docs: add CARLA Windows build guide (#139)

doc/CARLAdoc.md

@@ -12,22 +12,18 @@
 
 Please visit [Visual Studio Installer Download](https://visualstudio.microsoft.com/downloads/) to download the Visual Studio Installer
 
-To build the CARLA 0.9.15 under Visual Studio 2022, a practical guide is shown below:
+To build the CARLA 0.9.15 under Visual Studio 2019, a practical guide is shown below (For detailed build steps, please refer to [CARLA Windows Build Guide](./Carla_Windows_building.md).):
 
-The MSVC toolset version changed to 14.4 (i.e., the “14.4x” series) after Visual Studio 2022 version 17.10. Since the official installation script supports up to MSVC 14.3x, we use Visual Studio 2022 17.8 for simplicity. The `--channelURI` parameter can be used to specify the version.
+The MSVC toolset version changed to v142 after Visual Studio 2019. Since the official installation script supports MSVC 142, we use Visual Studio 2019 for simplicity. 
 
-```shell
-visualstudiosetup.exe --channelURI https://aka.ms/vs/17/release.LTSC.17.8/channel
-```
-
-The documentation for building CARLA on windows can be found [Carla Windows Build](https://carla.readthedocs.io/en/0.9.15/build_windows/). Please note that, we need to specify `GENERATOR="Visual Studio 17 2022" TOOLSET="msvc-14.3"` for compilation.
+The documentation for building CARLA on windows can be found [Carla Windows Build](https://carla.readthedocs.io/en/0.9.15/build_windows/). Please note that, we need to use "X64 Native Tools Command Prompt for VS 2019" for compilation.
 
 Remember to follow every steps in the CARLA Windows build documentation. 
 
 If you don't need to use the source version CARLA as the server. You dont need to compile the Carla Server follwing the documentation. You can just run:
 
 ```shell
-make LibCarla GENERATOR="Visual Studio 17 2022" TOOLSET="msvc-14.3"
+make LibCarla GENERATOR="Visual Studio 2019" TOOLSET="msvc-14.2"
 ```
 
 which will provide the necessary dependencies for the FIXS-CARLA

doc/Carla_Windows_building.md

@@ -0,0 +1,182 @@
+## CARLA 0.9.15 Windows Build Guide
+
+This document provides a practical guide for building CARLA 0.9.15 on Windows.
+
+For the official and complete build procedure, please refer to the 
+[CARLA 0.9.15 Windows Build Documentation](https://carla.readthedocs.io/en/0.9.15/build_windows/).
+
+This document follows the structure of Part One: Prerequisites and Part Two: Build CARLA from the official documentation, and focuses on:
+- Highlighting common issues encountered during the build process  
+- Providing practical solutions and workarounds  
+
+---
+
+## Part One: Prerequisites
+
+Please strictly follow the **System requirements** and **Software requirements** specified in the official documentation. In particular:
+
+- Ensure that the required version of **Make (3.81)** is used. This version may need to be installed manually (e.g., via Gnuwin), or obtained through other reliable sources.
+
+- For **Visual Studio 2019**, make sure the correct **MSVC toolset** is selected. Note that the **Windows 8.1 SDK** may no longer be available and can be replaced with the **Windows 10 SDK**.
+
+![Select MSVC toolset](./img/VS2019_MSVC_toolset.png)
+
+- The installation and configuration of **Unreal Engine 4.26** can be completed by following the official CARLA documentation:  
+  [CARLA Windows Build Documentation](https://carla.readthedocs.io/en/0.9.15/build_windows/#unreal-engine)
+
+Please ensure all dependencies are correctly installed before proceeding to the build stage. Users can verify dependencies using:
+
+```
+- `python --version`  
+- `pip3 -V`  
+- `cmake --version`  
+- `make --version`  
+- `git --version`  
+```
+
+Visual Studio toolset and Windows SDK can be checked via **Visual Studio Installer**.
+
+---
+
+## Part Two: Build CARLA 
+
+This section describes how to build CARLA on Windows. The detailed procedure follows the official documentation, while this section primarily highlights common issues encountered during the build process and provides corresponding solutions.
+
+### Clone the CARLA Repository
+- Clone the CARLA repository from GitHub
+- **Ensure that the correct version/tag (0.9.15) is checked out.**
+
+### Get assets
+- Run Update.bat scripts
+- Download required assets
+
+The assets will be automatically downloaded and extracted if the process completes successfully.
+
+However, in practice, the download via Update.bat may fail due to network issues or version mismatches.
+
+Common Issue: Assets Download Failure
+
+If Update.bat fails to download the assets, a manual workaround is required.
+
+Solution: Manual Download and Extraction
+
+Identify the correct asset version for CARLA 0.9.15:
+20231108_c5101a5
+
+The correct asset version can be identified from:
+
+`Util/ContentVersions.txt` in the CARLA source directory, which maps each CARLA version to its corresponding asset package.
+
+Manually download the corresponding asset package.
+Extract the downloaded archive to:
+Unreal/CarlaUE4/Content/Carla
+
+Note: If the target directory does not exist, create it manually.
+
+This manual approach ensures that the correct assets are used when the automated script does not work properly
+
+Locate the file:
+Util/ContentVersions.txt
+
+This file contains the mapping between CARLA versions and their corresponding asset packages.
+
+### Build CARLA
+
+This section covers the build process of CARLA on Windows.  
+The overall procedure follows the official documentation, while this section focuses on issues encountered during the `make PythonAPI` step and their corresponding solutions.
+
+---
+
+#### Compile the Python API client
+
+Run the following command in the CARLA root directory:
+
+```bash
+make PythonAPI
+```
+
+During this step, several issues may arise. The most common ones and their solutions are listed below:
+
+1. Missing dependencies during build (zlib / xerces-c)
+
+Problem:
+Some dependencies cannot be downloaded automatically during the build process (e.g., zlib, boost, xerces-c).
+
+Solution:
+
+Manually download the required packages:
+zlib [v1.2.13](https://github.com/madler/zlib/tags)
+[xerces-c-3.2.3] (https://archive.apache.org/dist/xerces/c/3/sources/)
+Extract them into the corresponding Build directory
+Ensure the folder names match exactly (e.g., xerces-c-3.2.3-source)
+
+2. Boost download failure in install_boost.bat
+
+Problem:
+install_boost.bat fails to download Boost automatically.
+
+Solution:
+
+- Manually download Boost (e.g., version 1.80.0)
+Extract them into the corresponding Build directory
+Ensure the folder names match exactly (e.g., boost-1.80.0-source)
+or
+- Modify install_boost.bat (around line 74) to use a valid download source
+```
+set BOOST_REPO=https://boostorg.jfrog.io/artifactory/main/release/%BOOST_VERSION%/source/%BOOST_TEMP_FILE%
+```
+to 
+```
+set BOOST_REPO=https://archives.boost.io/release/%BOOST_VERSION%/source/%BOOST_TEMP_FILE%
+```
+3. CMake policy/version error during build
+
+Problem:
+CMake configuration fails due to policy/version issues.
+
+Solution:
+
+1). Modify the .bat scripts under:
+Util/InstallerWin
+
+2). Add the following flag to the CMake command:
+```
+-DCMAKE_POLICY_VERSION_MINIMUM=3.5
+```
+3). Ensure variables such as %XYZ_SRC_DIR% are correctly set if required
+```
+%XYZ_SRC_DIR%
+```
+to
+```
+%XYZ_SRC_DIR%.
+```
+
+4. CMake issues in OSM build tools
+
+Problem:
+CMake errors occur when running scripts in:
+
+Util/BuildTools
+
+Solution:
+
+Modify BuildOSM2ODR.bat
+1). Add the following flag to the CMake command:
+```
+-DCMAKE_POLICY_VERSION_MINIMUM=3.5
+```
+2). Modify the line:
+```
+%OSM2ODR_SOURCE_PATH%
+```
+to
+```
+%OSM2ODR_SOURCE_PATH%.
+```
+
+5. NumPy version incompatibility
+
+- Ensure that the NumPy version is **< 2.0.0** to avoid build issues 
+
+---