Build Carla from source on a headless linux server

[lalani1996]

Hello all,

I am using a remote headless Linux server and want to implement the RSS sensor on the server. For the implementation of the RSS sensor, I have to build Carla from the source in the server. Has anyone built Carla on a headless server? I tried X11 forwarding to launch Unreal Engine but it didn't work. Any suggestions would be appreciated.

Thanks and Regards

[qhaas]

Cliff Notes: If you need a GUI rendering on a remote server in GNU/Linux and use of it remotely via X11 forwarding, one way is to use OpenGL and VirtualGL.

Details:
You likely were unable to x-forward the UnrealEditor GUI (i.e. make launch) because it uses vulkan by default now which does not support x-forwarding. Many SSH implementations only support older versions of OpenGL out-of-the-box and those versions have been removed from newer versions of UnrealEngine. The way rendering works with X11 forwarding and GPU acceleration is not intuitive, this write-up by VirtualGL explains it.

We build/run CARLA on headless GNU/Linux systems, including HPCs. You can use make package to build CARLA releases similar to those provided by the vendor on systems without a GUI.

You can save sensor data to files during CARLA simulation runs, so no need for X11 or a GUI. You invoke CARLA server using SDL_VIDEODRIVER=offscreen ./CarlaUE4.sh -opengl to get OpenGL rendering without a GUI (or even X11, so completely headless). Vulkan rendering to flat files can be achieved with an upgrade to UE 4.25+

[lalani1996]

Thanks a lot for the explanation.

[corkyw10]

There is some draft documentation here explaining the different rendering options. Have a look if you have any input or would like to test it.

[corkyw10]

Closing this issue, if you find anything to mention regarding the new documentation, please open a new issue. Thanks!