debug-draw

Use the world.debug (carla.DebugHelper) methods draw_point, draw_line, draw_arrow, draw_box, and draw_string, each taking a location, colour, and life_time in seconds. The debug_draw.py script wraps these as point, line, arrow, box, and text subcommands with X,Y,Z coordinates.

Draw a point at the world coordinates with draw_point and add a floating label with draw_string at a slightly higher Z. Both accept an r,g,b colour and a lifetime in seconds, and they expire automatically.

Debug shapes are invisible on headless servers started with -nullrhi because there is no render thread, and in synchronous mode nothing renders until the client calls world.tick(). Use a windowed or packaged server and tick the world in sync mode.

No. On CARLA 0.10.0 (UE5 line) carla.DebugHelper exposes only seven methods: draw_point, draw_line, draw_arrow, draw_box, draw_string, clear_debug_shape, and clear_debug_string. The 0.9.x draw_hud_point/line/box variants have no equivalent, so use the world-space calls.

Debug shapes are render overlays, not actors, so they cannot be selected or individually deleted through get_actors(). They expire after their life_time; clear_debug_shape and clear_debug_string are the only early-removal calls, and a world reload clears everything.

Shapes are stamped at a fixed world pose and do not follow moving actors. Redraw the shape every frame with a short life_time (around 0.15 seconds), re-reading the actor's transform each iteration, so the re-stamped box appears to ride the actor.