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Mac build

This guide details how to build CARLA from source on MacOS Monterey (Apple Silicon). This work is mostly experimental and serves primarily as a proof-of-concept for those interested in building CARLA 0.9.13 on the Apple Silicon devices.

Prerequisites

System requirements

  • MacOS 12 This is for building on MacOS Monterey (12). The latest version this was tested on is 12.1 on my M1 Max.
  • 130 GB disk space. Carla will take around 31 GB and Unreal Engine will take around 91 GB so have about 130 GB free to account for both of these plus additional minor software installations.
  • An adequate GPU. The M1 GPU's are very capable, though it is still recommended to get the Pro/Max's since I've found the performance to scale nearly linearly with number of GPU cores.
  • Two TCP ports and good internet connection. 2000 and 2001 by default. Make sure that these ports are not blocked by firewalls or any other applications.

..warning:: If you are upgrading from CARLA 0.9.12 to 0.9.13: you must first upgrade the CARLA fork of the UE4 engine to the latest version. ALSO The provided CARLA fork has a compile/linker bug with Apple Silicon, so you'll need to use this fork until the work is merged. See this discussion for more details.

Software requirements

CARLA requires many different kinds of software to run. Some are built during the CARLA build process itself, such as Boost.Python. Others are binaries that should be installed before starting the build (cmake, clang, different versions of Python, etc.). To install these requirements, run the following commands:

brew update && brew upgrade

brew install --build-from-source mono

brew install coreutils ninja wget autoconf automake curl libtool aria2 libiconv

# Media libraries
brew install libpng webp libtiff little-cms2 jpeg-turbo

IMPORTANT FOR M1 ONLY:

Set some necessary flags to link the installed libraries from a brew with the clang compiler in the M1 architecture. This step is not required for Intel.

export CPATH=/opt/homebrew/include
export LIBRARY_PATH=/opt/homebrew/lib

And save them to your ~/.zshrc or ~/.bashrc configuration files.

I recommend installing python through conda on mac:

conda create --name carla python=3.8
conda activate carla
conda install numpy distro wheel
pip install setuptools==47.3.1 nose2

(Install xcode through the app store, I used the latest (at time of writing) 12.2.1) And then open up xcode and install the xcode command line developer tools

xcode-select --install
sudo xcode-select -s /Applications/Xcode.app

Finally, you'll also need Rosetta 2 for the translation between x86 (UE4 prerequisite) and arm64 (native Apple Silicon)

Unreal Engine (Fork)

# clone the fork of CarlaUnreal's fork, with the mac patch applied
git clone https://github.com/GustavoSilvera/UnrealEngine --depth 1 -b mac-dev

cd /PATH/TO/UnrealEngine
./Setup.sh && ./GenerateProjectFiles.sh

# then finally build UE4
xcodebuild -scheme UE4 -target UE4 -UseModernBuildSystem=YES # this takes a while to complete

# for Xcode 14 do:
xcodebuild -scheme UE4 -target UE4 -UseModernBuildSystem=YES GENERATE_INFOPLIST_FILE=YES

# make sure to add the right UnrealEngine path as UE4_ROOT:
export UE4_ROOT=/PATH/TO/UnrealEngine # or add it in your .zshrc

NOTE: if you run into any mono_os_sem_destroy: semaphore_destroy failed with error ... errors, simply run the xcodebuild command above again. Do this until UE4 compiles, there is a race condition somewhere in the Mac build.

NOTE 2: some users (much thanks!) have reported needing to edit this line in UnrealEngine/Engine/Source/Programs/UnrealBuildTool/Platform/Mac/MacToolChain.cs:218 as follows:

// in MacToolChain.cs:218

// old
Result += " -Wall -Werror";

// new
Result += " -Wall"; // build on M1 sometimes fails with -Werror

Build CARLA

Note: This time, the build procedure is somewhat hacky and fragmanted by nature of using different architectures, but it still works reasonably well. The procedure is as follows:

  1. Build LibCarla in x86
  2. Build the UE4 carla game (also x86)
  3. Build LibCarla (AGAIN) in arm64
  4. Build the PythonAPI in arm64
  5. Add the arm64 Python arm .egg file to your PYTHONPATH
  6. Build the UE4 package in x86 (back to x86)

This is because the python scripts work much better in arm64 but the game itself (which depends on UE4) must be built for x86 and run on rosetta2.

The way I recommend you go about this is as follows:

# Update environment variables to see Carla
export CARLA_ROOT=/PATH/TO/Carla/ # or add to your .zshrc

# git clone and enter mac branch
./Update.sh # wait a while for the asset fetching to complete

# go to Util/Buildtools/Environment.sh
# make sure the ARCH (for MAC_OS) is set to "x86_64"

make LibCarla # in x86
...

make launch # in x86 (uses UE4 build and xcode cmd line)
...

# go to Util/Buildtools/Environment.sh
# make sure the ARCH (for IS_MAC) is set to "arm64"
mv Build Build.x86 # denoting the current (x86) build as such

make LibCarla # now in arm64!
...

make PythonAPI # now in arm64
...
# remember to follow step 5 above to install the built .egg file in the PYTHONPATH

make check # unit tests to verify everything works!
...

mv Build Build.arm64

# now you can switch between (re)building arm64 and x86 by renaming
# the Build.XYZ to just Build
# example:

mv Build.x86 Build

make package
...

Also, as an aside, since (almost) all the PythonAPI scripts look for a 'linux-x86_64' .egg file, you'll not be able to find it unless you modify EVERY single file, since this is too much work, you can simply add this to your PYTHONPATH via:

export PYTHONPATH="${PYTHONPATH}:/PATH/TO/CARLA/PythonAPI/carla/dist/carla-0.9.13-py3.8-macosx-11.0-arm64.egg"
# I simply put this in my .zshrc file

Then you should be able to quickly import carla without hassle!

After running make package, a building project is created. You can find this build in the path:

/path/to/carla/Dist/CARLA_Shipping_0.9.13-...-dirty/MacNoEditor/

This folder can be moved to another place if you prefer.

The build folder includes the compiled server app for Mac CarlaUE4-Mac-Shipping.app.

To run the server in headless mode, to be used by a client, you can run the following command in the terminal. This mode loads faster, and it delays around 20 seconds to be ready for the client:

open CarlaUE4-Mac-Shipping.app --args -RenderOffScreen