Implementation:CARLA simulator Carla CMake Build Launch Package

Knowledge Sources	CARLA Simulator CARLA Documentation
Domains	Build_System, Development
Last Updated	2026-02-15 00:00 GMT

Overview

Concrete tool for launching the CARLA Unreal Engine editor or creating a standalone distributable package in the CARLA build pipeline.

Description

This implementation provides two CMake build targets that represent the final stage of the CARLA build-from-source pipeline:

• launch target: Opens the CARLA project in the Unreal Engine 5 editor for interactive development, map editing, and Play-In-Editor testing. This target compiles the CARLA plugin in Development mode and starts the editor process.

• package target: Creates a standalone, distributable CARLA simulator build by invoking Unreal Engine's BuildCookRun automation pipeline. The result is a self-contained directory with the compiled simulator binary, cooked (platform-optimized) content assets, and all runtime dependencies.

Both targets are defined in Unreal/CMakeLists.txt and serve as CMake wrappers around Unreal Engine's native UnrealBuildTool and UnrealAutomationTool.

Usage

Use the launch target during active development for fast iteration. Use the package target when creating builds for deployment, testing on machines without the development environment, or producing release artifacts.

Code Reference

Source Location

• Repository: CARLA
• File: Unreal/CMakeLists.txt:L573-594 (launch target), Unreal/CMakeLists.txt:L375-523 (package target)

Signature

# Launch the Unreal Engine editor with the CARLA project
cmake --build Build --target launch

# Create a standalone distributable package
cmake --build Build --target package

I/O Contract

Inputs

Name	Type	Required	Description
Build	Directory path	Yes	The CMake build directory from the configuration step.
--target launch	Target name	No	Opens the CARLA project in the Unreal Engine editor (development mode).
--target package	Target name	No	Creates a standalone distributable build via the BuildCookRun pipeline.
Compiled Unreal Engine 5	Prerequisite	Yes	The UE5 installation specified during CMake configuration.
Content assets	Prerequisite	Yes	The CARLA content repository must be cloned into Unreal/CarlaUnreal/Content/Carla.
CMake configuration	Prerequisite	Yes	The CMake configuration step must have completed successfully.

Outputs

Name	Type	Description
launch target: Unreal Editor process	Running process	The Unreal Engine 5 editor with the CARLA project loaded. Interactive window for development.
package target: Distributable directory	Directory tree	A self-contained CARLA simulator build, typically at Unreal/CarlaUnreal/Saved/StagedBuilds/Linux/.
package target: Cooked assets	Binary files	Platform-optimized content assets (compressed textures, compiled shaders, cooked maps).
package target: Shipping binary	Executable	Fully optimized simulator binary without editor or development features.
Exit code	Integer	0 on success; non-zero on build, cook, or packaging failure.

Usage Examples

Basic Example: Launch Editor

# Navigate to the CARLA repository root
cd CarlaUE5

# Launch the Unreal Engine editor with the CARLA project
cmake --build Build --target launch

Basic Example: Create Package

# Navigate to the CARLA repository root
cd CarlaUE5

# Build a standalone distributable package
cmake --build Build --target package

Running the Packaged Simulator

# After packaging, navigate to the output directory
cd Unreal/CarlaUnreal/Saved/StagedBuilds/Linux/

# Run the simulator with Vulkan rendering
./CarlaUE5.sh -vulkan

# Run in headless mode (no display required, useful for servers)
./CarlaUE5.sh -RenderOffScreen

# Run with a specific map
./CarlaUE5.sh -RenderOffScreen -quality-level=Epic

Packaging with Verbose Output

# Use verbose mode to see the full BuildCookRun pipeline output
cmake --build Build --target package --verbose

Full Build Pipeline Summary

# Complete build-from-source pipeline (after prerequisites and UE5 are ready)
cd CarlaUE5

# 1. Configure
cmake -G Ninja -S . -B Build \
  --toolchain=$PWD/CMake/Toolchain.cmake \
  -DCMAKE_BUILD_TYPE=Release \
  -DCARLA_UNREAL_ENGINE_PATH=$UE5_ROOT

# 2. Build Python API
cmake --build Build --target carla-python-api-install

# 3a. Launch editor (for development)
cmake --build Build --target launch

# 3b. OR create standalone package (for deployment)
cmake --build Build --target package

Related Pages

Implements Principle

• Principle:CARLA_simulator_Carla_Simulator_Packaging

Requires Environment

• Environment:CARLA_simulator_Carla_Build_From_Source_Requirements