Skip to content

Installation Guide

Prerequisites

  • Windows 10/11 (64-bit)
  • Python 3.10
  • CUDA 12.8 (for GPU acceleration)
  • CARLA 0.9.15
  • Git

Step 1: Clone Repository

git clone https://github.com/radar-lab/opencda-marl.git
cd opencda-marl

Step 2: Install Pixi

If you don't have pixi installed:

# Install pixi (Windows)
powershell -c "irm https://pixi.sh/install.ps1 | iex"

# Linux/macOS
curl -fsSL https://pixi.sh/install.sh | sh

Step 3: Setup Environment

# Find compatible pixi.toml file from the dependencies folder
# For example, if you are using AMD GPU, you should use the pixi.toml file 
# in the dependencies/pixi/pixi_Linux_ROCm.toml

# Install all dependencies
pixi install

# Test the installation
pixi run marl-quick-test

Step 4: Install CARLA

  1. Download CARLA 0.9.15 from CARLA Releases
  2. Extract to a folder (e.g., D:\Applications\CARLA_0.9.15)
  3. Set environment variable:

$env:CARLA_HOME = "D:\Applications\CARLA_0.9.15"
4. [Optional] Download our customized pre-built maps package from Here and extract to the CARLA_0.9.15 folder.

Step 5: Verify Installation

# Run CARLA server (in one terminal)
cd $env:CARLA_HOME
.\CarlaUE4.exe
# Or manually start the server by clicking the CarlaUE4.exe file

# Run OpenCDA test (in another terminal)
pixi run marl-quick-test

Development Environment

For documentation development:

# Activate docs environment
pixi shell -e docs

# Serve documentation locally
pixi run -e docs docs-serve

Getting Help

  1. Check the FAQ
  2. Search existing Issues
  3. Create a new issue with detailed error information