documentation refers to CARLA 0.9.X.
The API changed significantly from previous versions (0.8.X). There is another documentation regarding those versions that can be found here.

First steps
1st- World and client
The client is the module the user runs to ask for information or changes in the simulation. A client runs with an IP and a specific port. It communicates with the server via terminal. There can be many clients running at the same time. Advanced multiclient managing requires thorough understanding of CARLA and synchrony.
The world is an object representing the simulation. It acts as an abstract layer containing the main methods to spawn actors, change the weather, get the current state of the world, etc. There is only one world per simulation. It will be destroyed and substituted for a new one when the map is changed.

第一步
第一世界和客户端
客户端是用户运行以请求模拟中的信息或更改的模块。客户端使用IP和特定端口运行。它通过终端与服务器通信。可以同时运行多个客户端。先进的多元化管理需要对卡拉和同步的透彻理解。
世界是一个代表模拟的对象。它作为一个抽象层，包含生成参与者、更改天气、获取世界当前状态等主要方法。每个模拟只有一个世界。当地图发生变化时，它将被摧毁并替换为一个新的。

2nd- Actors and blueprints
An actor is anything that plays a role in the simulation.
• Vehicles.
• Walkers.
• Sensors.
• The spectator.
• Traffic signs and traffic lights.
Blueprints are already-made actor layouts necessary to spawn an actor. Basically, models with animations and a set of attributes. Some of these attributes can be customized by the user, others don’t. There is a Blueprint library containing all the blueprints available as well as information on them.

第二部分-演员和蓝图
演员是在模拟中扮演角色的任何东西。
•车辆。
•步行者。
•传感器。
•观众。
•交通标志和交通灯。
蓝图是已经制作好的actor布局，需要衍生一个actor。基本上，模型带有动画和一组属性。其中一些属性可以由用户定制，而另一些则不能。有一个蓝图库，包含所有可用的蓝图以及关于它们的信息。

3rd- Maps and navigation
The map is the object representing the simulated world, the town mostly. There are eight maps available. All of them use OpenDRIVE 1.4 standard to describe the roads.
Roads, lanes and junctions are managed by the Python API to be accessed from the client. These are used along with the waypoint class to provide vehicles with a navigation path.
Traffic signs and traffic lights are accessible as carla.Landmark objects that contain information about their OpenDRIVE definition. Additionally, the simulator automatically generates stops, yields and traffic light objects when running using the information on the OpenDRIVE file. These have bounding boxes placed on the road. Vehicles become aware of them once inside their bounding box.

第三，地图和导航
地图主要是代表模拟世界、城镇的对象。有八张地图可供选择。它们都使用OpenDRIVE 1.4标准来描述道路。
道路、车道和路口由Python API管理，以便从客户端访问。它们与waypoint类一起被用于为车辆提供导航路径。
交通标志和交通灯作为Carla的地标对象。包含关于其OpenDRIVE定义的信息。此外，模拟器在运行时使用OpenDRIVE文件上的信息自动生成停止、让行和交通灯对象。它们在道路上放置了边界框。车辆一旦进入它们的边界盒就会意识到它们。

4th- Sensors and data
Sensors wait for some event to happen, and then gather data from the simulation. They call for a function defining how to manage the data. Depending on which, sensors retrieve different types of sensor data.
A sensor is an actor attached to a parent vehicle. It follows the vehicle around, gathering information of the surroundings. The sensors available are defined by their blueprints in the Blueprint library.
• Cameras (RGB, depth and semantic segmentation).
• Collision detector.
• Gnss (GPS) sensor.
• IMU sensor.
• Lidar raycast.
• Lane invasion detector.
• Obstacle detector.
• Radar.
• RSS.

第四，传感器和数据
传感器等待某个事件发生，然后从模拟中收集数据。它们需要一个函数来定义如何管理数据。根据不同的类型，传感器检索不同类型的传感器数据。
传感器是附着在车辆上的演员。它跟踪车辆，收集周围环境的信息。可用的传感器由Blueprint库中的蓝图定义。
•相机(RGB，深度和语义分割)
•碰撞探测器。
•gps传感器。
•惯性传感器。
•激光雷达raycast。
•车道入侵探测器。
•障碍探测器。
•雷达。
•rss。

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Advanced steps
CARLA offers a wide range of features that go beyond the scope of this introduction to the simulator. Here are listed some of the most remarkable ones. However, it is highly encouraged to read the whole First steps section before starting with the advanced steps.
• OpenDRIVE standalone mode. Generates a road mesh using only an OpenDRIVE file. Allows to load any OpenDRIVE map into CARLA without the need of creating assets.
• PTV-Vissim co-simulation. Run a synchronous simulation between CARLA and PTV-Vissim traffic simulator.
• Recorder. Saves snapshots of the simulation state to reenact a simulation with exact precision.
• Rendering options. Graphics quality settings, off-screen rendering and a no-rendering mode.
• RSS sensor. This sensor is quite different from the rest. It integrates the C++ Library for Responsibility Sensitive Safety, and modifies a vehicle’s trajectory using safety checks.
• Simulation time and synchrony. Everything regarding the simulation time and server-client communication.
• SUMO co-simulation. Run a synchronous simulation between CARLA and SUMO traffic simulator.
• Traffic manager. This module is in charge of every vehicle set to autopilot mode. It simulates traffic in the city for the simulation to look like a real urban environment.

先进的步骤
CARLA提供了广泛的功能，超出了这个模拟器介绍的范围。这里列出了一些最引人注目的例子。但是，强烈建议在开始高级步骤之前阅读整个第一步部分。
•opendrive标准独立模式。仅使用OpenDRIVE文件生成道路路网。允许加载任何OpenDRIVE地图到卡拉，而不需要创建资产。
•PTV-vissim联合仿真。在CARLA和PTV-Vissim交通模拟器之间运行同步仿真。
•记录器。保存模拟状态的快照，以精确地重现模拟。
•渲染选项。图形质量设置，屏幕外渲染和无渲染模式。
•rss传感器。这个传感器与其他的很不一样。它集成了责任敏感安全的c++库，并使用安全检查修改车辆的轨迹。
•模拟时间和同步。关于模拟时间和服务器-客户端通信的一切。
•SUMO联合仿真。运行一个同步模拟CARLA和SUMO交通模拟器。
•交通管理。该模块负责将每个车辆设置为自动驾驶模式。它模拟城市中的交通，使模拟看起来像一个真实的城市环境。