From 5ec7d062e04510c4a8a4ff0236f7e56688ce82d6 Mon Sep 17 00:00:00 2001
From: MattRowe18 <mattroweia@gmail.com>
Date: Tue, 8 Nov 2022 18:52:57 +0100
Subject: [PATCH] added multigpu instructions

---
 Docs/adv_multigpu.md | 52 ++++++++++++++++++++++++++++++++++++++++++++
 Docs/ext_docs.md     |  1 +
 2 files changed, 53 insertions(+)
 create mode 100644 Docs/adv_multigpu.md

diff --git a/Docs/adv_multigpu.md b/Docs/adv_multigpu.md
new file mode 100644
index 00000000000..6ce97e4e2ab
--- /dev/null
+++ b/Docs/adv_multigpu.md
@@ -0,0 +1,52 @@
+# Carla Multi-GPU feature
+
+Multi-GPU in carla means that the user can  start several servers (called secondary servers) that will do render work for the main server (called primary server) for different sensors.
+
+## Primary server
+
+The steps are: first, start the primary server without any render capability. The parameters we can use are:
+
+* `-nullrhi`
+* `-carla-primary-port`
+
+Run the following from the command line:
+
+```sh
+./CarlaUE4.sh --nullrhi
+```
+
+The primary server will use, by default, the port 2002 to listen for secondary servers. If you need to listen on another port, then you can change it with the port flag:
+
+```sh
+./CarlaUE4.sh --nullrhi -carla-primary-port=3002
+```
+
+## Secondary servers
+
+We may then start as many servers as we need, but the ideal is to have as many secondary servers as the number of GPUs installed in the computer. Through parameters we need to specify the GPU we want the server use and also the host/port where the primary server is listening, with the flags:
+
+  * `-carla-rpc-port`
+  * `-carla-primary-host`
+  * `-carla-primary-port`
+  * `-ini:[/Script/Engine.RendererSettings]:r.GraphicsAdapter`
+
+For example, if the primary server is executing in the same computer than the secondary servers and with the default port, we can use this command:
+
+```sh
+./CarlaUE4.sh -carla-rpc-port=3000 -carla-primary-host=127.0.0.1 -ini:[/Script/Engine.RendererSettings]:r.GraphicsAdapter=0
+```
+
+Here, the secondary server will use port 3000 as the RPC server to avoid conflicts with other ports (but it will never be used), and will connect to the primary server located at IP 127.0.0.1 (localhost) in the default port (2002), and also this server will use the GPU device 0.
+
+If we want to start another secondary server using another GPU, we could use the following command:
+
+```sh
+./CarlaUE4.sh -carla-rpc-port=4000 -carla-primary-host=127.0.0.1 -carla-primary-port=2002 -ini:[/Script/Engine.RendererSettings]:r.GraphicsAdapter=1
+```
+
+This secondary server will use port 4000 as the RPC server to avoid conflicts with other ports and will connect to the primary server located at IP 127.0.0.1 in port 2002, and also this server will use the GPU device 1.
+
+## Pipeline
+
+After the first secondary server connects to the primary server, it will set up the synchronous mode automatically, with the default values of 1/20 delta seconds.
+
diff --git a/Docs/ext_docs.md b/Docs/ext_docs.md
index 5a18c290c30..1e5403c9812 100644
--- a/Docs/ext_docs.md
+++ b/Docs/ext_docs.md
@@ -9,6 +9,7 @@ Below, you will find in depth documentation on the many extensive features of CA
 [__Synchrony and time-step__](adv_synchrony_timestep.md) — Client-server communication and simulation time.  
 [__Benchmarking Performance__](adv_benchmarking.md) — Perform benchmarking using our prepared script.  
 [__CARLA Agents__](adv_agents.md) — Agents scripts allow single vehicles to roam the map or drive to a set destination.  
+[__Multi GPU__](adv_multigpu.md) — Set up the CARLA simulator to use multiple GPUs for processing.
 
 ## Traffic Simulation