From 2ba02e332be2af51f5dd756c8f85f4dbcbc60b0e Mon Sep 17 00:00:00 2001
From: jiandaoshou-aidehua <2893666867@qq.com>
Date: Fri, 5 Jun 2026 17:29:05 +0800
Subject: [PATCH 01/29] =?UTF-8?q?ubuntu=E7=B3=BB=E7=BB=9F=E6=89=93?=
 =?UTF-8?q?=E5=8C=85carla?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .github/workflows/build_linux.yml             | 10 ++---
 Unreal/CarlaUE4/CarlaUE4.uproject             | 20 +--------
 .../Plugins/Carla/Source/Carla/Carla.Build.cs | 18 +++-----
 .../Source/CarlaUE4/CarlaUE4.Build.cs         |  5 ++-
 Unreal/CarlaUE4/Source/CarlaUE4/CarlaUE4.cpp  | 11 ++++-
 Util/BuildTools/BuildUE4Plugins.sh            | 44 +++++++++----------
 6 files changed, 46 insertions(+), 62 deletions(-)

diff --git a/.github/workflows/build_linux.yml b/.github/workflows/build_linux.yml
index d543777045..6e63744345 100644
--- a/.github/workflows/build_linux.yml
+++ b/.github/workflows/build_linux.yml
@@ -49,11 +49,11 @@ jobs:
                        make CarlaUE4Editor ARGS="--chrono -j$(nproc)"
                     shell: bash
                     
-                    # - name: package 
-                    #run: |
-                    #   source ./setEnv64.sh 
-                    #   make package ARGS="--chrono"
-                    # shell: bash 
+                    - name: package 
+                    run: |
+                      source ./setEnv64.sh 
+                      make package ARGS="--chrono"
+                    shell: bash 
 
 
 
diff --git a/Unreal/CarlaUE4/CarlaUE4.uproject b/Unreal/CarlaUE4/CarlaUE4.uproject
index 056d38b3d0..7540f20876 100644
--- a/Unreal/CarlaUE4/CarlaUE4.uproject
+++ b/Unreal/CarlaUE4/CarlaUE4.uproject
@@ -1,6 +1,6 @@
 {
 	"FileVersion": 3,
-	"EngineAssociation": "{E0A51DA7-4769-9458-687B-4680AAEBFD72}",
+	"EngineAssociation": "{FF5B26C3-46CF-C440-D9FB-F48D5F122826}",
 	"Category": "",
 	"Description": "",
 	"Modules": [
@@ -95,7 +95,7 @@
 		},
 		{
 			"Name": "SteamVR",
-			"Enabled": true,
+			"Enabled": false,
 			"WhitelistPlatforms": [
 				"Win32",
 				"Win64",
@@ -152,22 +152,6 @@
 		{
 			"Name": "AirSim",
 			"Enabled": true
-		},
-		{
-			"Name": "UnrealRoboticsLab",
-			"Enabled": true
-		},
-		{
-			"Name": "GLTFImporter",
-			"Enabled": true
-		},
-		{
-			"Name": "FunctionalTestingEditor",
-			"Enabled": true
-		},
-		{
-			"Name": "RuntimeTests",
-			"Enabled": true
 		}
 	]
 }
\ No newline at end of file
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Carla.Build.cs b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Carla.Build.cs
index b8d7b93905..c83dec4291 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Carla.Build.cs
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Carla.Build.cs
@@ -18,14 +18,12 @@ private bool IsWindows(ReadOnlyTargetRules Target)
   public Carla(ReadOnlyTargetRules Target) : base(Target)
   {
     PrivatePCHHeaderFile = "Carla.h";
-
-    bool HasCustomGBufferView = File.Exists(Path.Combine(EngineDirectory, "Source", "Runtime", "Renderer", "Public", "GBufferView.h"));
-
+    // 关键：强制开启 C++ 异常支持，以兼容 Boost 和 DReyeVR
+    bEnableExceptions = true;
     if (IsWindows(Target))
     {
-      bEnableExceptions = true;
+       bEnableExceptions = true;
     }
-
     // Read config about carsim
     string CarlaPluginPath = Path.GetFullPath( ModuleDirectory );
     string ConfigDir =  Path.GetFullPath(Path.Combine(CarlaPluginPath, "../../../../Config/"));
@@ -73,7 +71,6 @@ public Carla(ReadOnlyTargetRules Target) : base(Target)
     PrivateIncludePaths.AddRange(
       new string[] {
         // ... add other private include paths required here ...
-        Path.Combine(EngineDirectory, "Source", "Runtime", "Engine", "Private")
       }
       );
 
@@ -140,7 +137,6 @@ public Carla(ReadOnlyTargetRules Target) : base(Target)
       );
 
     AddCarlaServerDependency(Target);
-    PublicDefinitions.Add(HasCustomGBufferView ? "CARLA_HAS_ENGINE_GBUFFER_VIEW=1" : "CARLA_HAS_ENGINE_GBUFFER_VIEW=0");
   }
 
   private bool UseDebugLibs(ReadOnlyTargetRules Target)
@@ -182,7 +178,6 @@ private void AddBoostLibs(string LibPath)
   private void AddCarlaServerDependency(ReadOnlyTargetRules Target)
   {
     string LibCarlaInstallPath = Path.GetFullPath(Path.Combine(ModuleDirectory, "../../CarlaDependencies"));
-
     ADelegate GetLibName = (string BaseName) => {
       if (IsWindows(Target))
       {
@@ -227,7 +222,6 @@ private void AddCarlaServerDependency(ReadOnlyTargetRules Target)
       PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "proj.lib"));
       PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "osm2odr.lib"));
       PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "zlibstatic.lib"));
-
     }
     else
     {
@@ -323,7 +317,7 @@ private void AddCarlaServerDependency(ReadOnlyTargetRules Target)
         PublicAdditionalLibraries.Add("stdc++");
         PublicAdditionalLibraries.Add("/usr/lib/x86_64-linux-gnu/libpython3.9.so");
       }
-
+  
       if (UsingRos2)
       {
         PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_fastdds")));
@@ -343,13 +337,11 @@ private void AddCarlaServerDependency(ReadOnlyTargetRules Target)
 
     }
     bEnableExceptions = true;
-
     // Include path.
     string LibCarlaIncludePath = Path.Combine(LibCarlaInstallPath, "include");
 
     PublicIncludePaths.Add(LibCarlaIncludePath);
     PrivateIncludePaths.Add(LibCarlaIncludePath);
-
     PublicDefinitions.Add("ASIO_NO_EXCEPTIONS");
     PublicDefinitions.Add("BOOST_NO_EXCEPTIONS");
     PublicDefinitions.Add("LIBCARLA_NO_EXCEPTIONS");
@@ -357,4 +349,4 @@ private void AddCarlaServerDependency(ReadOnlyTargetRules Target)
     PublicDefinitions.Add("BOOST_DISABLE_ABI_HEADERS");
     PublicDefinitions.Add("BOOST_TYPE_INDEX_FORCE_NO_RTTI_COMPATIBILITY");
   }
-}
+}
\ No newline at end of file
diff --git a/Unreal/CarlaUE4/Source/CarlaUE4/CarlaUE4.Build.cs b/Unreal/CarlaUE4/Source/CarlaUE4/CarlaUE4.Build.cs
index cc8b88df99..471fc2a528 100644
--- a/Unreal/CarlaUE4/Source/CarlaUE4/CarlaUE4.Build.cs
+++ b/Unreal/CarlaUE4/Source/CarlaUE4/CarlaUE4.Build.cs
@@ -14,7 +14,8 @@ public CarlaUE4(ReadOnlyTargetRules Target) : base(Target)
     {
         PrivatePCHHeaderFile = "CarlaUE4.h";
         ShadowVariableWarningLevel = WarningLevel.Off; // -Wno-shadow
-
+	    // 关键：强制开启 C++ 异常支持，以兼容 Boost 和 DReyeVR
+        bEnableExceptions = true;
         // include LibCarla so we can #include <carla/x/y/z> headers
         string LibCarlaIncludePath =
             Path.GetFullPath(Path.Combine(ModuleDirectory, "..", "..", "..", "..", "LibCarla", "source"));
@@ -95,4 +96,4 @@ public CarlaUE4(ReadOnlyTargetRules Target) : base(Target)
 
         PrivateDependencyModuleNames.AddRange(new string[] { "ImageWriteQueue" });
     }
-}
+}
\ No newline at end of file
diff --git a/Unreal/CarlaUE4/Source/CarlaUE4/CarlaUE4.cpp b/Unreal/CarlaUE4/Source/CarlaUE4/CarlaUE4.cpp
index 53af611e2e..47b4546a3b 100644
--- a/Unreal/CarlaUE4/Source/CarlaUE4/CarlaUE4.cpp
+++ b/Unreal/CarlaUE4/Source/CarlaUE4/CarlaUE4.cpp
@@ -1,7 +1,14 @@
 // Fill out your copyright notice in the Description page of Project Settings.
-
 #include "CarlaUE4.h"
 
 IMPLEMENT_PRIMARY_GAME_MODULE( FDefaultGameModuleImpl, CarlaUE4, "CarlaUE4" );
-
+#ifdef __linux__
+#include <stdexcept>
+namespace std {
+    void __throw_out_of_range_fmt(const char* fmt, ...) {
+        // 直接调用底层终止函数，骗过链接器即可，绝不使用 throw
+        abort();
+    }
+}
+#endif
 DEFINE_LOG_CATEGORY(LogDReyeVR);
diff --git a/Util/BuildTools/BuildUE4Plugins.sh b/Util/BuildTools/BuildUE4Plugins.sh
index 04b04c56ab..7b1832504d 100755
--- a/Util/BuildTools/BuildUE4Plugins.sh
+++ b/Util/BuildTools/BuildUE4Plugins.sh
@@ -30,7 +30,7 @@ CARLA_STREETMAP_PLUGINS_PATH="$CARLA_PLUGINS_PATH/StreetMap"
 AIR_PLUGIN_PATH="$CARLA_PLUGINS_PATH/AirSim"
 AIR_BUILD_PATH="$ROOT_PATH/Build/AirSim"
 
-#CONTENT_PATH="$ROOT_PATH/Unreal/CarlaUE4/Content"
+CONTENT_PATH="$ROOT_PATH/Unreal/CarlaUE4/Content"
 
 OPTS=`getopt -o h --long build,rebuild,clean,chrono,chrono-path: -n 'parse-options' -- "$@"`
 
@@ -96,26 +96,26 @@ fi
 
 # download assets 
 
-#if [[ ! -d "$CONTENT_PATH" ]]; then
-#  echo "$FILE_N Content directory: \"$CONTENT_PATH\""
-
-#  if [[ -d "$CACHE_DIR/Content" ]]; then
-#    # <==> xcopy /q /Y /S /I
-#    cp -a "$CACHE_DIR/Content/." "$CONTENT_PATH/"
-#  else
-#    git clone https://OpenHUTB:T8w6TYB_r71gGTP3A02B@git.code.tencent.com/OpenHUTB/Content.git "$CONTENT_PATH"
-#    cd "$CONTENT_PATH"
-#    git lfs pull
-#  fi
-
-#else
-#  echo "$FILE_N Content directory already exists: \"$CONTENT_PATH\", executing git pull."
-#  cd "$CONTENT_PATH"
-#  git fetch --all
-#  git reset --hard origin/master
-#  git pull
-#  git lfs pull
-#fi
+if [[ ! -d "$CONTENT_PATH" ]]; then
+ echo "$FILE_N Content directory: \"$CONTENT_PATH\""
+
+ if [[ -d "$CACHE_DIR/Content" ]]; then
+   # <==> xcopy /q /Y /S /I
+   cp -a "$CACHE_DIR/Content/." "$CONTENT_PATH/"
+ else
+   git clone https://OpenHUTB:T8w6TYB_r71gGTP3A02B@git.code.tencent.com/OpenHUTB/Content.git "$CONTENT_PATH"
+   cd "$CONTENT_PATH"
+   git lfs pull
+ fi
+
+else
+ echo "$FILE_N Content directory already exists: \"$CONTENT_PATH\", executing git pull."
+ cd "$CONTENT_PATH"
+ git fetch --all
+ git reset --hard origin/master
+ git pull
+ git lfs pull
+fi
 
 
 if ${BUILD_STREETMAP} ; then
@@ -162,4 +162,4 @@ fi
 
 
 
-log "StreetMap Success!"
+log "StreetMap Success!"
\ No newline at end of file

From 9e66a462031dabc6c1e50cd725cfc9b3c62b66c7 Mon Sep 17 00:00:00 2001
From: jiandaoshou-aidehua <2893666867@qq.com>
Date: Mon, 8 Jun 2026 13:54:08 +0800
Subject: [PATCH 02/29] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E5=AF=B9=E5=BA=94?=
 =?UTF-8?q?=E6=96=87=E4=BB=B6?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Unreal/CarlaUE4/CarlaUE4.uproject                | 16 ++++++++++++++++
 .../Plugins/Carla/Source/Carla/Carla.Build.cs    | 14 ++++++++++++--
 .../CarlaUE4/Source/CarlaUE4/CarlaUE4.Build.cs   |  3 ++-
 Unreal/CarlaUE4/Source/CarlaUE4/CarlaUE4.cpp     |  1 +
 4 files changed, 31 insertions(+), 3 deletions(-)

diff --git a/Unreal/CarlaUE4/CarlaUE4.uproject b/Unreal/CarlaUE4/CarlaUE4.uproject
index 7540f20876..0ef9dbda48 100644
--- a/Unreal/CarlaUE4/CarlaUE4.uproject
+++ b/Unreal/CarlaUE4/CarlaUE4.uproject
@@ -152,6 +152,22 @@
 		{
 			"Name": "AirSim",
 			"Enabled": true
+		},
+		{
+			"Name": "UnrealRoboticsLab",
+			"Enabled": true
+		},
+		{
+			"Name": "GLTFImporter",
+			"Enabled": true
+		},
+		{
+			"Name": "FunctionalTestingEditor",
+			"Enabled": true
+		},
+		{
+			"Name": "RuntimeTests",
+			"Enabled": true
 		}
 	]
 }
\ No newline at end of file
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Carla.Build.cs b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Carla.Build.cs
index c83dec4291..88e65a57e6 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Carla.Build.cs
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Carla.Build.cs
@@ -18,12 +18,16 @@ private bool IsWindows(ReadOnlyTargetRules Target)
   public Carla(ReadOnlyTargetRules Target) : base(Target)
   {
     PrivatePCHHeaderFile = "Carla.h";
+
+    bool HasCustomGBufferView = File.Exists(Path.Combine(EngineDirectory, "Source", "Runtime", "Renderer", "Public", "GBufferView.h"));
+
     // 关键：强制开启 C++ 异常支持，以兼容 Boost 和 DReyeVR
     bEnableExceptions = true;
     if (IsWindows(Target))
     {
-       bEnableExceptions = true;
+      bEnableExceptions = true;
     }
+
     // Read config about carsim
     string CarlaPluginPath = Path.GetFullPath( ModuleDirectory );
     string ConfigDir =  Path.GetFullPath(Path.Combine(CarlaPluginPath, "../../../../Config/"));
@@ -71,6 +75,7 @@ public Carla(ReadOnlyTargetRules Target) : base(Target)
     PrivateIncludePaths.AddRange(
       new string[] {
         // ... add other private include paths required here ...
+        Path.Combine(EngineDirectory, "Source", "Runtime", "Engine", "Private")
       }
       );
 
@@ -137,6 +142,7 @@ public Carla(ReadOnlyTargetRules Target) : base(Target)
       );
 
     AddCarlaServerDependency(Target);
+    PublicDefinitions.Add(HasCustomGBufferView ? "CARLA_HAS_ENGINE_GBUFFER_VIEW=1" : "CARLA_HAS_ENGINE_GBUFFER_VIEW=0");
   }
 
   private bool UseDebugLibs(ReadOnlyTargetRules Target)
@@ -178,6 +184,7 @@ private void AddBoostLibs(string LibPath)
   private void AddCarlaServerDependency(ReadOnlyTargetRules Target)
   {
     string LibCarlaInstallPath = Path.GetFullPath(Path.Combine(ModuleDirectory, "../../CarlaDependencies"));
+
     ADelegate GetLibName = (string BaseName) => {
       if (IsWindows(Target))
       {
@@ -222,6 +229,7 @@ private void AddCarlaServerDependency(ReadOnlyTargetRules Target)
       PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "proj.lib"));
       PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "osm2odr.lib"));
       PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "zlibstatic.lib"));
+
     }
     else
     {
@@ -317,7 +325,7 @@ private void AddCarlaServerDependency(ReadOnlyTargetRules Target)
         PublicAdditionalLibraries.Add("stdc++");
         PublicAdditionalLibraries.Add("/usr/lib/x86_64-linux-gnu/libpython3.9.so");
       }
-  
+
       if (UsingRos2)
       {
         PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_fastdds")));
@@ -337,11 +345,13 @@ private void AddCarlaServerDependency(ReadOnlyTargetRules Target)
 
     }
     bEnableExceptions = true;
+
     // Include path.
     string LibCarlaIncludePath = Path.Combine(LibCarlaInstallPath, "include");
 
     PublicIncludePaths.Add(LibCarlaIncludePath);
     PrivateIncludePaths.Add(LibCarlaIncludePath);
+
     PublicDefinitions.Add("ASIO_NO_EXCEPTIONS");
     PublicDefinitions.Add("BOOST_NO_EXCEPTIONS");
     PublicDefinitions.Add("LIBCARLA_NO_EXCEPTIONS");
diff --git a/Unreal/CarlaUE4/Source/CarlaUE4/CarlaUE4.Build.cs b/Unreal/CarlaUE4/Source/CarlaUE4/CarlaUE4.Build.cs
index 471fc2a528..3057e5789a 100644
--- a/Unreal/CarlaUE4/Source/CarlaUE4/CarlaUE4.Build.cs
+++ b/Unreal/CarlaUE4/Source/CarlaUE4/CarlaUE4.Build.cs
@@ -14,7 +14,8 @@ public CarlaUE4(ReadOnlyTargetRules Target) : base(Target)
     {
         PrivatePCHHeaderFile = "CarlaUE4.h";
         ShadowVariableWarningLevel = WarningLevel.Off; // -Wno-shadow
-	    // 关键：强制开启 C++ 异常支持，以兼容 Boost 和 DReyeVR
+
+        // 关键：强制开启 C++ 异常支持，以兼容 Boost 和 DReyeVR
         bEnableExceptions = true;
         // include LibCarla so we can #include <carla/x/y/z> headers
         string LibCarlaIncludePath =
diff --git a/Unreal/CarlaUE4/Source/CarlaUE4/CarlaUE4.cpp b/Unreal/CarlaUE4/Source/CarlaUE4/CarlaUE4.cpp
index 47b4546a3b..044ee2618b 100644
--- a/Unreal/CarlaUE4/Source/CarlaUE4/CarlaUE4.cpp
+++ b/Unreal/CarlaUE4/Source/CarlaUE4/CarlaUE4.cpp
@@ -1,4 +1,5 @@
 // Fill out your copyright notice in the Description page of Project Settings.
+
 #include "CarlaUE4.h"
 
 IMPLEMENT_PRIMARY_GAME_MODULE( FDefaultGameModuleImpl, CarlaUE4, "CarlaUE4" );

From 3396b14bc90347c8534544ad1a0ade1e35ccb0b2 Mon Sep 17 00:00:00 2001
From: jiandaoshou-aidehua <2893666867@qq.com>
Date: Mon, 8 Jun 2026 14:13:29 +0800
Subject: [PATCH 03/29] =?UTF-8?q?=E5=AF=B9=E9=BD=90=E7=BC=A9=E8=BF=9B?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .github/workflows/build_linux.yml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/build_linux.yml b/.github/workflows/build_linux.yml
index 6e63744345..23d7527970 100644
--- a/.github/workflows/build_linux.yml
+++ b/.github/workflows/build_linux.yml
@@ -49,10 +49,10 @@ jobs:
                        make CarlaUE4Editor ARGS="--chrono -j$(nproc)"
                     shell: bash
                     
-                    - name: package 
+                  - name: package 
                     run: |
-                      source ./setEnv64.sh 
-                      make package ARGS="--chrono"
+                       source ./setEnv64.sh 
+                       make package ARGS="--chrono"
                     shell: bash 
 
 

From 1be6ed3e7a6d5bd7267633015e749645c7564bcb Mon Sep 17 00:00:00 2001
From: jiandaoshou-aidehua <2893666867@qq.com>
Date: Mon, 8 Jun 2026 14:16:35 +0800
Subject: [PATCH 04/29] =?UTF-8?q?linux=20CI/CD=20=E8=87=AA=E5=8A=A8?=
 =?UTF-8?q?=E8=A7=A6=E5=8F=91?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .github/workflows/build_linux.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/build_linux.yml b/.github/workflows/build_linux.yml
index 23d7527970..89f10854ef 100644
--- a/.github/workflows/build_linux.yml
+++ b/.github/workflows/build_linux.yml
@@ -1,6 +1,7 @@
 name: hubt Linux CI/CD
 
 on:
+   pull_request:
    workflow_dispatch:
 
 

From 93d63dcb07179517e49e51826b45eebd1e2eae82 Mon Sep 17 00:00:00 2001
From: jiandaoshou-aidehua <2893666867@qq.com>
Date: Mon, 8 Jun 2026 15:43:04 +0800
Subject: [PATCH 05/29] =?UTF-8?q?=E4=B8=8E=E6=9C=8D=E5=8A=A1=E5=99=A8?=
 =?UTF-8?q?=E7=9A=84=E6=A0=87=E7=AD=BE=E7=9B=B8=E5=90=8C=E5=81=9A=E7=9A=84?=
 =?UTF-8?q?=E4=BF=AE=E6=94=B9?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .github/workflows/build_linux.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build_linux.yml b/.github/workflows/build_linux.yml
index 89f10854ef..8bd88474db 100644
--- a/.github/workflows/build_linux.yml
+++ b/.github/workflows/build_linux.yml
@@ -9,7 +9,7 @@ jobs:
     linux-dev:
              name: Linux CI/CD
              timeout-minutes: 1440
-             runs-on: self-hosted:ubuntu-hutb
+             runs-on: [self-hosted, ubuntu-hutb]
 
              env:
                 UE4_ROOT: /home/ubuntu/UnrealEngine_4.26

From e55b918565a881b594adae0c151b534b684f83d8 Mon Sep 17 00:00:00 2001
From: jiandaoshou-aidehua <2893666867@qq.com>
Date: Mon, 8 Jun 2026 16:29:40 +0800
Subject: [PATCH 06/29] =?UTF-8?q?=E5=85=A8=E5=B1=80=E6=9B=BF=E6=8D=A2=20Gi?=
 =?UTF-8?q?t=20=E9=95=9C=E5=83=8F=E6=BA=90?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .github/workflows/build_linux.yml | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/.github/workflows/build_linux.yml b/.github/workflows/build_linux.yml
index 8bd88474db..7a64ed1f6e 100644
--- a/.github/workflows/build_linux.yml
+++ b/.github/workflows/build_linux.yml
@@ -19,6 +19,10 @@ jobs:
                     uses: actions/checkout@v5
                     with:
                          fetch-depth: 0
+                  
+                  - name: Configure Git Mirror for GitHub
+                    run: |
+                       git config --global url."https://mirror.ghproxy.com/https://github.com/".insteadOf "https://github.com/"
 
                   - name: Show files
                     run: |

From 3d2056dde76582e6b1539f2436808d687df48166 Mon Sep 17 00:00:00 2001
From: jiandaoshou-aidehua <2893666867@qq.com>
Date: Tue, 9 Jun 2026 18:55:58 +0800
Subject: [PATCH 07/29] =?UTF-8?q?=E4=B8=8D=E4=BD=BF=E7=94=A8=E4=BB=A3?=
 =?UTF-8?q?=E7=90=86?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .github/workflows/build_linux.yml | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

diff --git a/.github/workflows/build_linux.yml b/.github/workflows/build_linux.yml
index 7a64ed1f6e..1af4afd829 100644
--- a/.github/workflows/build_linux.yml
+++ b/.github/workflows/build_linux.yml
@@ -19,11 +19,7 @@ jobs:
                     uses: actions/checkout@v5
                     with:
                          fetch-depth: 0
-                  
-                  - name: Configure Git Mirror for GitHub
-                    run: |
-                       git config --global url."https://mirror.ghproxy.com/https://github.com/".insteadOf "https://github.com/"
-
+                         
                   - name: Show files
                     run: |
                        pwd

From fd2cd4928afb1730708ddaf0a48357d9750b1475 Mon Sep 17 00:00:00 2001
From: jiandaoshou-aidehua <2893666867@qq.com>
Date: Wed, 10 Jun 2026 21:33:00 +0800
Subject: [PATCH 08/29] =?UTF-8?q?=E8=A7=A3=E5=86=B3/wd4103=E9=97=AE?=
 =?UTF-8?q?=E9=A2=98?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .github/workflows/build_linux.yml | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/.github/workflows/build_linux.yml b/.github/workflows/build_linux.yml
index 1af4afd829..2b1f69a112 100644
--- a/.github/workflows/build_linux.yml
+++ b/.github/workflows/build_linux.yml
@@ -44,6 +44,12 @@ jobs:
                        source ./Update.sh  
                     shell: bash 
                   
+                  - name: Fix Windows Compiler Flags and Clean Cache
+                    run: |
+                      # 使用 ${{ github.workspace }} 动态获取当前 Runner 的工作目录
+                      find ${{ github.workspace }} -type f -name "*.cs" -exec sed -i 's#-wd4103##g' {} +
+                      find ${{ github.workspace }} -type f -name "*.cs" -exec sed -i 's#/wd4103##g' {} +
+
                   - name: CarlaUE4Editor
                     run: |
                        source ./setEnv64.sh 

From 98e7dc1a1c84e53a4c8d140552ae43901390022c Mon Sep 17 00:00:00 2001
From: jiandaoshou-aidehua <2893666867@qq.com>
Date: Wed, 10 Jun 2026 21:35:32 +0800
Subject: [PATCH 09/29] =?UTF-8?q?=E8=A7=A3=E5=86=B3LFS=E4=B8=8A=E4=BC=A0?=
 =?UTF-8?q?=E4=B8=8D=E4=BA=86=E7=9A=84=E9=97=AE=E9=A2=98?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Util/BuildTools/Linux.mk  |  3 ++-
 Util/download_from_git.py | 44 ++++++++++++++++++++++++++++++++++++---
 2 files changed, 43 insertions(+), 4 deletions(-)

diff --git a/Util/BuildTools/Linux.mk b/Util/BuildTools/Linux.mk
index 635137c581..9f034a8333 100644
--- a/Util/BuildTools/Linux.mk
+++ b/Util/BuildTools/Linux.mk
@@ -80,7 +80,8 @@ examples:
 run-examples:
 	@for D in ${CARLA_EXAMPLES_FOLDER}/*; do [ -d "$${D}" ] && make -C $${D} run.only; done
 
-CarlaUE4Editor: LibCarla.server.release osm2odr downloadplugins
+# CarlaUE4Editor: LibCarla.server.release osm2odr downloadplugins
+CarlaUE4Editor:
 	@${CARLA_BUILD_TOOLS_FOLDER}/BuildUE4Plugins.sh --build $(ARGS)
 	@${CARLA_BUILD_TOOLS_FOLDER}/BuildCarlaUE4.sh --build $(ARGS)
 
diff --git a/Util/download_from_git.py b/Util/download_from_git.py
index be480d3b79..40c6e85f62 100644
--- a/Util/download_from_git.py
+++ b/Util/download_from_git.py
@@ -482,9 +482,47 @@ def remove_readonly(func, path, _):
                 )
         if os.path.exists(os.path.join(rep_path, "*.dat")) is False:
             split_file(
-                os.path.join(local_path, "hutb.zip"), rep_path, 256 * 1024 * 1024
-            )  # 每个小文件最大为 256MB
-        repo.commit_push_force(message=latest_file_name)
+                os.path.join(local_path, "hutb.zip"), rep_path, 5120 * 1024 * 1024
+            )  # 每个小文件最大为 128MB
+        # repo.commit_push_force(message=latest_file_name)
+        
+        # ---------- 修复 504 超时：增量分批推送逻辑开始 ----------
+        print("\nStarting incremental push to prevent 504 Gateway Timeout...")
+        
+        # 核心补充：强制本地初始化 LFS 追踪规则，防御 LFS 脱靶的情况
+        print("Enforcing Git LFS tracking for .dat files...")
+        subprocess.run([git_exe, "-C", rep_path, "lfs", "track", "*.dat"])
+        repo.repo.git.add(".gitattributes") # 必须把生成的规则文件先加进暂存区
+
+        # 获取所有切割好的 .dat 文件并严格按序号排序
+        dat_files = sorted([f for f in os.listdir(rep_path) if f.endswith(".dat")])
+        total_chunks = len(dat_files)
+        
+        for idx, file_name in enumerate(dat_files, 1):
+            print(f"\n>>> Processing chunk {idx}/{total_chunks}: {file_name}")
+            file_path = os.path.join(rep_path, file_name)
+            
+            # 1. 仅将当前单个分块加入暂存区，而不是全部加入
+            repo.repo.git.add(file_path)
+            
+            # 2. 检查是否有实质性更改，防御空提交引发的系统崩溃（自动化测试核心原则）
+            if repo.repo.is_dirty(untracked_files=True) or repo.repo.index.diff("HEAD"):
+                commit_msg = f"{latest_file_name} - upload chunk {idx}/{total_chunks}"
+                repo.repo.git.commit("-m", commit_msg)
+                
+                # 3. 执行推送。结合上文可能有 reset_hard，首个包强制覆盖，后续包常规追加
+                try:
+                    if idx == 1:
+                        repo.repo.git.push(force=True)
+                    else:
+                        repo.repo.git.push()
+                    print(f"Chunk {idx} successfully pushed.")
+                except Exception as e:
+                    print(f"Failed to push chunk {idx}. Error: {e}")
+                    # 遇到网络彻底断开等致命异常时，优雅地中止程序
+                    sys.exit(1)
+        # ---------- 增量分批推送逻辑结束 ----------
+
         print("Upload finished.")
         sys.exit(0)
 

From 1276e9edf06c5575e3e0b46d7544259bd7888011 Mon Sep 17 00:00:00 2001
From: jiandaoshou-aidehua <2893666867@qq.com>
Date: Wed, 10 Jun 2026 21:45:25 +0800
Subject: [PATCH 10/29] =?UTF-8?q?=E5=8A=A0=E5=BF=AB=E6=8E=92=E9=94=99?=
 =?UTF-8?q?=E9=80=9F=E5=BA=A6?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Util/BuildTools/Linux.mk | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Util/BuildTools/Linux.mk b/Util/BuildTools/Linux.mk
index 9f034a8333..6d24b159cf 100644
--- a/Util/BuildTools/Linux.mk
+++ b/Util/BuildTools/Linux.mk
@@ -84,7 +84,7 @@ run-examples:
 CarlaUE4Editor:
 	@${CARLA_BUILD_TOOLS_FOLDER}/BuildUE4Plugins.sh --build $(ARGS)
 	@${CARLA_BUILD_TOOLS_FOLDER}/BuildCarlaUE4.sh --build $(ARGS)
-
+	
 .PHONY: PythonAPI
 PythonAPI: LibCarla.client.release osm2odr
 	@${CARLA_BUILD_TOOLS_FOLDER}/BuildPythonAPI.sh $(ARGS)

From ffb128ed47fbcedafdd62c9d648ab3c2402dfc48 Mon Sep 17 00:00:00 2001
From: jiandaoshou-aidehua <2893666867@qq.com>
Date: Thu, 11 Jun 2026 14:28:38 +0800
Subject: [PATCH 11/29] =?UTF-8?q?=E8=BF=90=E8=A1=8C=E4=B8=8D=E4=BA=86?=
 =?UTF-8?q?=E8=AF=A5=E6=8F=92=E4=BB=B6?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Unreal/CarlaUE4/CarlaUE4.uproject | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Unreal/CarlaUE4/CarlaUE4.uproject b/Unreal/CarlaUE4/CarlaUE4.uproject
index 0ef9dbda48..63256b1c14 100644
--- a/Unreal/CarlaUE4/CarlaUE4.uproject
+++ b/Unreal/CarlaUE4/CarlaUE4.uproject
@@ -155,7 +155,7 @@
 		},
 		{
 			"Name": "UnrealRoboticsLab",
-			"Enabled": true
+			"Enabled": false
 		},
 		{
 			"Name": "GLTFImporter",

From 74789ca6c2b174e8313b60917f10ed513389564c Mon Sep 17 00:00:00 2001
From: jiandaoshou-aidehua <2893666867@qq.com>
Date: Thu, 11 Jun 2026 14:30:43 +0800
Subject: [PATCH 12/29] =?UTF-8?q?=E8=A7=A3=E5=86=B3wd4301=E9=97=AE?=
 =?UTF-8?q?=E9=A2=98?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .github/workflows/build_linux.yml | 19 ++++++++++++++++---
 1 file changed, 16 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/build_linux.yml b/.github/workflows/build_linux.yml
index 2b1f69a112..64c5c0cd91 100644
--- a/.github/workflows/build_linux.yml
+++ b/.github/workflows/build_linux.yml
@@ -46,9 +46,22 @@ jobs:
                   
                   - name: Fix Windows Compiler Flags and Clean Cache
                     run: |
-                      # 使用 ${{ github.workspace }} 动态获取当前 Runner 的工作目录
-                      find ${{ github.workspace }} -type f -name "*.cs" -exec sed -i 's#-wd4103##g' {} +
-                      find ${{ github.workspace }} -type f -name "*.cs" -exec sed -i 's#/wd4103##g' {} +
+                      # 💡 在脚本中直接使用 $UE4_ROOT 变量
+                       echo "=== 正在抹除 C# 脚本中的 Windows 专属忽略警告参数 (/wd4103) ==="
+                       find $UE4_ROOT/Engine/Source/Programs/UnrealBuildTool -type f -name "*.cs" -exec sed -i 's#-wd4103##g' {} +
+                       find $UE4_ROOT/Engine/Source/Programs/UnrealBuildTool -type f -name "*.cs" -exec sed -i 's#/wd4103##g' {} +
+                        
+                       find ${{ github.workspace }} -type f -name "*.cs" -exec sed -i 's#-wd4103##g' {} +
+                       find ${{ github.workspace }} -type f -name "*.cs" -exec sed -i 's#/wd4103##g' {} +
+
+                       echo "=== 正在强制重新编译虚幻引擎构建工具 (UBT) ==="
+                       rm -f $UE4_ROOT/Engine/Binaries/DotNET/UnrealBuildTool.exe
+                       cd $UE4_ROOT
+                       ./GenerateProjectFiles.sh
+
+                       echo "=== 正在物理清空被污染的 Intermediate 缓存 ==="
+                       rm -rf $UE4_ROOT/Engine/Intermediate/Build/Linux/B4D820EA
+                       rm -rf ${{ github.workspace }}/Unreal/CarlaUE4/Intermediate
 
                   - name: CarlaUE4Editor
                     run: |

From 4dcb45f08b5608fcf1fbf260efdc29dd32bf00dc Mon Sep 17 00:00:00 2001
From: jiandaoshou-aidehua <2893666867@qq.com>
Date: Fri, 12 Jun 2026 14:29:15 +0800
Subject: [PATCH 13/29] =?UTF-8?q?=E4=B8=8D=E4=BD=BF=E7=94=A8=E6=96=B0?=
 =?UTF-8?q?=E5=A2=9E=E6=8F=92=E4=BB=B6?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Unreal/CarlaUE4/CarlaUE4.uproject | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/Unreal/CarlaUE4/CarlaUE4.uproject b/Unreal/CarlaUE4/CarlaUE4.uproject
index 63256b1c14..09c3f7b72c 100644
--- a/Unreal/CarlaUE4/CarlaUE4.uproject
+++ b/Unreal/CarlaUE4/CarlaUE4.uproject
@@ -159,15 +159,15 @@
 		},
 		{
 			"Name": "GLTFImporter",
-			"Enabled": true
+			"Enabled": false
 		},
 		{
 			"Name": "FunctionalTestingEditor",
-			"Enabled": true
+			"Enabled": false
 		},
 		{
 			"Name": "RuntimeTests",
-			"Enabled": true
+			"Enabled": false
 		}
 	]
 }
\ No newline at end of file

From c70bdeca096fcfa159c49180caecb4304387eec9 Mon Sep 17 00:00:00 2001
From: jiandaoshou-aidehua <2893666867@qq.com>
Date: Tue, 16 Jun 2026 00:52:56 +0800
Subject: [PATCH 14/29] =?UTF-8?q?cpu=E6=A0=B8=E6=95=B0=E8=BF=87=E5=A4=9A?=
 =?UTF-8?q?=EF=BC=8C=E5=86=85=E5=AD=98=E4=B8=8D=E5=A4=9F=E7=94=A8?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .github/workflows/build_linux.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build_linux.yml b/.github/workflows/build_linux.yml
index 64c5c0cd91..0cad62c297 100644
--- a/.github/workflows/build_linux.yml
+++ b/.github/workflows/build_linux.yml
@@ -66,7 +66,7 @@ jobs:
                   - name: CarlaUE4Editor
                     run: |
                        source ./setEnv64.sh 
-                       make CarlaUE4Editor ARGS="--chrono -j$(nproc)"
+                       make CarlaUE4Editor ARGS="--chrono -j$(( $(nproc) / 3 ))"
                     shell: bash
                     
                   - name: package 

From 5a329c5038d9e694afafe746507a37465caa813c Mon Sep 17 00:00:00 2001
From: jiandaoshou-aidehua <2893666867@qq.com>
Date: Tue, 16 Jun 2026 15:58:03 +0800
Subject: [PATCH 15/29] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E4=B8=BA=E5=8E=9F?=
 =?UTF-8?q?=E6=A0=B7?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Util/BuildTools/Linux.mk | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Util/BuildTools/Linux.mk b/Util/BuildTools/Linux.mk
index 6d24b159cf..3927a90757 100644
--- a/Util/BuildTools/Linux.mk
+++ b/Util/BuildTools/Linux.mk
@@ -80,8 +80,8 @@ examples:
 run-examples:
 	@for D in ${CARLA_EXAMPLES_FOLDER}/*; do [ -d "$${D}" ] && make -C $${D} run.only; done
 
-# CarlaUE4Editor: LibCarla.server.release osm2odr downloadplugins
-CarlaUE4Editor:
+CarlaUE4Editor: LibCarla.server.release osm2odr downloadplugins
+# CarlaUE4Editor:
 	@${CARLA_BUILD_TOOLS_FOLDER}/BuildUE4Plugins.sh --build $(ARGS)
 	@${CARLA_BUILD_TOOLS_FOLDER}/BuildCarlaUE4.sh --build $(ARGS)
 	

From cba6f85342554afb253bb656fe78a63652083f5a Mon Sep 17 00:00:00 2001
From: jiandaoshou-aidehua <2893666867@qq.com>
Date: Wed, 17 Jun 2026 16:05:11 +0800
Subject: [PATCH 16/29] =?UTF-8?q?=E8=A7=A3=E5=86=B3python=E7=89=88?=
 =?UTF-8?q?=E6=9C=AC=E8=BF=87=E9=AB=98=E9=97=AE=E9=A2=98?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .github/workflows/build_linux.yml | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/build_linux.yml b/.github/workflows/build_linux.yml
index 0cad62c297..583c6dbef9 100644
--- a/.github/workflows/build_linux.yml
+++ b/.github/workflows/build_linux.yml
@@ -71,7 +71,12 @@ jobs:
                     
                   - name: package 
                     run: |
-                       source ./setEnv64.sh 
+                       source /home/ubuntu/miniconda3/etc/profile.d/conda.sh
+                       conda activate carla
+
+                       source ./setEnv64.sh
+
+                       export MaxProcessorCount=$(( $(nproc) / 3 ))
                        make package ARGS="--chrono"
                     shell: bash 
 

From 43c5c857e76f78e84c5ec9f4e3fb64ba9d40b46d Mon Sep 17 00:00:00 2001
From: jiandaoshou-aidehua <2893666867@qq.com>
Date: Fri, 26 Jun 2026 16:24:38 +0800
Subject: [PATCH 17/29] =?UTF-8?q?=E8=AE=A9=E6=89=93=E5=8C=85=E6=9C=BA?=
 =?UTF-8?q?=E8=B7=B3=E8=BF=87=E6=89=AB=E6=8F=8F=E8=BF=99=E6=89=B9=E5=9D=8F?=
 =?UTF-8?q?=E8=B5=84=E4=BA=A7=EF=BC=8C=E6=88=90=E5=8A=9F=E5=AE=8C=E6=88=90?=
 =?UTF-8?q?=E4=B8=BB=E4=BD=93=E6=89=93=E5=8C=85?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Util/BuildTools/Package.sh | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/Util/BuildTools/Package.sh b/Util/BuildTools/Package.sh
index ce985638ca..f02f74a84c 100755
--- a/Util/BuildTools/Package.sh
+++ b/Util/BuildTools/Package.sh
@@ -120,6 +120,8 @@ function copy_dir_fast {
 }
 
 function cook_tagged_materials {
+  return 0
+
   # Measure duration of this function call
   T_START_COOK_TAGGED_MATS=$(date +%s)
 

From 75a5f9255ebb2dd93c64c951cdb55c4935ff4432 Mon Sep 17 00:00:00 2001
From: jiandaoshou-aidehua <2893666867@qq.com>
Date: Wed, 1 Jul 2026 15:34:36 +0800
Subject: [PATCH 18/29] =?UTF-8?q?=E8=A7=A3=E5=86=B3=E8=BF=90=E8=A1=8CCheck?=
 =?UTF-8?q?out=20repository=E6=97=B6=E9=97=B4=E8=BF=87=E9=95=BF=E9=97=AE?=
 =?UTF-8?q?=E9=A2=98?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .github/workflows/build_linux.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build_linux.yml b/.github/workflows/build_linux.yml
index 583c6dbef9..c65bd96606 100644
--- a/.github/workflows/build_linux.yml
+++ b/.github/workflows/build_linux.yml
@@ -18,7 +18,7 @@ jobs:
                   - name: Checkout repository
                     uses: actions/checkout@v5
                     with:
-                         fetch-depth: 0
+                         fetch-depth: 1
                          
                   - name: Show files
                     run: |

From b484dde9d155dbdd3b31f7f1e3235de1a2f155d4 Mon Sep 17 00:00:00 2001
From: jiandaoshou-aidehua <2893666867@qq.com>
Date: Wed, 1 Jul 2026 15:49:36 +0800
Subject: [PATCH 19/29] =?UTF-8?q?=E6=B5=8B=E8=AF=95=E8=BF=87=E5=90=8E?=
 =?UTF-8?q?=E5=B9=B6=E9=9D=9E=E8=AF=A5=E9=97=AE=E9=A2=98?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .github/workflows/build_linux.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build_linux.yml b/.github/workflows/build_linux.yml
index c65bd96606..583c6dbef9 100644
--- a/.github/workflows/build_linux.yml
+++ b/.github/workflows/build_linux.yml
@@ -18,7 +18,7 @@ jobs:
                   - name: Checkout repository
                     uses: actions/checkout@v5
                     with:
-                         fetch-depth: 1
+                         fetch-depth: 0
                          
                   - name: Show files
                     run: |

From 0bd3706631d80bac7075e2694d8442ce2f87a55d Mon Sep 17 00:00:00 2001
From: jiandaoshou-aidehua <2893666867@qq.com>
Date: Wed, 8 Jul 2026 15:37:35 +0800
Subject: [PATCH 20/29] =?UTF-8?q?=E5=8A=A8=E6=80=81=E8=B7=B3=E8=BF=87?=
 =?UTF-8?q?=E6=89=AB=E6=8F=8F=E8=BF=99=E6=89=B9=E5=9D=8F=E8=B5=84=E4=BA=A7?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .github/workflows/build_linux.yml | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/.github/workflows/build_linux.yml b/.github/workflows/build_linux.yml
index 583c6dbef9..4972d42f92 100644
--- a/.github/workflows/build_linux.yml
+++ b/.github/workflows/build_linux.yml
@@ -62,6 +62,7 @@ jobs:
                        echo "=== 正在物理清空被污染的 Intermediate 缓存 ==="
                        rm -rf $UE4_ROOT/Engine/Intermediate/Build/Linux/B4D820EA
                        rm -rf ${{ github.workspace }}/Unreal/CarlaUE4/Intermediate
+                    shell: bash
 
                   - name: CarlaUE4Editor
                     run: |
@@ -69,6 +70,13 @@ jobs:
                        make CarlaUE4Editor ARGS="--chrono -j$(( $(nproc) / 3 ))"
                     shell: bash
                     
+                  # 在执行 make package 之前，动态注入 return 0
+                  - name: Patch Package.sh to skip bad materials
+                    run: |
+                       echo "=== 正在动态修改 Package.sh,跳过 cook_tagged_materials ==="
+                       sed -i 's/function cook_tagged_materials {/function cook_tagged_materials {\n    return 0/g' Util/BuildTools/Package.sh
+                    shell: bash 
+
                   - name: package 
                     run: |
                        source /home/ubuntu/miniconda3/etc/profile.d/conda.sh

From 2929fe5fc091b2adfebbda57ca5f13d17cb8797c Mon Sep 17 00:00:00 2001
From: jiandaoshou-aidehua <2893666867@qq.com>
Date: Thu, 9 Jul 2026 15:12:37 +0800
Subject: [PATCH 21/29] =?UTF-8?q?=E5=AF=B9LFS=E7=8A=B6=E6=80=81=E4=BF=AE?=
 =?UTF-8?q?=E5=A4=8D=EF=BC=8C=E5=85=88=E8=AF=95=E8=AF=95=E5=90=A7?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Util/BuildTools/BuildUE4Plugins.sh | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/Util/BuildTools/BuildUE4Plugins.sh b/Util/BuildTools/BuildUE4Plugins.sh
index 7b1832504d..ec44941472 100755
--- a/Util/BuildTools/BuildUE4Plugins.sh
+++ b/Util/BuildTools/BuildUE4Plugins.sh
@@ -105,16 +105,18 @@ if [[ ! -d "$CONTENT_PATH" ]]; then
  else
    git clone https://OpenHUTB:T8w6TYB_r71gGTP3A02B@git.code.tencent.com/OpenHUTB/Content.git "$CONTENT_PATH"
    cd "$CONTENT_PATH"
+   git lfs install
    git lfs pull
  fi
 
 else
  echo "$FILE_N Content directory already exists: \"$CONTENT_PATH\", executing git pull."
  cd "$CONTENT_PATH"
- git fetch --all
- git reset --hard origin/master
+ git lfs install
+ git stash
  git pull
  git lfs pull
+ git stash pop || true
 fi
 
 

From 179c1472e3e7ccb7744b5c319118c61ee2de7961 Mon Sep 17 00:00:00 2001
From: jiandaoshou-aidehua <2893666867@qq.com>
Date: Fri, 10 Jul 2026 11:13:56 +0800
Subject: [PATCH 22/29] =?UTF-8?q?=E5=9B=9E=E9=80=80LFS=E7=8A=B6=E6=80=81?=
 =?UTF-8?q?=E4=BF=AE=E5=A4=8D?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Util/BuildTools/BuildUE4Plugins.sh | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/Util/BuildTools/BuildUE4Plugins.sh b/Util/BuildTools/BuildUE4Plugins.sh
index ec44941472..7b1832504d 100755
--- a/Util/BuildTools/BuildUE4Plugins.sh
+++ b/Util/BuildTools/BuildUE4Plugins.sh
@@ -105,18 +105,16 @@ if [[ ! -d "$CONTENT_PATH" ]]; then
  else
    git clone https://OpenHUTB:T8w6TYB_r71gGTP3A02B@git.code.tencent.com/OpenHUTB/Content.git "$CONTENT_PATH"
    cd "$CONTENT_PATH"
-   git lfs install
    git lfs pull
  fi
 
 else
  echo "$FILE_N Content directory already exists: \"$CONTENT_PATH\", executing git pull."
  cd "$CONTENT_PATH"
- git lfs install
- git stash
+ git fetch --all
+ git reset --hard origin/master
  git pull
  git lfs pull
- git stash pop || true
 fi
 
 

From 89b824e16e411471173c5f8390f3514ea9e4cc4c Mon Sep 17 00:00:00 2001
From: jiandaoshou-aidehua <2893666867@qq.com>
Date: Sun, 12 Jul 2026 17:25:30 +0800
Subject: [PATCH 23/29] =?UTF-8?q?Cook=20=E5=89=8D=E8=87=AA=E5=8A=A8?=
 =?UTF-8?q?=E4=BF=AE=E5=A4=8D=20.uasset=20=E4=B8=AD=E9=9D=9E=E6=B3=95=20/R?=
 =?UTF-8?q?oadRunnerMaterials/=20=E6=9D=90=E8=B4=A8=E8=B7=AF=E5=BE=84?=
 =?UTF-8?q?=E4=B8=BA=20/Game/RoadRunnerMaterials/?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .github/workflows/build_linux.yml | 19 ++++++++++++++++++-
 Util/BuildTools/Package.sh        | 15 ++++++++++++++-
 2 files changed, 32 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/build_linux.yml b/.github/workflows/build_linux.yml
index 4972d42f92..53f3cee0e9 100644
--- a/.github/workflows/build_linux.yml
+++ b/.github/workflows/build_linux.yml
@@ -75,7 +75,24 @@ jobs:
                     run: |
                        echo "=== 正在动态修改 Package.sh,跳过 cook_tagged_materials ==="
                        sed -i 's/function cook_tagged_materials {/function cook_tagged_materials {\n    return 0/g' Util/BuildTools/Package.sh
-                    shell: bash 
+                    shell: bash
+
+                  # 修复 Content 包中 .uasset 文件的非法材质路径（缺少 /Game/ 根前缀）
+                  - name: Fix invalid material paths in RoadRunner assets
+                    run: |
+                       echo "=== 正在修复 .uasset 中的非法 RoadRunner 材质路径 ==="
+                       for BAD_PATH in \
+                         "/RoadRunnerMaterials/BaseMaterial:/Game/RoadRunnerMaterials/BaseMat" \
+                         "/RoadRunnerMaterials/BaseCutoutMaterial:/Game/RoadRunnerMaterials/BaseCutoutMat" \
+                         ; do
+                         FROM="${BAD_PATH%%:*}"
+                         TO="${BAD_PATH##*:}"
+                         find Unreal/CarlaUE4/Content -name "*.uasset" \
+                           -exec grep -l "$FROM" {} \; \
+                           -exec sed -i "s|$FROM|$TO|g" {} \; 2>/dev/null || true
+                       done
+                       echo "修复完成。"
+                    shell: bash
 
                   - name: package 
                     run: |
diff --git a/Util/BuildTools/Package.sh b/Util/BuildTools/Package.sh
index f02f74a84c..2caf8a5fa5 100755
--- a/Util/BuildTools/Package.sh
+++ b/Util/BuildTools/Package.sh
@@ -120,7 +120,7 @@ function copy_dir_fast {
 }
 
 function cook_tagged_materials {
-  return 0
+    # return 0
 
   # Measure duration of this function call
   T_START_COOK_TAGGED_MATS=$(date +%s)
@@ -253,6 +253,19 @@ if ${DO_CARLA_RELEASE} ; then
 
   log "Cooking CARLA project."
 
+  # 修复 Content 中 .uasset 的非法材质路径（缺少 /Game/ 根前缀导致 Cook 崩溃）
+  log "Fixing invalid RoadRunner material paths in .uasset files..."
+  for BAD_PATH in \
+    "/RoadRunnerMaterials/BaseMaterial:/Game/RoadRunnerMaterials/BaseMat" \
+    "/RoadRunnerMaterials/BaseCutoutMaterial:/Game/RoadRunnerMaterials/BaseCutoutMat" \
+    ; do
+    FROM="${BAD_PATH%%:*}"
+    TO="${BAD_PATH##*:}"
+    find "${CARLAUE4_ROOT_FOLDER}/Content" -name "*.uasset" \
+      -exec grep -l "$FROM" {} \; \
+      -exec sed -i "s|$FROM|$TO|g" {} \; 2>/dev/null || true
+  done
+
   rm -Rf ${RELEASE_BUILD_FOLDER}
   mkdir -p ${RELEASE_BUILD_FOLDER}
 

From d9d34a7d95c4f2160c610872dd4778cfc0b20c7a Mon Sep 17 00:00:00 2001
From: jiandaoshou-aidehua <2893666867@qq.com>
Date: Mon, 13 Jul 2026 13:27:10 +0800
Subject: [PATCH 24/29] =?UTF-8?q?=E5=B0=86=E6=96=B0=E5=A2=9E=E7=9A=84?=
 =?UTF-8?q?=E6=8F=92=E4=BB=B6=E5=85=88=E6=94=B9=E4=B8=BAfalse?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Unreal/CarlaUE4/CarlaUE4.uproject | 44 +++++++++++++++++++++++++++++++
 1 file changed, 44 insertions(+)

diff --git a/Unreal/CarlaUE4/CarlaUE4.uproject b/Unreal/CarlaUE4/CarlaUE4.uproject
index 09c3f7b72c..d066a72ca1 100644
--- a/Unreal/CarlaUE4/CarlaUE4.uproject
+++ b/Unreal/CarlaUE4/CarlaUE4.uproject
@@ -168,6 +168,50 @@
 		{
 			"Name": "RuntimeTests",
 			"Enabled": false
+		},
+		{
+			"Name": "DatasmithGLTFImporter",
+			"Enabled": true
+		},
+		{
+			"Name": "CesiumForUnreal",
+			"Enabled": false,
+			"MarketplaceURL": "com.epicgames.launcher://ue/marketplace/content/87b0d05800a545d49bf858ef3458c4f7",
+			"SupportedTargetPlatforms": [
+				"Win64",
+				"Mac",
+				"Linux",
+				"Android",
+				"IOS"
+			]
+		},
+		{
+			"Name": "RoadRunnerCarlaIntegration",
+			"Enabled": false
+		},
+		{
+			"Name": "RoadRunnerImporter",
+			"Enabled": false
+		},
+		{
+			"Name": "StreetMap",
+			"Enabled": false
+		},
+		{
+			"Name": "RoadRunnerCarlaDatasmith",
+			"Enabled": false
+		},
+		{
+			"Name": "RoadRunnerDatasmith",
+			"Enabled": false
+		},
+		{
+			"Name": "RoadRunnerRuntime",
+			"Enabled": false
+		},
+		{
+			"Name": "LogitechWheelPlugin",
+			"Enabled": false
 		}
 	]
 }
\ No newline at end of file

From 77c359a27048f3bdfd616e6ecec8dcd6a2cf185b Mon Sep 17 00:00:00 2001
From: jiandaoshou-aidehua <2893666867@qq.com>
Date: Mon, 13 Jul 2026 13:34:03 +0800
Subject: [PATCH 25/29] =?UTF-8?q?=E5=B0=86=E6=96=B0=E5=A2=9E=E7=9A=84?=
 =?UTF-8?q?=E6=8F=92=E4=BB=B6=E5=85=88=E8=AE=BE=E7=BD=AE=E4=B8=BAfalse?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Unreal/CarlaUE4/CarlaUE4.uproject | 36 -------------------------------
 1 file changed, 36 deletions(-)

diff --git a/Unreal/CarlaUE4/CarlaUE4.uproject b/Unreal/CarlaUE4/CarlaUE4.uproject
index e66f5b06f3..6389125f80 100644
--- a/Unreal/CarlaUE4/CarlaUE4.uproject
+++ b/Unreal/CarlaUE4/CarlaUE4.uproject
@@ -166,11 +166,7 @@
 		},
 		{
 			"Name": "RuntimeTests",
-<<<<<<< HEAD
 			"Enabled": false
-=======
-			"Enabled": true
->>>>>>> b56b835e3e67543f324dca6892e6669bd0243cf0
 		},
 		{
 			"Name": "DatasmithGLTFImporter",
@@ -178,11 +174,7 @@
 		},
 		{
 			"Name": "CesiumForUnreal",
-<<<<<<< HEAD
 			"Enabled": false,
-=======
-			"Enabled": true,
->>>>>>> b56b835e3e67543f324dca6892e6669bd0243cf0
 			"MarketplaceURL": "com.epicgames.launcher://ue/marketplace/content/87b0d05800a545d49bf858ef3458c4f7",
 			"SupportedTargetPlatforms": [
 				"Win64",
@@ -194,7 +186,6 @@
 		},
 		{
 			"Name": "RoadRunnerCarlaIntegration",
-<<<<<<< HEAD
 			"Enabled": false
 		},
 		{
@@ -220,33 +211,6 @@
 		{
 			"Name": "LogitechWheelPlugin",
 			"Enabled": false
-=======
-			"Enabled": true
-		},
-		{
-			"Name": "RoadRunnerImporter",
-			"Enabled": true
-		},
-		{
-			"Name": "StreetMap",
-			"Enabled": true
-		},
-		{
-			"Name": "RoadRunnerCarlaDatasmith",
-			"Enabled": true
-		},
-		{
-			"Name": "RoadRunnerDatasmith",
-			"Enabled": true
-		},
-		{
-			"Name": "RoadRunnerRuntime",
-			"Enabled": true
-		},
-		{
-			"Name": "LogitechWheelPlugin",
-			"Enabled": true
->>>>>>> b56b835e3e67543f324dca6892e6669bd0243cf0
 		}
 	]
 }
\ No newline at end of file

From f0c5d36aa49fa404c32b909ccc926d3d57d51a2b Mon Sep 17 00:00:00 2001
From: jiandaoshou-aidehua <2893666867@qq.com>
Date: Tue, 14 Jul 2026 11:46:32 +0800
Subject: [PATCH 26/29] fix: register RoadRunnerCarlaContent plugin to resolve
 Cook mount point error
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

- 创建 RoadRunnerCarlaContent 内容插件，提供 /RoadRunnerCarlaContent/ 挂载点
- 在 .uproject 中注册并启用该插件
- 在 Package.sh 和 CI yml 中增加对应路径替换规则

修复 Cook 阶段报错:
Illegal call to DoesPackageExist: '/RoadRunnerCarlaContent/RR_TrafficLightManager'
is not a standard unreal filename (Error_UnknownCookFailure)
---
 .github/workflows/build_linux.yml                   |  1 +
 Unreal/CarlaUE4/CarlaUE4.uproject                   |  4 ++++
 .../RoadRunnerCarlaContent.uplugin                  | 13 +++++++++++++
 Util/BuildTools/Package.sh                          |  1 +
 4 files changed, 19 insertions(+)
 create mode 100644 Unreal/CarlaUE4/Plugins/RoadRunnerCarlaContent/RoadRunnerCarlaContent.uplugin

diff --git a/.github/workflows/build_linux.yml b/.github/workflows/build_linux.yml
index 53f3cee0e9..e7cdd48ab0 100644
--- a/.github/workflows/build_linux.yml
+++ b/.github/workflows/build_linux.yml
@@ -84,6 +84,7 @@ jobs:
                        for BAD_PATH in \
                          "/RoadRunnerMaterials/BaseMaterial:/Game/RoadRunnerMaterials/BaseMat" \
                          "/RoadRunnerMaterials/BaseCutoutMaterial:/Game/RoadRunnerMaterials/BaseCutoutMat" \
+                         "/RoadRunnerCarlaContent/:/Game/RoadRunnerCarlaContent/" \
                          ; do
                          FROM="${BAD_PATH%%:*}"
                          TO="${BAD_PATH##*:}"
diff --git a/Unreal/CarlaUE4/CarlaUE4.uproject b/Unreal/CarlaUE4/CarlaUE4.uproject
index 6389125f80..5353ecf339 100644
--- a/Unreal/CarlaUE4/CarlaUE4.uproject
+++ b/Unreal/CarlaUE4/CarlaUE4.uproject
@@ -184,6 +184,10 @@
 				"IOS"
 			]
 		},
+		{
+			"Name": "RoadRunnerCarlaContent",
+			"Enabled": true
+		},
 		{
 			"Name": "RoadRunnerCarlaIntegration",
 			"Enabled": false
diff --git a/Unreal/CarlaUE4/Plugins/RoadRunnerCarlaContent/RoadRunnerCarlaContent.uplugin b/Unreal/CarlaUE4/Plugins/RoadRunnerCarlaContent/RoadRunnerCarlaContent.uplugin
new file mode 100644
index 0000000000..524f100821
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/RoadRunnerCarlaContent/RoadRunnerCarlaContent.uplugin
@@ -0,0 +1,13 @@
+{
+    "FileVersion": 3,
+    "Version": 1,
+    "VersionName": "1.0",
+    "FriendlyName": "RoadRunnerCarlaContent",
+    "Description": "Content-only plugin providing RoadRunner Carla content mount point for compatibility with assets that reference /RoadRunnerCarlaContent/ paths.",
+    "Category": "Other",
+    "CreatedBy": "HUTB Team",
+    "CanContainContent": true,
+    "IsBetaVersion": false,
+    "Installed": true,
+    "Modules": []
+}
diff --git a/Util/BuildTools/Package.sh b/Util/BuildTools/Package.sh
index 2caf8a5fa5..23e95eb94b 100755
--- a/Util/BuildTools/Package.sh
+++ b/Util/BuildTools/Package.sh
@@ -258,6 +258,7 @@ if ${DO_CARLA_RELEASE} ; then
   for BAD_PATH in \
     "/RoadRunnerMaterials/BaseMaterial:/Game/RoadRunnerMaterials/BaseMat" \
     "/RoadRunnerMaterials/BaseCutoutMaterial:/Game/RoadRunnerMaterials/BaseCutoutMat" \
+    "/RoadRunnerCarlaContent/:/Game/RoadRunnerCarlaContent/" \
     ; do
     FROM="${BAD_PATH%%:*}"
     TO="${BAD_PATH##*:}"

From 7316845fa2029e264c402cefe8f4c331c9a07a56 Mon Sep 17 00:00:00 2001
From: jiandaoshou-aidehua <2893666867@qq.com>
Date: Thu, 16 Jul 2026 16:37:41 +0800
Subject: [PATCH 27/29] =?UTF-8?q?=E5=90=AF=E5=8A=A8=E6=9C=80=E6=96=B0?=
 =?UTF-8?q?=E7=9A=84=E6=8F=92=E4=BB=B6=E4=BB=A5=E5=8F=8A=E5=B0=86=E4=BE=9D?=
 =?UTF-8?q?=E8=B5=96=E6=94=BE=E5=9C=A8?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Unreal/CarlaUE4/CarlaUE4.uproject |  18 +-
 setup.sh                          | 411 ++++++++++++++++++++++++++++++
 2 files changed, 420 insertions(+), 9 deletions(-)
 create mode 100755 setup.sh

diff --git a/Unreal/CarlaUE4/CarlaUE4.uproject b/Unreal/CarlaUE4/CarlaUE4.uproject
index 5353ecf339..a38420b70a 100644
--- a/Unreal/CarlaUE4/CarlaUE4.uproject
+++ b/Unreal/CarlaUE4/CarlaUE4.uproject
@@ -166,7 +166,7 @@
 		},
 		{
 			"Name": "RuntimeTests",
-			"Enabled": false
+			"Enabled": true
 		},
 		{
 			"Name": "DatasmithGLTFImporter",
@@ -174,7 +174,7 @@
 		},
 		{
 			"Name": "CesiumForUnreal",
-			"Enabled": false,
+			"Enabled": true,
 			"MarketplaceURL": "com.epicgames.launcher://ue/marketplace/content/87b0d05800a545d49bf858ef3458c4f7",
 			"SupportedTargetPlatforms": [
 				"Win64",
@@ -190,31 +190,31 @@
 		},
 		{
 			"Name": "RoadRunnerCarlaIntegration",
-			"Enabled": false
+			"Enabled": true
 		},
 		{
 			"Name": "RoadRunnerImporter",
-			"Enabled": false
+			"Enabled": true
 		},
 		{
 			"Name": "StreetMap",
-			"Enabled": false
+			"Enabled": true
 		},
 		{
 			"Name": "RoadRunnerCarlaDatasmith",
-			"Enabled": false
+			"Enabled": true
 		},
 		{
 			"Name": "RoadRunnerDatasmith",
-			"Enabled": false
+			"Enabled": true
 		},
 		{
 			"Name": "RoadRunnerRuntime",
-			"Enabled": false
+			"Enabled": true
 		},
 		{
 			"Name": "LogitechWheelPlugin",
-			"Enabled": false
+			"Enabled": true
 		}
 	]
 }
\ No newline at end of file
diff --git a/setup.sh b/setup.sh
new file mode 100755
index 0000000000..9c2f8f2d17
--- /dev/null
+++ b/setup.sh
@@ -0,0 +1,411 @@
+#!/bin/bash
+# ==============================================================================
+# setup.sh — Ubuntu/Linux adaptation of Windows setup.bat
+#
+# All dependencies (including UE4 plugins not shipped with the engine) are
+# centralized in a single repository:
+#
+#     git@git.code.tencent.com:OpenHUTB/dependencies_u.git
+#
+# The repo contains Linux-compatible builds of every package AND an init.sh
+# script that handles extraction.  This setup.sh only orchestrates:
+#
+#   1. Ensure system tools (git, curl, 7z, gcc, etc.)
+#   2. Clone dependencies_u  →  Build/dependencies/
+#   3. Run init.sh            →  extract everything to the right places
+#   4. Install system packages via apt
+#   5. Set up Python environment (conda or venv)
+#   6. Optionally invoke Util/BuildTools/Setup.sh for the full C++ build
+#
+# Usage:
+#   ./setup.sh [--skip-prerequisites] [--download-only] [--help]
+# ==============================================================================
+
+set -e
+
+# ==============================================================================
+# -- Parse command-line arguments -----------------------------------------------
+# ==============================================================================
+
+DOC_STRING="Download and install all dependencies and UE4 plugins for Ubuntu.
+All packages come from the dependencies_u repository (Linux builds)."
+
+USAGE_STRING="Usage: $0 [--skip-prerequisites] [--download-only] [--help]"
+
+SKIP_PREREQUISITES=false
+DOWNLOAD_ONLY=false
+
+OPTS=$(getopt -o h --long help,skip-prerequisites,download-only -n 'parse-options' -- "$@")
+eval set -- "$OPTS"
+
+while [[ $# -gt 0 ]]; do
+  case "$1" in
+    --skip-prerequisites )
+      SKIP_PREREQUISITES=true
+      shift ;;
+    --download-only )
+      DOWNLOAD_ONLY=true
+      shift ;;
+    -h | --help )
+      echo "$DOC_STRING"
+      echo "$USAGE_STRING"
+      exit 0
+      ;;
+    * )
+      shift ;;
+  esac
+done
+
+# ==============================================================================
+# -- Color helpers --------------------------------------------------------------
+# ==============================================================================
+
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+CYAN='\033[1;36m'
+NC='\033[0m'
+
+log()    { echo -e "${CYAN}[setup.sh]${NC} $1"; }
+success(){ echo -e "${GREEN}[setup.sh]${NC} \xe2\x9c\x85 $1"; }
+warn()   { echo -e "${YELLOW}[setup.sh]${NC} \xe2\x9a\xa0\xef\xb8\x8f  $1"; }
+error()  { echo -e "${RED}[setup.sh]${NC} \xe2\x9d\x8c $1"; exit 1; }
+
+# ==============================================================================
+# -- Paths ---------------------------------------------------------------------
+# ==============================================================================
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+PROJECT_ROOT="$SCRIPT_DIR"
+BUILD_DIR="$PROJECT_ROOT/Build"
+PLUGINS_DIR="$PROJECT_ROOT/Unreal/CarlaUE4/Plugins"
+
+# ------------------------------------------------------------------------------
+# dependencies_u — Ubuntu edition of the Windows dependencies repo.
+#
+# Repo layout (see README.md in the repo for full documentation):
+#
+#   dependencies_u/
+#   |-- Plugins/           # UE4 plugins + third-party runtime libs
+#   |   |-- RoadRunner_Plugins.zip
+#   |   |-- CesiumForUnreal-426-v1.18.0-ue4.zip
+#   |   |-- mujoco-3.3.5-linux-x86_64.tar.gz
+#   |   |-- CoACD.zip
+#   |   `-- libzmq-linux.tar.gz
+#   |-- prerequisites/     # Pre-packaged toolchain
+#   |   `-- Miniconda3-latest-Linux-x86_64.sh
+#   |-- src/               # C++ source packages (cross-platform)
+#   |   |-- boost-1_86_0.zip
+#   |   |-- chrono-src.zip
+#   |   |-- eigen-3.3.7.zip
+#   |   |-- ... (13 packages total)
+#   |   `-- zlib-source.zip
+#   |-- init.sh            # Extraction / initialization script
+#   |-- .gitattributes     # LFS tracking rules
+#   `-- README.md
+# ------------------------------------------------------------------------------
+
+# DEPENDENCIES_REPO="git@git.code.tencent.com:OpenHUTB/dependencies_u.git"
+# Fallback if SSH is not configured:
+DEPENDENCIES_REPO="https://OpenHUTB:T8w6TYB_r71gGTP3A02B@git.code.tencent.com/OpenHUTB/dependencies_u.git"
+
+DEPENDENCIES_DIR="$BUILD_DIR/dependencies"
+
+URLAB_DIR="$PLUGINS_DIR/UnrealRoboticsLab"
+URLAB_THIRD_PARTY="$URLAB_DIR/third_party/install"
+
+# ==============================================================================
+# -- Banner --------------------------------------------------------------------
+# ==============================================================================
+
+log "=============================================="
+log "  HUTB Ubuntu Setup Script"
+log "  (adapted from setup.bat)"
+log "=============================================="
+log "Project root     : $PROJECT_ROOT"
+log "Build dir        : $BUILD_DIR"
+log "Plugins dir      : $PLUGINS_DIR"
+log "Dependencies repo: $DEPENDENCIES_REPO"
+log ""
+
+# ==============================================================================
+# -- Step 0: Ensure essential system tools -------------------------------------
+# ==============================================================================
+# Mirrors the Windows .bat which downloads git + 7zip first, then uses them to
+# obtain everything else.  On Ubuntu these are native system packages.
+
+log "=============================================="
+log "  Step 0 — Essential System Tools"
+log "=============================================="
+
+MISSING_TOOLS=()
+for cmd in git curl wget unzip make gcc g++; do
+    if ! command -v "$cmd" &>/dev/null; then
+        MISSING_TOOLS+=("$cmd")
+    fi
+done
+
+if [ ${#MISSING_TOOLS[@]} -gt 0 ]; then
+    warn "Installing missing tools: ${MISSING_TOOLS[*]}"
+    sudo apt-get update -qq
+    sudo apt-get install -y -qq "${MISSING_TOOLS[@]}"
+fi
+
+# 7z — used extensively in .bat for extracting archives
+if ! command -v 7z &>/dev/null; then
+    log "Installing p7zip-full..."
+    sudo apt-get install -y -qq p7zip-full
+fi
+
+success "Essential tools ready."
+log ""
+
+# ==============================================================================
+# -- Step 1: Ensure Build directory ---------------------------------------------
+# ==============================================================================
+# Mirrors: if not exist "%cd%\Build" mkdir "%cd%\Build"
+
+if [ ! -d "$BUILD_DIR" ]; then
+    log "Creating Build/ directory..."
+    mkdir -p "$BUILD_DIR"
+else
+    log "Build/ directory already exists."
+fi
+
+# ==============================================================================
+# -- Step 2: Clone dependencies_u repository -----------------------------------
+# ==============================================================================
+# Mirrors:
+#   git clone https://.../dependencies.git Build\dependencies
+#   cd dependencies && git lfs pull
+#
+# The Windows .bat targets "dependencies" (Windows builds).
+# We target "dependencies_u" — the Ubuntu counterpart.
+
+log "=============================================="
+log "  Step 2 — Clone dependencies_u"
+log "=============================================="
+
+export GIT_LFS_SKIP_SMUDGE=1
+
+if [ ! -d "$DEPENDENCIES_DIR" ]; then
+    log "Cloning $DEPENDENCIES_REPO ..."
+    pushd "$BUILD_DIR" >/dev/null
+
+    git clone "$DEPENDENCIES_REPO" dependencies 2>/dev/null || {
+        warn ""
+        warn "============================================"
+        warn "  Failed to clone dependencies_u."
+        warn "  Please check:"
+        warn "    1. SSH key is added to git.code.tencent.com"
+        warn "    2. The repo exists at:"
+        warn "       git@git.code.tencent.com:OpenHUTB/dependencies_u.git"
+        warn "  Or use HTTPS fallback (edit setup.sh)."
+        warn "============================================"
+        warn ""
+        warn "  Continuing without dependencies — some"
+        warn "  features will be unavailable."
+    }
+
+    if [ -d "$DEPENDENCIES_DIR" ]; then
+        cd "$DEPENDENCIES_DIR"
+        git lfs pull 2>/dev/null || warn "git lfs pull failed (non-critical)."
+        success "dependencies_u cloned."
+    fi
+
+    popd >/dev/null
+else
+    log "dependencies/ already exists, skipping clone."
+    log "  (To force re-clone: rm -rf $DEPENDENCIES_DIR && re-run)"
+fi
+
+log ""
+
+# ==============================================================================
+# -- Step 3: Run dependencies_u/init.sh ----------------------------------------
+# ==============================================================================
+# All extraction / initialization logic lives inside the dependencies_u repo.
+# setup.sh only orchestrates — init.sh does the actual work of unzipping
+# plugins, extracting source packages, installing miniconda3, etc.
+
+if [ ! -d "$DEPENDENCIES_DIR" ]; then
+    warn "dependencies_u not available — skipping extraction."
+else
+    log "=============================================="
+    log "  Step 3 — Run dependencies_u/init.sh"
+    log "=============================================="
+
+    INIT_SCRIPT="$DEPENDENCIES_DIR/init.sh"
+    if [ -f "$INIT_SCRIPT" ]; then
+        log "Delegating to $INIT_SCRIPT ..."
+        log ""
+        bash "$INIT_SCRIPT" "$PROJECT_ROOT"
+        success "dependencies_u initialization complete."
+    else
+        error "init.sh not found in dependencies_u!"
+        error "Expected at: $INIT_SCRIPT"
+        error "The dependencies_u repo may be incomplete or corrupted."
+        exit 1
+    fi
+fi
+
+log ""
+
+# ==============================================================================
+# -- Step 4: System packages via apt -------------------------------------------
+# ==============================================================================
+
+if [ "$SKIP_PREREQUISITES" = false ]; then
+    log "=============================================="
+    log "  Step 4 — System Prerequisites (apt)"
+    log "=============================================="
+
+    log "Installing build dependencies..."
+    sudo apt-get update -qq
+
+    sudo apt-get install -y -qq \
+        build-essential \
+        clang-10 \
+        libc++-dev \
+        libc++abi-dev \
+        ninja-build \
+        python3 \
+        python3-dev \
+        python3-pip \
+        python3-venv \
+        libomp-dev \
+        libssl-dev \
+        libncurses5 \
+        libncurses5-dev \
+        libsdl2-dev \
+        libtiff5-dev \
+        libjpeg-dev \
+        libcurl4-openssl-dev \
+        libzmq3-dev \
+        doxygen \
+        patchelf \
+        libxml2-dev \
+        libicu-dev \
+        2>/dev/null || warn "Some apt packages may have failed to install."
+
+    # clang-10 may not exist on newer Ubuntu (e.g. 24.04); fall back to clang
+    if ! command -v clang-10 &>/dev/null && ! command -v clang &>/dev/null; then
+        warn "clang not found — installing clang..."
+        sudo apt-get install -y -qq clang
+    fi
+
+    success "System prerequisites installed."
+else
+    log "Skipping system prerequisites (--skip-prerequisites)."
+fi
+
+log ""
+
+# ==============================================================================
+# -- Step 5: Python environment ------------------------------------------------
+# ==============================================================================
+# init.sh already installed miniconda3 to Build/dependencies/prerequisites/.
+# Here we create the conda environment and install Python requirements.
+
+log "=============================================="
+log "  Step 5 — Python Environment"
+log "=============================================="
+
+MINICONDA_DIR="$BUILD_DIR/dependencies/prerequisites/miniconda3"
+
+if [ -d "$MINICONDA_DIR" ] && [ -f "$MINICONDA_DIR/bin/conda" ]; then
+    log "Setting up conda environment 'hutb_3.8'..."
+
+    # Create environment if not already present
+    if ! "$MINICONDA_DIR/bin/conda" env list 2>/dev/null | grep -q hutb_3.8; then
+        "$MINICONDA_DIR/bin/conda" create -n hutb_3.8 python=3.8 -y 2>/dev/null || \
+            warn "  Conda env creation failed."
+    fi
+
+    # Install Python requirements
+    if [ -f "$PROJECT_ROOT/requirements.txt" ]; then
+        log "  Installing Python requirements (requirements.txt)..."
+        "$MINICONDA_DIR/envs/hutb_3.8/bin/pip" install -r "$PROJECT_ROOT/requirements.txt" 2>/dev/null || \
+            warn "  pip install failed (non-critical)."
+    fi
+
+    if [ -f "$PROJECT_ROOT/PythonAPI/carla/requirements.txt" ]; then
+        log "  Installing Python requirements (PythonAPI)..."
+        "$MINICONDA_DIR/envs/hutb_3.8/bin/pip" install -r "$PROJECT_ROOT/PythonAPI/carla/requirements.txt" 2>/dev/null || true
+    fi
+
+    success "conda env 'hutb_3.8' ready."
+else
+    # Fallback: system python3 venv
+    VENV_DIR="$BUILD_DIR/venv"
+    if [ ! -d "$VENV_DIR" ] && command -v python3 &>/dev/null; then
+        log "No conda found — creating Python venv as fallback..."
+        python3 -m venv "$VENV_DIR" 2>/dev/null || true
+        if [ -f "$VENV_DIR/bin/pip" ]; then
+            "$VENV_DIR/bin/pip" install --upgrade pip 2>/dev/null || true
+            [ -f "$PROJECT_ROOT/requirements.txt" ] && \
+                "$VENV_DIR/bin/pip" install -r "$PROJECT_ROOT/requirements.txt" 2>/dev/null || true
+        fi
+        success "Python venv created at $VENV_DIR"
+    fi
+fi
+
+log ""
+
+# ==============================================================================
+# -- Step 6: Build C++ dependencies --------------------------------------------
+# ==============================================================================
+
+if [ "$DOWNLOAD_ONLY" = false ]; then
+    log "=============================================="
+    log "  Step 6 — C++ Dependency Build"
+    log "=============================================="
+
+    BUILD_TOOLS_SETUP="$PROJECT_ROOT/Util/BuildTools/Setup.sh"
+
+    if [ -f "$BUILD_TOOLS_SETUP" ]; then
+        log "Running $BUILD_TOOLS_SETUP --chrono ..."
+        log "(This compiles boost, rpclib, gtest, recast, eigen, etc. from source)"
+        log ""
+        bash "$BUILD_TOOLS_SETUP" --chrono || warn "BuildTools/Setup.sh reported errors."
+    else
+        warn "$BUILD_TOOLS_SETUP not found — skipping C++ build."
+        warn "Run 'make setup' or build dependencies manually."
+    fi
+else
+    log "Skipping C++ build (--download-only)."
+fi
+
+log ""
+
+# ==============================================================================
+# -- Summary -------------------------------------------------------------------
+# ==============================================================================
+
+log "=============================================="
+log "  Setup Complete!"
+log "=============================================="
+log ""
+
+# List what's in Plugins
+log "Plugins directory: $PLUGINS_DIR"
+if [ -d "$PLUGINS_DIR" ]; then
+    log "Available plugins:"
+    for d in "$PLUGINS_DIR"/*/; do
+        [ -d "$d" ] && echo "   - $(basename "$d")"
+    done
+else
+    warn "Plugins directory does not exist!"
+fi
+
+log ""
+log "Dependencies repo : $DEPENDENCIES_DIR"
+log "Third-party (URLab): $URLAB_THIRD_PARTY"
+log ""
+log "Next steps:"
+log "  1. Ensure UE4 engine is at ~/UnrealEngine_4.26"
+log "  2. make CarlaUE4Editor"
+log "  3. make package"
+log ""
+
+success "Done!"

From 33a1ad7e12f852e905d2c70a2164c6ff1f69a5b4 Mon Sep 17 00:00:00 2001
From: jiandaoshou-aidehua <2893666867@qq.com>
Date: Thu, 16 Jul 2026 20:48:08 +0800
Subject: [PATCH 28/29] =?UTF-8?q?=E8=A7=A3=E5=8E=8B=E5=AF=B9=E5=BA=94?=
 =?UTF-8?q?=E6=8F=92=E4=BB=B6=E4=BB=A5=E5=8F=8A=E4=BE=9D=E8=B5=96?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .github/workflows/build_linux.yml | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/build_linux.yml b/.github/workflows/build_linux.yml
index e7cdd48ab0..879538978d 100644
--- a/.github/workflows/build_linux.yml
+++ b/.github/workflows/build_linux.yml
@@ -27,10 +27,11 @@ jobs:
                   
                   - name: setup
                     run: |
-                       source ./setEnv64.sh 
+                       source ./setEnv64.sh
                        git update-index --skip-worktree Unreal/CarlaUE4/CarlaUE4.uproject
+                       bash setup.sh --download-only --skip-prerequisites
                        make setup ARGS="--chrono"
-                    shell: bash 
+                    shell: bash
                  
                   - name: build 
                     run: |

From e4a3fab2ef1fa0209f499eb99b9ab7dbea5fbf7d Mon Sep 17 00:00:00 2001
From: jiandaoshou-aidehua <2893666867@qq.com>
Date: Fri, 17 Jul 2026 09:46:42 +0800
Subject: [PATCH 29/29] =?UTF-8?q?=E5=8F=AA=E8=A7=A3=E5=8E=8B=20=E6=8F=92?=
 =?UTF-8?q?=E4=BB=B6=E7=9B=B8=E5=85=B3=20=E6=96=87=E4=BB=B6(RoadRunner?=
 =?UTF-8?q?=E3=80=81Cesium=E3=80=81MuJoCo=E3=80=81CoACD=E3=80=81libzmq)?=
 =?UTF-8?q?=E4=BB=A5=E5=8F=8A=E6=B8=85=E7=90=86=20Build/*-source=20Build/*?=
 =?UTF-8?q?-src=20=E6=AE=8B=E7=95=99?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .github/workflows/build_linux.yml | 26 +++++++++++++++++++++++++-
 1 file changed, 25 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/build_linux.yml b/.github/workflows/build_linux.yml
index 879538978d..35176c8917 100644
--- a/.github/workflows/build_linux.yml
+++ b/.github/workflows/build_linux.yml
@@ -29,7 +29,31 @@ jobs:
                     run: |
                        source ./setEnv64.sh
                        git update-index --skip-worktree Unreal/CarlaUE4/CarlaUE4.uproject
-                       bash setup.sh --download-only --skip-prerequisites
+
+                       # Clone dependencies_u (only for UE4 plugins, not source pkgs)
+                       echo "=== Cloning dependencies_u for plugins ==="
+                       GIT_LFS_SKIP_SMUDGE=1 git clone \
+                         "https://OpenHUTB:T8w6TYB_r71gGTP3A02B@git.code.tencent.com/OpenHUTB/dependencies_u.git" \
+                         Build/dependencies 2>/dev/null || true
+                       if [ -d Build/dependencies ]; then
+                         cd Build/dependencies && git lfs pull && cd ../..
+                         # Extract plugins
+                         7z x Build/dependencies/Plugins/RoadRunner_Plugins.zip -o"Unreal/CarlaUE4/Plugins/" -y
+                         7z x Build/dependencies/Plugins/CesiumForUnreal-426-v1.18.0-ue4.zip -o"Unreal/CarlaUE4/Plugins/" -y
+                         # UnrealRoboticsLab third-party deps
+                         mkdir -p Unreal/CarlaUE4/Plugins/UnrealRoboticsLab/third_party/install
+                         mkdir -p Unreal/CarlaUE4/Plugins/UnrealRoboticsLab/third_party/install/MuJoCo
+                         tar -xzf Build/dependencies/Plugins/mujoco-3.3.5-linux-x86_64.tar.gz -C Unreal/CarlaUE4/Plugins/UnrealRoboticsLab/third_party/install/MuJoCo --strip-components=1 2>/dev/null || true
+                         mkdir -p Unreal/CarlaUE4/Plugins/UnrealRoboticsLab/third_party/install/CoACD
+                         unzip -qo Build/dependencies/Plugins/CoACD.zip -d Unreal/CarlaUE4/Plugins/UnrealRoboticsLab/third_party/install/CoACD 2>/dev/null || true
+                         mkdir -p Unreal/CarlaUE4/Plugins/UnrealRoboticsLab/third_party/install/libzmq
+                         tar -xzf Build/dependencies/Plugins/libzmq-linux.tar.gz -C Unreal/CarlaUE4/Plugins/UnrealRoboticsLab/third_party/install/libzmq 2>/dev/null || true
+                         echo "=== Plugins extracted ==="
+                       fi
+
+                       # Clean leftover source dirs from previous runs (avoid conflict with make setup)
+                       rm -rf Build/*-source Build/*-src 2>/dev/null || true
+
                        make setup ARGS="--chrono"
                     shell: bash