Changelog
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CHANGELOG.md
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CHANGELOG.md
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## CARLA 0.9.10
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* Deterministic mode for Traffic Manager, limited by computational power
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* Support for OSM in Traffic Manager
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* Fixed a map change error when Traffic Manager is in synchronous mode
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* Fixes add entry issue for applying parameters more than once in Traffic Manager
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* Fixes std::numeric_limits<float>::epsilon error in Traffic Manager
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* Upgraded carla Docker image to Ubuntu 18.04
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* Fixed memory leak on manual_control scripts (sensor listenning was not stoped before destroying)
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* Added PythonAPI `carla.Osm2Odr.convert()` function and `calra.Osm2OdrSettings` class to support Open Street Maps to OpenDRIVE conversions
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* Added retrieval of bounding boxes for all the elements of the level
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* Added deterministic mode for Traffic Manager
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* Added support in Traffic Manager for dead-end roads
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* Upgraded CARLA Docker image to Ubuntu 18.04
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* Upgraded to AD RSS v4.1.0 supporting unstructured scenes and pedestrians, and fixed spdlog to v1.7.0
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* Fixed a bug in `spawn_npc_sumo` script computing not allowed routes for a given vehicle class
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* Fixed a bug where `get_traffic_light` would always return `None`
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* Changed frozen behavior for traffic lights. It now affects to all traffic lights at the same time
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* Added API function `freeze_all_traffic_lights` and `reset_group`
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* Fixed recorder determinism problems
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* Added function to stop the replayer
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* Added Light ids
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* Added new semantic segmenation tags: `RailTrack`, `GuardRail`, `TrafficLight`, `Static`, `Dynamic`, `Water` and `Terrain`
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* Fixed several untagged and mistagged objects
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* Added vehicle light and street light data to recorder
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* Change API: set_velocity to set_target_velocity for linear and angular velocities
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* Added API function `add_angular_impulse()` to add angular impulse to any actor
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* Fixed rain drop spawn issues when spawning camera sensors
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* Exposed add_force and add_torque
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* Fixed assets import pipeline
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* Fixed Update.sh from failing when the root folder contains a space on it
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* Fixed dynamic meshes not moving to initial position when replaying
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* Fixed colors of lane markings when importing a map, they were reversed (white and yellow)
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* Fixed missing include directive in file **WheelPhysicsControl.h**
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* Fixed gravity measurement bug from IMU sensor
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* Added Constant Velocity mode
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* All sensors are now multi-stream, that means that the same sensor can be listened from different clients
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* Fixed point cloud of LiDAR. Now the points are given correctly in the sensor's coordinate system
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* Fixed light intensity and camera parameters to match
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* Fixed and improved auto exposure camera (`histogram` exposure mode)
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* RGB cameras `exposure_mode` is now set to `histogram` by default
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* New Lidar sensor ('lidar.ray_cast_semantic') that returns the point cloud with information regarding to the object that have collided: incident angle, idx of collided actor and it semantic tag
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* Added `opend3D.py`, a more friendly LiDAR visualizer
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* Exposed matrix form of transformation to the client and Python API
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* Added new pedestrian models
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* API changes:
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- Renamed `actor.set_velocity()` to `actor.set_target_velocity()`
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- Renamed `actor.set_angular_velocity()` to `actor.set_target_velocity()`
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- RGB cameras `exposure_mode` is now set to `histogram` by default
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* API extensions:
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- Added `carla.Osm2Odr.convert()` function and `carla.Osm2OdrSettings` class to support Open Street Maps to OpenDRIVE conversion
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- Added `world.freeze_all_traffic_lights()` and `traffic_light.reset_group()`
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- Added `client.stop_replayer()` to stop the replayer
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- Added `world.get_vehicles_light_states()` to get all the car light states at once
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- Added constant velocity mode (`actor.enable_constant_velocity()` / `actor.disable_constant_velocity()`)
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- Added function `actor.add_angular_impulse()` to add angular impulse to any actor
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- Added `actor.add_force()` and `actor.add_torque()`
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- Added functions `transform.get_right_vector()` and `transform.get_up_vector()`
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- Added command to set multiple car light states at once
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- Added 4-matrix form of transformations
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* Added new semantic segmentation tags: `RailTrack`, `GuardRail`, `TrafficLight`, `Static`, `Dynamic`, `Water` and `Terrain`
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* Added fixed ids for street and building lights
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* Added vehicle light and street light data to the recorder
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* Improved the colliders and physics for all vehicles
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* All sensors are now multi-stream, the same sensor can be listened from different clients
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* New semantic LiDAR sensor (`lidar.ray_cast_semantic`)
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* Added `open3D_lidar.py`, a more friendly LiDAR visualizer
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* Added make command to download contributions as plugins (`make plugins`)
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* Added PythonAPI command to set multiple car light states at once
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* Added PythonAPI `carla.world.get_vehicles_light_states` to get all the car light states at once
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* OpenDRIVE ingestion bugfixes
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* Added a warning if the user tries to use the SpringArm exactly in the 'z' axis of the attached actor
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* Improved the LiDAR and Radar sensors with a parallel implentation of the raycasting
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* Added a warning when using SpringArm exactly in the 'z' axis of the attached actor
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* Improved performance of raycast-based sensors through parallelization
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* Added an approximation of the intensity of each point of the cloud in the LiDAR sensor
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* Added Dynamic Vision Sensor (DVS) camera based on ESIM simulation http://rpg.ifi.uzh.ch/esim.html
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* Improved LiDAR and radar to better match the shape of the vehicles
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* Added support for additional TraCI clients in Sumo co-simulation
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* Added script example to syncronize the gathering of sensor data in client
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* Added API functions `get_right_vector` and `get_up_vector`
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* Added script example to synchronize the gathering of sensor data in client
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* Added default values and a warning message for lanes missing the width parameter in OpenDRIVE
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* Added parameter to enable/disable pedestrian navigation in standalone mode
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* Improved mesh split in standalone mode
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* Fixed delay in the tcp communication from server to client, improving performance in synchronous mode in linux systems
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* Fixed large RAM usage when loading polinomial geometry from OpenDRIVE
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* Fixed collision issues when debug draw(debug.draw_line) is called
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* Fixed Gyroscope sensor to properly give angular velocity readings in local frame
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* Improved mesh partition in standalone mode
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* Added Renderdoc plugin to the Unreal project
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* Added configurable noise to Lidar sensor
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* Replace deprectated `platform.dist()` with recommended `distro.linux_distribution()`
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* Improved the performance on capture sensors.
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* Fixed minor typo in the introduction section of documentation.
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* Fixed a bug at the local planner when changing the route, causing it to maintain the first part of the previous one. This was only relevant when using very large buffer sizes.
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* Added automatic calculation of vehicle's BB
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* Retrieve BBs of all the elements of the level
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* Added configurable noise to LiDAR sensor
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* Replace deprecated `platform.dist()` with recommended `distro.linux_distribution()`
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* Improved the performance of capture sensors
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* Fixed the center of mass for vehicles
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* Fixed a number of OpenDRIVE parsing bugs
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* Fixed vehicles' bounding boxes, now they are automatic
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* Fixed a map change error when Traffic Manager is in synchronous mode
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* Fixes add entry issue for applying parameters more than once in Traffic Manager
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* Fixes std::numeric_limits<float>::epsilon error in Traffic Manager
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* Fixed memory leak on `manual_control.py` scripts (sensor listening was not stopped before destroying)
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* Fixed a bug in `spawn_npc_sumo.py` script computing not allowed routes for a given vehicle class
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* Fixed a bug where `get_traffic_light()` would always return `None`
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* Fixed recorder determinism problems
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* Fixed several untagged and mistagged objects
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* Fixed rain drop spawn issues when spawning camera sensors
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* Fixed semantic tags in the asset import pipeline
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* Fixed `Update.sh` from failing when the root folder contains a space on it
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* Fixed dynamic meshes not moving to the initial position when replaying
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* Fixed colors of lane markings when importing a map, they were reversed (white and yellow)
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* Fixed missing include directive in file `WheelPhysicsControl.h`
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* Fixed gravity measurement bug from IMU sensor
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* Fixed LiDAR’s point cloud reference frame
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* Fixed light intensity and camera parameters to match
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* Fixed and improved auto-exposure camera (`histogram` exposure mode)
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* Fixed delay in the TCP communication from server to the client in synchronous mode for Linux
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* Fixed large RAM usage when loading polynomial geometry from OpenDRIVE
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* Fixed collision issues when `debug.draw_line()` is called
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* Fixed gyroscope sensor to properly give angular velocity readings in the local frame
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* Fixed minor typo in the introduction section of the documentation
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* Fixed a bug at the local planner when changing the route, causing it to maintain the first part of the previous one. This was only relevant when using very large buffer sizes
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## CARLA 0.9.9
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