ubuntu系统打包carla--修改对应文件

.github/workflows/build_linux.yml

@@ -1,14 +1,15 @@
 name: hubt Linux CI/CD
 
 on:
+   pull_request:
    workflow_dispatch:
 
 
 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
@@ -18,18 +19,43 @@ jobs:
                     uses: actions/checkout@v5
                     with:
                          fetch-depth: 0
-
+                         
                   - name: Show files
                     run: |
                        pwd
                        ls -al
 
                   - name: setup
                     run: |
-                       source ./setEnv64.sh 
+                       source ./setEnv64.sh
                        git update-index --skip-worktree Unreal/CarlaUE4/CarlaUE4.uproject
+
+                       # 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 
+                    shell: bash
 
                   - name: build 
                     run: |
@@ -43,17 +69,67 @@ jobs:
                        source ./Update.sh  
                     shell: bash 
 
+                  - name: Fix Windows Compiler Flags and Clean Cache
+                    run: |
+                      # 💡 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 ${{ github.workspace }}/Unreal/CarlaUE4/Intermediate
+                    shell: bash
+
                   - name: CarlaUE4Editor
                     run: |
                        source ./setEnv64.sh 
-                       make CarlaUE4Editor ARGS="--chrono -j$(nproc)"
+                       make CarlaUE4Editor ARGS="--chrono -j$(( $(nproc) / 3 ))"
                     shell: bash
 
-                    # - name: package 
-                    #run: |
-                    #   source ./setEnv64.sh 
-                    #   make package ARGS="--chrono"
-                    # 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
+
+                  # 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" \
+                         "/RoadRunnerCarlaContent/:/Game/RoadRunnerCarlaContent/" \
+                         ; do
+                         FROM="${BAD_PATH%%:*}"
+                         TO="${BAD_PATH##*:}"
+                         find Unreal/CarlaUE4/Content -name "*.uasset" \
+                           -exec grep -l "$FROM" {} \; \
+                           -exec sed -i "s|$FROM|$TO|g" {} \; 2>/dev/null || true
+                       done
+                       echo "修复完成。"
+                    shell: bash
+
+                  - name: package 
+                    run: |
+                       source /home/ubuntu/miniconda3/etc/profile.d/conda.sh
+                       conda activate carla
+
+                       source ./setEnv64.sh
+
+                       export MaxProcessorCount=$(( $(nproc) / 3 ))
+                       make package ARGS="--chrono"
+                    shell: bash 
 
 
 

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",
@@ -154,15 +154,15 @@
 		},
 		{
 			"Name": "UnrealRoboticsLab",
-			"Enabled": true
+			"Enabled": false
 		},
 		{
 			"Name": "GLTFImporter",
-			"Enabled": true
+			"Enabled": false
 		},
 		{
 			"Name": "FunctionalTestingEditor",
-			"Enabled": true
+			"Enabled": false
 		},
 		{
 			"Name": "RuntimeTests",
@@ -184,6 +184,10 @@
 				"IOS"
 			]
 		},
+		{
+			"Name": "RoadRunnerCarlaContent",
+			"Enabled": true
+		},
 		{
 			"Name": "RoadRunnerCarlaIntegration",
 			"Enabled": true

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Carla.Build.cs

@@ -21,6 +21,8 @@ public Carla(ReadOnlyTargetRules Target) : base(Target)
 
     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;
@@ -357,4 +359,4 @@ private void AddCarlaServerDependency(ReadOnlyTargetRules Target)
     PublicDefinitions.Add("BOOST_DISABLE_ABI_HEADERS");
     PublicDefinitions.Add("BOOST_TYPE_INDEX_FORCE_NO_RTTI_COMPATIBILITY");
   }
-}
+}

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": []
+}

Unreal/CarlaUE4/Source/CarlaUE4/CarlaUE4.Build.cs

@@ -15,6 +15,8 @@ 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 +97,4 @@ public CarlaUE4(ReadOnlyTargetRules Target) : base(Target)
 
         PrivateDependencyModuleNames.AddRange(new string[] { "ImageWriteQueue" });
     }
-}
+}

Unreal/CarlaUE4/Source/CarlaUE4/CarlaUE4.cpp

@@ -3,5 +3,13 @@
 #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);

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!"

Util/BuildTools/Linux.mk

@@ -81,9 +81,10 @@ run-examples:
 	@for D in ${CARLA_EXAMPLES_FOLDER}/*; do [ -d "$${D}" ] && make -C $${D} run.only; done
 
 CarlaUE4Editor: LibCarla.server.release osm2odr downloadplugins
+# 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)

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)
 
@@ -251,6 +253,20 @@ 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" \
+    "/RoadRunnerCarlaContent/:/Game/RoadRunnerCarlaContent/" \
+    ; 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}