Merge branch 'master' into some_benchmark_fixes

2018-04-17 16:13:58 +02:00 · 2018-04-17 16:13:58 +02:00 · 213707c685
parent a74c8c2727 c3b3d3322f
commit 213707c685
53 changed files with 1064 additions and 480 deletions
--- a/.gitignore
+++ b/.gitignore
@ -27,4 +27,5 @@ __pycache__
 _benchmarks_results
 _images*
 _out
+_site
 core
--- a/.travis.yml
+++ b/.travis.yml
@ -25,3 +25,18 @@ matrix:
            - cppcheck
      script:
        - cppcheck . -iBuild -i.pb.cc --error-exitcode=1 --enable=warning --quiet
+
+    - env: TEST="MkDocs"
+      install:
+        - pip install mkdocs
+      script:
+        - mkdocs build --verbose --clean --strict --site-dir _site
+
+    - env: TEST="AwesomeBot"
+      install:
+        - gem install awesome_bot
+      script:
+        - find . -name '*.md' | xargs awesome_bot --allow-dupe --allow-redirect --skip-save-results
+
+notifications:
+  email: false
--- a/CARLA.sublime-project
+++ b/CARLA.sublime-project
@ -18,7 +18,8 @@
 				"Intermediate",
 				"Saved",
 				"Unreal/CarlaUE4/Content*",
-				"__pycache__"
+				"__pycache__",
+				"_site"
 			],
 			"file_exclude_patterns":
 			[
--- a/Docs/CONTRIBUTING.md
+++ b/Docs/CONTRIBUTING.md
@ -101,7 +101,7 @@ spawned. Note that the blueprint can call back C++ functions, for instance for
 getting the random engine. This way there is a back-and-forth communication
 between C++ code and blueprints.

-[capturelink]: https://github.com/carla-simulator/carla/blob/master/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/SceneCaptureToDiskCamera.h
+[capturelink]: https://github.com/carla-simulator/carla/blob/master/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureToDiskCamera.h

 #### Coding standard

--- a/Docs/cameras_and_sensors.md
+++ b/Docs/cameras_and_sensors.md
@ -35,6 +35,11 @@ to a more human readable palette of colors. It can be found at
 ["Util/ImageConverter"][imgconvlink]. Alternatively, they can also be converted
 using the functions at `carla.image_converter` Python module.

+Note that all the sensor data comes with a _frame number_ stamp, this _frame
+number_ matches the one received in the measurements. This is especially useful
+for running the simulator in asynchronous mode and synchronize sensor data on
+the client side.
+
 [clientexamplelink]: https://github.com/carla-simulator/carla/blob/master/PythonClient/client_example.py
 [settingslink]: https://github.com/carla-simulator/carla/blob/master/Docs/Example.CarlaSettings.ini
 [imgconvlink]: https://github.com/carla-simulator/carla/tree/master/Util/ImageConverter
--- a/Docs/measurements.md
+++ b/Docs/measurements.md
@ -11,13 +11,13 @@ to the client. This document describes the details of these measurements.
 Time-stamps
 -----------

-Since CARLA can be run at fixed-frame rate, we keep track of two different
-time-stamps.
+Every frame is described by three different counters/time-stamps

 Key                        | Type      | Units        | Description
 -------------------------- | --------- | ------------ | ------------
+frame_number               | uint64    |              | Frame counter (it is **not** restarted on each episode).
 platform_timestamp         | uint32    | milliseconds | Time-stamp of the current frame, as given by the OS.
-game_timestamp             | uint32    | milliseconds | In-game time-stamp, elapsed since the beginning of the current level.
+game_timestamp             | uint32    | milliseconds | In-game time-stamp, elapsed since the beginning of the current episode.

 In real-time mode, the elapsed time between two time steps should be similar
 both platform and game time-stamps. When run in fixed-time step, the game
@ -126,18 +126,68 @@ If enabled, the server attaches a list of agents to the measurements package
 every frame. Each of these agents has an unique id that identifies it, and
 belongs to one of the following classes

-  * **Vehicle** Contains its transform, box-extent, and forward speed.
-  * **Pedestrian** Contains its transform, box-extent, and forward speed. (*)
-  * **Traffic light** Contains its transform and state (green, yellow, red).
-  * **Speed-limit sign** Contains its transform and speed-limit.
+  * Vehicle
+  * Pedestrian
+  * Traffic ligth
+  * Speed limit sign

-(*) At this point every pedestrian is assumed to have the same bounding-box
-size.
+Each of them can be accessed in Python by checking if the agent object has the
+field enabled
+
+```python
+measurements, sensor_data = client.read_data()
+
+for agent in measurements.non_player_agents:
+    agent.id # unique id of the agent
+    if agent.HasField('vehicle'):
+        agent.vehicle.forward_speed
+        agent.vehicle.transform
+        agent.vehicle.bounding_box
+```
+
+<h6>Vehicle</h6>
+
+Key                             | Type      | Description
+------------------------------- | --------- | ------------
+id                              | uint32    | Agent ID
+vehicle.forward_speed           | float     | Forward speed of the vehicle in m/s
+vehicle.transform               | Transform | Agent-to-world transform
+vehicle.bounding_box.transform  | Transform | Transform of the bounding box relative to the vehicle
+vehicle.bounding_box.extent     | Vector3D  | Radii dimensions of the bounding box in meters
+
+<h6>Pedestrian</h6>
+
+Key                               | Type      | Description
+--------------------------------- | --------- | ------------
+id                                | uint32    | Agent ID
+pedestrian.forward_speed          | float     | Forward speed of the pedestrian in m/s
+pedestrian.transform              | Transform | Agent-to-world transform
+pedestrian.bounding_box.transform | Transform | Transform of the bounding box relative to the pedestrian
+pedestrian.bounding_box.extent    | Vector3D  | Radii dimensions of the bounding box in meters (*)
+
+<small>(*) At this point every pedestrian is assumed to have the same
+bounding-box size.</small>
+
+<h6>Traffic light</h6>
+
+Key                          | Type      | Description
+---------------------------- | --------- | ------------
+id                           | uint32    | Agent ID
+traffic_light.transform      | Transform | Agent-to-world transform
+traffic_light.state          | enum      | Traffic light state; `GREEN`, `YELLOW`, or `RED`
+
+<h6>Speed limit sign</h6>
+
+Key                          | Type      | Description
+---------------------------- | --------- | ------------
+id                           | uint32    | Agent ID
+speed_limit_sign.transform   | Transform | Agent-to-world transform
+speed_limit_sign.speed_limit | float     | Speed limit in m/s

 <h4>Transform and bounding box</h4>

-The transform defines the location and orientation of the agent. The bounding
-box is centered at the agent's location. The box extent gives the radii
-dimensions of the bounding box of the agent.
+The transform defines the location and orientation of the agent. The transform
+of the bounding box is given relative to the vehicle. The box extent gives the
+radii dimensions of the bounding box of the agent.

 ![Vehicle Bounding Box](img/vehicle_bounding_box.png)
--- a/5
+++ b/5
@ -35,6 +35,11 @@ vsproject: MY_CMAKE_FLAGS+=-DCMAKE_BUILD_TYPE=Release
 vsproject: MY_CMAKE_FLAGS+=-G "Visual Studio 14 2015 Win64"
 vsproject: call_cmake

+vsproject15: BUILD_FOLDER=$(BASE_BUILD_FOLDER)/visualstudio
+vsproject15: MY_CMAKE_FLAGS+=-DCMAKE_BUILD_TYPE=Release
+vsproject15: MY_CMAKE_FLAGS+=-G "Visual Studio 15 2017 Win64"
+vsproject15: call_cmake
+
 build_linux: MY_CMAKE_FLAGS+=-G "Ninja"
 build_linux: call_cmake
 	@cd $(BUILD_FOLDER) && ninja && ninja install
--- a/PythonClient/carla/carla_server_pb2.py
+++ b/PythonClient/carla/carla_server_pb2.py
@ -19,7 +19,7 @@ DESCRIPTOR = _descriptor.FileDescriptor(
  name='carla_server.proto',
  package='carla_server',
  syntax='proto3',
-  serialized_pb=_b('\n\x12\x63\x61rla_server.proto\x12\x0c\x63\x61rla_server\"+\n\x08Vector3D\x12\t\n\x01x\x18\x01 \x01(\x02\x12\t\n\x01y\x18\x02 \x01(\x02\x12\t\n\x01z\x18\x03 \x01(\x02\"6\n\nRotation3D\x12\r\n\x05pitch\x18\x01 \x01(\x02\x12\x0b\n\x03yaw\x18\x02 \x01(\x02\x12\x0c\n\x04roll\x18\x03 \x01(\x02\"\x92\x01\n\tTransform\x12(\n\x08location\x18\x01 \x01(\x0b\x32\x16.carla_server.Vector3D\x12/\n\x0borientation\x18\x02 \x01(\x0b\x32\x16.carla_server.Vector3DB\x02\x18\x01\x12*\n\x08rotation\x18\x03 \x01(\x0b\x32\x18.carla_server.Rotation3D\"\x80\x01\n\x06Sensor\x12\n\n\x02id\x18\x01 \x01(\x07\x12\'\n\x04type\x18\x02 \x01(\x0e\x32\x19.carla_server.Sensor.Type\x12\x0c\n\x04name\x18\x03 \x01(\t\"3\n\x04Type\x12\x0b\n\x07UNKNOWN\x10\x00\x12\n\n\x06\x43\x41MERA\x10\x01\x12\x12\n\x0eLIDAR_RAY_CAST\x10\x02\"x\n\x07Vehicle\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12*\n\nbox_extent\x18\x02 \x01(\x0b\x32\x16.carla_server.Vector3D\x12\x15\n\rforward_speed\x18\x03 \x01(\x02\"{\n\nPedestrian\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12*\n\nbox_extent\x18\x02 \x01(\x0b\x32\x16.carla_server.Vector3D\x12\x15\n\rforward_speed\x18\x03 \x01(\x02\"\x94\x01\n\x0cTrafficLight\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12/\n\x05state\x18\x02 \x01(\x0e\x32 .carla_server.TrafficLight.State\"\'\n\x05State\x12\t\n\x05GREEN\x10\x00\x12\n\n\x06YELLOW\x10\x01\x12\x07\n\x03RED\x10\x02\"Q\n\x0eSpeedLimitSign\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12\x13\n\x0bspeed_limit\x18\x02 \x01(\x02\"\xe5\x01\n\x05\x41gent\x12\n\n\x02id\x18\x01 \x01(\x07\x12(\n\x07vehicle\x18\x02 \x01(\x0b\x32\x15.carla_server.VehicleH\x00\x12.\n\npedestrian\x18\x03 \x01(\x0b\x32\x18.carla_server.PedestrianH\x00\x12\x33\n\rtraffic_light\x18\x04 \x01(\x0b\x32\x1a.carla_server.TrafficLightH\x00\x12\x38\n\x10speed_limit_sign\x18\x05 \x01(\x0b\x32\x1c.carla_server.SpeedLimitSignH\x00\x42\x07\n\x05\x61gent\"%\n\x11RequestNewEpisode\x12\x10\n\x08ini_file\x18\x01 \x01(\t\"n\n\x10SceneDescription\x12\x33\n\x12player_start_spots\x18\x01 \x03(\x0b\x32\x17.carla_server.Transform\x12%\n\x07sensors\x18\x02 \x03(\x0b\x32\x14.carla_server.Sensor\"/\n\x0c\x45pisodeStart\x12\x1f\n\x17player_start_spot_index\x18\x01 \x01(\r\"\x1d\n\x0c\x45pisodeReady\x12\r\n\x05ready\x18\x01 \x01(\x08\"^\n\x07\x43ontrol\x12\r\n\x05steer\x18\x01 \x01(\x02\x12\x10\n\x08throttle\x18\x02 \x01(\x02\x12\r\n\x05\x62rake\x18\x03 \x01(\x02\x12\x12\n\nhand_brake\x18\x04 \x01(\x08\x12\x0f\n\x07reverse\x18\x05 \x01(\x08\"\xb6\x04\n\x0cMeasurements\x12\x1a\n\x12platform_timestamp\x18\x01 \x01(\r\x12\x16\n\x0egame_timestamp\x18\x02 \x01(\r\x12J\n\x13player_measurements\x18\x03 \x01(\x0b\x32-.carla_server.Measurements.PlayerMeasurements\x12.\n\x11non_player_agents\x18\x04 \x03(\x0b\x32\x13.carla_server.Agent\x1a\xf5\x02\n\x12PlayerMeasurements\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12*\n\nbox_extent\x18\x0b \x01(\x0b\x32\x16.carla_server.Vector3D\x12,\n\x0c\x61\x63\x63\x65leration\x18\x03 \x01(\x0b\x32\x16.carla_server.Vector3D\x12\x15\n\rforward_speed\x18\x04 \x01(\x02\x12\x1a\n\x12\x63ollision_vehicles\x18\x05 \x01(\x02\x12\x1d\n\x15\x63ollision_pedestrians\x18\x06 \x01(\x02\x12\x17\n\x0f\x63ollision_other\x18\x07 \x01(\x02\x12\x1e\n\x16intersection_otherlane\x18\x08 \x01(\x02\x12\x1c\n\x14intersection_offroad\x18\t \x01(\x02\x12\x30\n\x11\x61utopilot_control\x18\n \x01(\x0b\x32\x15.carla_server.ControlB\x03\xf8\x01\x01\x62\x06proto3')
+  serialized_pb=_b('\n\x12\x63\x61rla_server.proto\x12\x0c\x63\x61rla_server\"+\n\x08Vector3D\x12\t\n\x01x\x18\x01 \x01(\x02\x12\t\n\x01y\x18\x02 \x01(\x02\x12\t\n\x01z\x18\x03 \x01(\x02\"6\n\nRotation3D\x12\r\n\x05pitch\x18\x01 \x01(\x02\x12\x0b\n\x03yaw\x18\x02 \x01(\x02\x12\x0c\n\x04roll\x18\x03 \x01(\x02\"\x92\x01\n\tTransform\x12(\n\x08location\x18\x01 \x01(\x0b\x32\x16.carla_server.Vector3D\x12/\n\x0borientation\x18\x02 \x01(\x0b\x32\x16.carla_server.Vector3DB\x02\x18\x01\x12*\n\x08rotation\x18\x03 \x01(\x0b\x32\x18.carla_server.Rotation3D\"a\n\x0b\x42oundingBox\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12&\n\x06\x65xtent\x18\x02 \x01(\x0b\x32\x16.carla_server.Vector3D\"\x80\x01\n\x06Sensor\x12\n\n\x02id\x18\x01 \x01(\x07\x12\'\n\x04type\x18\x02 \x01(\x0e\x32\x19.carla_server.Sensor.Type\x12\x0c\n\x04name\x18\x03 \x01(\t\"3\n\x04Type\x12\x0b\n\x07UNKNOWN\x10\x00\x12\n\n\x06\x43\x41MERA\x10\x01\x12\x12\n\x0eLIDAR_RAY_CAST\x10\x02\"}\n\x07Vehicle\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12/\n\x0c\x62ounding_box\x18\x04 \x01(\x0b\x32\x19.carla_server.BoundingBox\x12\x15\n\rforward_speed\x18\x03 \x01(\x02\"\x80\x01\n\nPedestrian\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12/\n\x0c\x62ounding_box\x18\x04 \x01(\x0b\x32\x19.carla_server.BoundingBox\x12\x15\n\rforward_speed\x18\x03 \x01(\x02\"\x94\x01\n\x0cTrafficLight\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12/\n\x05state\x18\x02 \x01(\x0e\x32 .carla_server.TrafficLight.State\"\'\n\x05State\x12\t\n\x05GREEN\x10\x00\x12\n\n\x06YELLOW\x10\x01\x12\x07\n\x03RED\x10\x02\"Q\n\x0eSpeedLimitSign\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12\x13\n\x0bspeed_limit\x18\x02 \x01(\x02\"\xe5\x01\n\x05\x41gent\x12\n\n\x02id\x18\x01 \x01(\x07\x12(\n\x07vehicle\x18\x02 \x01(\x0b\x32\x15.carla_server.VehicleH\x00\x12.\n\npedestrian\x18\x03 \x01(\x0b\x32\x18.carla_server.PedestrianH\x00\x12\x33\n\rtraffic_light\x18\x04 \x01(\x0b\x32\x1a.carla_server.TrafficLightH\x00\x12\x38\n\x10speed_limit_sign\x18\x05 \x01(\x0b\x32\x1c.carla_server.SpeedLimitSignH\x00\x42\x07\n\x05\x61gent\"%\n\x11RequestNewEpisode\x12\x10\n\x08ini_file\x18\x01 \x01(\t\"n\n\x10SceneDescription\x12\x33\n\x12player_start_spots\x18\x01 \x03(\x0b\x32\x17.carla_server.Transform\x12%\n\x07sensors\x18\x02 \x03(\x0b\x32\x14.carla_server.Sensor\"/\n\x0c\x45pisodeStart\x12\x1f\n\x17player_start_spot_index\x18\x01 \x01(\r\"\x1d\n\x0c\x45pisodeReady\x12\r\n\x05ready\x18\x01 \x01(\x08\"^\n\x07\x43ontrol\x12\r\n\x05steer\x18\x01 \x01(\x02\x12\x10\n\x08throttle\x18\x02 \x01(\x02\x12\r\n\x05\x62rake\x18\x03 \x01(\x02\x12\x12\n\nhand_brake\x18\x04 \x01(\x08\x12\x0f\n\x07reverse\x18\x05 \x01(\x08\"\xd1\x04\n\x0cMeasurements\x12\x14\n\x0c\x66rame_number\x18\x05 \x01(\x04\x12\x1a\n\x12platform_timestamp\x18\x01 \x01(\r\x12\x16\n\x0egame_timestamp\x18\x02 \x01(\r\x12J\n\x13player_measurements\x18\x03 \x01(\x0b\x32-.carla_server.Measurements.PlayerMeasurements\x12.\n\x11non_player_agents\x18\x04 \x03(\x0b\x32\x13.carla_server.Agent\x1a\xfa\x02\n\x12PlayerMeasurements\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12/\n\x0c\x62ounding_box\x18\x0c \x01(\x0b\x32\x19.carla_server.BoundingBox\x12,\n\x0c\x61\x63\x63\x65leration\x18\x03 \x01(\x0b\x32\x16.carla_server.Vector3D\x12\x15\n\rforward_speed\x18\x04 \x01(\x02\x12\x1a\n\x12\x63ollision_vehicles\x18\x05 \x01(\x02\x12\x1d\n\x15\x63ollision_pedestrians\x18\x06 \x01(\x02\x12\x17\n\x0f\x63ollision_other\x18\x07 \x01(\x02\x12\x1e\n\x16intersection_otherlane\x18\x08 \x01(\x02\x12\x1c\n\x14intersection_offroad\x18\t \x01(\x02\x12\x30\n\x11\x61utopilot_control\x18\n \x01(\x0b\x32\x15.carla_server.ControlB\x03\xf8\x01\x01\x62\x06proto3')
 )


@ -45,8 +45,8 @@ _SENSOR_TYPE = _descriptor.EnumDescriptor(
  ],
  containing_type=None,
  options=None,
-  serialized_start=364,
-  serialized_end=415,
+  serialized_start=463,
+  serialized_end=514,
 )
 _sym_db.RegisterEnumDescriptor(_SENSOR_TYPE)

@ -71,8 +71,8 @@ _TRAFFICLIGHT_STATE = _descriptor.EnumDescriptor(
  ],
  containing_type=None,
  options=None,
-  serialized_start=774,
-  serialized_end=813,
+  serialized_start=884,
+  serialized_end=923,
 )
 _sym_db.RegisterEnumDescriptor(_TRAFFICLIGHT_STATE)

@ -212,6 +212,44 @@ _TRANSFORM = _descriptor.Descriptor(
 )


+_BOUNDINGBOX = _descriptor.Descriptor(
+  name='BoundingBox',
+  full_name='carla_server.BoundingBox',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='transform', full_name='carla_server.BoundingBox.transform', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='extent', full_name='carla_server.BoundingBox.extent', index=1,
+      number=2, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=286,
+  serialized_end=383,
+)
+
+
 _SENSOR = _descriptor.Descriptor(
  name='Sensor',
  full_name='carla_server.Sensor',
@ -253,8 +291,8 @@ _SENSOR = _descriptor.Descriptor(
  extension_ranges=[],
  oneofs=[
  ],
-  serialized_start=287,
-  serialized_end=415,
+  serialized_start=386,
+  serialized_end=514,
 )


@ -273,8 +311,8 @@ _VEHICLE = _descriptor.Descriptor(
      is_extension=False, extension_scope=None,
      options=None),
    _descriptor.FieldDescriptor(
-      name='box_extent', full_name='carla_server.Vehicle.box_extent', index=1,
-      number=2, type=11, cpp_type=10, label=1,
+      name='bounding_box', full_name='carla_server.Vehicle.bounding_box', index=1,
+      number=4, type=11, cpp_type=10, label=1,
      has_default_value=False, default_value=None,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
@ -298,8 +336,8 @@ _VEHICLE = _descriptor.Descriptor(
  extension_ranges=[],
  oneofs=[
  ],
-  serialized_start=417,
-  serialized_end=537,
+  serialized_start=516,
+  serialized_end=641,
 )


@ -318,8 +356,8 @@ _PEDESTRIAN = _descriptor.Descriptor(
      is_extension=False, extension_scope=None,
      options=None),
    _descriptor.FieldDescriptor(
-      name='box_extent', full_name='carla_server.Pedestrian.box_extent', index=1,
-      number=2, type=11, cpp_type=10, label=1,
+      name='bounding_box', full_name='carla_server.Pedestrian.bounding_box', index=1,
+      number=4, type=11, cpp_type=10, label=1,
      has_default_value=False, default_value=None,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
@ -343,8 +381,8 @@ _PEDESTRIAN = _descriptor.Descriptor(
  extension_ranges=[],
  oneofs=[
  ],
-  serialized_start=539,
-  serialized_end=662,
+  serialized_start=644,
+  serialized_end=772,
 )


@ -382,8 +420,8 @@ _TRAFFICLIGHT = _descriptor.Descriptor(
  extension_ranges=[],
  oneofs=[
  ],
-  serialized_start=665,
-  serialized_end=813,
+  serialized_start=775,
+  serialized_end=923,
 )


@ -420,8 +458,8 @@ _SPEEDLIMITSIGN = _descriptor.Descriptor(
  extension_ranges=[],
  oneofs=[
  ],
-  serialized_start=815,
-  serialized_end=896,
+  serialized_start=925,
+  serialized_end=1006,
 )


@ -482,8 +520,8 @@ _AGENT = _descriptor.Descriptor(
      name='agent', full_name='carla_server.Agent.agent',
      index=0, containing_type=None, fields=[]),
  ],
-  serialized_start=899,
-  serialized_end=1128,
+  serialized_start=1009,
+  serialized_end=1238,
 )


@ -513,8 +551,8 @@ _REQUESTNEWEPISODE = _descriptor.Descriptor(
  extension_ranges=[],
  oneofs=[
  ],
-  serialized_start=1130,
-  serialized_end=1167,
+  serialized_start=1240,
+  serialized_end=1277,
 )


@ -551,8 +589,8 @@ _SCENEDESCRIPTION = _descriptor.Descriptor(
  extension_ranges=[],
  oneofs=[
  ],
-  serialized_start=1169,
-  serialized_end=1279,
+  serialized_start=1279,
+  serialized_end=1389,
 )


@ -582,8 +620,8 @@ _EPISODESTART = _descriptor.Descriptor(
  extension_ranges=[],
  oneofs=[
  ],
-  serialized_start=1281,
-  serialized_end=1328,
+  serialized_start=1391,
+  serialized_end=1438,
 )


@ -613,8 +651,8 @@ _EPISODEREADY = _descriptor.Descriptor(
  extension_ranges=[],
  oneofs=[
  ],
-  serialized_start=1330,
-  serialized_end=1359,
+  serialized_start=1440,
+  serialized_end=1469,
 )


@ -672,8 +710,8 @@ _CONTROL = _descriptor.Descriptor(
  extension_ranges=[],
  oneofs=[
  ],
-  serialized_start=1361,
-  serialized_end=1455,
+  serialized_start=1471,
+  serialized_end=1565,
 )


@ -692,8 +730,8 @@ _MEASUREMENTS_PLAYERMEASUREMENTS = _descriptor.Descriptor(
      is_extension=False, extension_scope=None,
      options=None),
    _descriptor.FieldDescriptor(
-      name='box_extent', full_name='carla_server.Measurements.PlayerMeasurements.box_extent', index=1,
-      number=11, type=11, cpp_type=10, label=1,
+      name='bounding_box', full_name='carla_server.Measurements.PlayerMeasurements.bounding_box', index=1,
+      number=12, type=11, cpp_type=10, label=1,
      has_default_value=False, default_value=None,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
@ -766,8 +804,8 @@ _MEASUREMENTS_PLAYERMEASUREMENTS = _descriptor.Descriptor(
  extension_ranges=[],
  oneofs=[
  ],
-  serialized_start=1651,
-  serialized_end=2024,
+  serialized_start=1783,
+  serialized_end=2161,
 )

 _MEASUREMENTS = _descriptor.Descriptor(
@ -778,28 +816,35 @@ _MEASUREMENTS = _descriptor.Descriptor(
  containing_type=None,
  fields=[
    _descriptor.FieldDescriptor(
-      name='platform_timestamp', full_name='carla_server.Measurements.platform_timestamp', index=0,
+      name='frame_number', full_name='carla_server.Measurements.frame_number', index=0,
+      number=5, type=4, cpp_type=4, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='platform_timestamp', full_name='carla_server.Measurements.platform_timestamp', index=1,
      number=1, type=13, cpp_type=3, label=1,
      has_default_value=False, default_value=0,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      options=None),
    _descriptor.FieldDescriptor(
-      name='game_timestamp', full_name='carla_server.Measurements.game_timestamp', index=1,
+      name='game_timestamp', full_name='carla_server.Measurements.game_timestamp', index=2,
      number=2, type=13, cpp_type=3, label=1,
      has_default_value=False, default_value=0,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      options=None),
    _descriptor.FieldDescriptor(
-      name='player_measurements', full_name='carla_server.Measurements.player_measurements', index=2,
+      name='player_measurements', full_name='carla_server.Measurements.player_measurements', index=3,
      number=3, type=11, cpp_type=10, label=1,
      has_default_value=False, default_value=None,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      options=None),
    _descriptor.FieldDescriptor(
-      name='non_player_agents', full_name='carla_server.Measurements.non_player_agents', index=3,
+      name='non_player_agents', full_name='carla_server.Measurements.non_player_agents', index=4,
      number=4, type=11, cpp_type=10, label=3,
      has_default_value=False, default_value=[],
      message_type=None, enum_type=None, containing_type=None,
@ -817,19 +862,21 @@ _MEASUREMENTS = _descriptor.Descriptor(
  extension_ranges=[],
  oneofs=[
  ],
-  serialized_start=1458,
-  serialized_end=2024,
+  serialized_start=1568,
+  serialized_end=2161,
 )

 _TRANSFORM.fields_by_name['location'].message_type = _VECTOR3D
 _TRANSFORM.fields_by_name['orientation'].message_type = _VECTOR3D
 _TRANSFORM.fields_by_name['rotation'].message_type = _ROTATION3D
+_BOUNDINGBOX.fields_by_name['transform'].message_type = _TRANSFORM
+_BOUNDINGBOX.fields_by_name['extent'].message_type = _VECTOR3D
 _SENSOR.fields_by_name['type'].enum_type = _SENSOR_TYPE
 _SENSOR_TYPE.containing_type = _SENSOR
 _VEHICLE.fields_by_name['transform'].message_type = _TRANSFORM
-_VEHICLE.fields_by_name['box_extent'].message_type = _VECTOR3D
+_VEHICLE.fields_by_name['bounding_box'].message_type = _BOUNDINGBOX
 _PEDESTRIAN.fields_by_name['transform'].message_type = _TRANSFORM
-_PEDESTRIAN.fields_by_name['box_extent'].message_type = _VECTOR3D
+_PEDESTRIAN.fields_by_name['bounding_box'].message_type = _BOUNDINGBOX
 _TRAFFICLIGHT.fields_by_name['transform'].message_type = _TRANSFORM
 _TRAFFICLIGHT.fields_by_name['state'].enum_type = _TRAFFICLIGHT_STATE
 _TRAFFICLIGHT_STATE.containing_type = _TRAFFICLIGHT
@ -853,7 +900,7 @@ _AGENT.fields_by_name['speed_limit_sign'].containing_oneof = _AGENT.oneofs_by_na
 _SCENEDESCRIPTION.fields_by_name['player_start_spots'].message_type = _TRANSFORM
 _SCENEDESCRIPTION.fields_by_name['sensors'].message_type = _SENSOR
 _MEASUREMENTS_PLAYERMEASUREMENTS.fields_by_name['transform'].message_type = _TRANSFORM
-_MEASUREMENTS_PLAYERMEASUREMENTS.fields_by_name['box_extent'].message_type = _VECTOR3D
+_MEASUREMENTS_PLAYERMEASUREMENTS.fields_by_name['bounding_box'].message_type = _BOUNDINGBOX
 _MEASUREMENTS_PLAYERMEASUREMENTS.fields_by_name['acceleration'].message_type = _VECTOR3D
 _MEASUREMENTS_PLAYERMEASUREMENTS.fields_by_name['autopilot_control'].message_type = _CONTROL
 _MEASUREMENTS_PLAYERMEASUREMENTS.containing_type = _MEASUREMENTS
@ -862,6 +909,7 @@ _MEASUREMENTS.fields_by_name['non_player_agents'].message_type = _AGENT
 DESCRIPTOR.message_types_by_name['Vector3D'] = _VECTOR3D
 DESCRIPTOR.message_types_by_name['Rotation3D'] = _ROTATION3D
 DESCRIPTOR.message_types_by_name['Transform'] = _TRANSFORM
+DESCRIPTOR.message_types_by_name['BoundingBox'] = _BOUNDINGBOX
 DESCRIPTOR.message_types_by_name['Sensor'] = _SENSOR
 DESCRIPTOR.message_types_by_name['Vehicle'] = _VEHICLE
 DESCRIPTOR.message_types_by_name['Pedestrian'] = _PEDESTRIAN
@ -897,6 +945,13 @@ Transform = _reflection.GeneratedProtocolMessageType('Transform', (_message.Mess
  ))
 _sym_db.RegisterMessage(Transform)

+BoundingBox = _reflection.GeneratedProtocolMessageType('BoundingBox', (_message.Message,), dict(
+  DESCRIPTOR = _BOUNDINGBOX,
+  __module__ = 'carla_server_pb2'
+  # @@protoc_insertion_point(class_scope:carla_server.BoundingBox)
+  ))
+_sym_db.RegisterMessage(BoundingBox)
+
 Sensor = _reflection.GeneratedProtocolMessageType('Sensor', (_message.Message,), dict(
  DESCRIPTOR = _SENSOR,
  __module__ = 'carla_server_pb2'
--- a/PythonClient/carla/client.py
+++ b/PythonClient/carla/client.py
@ -183,31 +183,36 @@ class CarlaClient(object):
 def _make_sensor_parsers(sensors):
    image_types = ['None', 'SceneFinal', 'Depth', 'SemanticSegmentation']
    getimgtype = lambda id: image_types[id] if len(image_types) > id else 'Unknown'
-    getint = lambda data, index: struct.unpack('<L', data[index*4:index*4+4])[0]
+    getint32 = lambda data, index: struct.unpack('<L', data[index*4:index*4+4])[0]
+    getint64 = lambda data, index: struct.unpack('<Q', data[index*4:index*4+8])[0]
    getfloat = lambda data, index: struct.unpack('<f', data[index*4:index*4+4])[0]

    def parse_image(data):
-        width = getint(data, 0)
-        height = getint(data, 1)
-        image_type = getimgtype(getint(data, 2))
-        fov = getfloat(data, 3)
-        return sensor.Image(width, height, image_type, fov, data[16:])
+        frame_number = getint64(data, 0)
+        width = getint32(data, 2)
+        height = getint32(data, 3)
+        image_type = getimgtype(getint32(data, 4))
+        fov = getfloat(data, 5)
+        return sensor.Image(frame_number, width, height, image_type, fov, data[24:])

    def parse_lidar(data):
-        horizontal_angle = getfloat(data, 0)
-        channels = getint(data, 1)
+        frame_number = getint64(data, 0)
+        horizontal_angle = getfloat(data, 2)
+        channels = getint32(data, 3)
+        header_size = 16
        point_count_by_channel = numpy.frombuffer(
-            data[8:8+channels*4],
+            data[header_size:header_size+channels*4],
            dtype=numpy.dtype('uint32'))
        points = numpy.frombuffer(
-            data[8+channels*4:],
+            data[header_size+channels*4:],
            dtype=numpy.dtype('f4'))
        points = numpy.reshape(points, (int(points.shape[0]/3), 3))
        return sensor.LidarMeasurement(
+            frame_number,
            horizontal_angle,
            channels,
            point_count_by_channel,
-            sensor.PointCloud(points))
+            sensor.PointCloud(frame_number, points))

    class SensorDefinition(object):
        def __init__(self, s):
--- a/PythonClient/carla/image_converter.py
+++ b/PythonClient/carla/image_converter.py
@ -154,6 +154,9 @@ def depth_to_local_point_cloud(image, color=None, max_depth=0.9):
    # [[X1,Y1,Z1,R1,G1,B1],[X2,Y2,Z2,R2,G2,B2], ... [Xn,Yn,Zn,Rn,Gn,Bn]]
    if color is not None:
        # numpy.concatenate((numpy.transpose(p3d), color), axis=1)
-        return sensor.PointCloud(numpy.transpose(p3d), color_array=color)
+        return sensor.PointCloud(
+            image.frame_number,
+            numpy.transpose(p3d),
+            color_array=color)
    # [[X1,Y1,Z1],[X2,Y2,Z2], ... [Xn,Yn,Zn]]
-    return sensor.PointCloud(numpy.transpose(p3d))
+    return sensor.PointCloud(image.frame_number, numpy.transpose(p3d))
--- a/PythonClient/carla/sensor.py
+++ b/PythonClient/carla/sensor.py
@ -134,15 +134,18 @@ class Lidar(Sensor):
 # -- SensorData ----------------------------------------------------------------
 # ==============================================================================

+
 class SensorData(object):
    """Base class for sensor data returned from the server."""
-    pass
+    def __init__(self, frame_number):
+        self.frame_number = frame_number


 class Image(SensorData):
    """Data generated by a Camera."""

-    def __init__(self, width, height, image_type, fov, raw_data):
+    def __init__(self, frame_number, width, height, image_type, fov, raw_data):
+        super(Image, self).__init__(frame_number=frame_number)
        assert len(raw_data) == 4 * width * height
        self.width = width
        self.height = height
@ -195,7 +198,8 @@ class Image(SensorData):
 class PointCloud(SensorData):
    """A list of points."""

-    def __init__(self, array, color_array=None):
+    def __init__(self, frame_number, array, color_array=None):
+        super(PointCloud, self).__init__(frame_number=frame_number)
        self._array = array
        self._color_array = color_array
        self._has_colors = color_array is not None
@ -306,7 +310,8 @@ class PointCloud(SensorData):
 class LidarMeasurement(SensorData):
    """Data generated by a Lidar."""

-    def __init__(self, horizontal_angle, channels, point_count_by_channel, point_cloud):
+    def __init__(self, frame_number, horizontal_angle, channels, point_count_by_channel, point_cloud):
+        super(LidarMeasurement, self).__init__(frame_number=frame_number)
        assert numpy.sum(point_count_by_channel) == len(point_cloud.array)
        self.horizontal_angle = horizontal_angle
        self.channels = channels
--- a/README.md
+++ b/README.md
@ -43,8 +43,6 @@ from the community. Our most immediate goals are:
 - [ ] Allowing for flexible and user-friendly import and editing of maps
 - [ ] Allowing the users to control non-player characters (and therefore set up user-specified scenarios)

-We will post a detailed roadmap and contribution guidelines soon - stay tuned!
-
 Paper
 -----

@ -101,13 +99,4 @@ CARLA specific code is distributed under MIT License.

 CARLA specific assets are distributed under CC-BY License.

-Note that UE4 itself and the UE4 free automotive materials follow their own
-license terms.
-
-CARLA uses free automotive materials from Epic Games. For compiling CARLA, these
-materials must be downloaded from the UE4 marketplace and manually linked in
-CARLA following the instructions provided in the documentation.
-
-CARLA uses pedestrians created with Adobe Fuse, which is a free tool for that
-purpose. Currently, we cannot redistribute these pedestrians models. They can
-only be used in the provided executable.
+Note that UE4 itself follows its own license terms.
--- a/Rebuild.bat
+++ b/Rebuild.bat
@ -8,7 +8,11 @@ rem FOR %%G IN (Binaries,Intermediate,Plugins\Carla\Binaries,Plugins\Carla\Inter

 rem echo Making CarlaServer...
 rem call "C:\Program Files (x86)\Microsoft Visual Studio 14.0\VC\vcvarsall.bat" amd64
+rem Visual Studio 2017 Enterprise:
+rem call "C:\Program Files (x86)\Microsoft Visual Studio\2017\Enterprise\VC\Auxiliary\Build\vcvarsall.bat" 
 rem START /wait cmd.exe /k "cd Plugins\Carla & make clean default & pause & exit"

+
+
 rem echo Launch editor...
 rem start CarlaUE4.uproject
--- a/Unreal/CarlaUE4/CarlaUE4.uproject
+++ b/Unreal/CarlaUE4/CarlaUE4.uproject
@ -97,4 +97,4 @@
 			"Enabled": false
 		}
 	]
-}
+}
--- a/Unreal/CarlaUE4/Config/CarlaWeather.Town01.ini
+++ b/Unreal/CarlaUE4/Config/CarlaWeather.Town01.ini
@ -1,6 +1,6 @@
 [Default]
 SunPolarAngle=44.586
-SunAzimuthAngle=0
+SunAzimuthAngle=-179
 SunBrightness=50
 SunDirectionalLightIntensity=15.092
 SunDirectionalLightColor=(R=255.000000,G=239.000000,B=194.000000,A=1.000000)
@ -28,7 +28,7 @@ CameraPostProcessParameters.AutoExposureBias=-3.5

 [ClearNoon]
 SunPolarAngle=44.586
-SunAzimuthAngle=0
+SunAzimuthAngle=-179
 SunBrightness=50
 SunDirectionalLightIntensity=15.092
 SunDirectionalLightColor=(R=255.000000,G=239.000000,B=194.000000,A=1.000000)
@ -56,7 +56,7 @@ CameraPostProcessParameters.AutoExposureBias=-3.5

 [CloudyNoon]
 SunPolarAngle=44.586
-SunAzimuthAngle=0
+SunAzimuthAngle=-179
 SunBrightness=0
 SunDirectionalLightIntensity=1.835
 SunDirectionalLightColor=(R=1.000000,G=0.862295,B=0.475000,A=1.000000)
@ -84,7 +84,7 @@ CameraPostProcessParameters.AutoExposureBias=-3.5

 [WetNoon]
 SunPolarAngle=44.586
-SunAzimuthAngle=0.0
+SunAzimuthAngle=-179
 SunBrightness=3.67
 SunDirectionalLightIntensity=20.184
 SunDirectionalLightColor=(R=1.000000,G=0.862295,B=0.475000,A=1.000000)
@ -112,7 +112,7 @@ CameraPostProcessParameters.AutoExposureBias=-3.5

 [WetCloudyNoon]
 SunPolarAngle=44.586
-SunAzimuthAngle=0
+SunAzimuthAngle=-179
 SunBrightness=0
 SunDirectionalLightIntensity=1.835
 SunDirectionalLightColor=(R=1.000000,G=0.862295,B=0.475000,A=1.000000)
@ -140,7 +140,7 @@ CameraPostProcessParameters.AutoExposureBias=-3.5

 [MidRainyNoon]
 SunPolarAngle=44.586
-SunAzimuthAngle=0
+SunAzimuthAngle=-179
 SunBrightness=0
 SunDirectionalLightIntensity=1.33
 SunDirectionalLightColor=(R=255.000000,G=239.000000,B=194.000000,A=1.000000)
@ -168,7 +168,7 @@ CameraPostProcessParameters.AutoExposureBias=-3.5

 [HardRainNoon]
 SunPolarAngle=44.586
-SunAzimuthAngle=0
+SunAzimuthAngle=-179
 SunBrightness=0
 SunDirectionalLightIntensity=1.33
 SunDirectionalLightColor=(R=255.000000,G=239.000000,B=194.000000,A=1.000000)
@ -196,7 +196,7 @@ CameraPostProcessParameters.AutoExposureBias=-3.5

 [SoftRainNoon]
 SunPolarAngle=44.586
-SunAzimuthAngle=0
+SunAzimuthAngle=-179
 SunBrightness=0
 SunDirectionalLightIntensity=1.33
 SunDirectionalLightColor=(R=255.000000,G=239.000000,B=194.000000,A=1.000000)
@ -224,7 +224,7 @@ CameraPostProcessParameters.AutoExposureBias=-3.5

 [ClearSunset]
 SunPolarAngle=86
-SunAzimuthAngle=0
+SunAzimuthAngle=-179
 SunBrightness=1.835
 SunDirectionalLightIntensity=50
 SunDirectionalLightColor=(R=0.810000,G=0.347470,B=0.170100,A=1.000000)
@ -252,7 +252,7 @@ CameraPostProcessParameters.AutoExposureBias=-3.5

 [CloudySunset]
 SunPolarAngle=86
-SunAzimuthAngle=0
+SunAzimuthAngle=-179
 SunBrightness=67.89
 SunDirectionalLightIntensity=6.422
 SunDirectionalLightColor=(R=0.810000,G=0.347162,B=0.083003,A=1.000000)
@ -280,7 +280,7 @@ CameraPostProcessParameters.AutoExposureBias=-3.5

 [WetSunset]
 SunPolarAngle=86
-SunAzimuthAngle=0
+SunAzimuthAngle=-179
 SunBrightness=0
 SunDirectionalLightIntensity=25.688
 SunDirectionalLightColor=(R=0.810000,G=0.347162,B=0.083003,A=1.000000)
@ -308,7 +308,7 @@ CameraPostProcessParameters.AutoExposureBias=-3.5

 [WetCloudySunset]
 SunPolarAngle=86
-SunAzimuthAngle=0
+SunAzimuthAngle=-179
 SunBrightness=67.89
 SunDirectionalLightIntensity=25.688
 SunDirectionalLightColor=(R=0.810000,G=0.347162,B=0.083003,A=1.000000)
@ -336,7 +336,7 @@ WindAngle=0

 [MidRainSunset]
 SunPolarAngle=86
-SunAzimuthAngle=0
+SunAzimuthAngle=-179
 SunBrightness=13.761
 SunDirectionalLightIntensity=12.587
 SunDirectionalLightColor=(R=0.810000,G=0.347162,B=0.083003,A=1.000000)
@ -364,7 +364,7 @@ CameraPostProcessParameters.AutoExposureBias=-3.5

 [HardRainSunset]
 SunPolarAngle=86
-SunAzimuthAngle=0
+SunAzimuthAngle=-179
 SunBrightness=13.761
 SunDirectionalLightIntensity=12.587
 SunDirectionalLightColor=(R=0.810000,G=0.347162,B=0.083003,A=1.000000)
@ -392,7 +392,7 @@ CameraPostProcessParameters.AutoExposureBias=-3.5

 [SoftRainSunset]
 SunPolarAngle=86
-SunAzimuthAngle=0
+SunAzimuthAngle=-179
 SunBrightness=13.761
 SunDirectionalLightIntensity=12.587
 SunDirectionalLightColor=(R=0.810000,G=0.347162,B=0.083003,A=1.000000)
--- a/Unreal/CarlaUE4/Config/CarlaWeather.ini
+++ b/Unreal/CarlaUE4/Config/CarlaWeather.ini
@ -1,6 +1,6 @@
 [Default]
 SunPolarAngle=44.586
-SunAzimuthAngle=0
+SunAzimuthAngle=174
 SunBrightness=50
 SunDirectionalLightIntensity=15.092
 SunDirectionalLightColor=(R=255.000000,G=239.000000,B=194.000000,A=1.000000)
@ -28,7 +28,7 @@ CameraPostProcessParameters.AutoExposureBias=-3.5

 [ClearNoon]
 SunPolarAngle=44.586
-SunAzimuthAngle=0
+SunAzimuthAngle=174
 SunBrightness=50
 SunDirectionalLightIntensity=34.286
 SunDirectionalLightColor=(R=255.000000,G=239.000000,B=194.000000,A=1.000000)
@ -56,7 +56,7 @@ CameraPostProcessParameters.AutoExposureBias=-3.5

 [CloudyNoon]
 SunPolarAngle=44.586
-SunAzimuthAngle=0.0
+SunAzimuthAngle=174
 SunBrightness=0
 SunDirectionalLightIntensity=1.835
 SunDirectionalLightColor=(R=1.000000,G=0.862295,B=0.475000,A=1.000000)
@ -84,7 +84,7 @@ CameraPostProcessParameters.AutoExposureBias=-3.5

 [WetNoon]
 SunPolarAngle=44.586
-SunAzimuthAngle=0.0
+SunAzimuthAngle=174
 SunBrightness=3.67
 SunDirectionalLightIntensity=20.184
 SunDirectionalLightColor=(R=1.000000,G=0.862295,B=0.475000,A=1.000000)
@ -112,7 +112,7 @@ CameraPostProcessParameters.AutoExposureBias=-3.5

 [WetCloudyNoon]
 SunPolarAngle=44.586
-SunAzimuthAngle=0.0
+SunAzimuthAngle=174
 SunBrightness=0
 SunDirectionalLightIntensity=1.835
 SunDirectionalLightColor=(R=1.000000,G=0.862295,B=0.475000,A=1.000000)
@ -140,7 +140,7 @@ CameraPostProcessParameters.AutoExposureBias=-3.5

 [MidRainyNoon]
 SunPolarAngle=44.586
-SunAzimuthAngle=0.0
+SunAzimuthAngle=174
 SunBrightness=0
 SunDirectionalLightIntensity=1.33
 SunDirectionalLightColor=(R=255.000000,G=239.000000,B=194.000000,A=1.000000)
@ -168,7 +168,7 @@ CameraPostProcessParameters.AutoExposureBias=-3.5

 [HardRainNoon]
 SunPolarAngle=44.586
-SunAzimuthAngle=0.0
+SunAzimuthAngle=174
 SunBrightness=0
 SunDirectionalLightIntensity=1.33
 SunDirectionalLightColor=(R=255.000000,G=239.000000,B=194.000000,A=1.000000)
@ -196,7 +196,7 @@ CameraPostProcessParameters.AutoExposureBias=-3.5

 [SoftRainNoon]
 SunPolarAngle=44.586
-SunAzimuthAngle=0
+SunAzimuthAngle=174
 SunBrightness=0
 SunDirectionalLightIntensity=1.33
 SunDirectionalLightColor=(R=255.000000,G=239.000000,B=194.000000,A=1.000000)
@ -224,7 +224,7 @@ CameraPostProcessParameters.AutoExposureBias=-3.5

 [ClearSunset]
 SunPolarAngle=86
-SunAzimuthAngle=0
+SunAzimuthAngle=174
 SunBrightness=1.835
 SunDirectionalLightIntensity=50
 SunDirectionalLightColor=(R=0.810000,G=0.347470,B=0.170100,A=1.000000)
@ -252,7 +252,7 @@ CameraPostProcessParameters.AutoExposureBias=-3.5

 [CloudySunset]
 SunPolarAngle=86
-SunAzimuthAngle=0
+SunAzimuthAngle=174
 SunBrightness=67.89
 SunDirectionalLightIntensity=6.422
 SunDirectionalLightColor=(R=0.810000,G=0.347162,B=0.083003,A=1.000000)
@ -280,7 +280,7 @@ CameraPostProcessParameters.AutoExposureBias=-3.5

 [WetSunset]
 SunPolarAngle=86
-SunAzimuthAngle=0.0
+SunAzimuthAngle=174
 SunBrightness=0
 SunDirectionalLightIntensity=25.688
 SunDirectionalLightColor=(R=0.810000,G=0.347162,B=0.083003,A=1.000000)
@ -308,7 +308,7 @@ CameraPostProcessParameters.AutoExposureBias=-3.5

 [WetCloudySunset]
 SunPolarAngle=86
-SunAzimuthAngle=0.0
+SunAzimuthAngle=174
 SunBrightness=67.89
 SunDirectionalLightIntensity=25.688
 SunDirectionalLightColor=(R=0.810000,G=0.347162,B=0.083003,A=1.000000)
@ -333,7 +333,7 @@ CameraPostProcessParameters.AutoExposureBias=-3.5

 [MidRainSunset]
 SunPolarAngle=86
-SunAzimuthAngle=0
+SunAzimuthAngle=174
 SunBrightness=12.381
 SunDirectionalLightIntensity=5.714
 SunDirectionalLightColor=(R=0.810000,G=0.347162,B=0.083003,A=1.000000)
@ -361,7 +361,7 @@ CameraPostProcessParameters.AutoExposureBias=-3.5

 [HardRainSunset]
 SunPolarAngle=86
-SunAzimuthAngle=0
+SunAzimuthAngle=174
 SunBrightness=0.952
 SunDirectionalLightIntensity=3.063
 SunDirectionalLightColor=(R=0.810000,G=0.347162,B=0.083003,A=1.000000)
@ -389,7 +389,7 @@ CameraPostProcessParameters.AutoExposureBias=-3.5

 [SoftRainSunset]
 SunPolarAngle=86
-SunAzimuthAngle=0
+SunAzimuthAngle=174
 SunBrightness=13.761
 SunDirectionalLightIntensity=12.587
 SunDirectionalLightColor=(R=0.810000,G=0.347162,B=0.083003,A=1.000000)
--- a/Unreal/CarlaUE4/Config/DefaultEngine.ini
+++ b/Unreal/CarlaUE4/Config/DefaultEngine.ini
@ -77,3 +77,5 @@ InitialAverageFrameRate=0.016667
 PhysXTreeRebuildRate=10


+[/Script/AIModule.CrowdManager]
+MaxAgents=1000
--- a/Unreal/CarlaUE4/Plugins/Carla/Carla.uplugin
+++ b/Unreal/CarlaUE4/Plugins/Carla/Carla.uplugin
@ -16,7 +16,7 @@
 	"Modules": [
 		{
 			"Name": "Carla",
-			"Type": "Developer",
+			"Type": "Runtime",
 			"LoadingPhase": "PreDefault",
 			"AdditionalDependencies": [
 				"Engine"
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.cpp
@ -8,14 +8,16 @@

 #include "Carla.h"
 #include "AgentComponent.h"
-
+#include "Engine/World.h"
 #include "Game/CarlaGameModeBase.h"
 #include "Game/DataRouter.h"
+#include "Engine/Engine.h"
+#include "Kismet/GameplayStatics.h"

 static FDataRouter &GetDataRouter(UWorld *World)
 {
  check(World != nullptr);
-  auto *GameMode = Cast<ACarlaGameModeBase>(World->GetAuthGameMode());
+  ACarlaGameModeBase *GameMode = Cast<ACarlaGameModeBase>(World->GetAuthGameMode());
  check(GameMode != nullptr);
  return GameMode->GetDataRouter();
 }
@ -40,7 +42,20 @@ void UAgentComponent::BeginPlay()

  if (bRegisterAgentComponent)
  {
-    GetDataRouter(GetWorld()).RegisterAgent(this);
+    /**
+      * This only returns true if the current game mode is not null 
+      * because you can only access a game mode if you are the host
+      * @param oftheworld UWorld is needed to access the game mode
+      * @return true if there is a game mode and it is not null
+     */
+    if(UGameplayStatics::GetGameMode(GetWorld())!=nullptr)
+    {
+      GetDataRouter(GetWorld()).RegisterAgent(this);
+    } else
+    {
+        UCarlaGameInstance* GameInstance = Cast<UCarlaGameInstance>(UGameplayStatics::GetGameInstance(GetWorld()));
+        if(GameInstance)    GameInstance->GetDataRouter().RegisterAgent(this);
+    }
    bAgentComponentIsRegistered = true;
  }
 }
@ -49,9 +64,19 @@ void UAgentComponent::EndPlay(const EEndPlayReason::Type EndPlayReason)
 {
  if (bAgentComponentIsRegistered)
  {
-    GetDataRouter(GetWorld()).DeregisterAgent(this);
+    if(UGameplayStatics::GetGameMode(GetWorld())!=nullptr)
+    {
+     GetDataRouter(GetWorld()).DeregisterAgent(this);
+    }
+    else
+    {
+        UCarlaGameInstance* GameInstance = Cast<UCarlaGameInstance>(UGameplayStatics::GetGameInstance(GetWorld()));
+        if(GameInstance)
+           GameInstance->GetDataRouter().DeregisterAgent(this);
+    }
    bAgentComponentIsRegistered = false;
  }

  Super::EndPlay(EndPlayReason);
 }
+
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/VehicleAgentComponent.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/VehicleAgentComponent.cpp
@ -9,11 +9,9 @@
 #include "Carla.h"
 #include "VehicleAgentComponent.h"

-#include "Vehicle/CarlaWheeledVehicle.h"
-
-static bool IsPlayer(const ACarlaWheeledVehicle &Vehicle)
+static bool IsPlayer(const ACarlaWheeledVehicle &InVehicle)
 {
-  auto *Controller = Cast<AWheeledVehicleAIController>(Vehicle.GetController());
+  auto *Controller = Cast<AWheeledVehicleAIController>(InVehicle.GetController());
  return (Controller != nullptr) && Controller->IsPossessingThePlayer();
 }

@ -22,11 +20,11 @@ UVehicleAgentComponent::UVehicleAgentComponent(const FObjectInitializer &ObjectI

 void UVehicleAgentComponent::BeginPlay()
 {
-  WheeledVehicle = Cast<ACarlaWheeledVehicle>(GetOwner());
-  checkf(WheeledVehicle != nullptr, TEXT("UVehicleAgentComponent can only be attached to ACarlaWheeledVehicle"));
+  Vehicle = Cast<ACarlaWheeledVehicle>(GetOwner());
+  checkf(Vehicle != nullptr, TEXT("UVehicleAgentComponent can only be attached to ACarlaWheeledVehicle"));

  // We only want to register non-player agents.
-  bRegisterAgentComponent = !IsPlayer(*WheeledVehicle);
+  bRegisterAgentComponent = !IsPlayer(*Vehicle);

  Super::BeginPlay();
 }
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/VehicleAgentComponent.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/VehicleAgentComponent.h
@ -8,9 +8,9 @@

 #include "Agent/AgentComponent.h"

-#include "VehicleAgentComponent.generated.h"
+#include "Vehicle/CarlaWheeledVehicle.h"

-class ACarlaWheeledVehicle;
+#include "VehicleAgentComponent.generated.h"

 UCLASS(ClassGroup=(Custom), meta=(BlueprintSpawnableComponent))
 class CARLA_API UVehicleAgentComponent : public UAgentComponent
@ -21,10 +21,25 @@ public:

  UVehicleAgentComponent(const FObjectInitializer &ObjectInitializer);

-  ACarlaWheeledVehicle &GetVehicle() const
+  /// Return forward speed in cm/s.
+  float GetForwardSpeed() const
  {
-    check(WheeledVehicle != nullptr);
-    return *WheeledVehicle;
+    return Vehicle->GetVehicleForwardSpeed();
+  }
+
+  FTransform GetTransform() const
+  {
+    return Vehicle->GetVehicleTransform();
+  }
+
+  FTransform GetBoundingBoxTransform() const
+  {
+    return Vehicle->GetVehicleBoundingBoxTransform();
+  }
+
+  FVector GetBoundingBoxExtent() const
+  {
+    return Vehicle->GetVehicleBoundingBoxExtent();
  }

 protected:
@ -38,5 +53,6 @@ protected:

 private:

-  ACarlaWheeledVehicle *WheeledVehicle = nullptr;
+  UPROPERTY()
+  ACarlaWheeledVehicle *Vehicle = nullptr;
 };
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/WalkerAgentComponent.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/WalkerAgentComponent.cpp
@ -9,17 +9,9 @@
 #include "Carla.h"
 #include "WalkerAgentComponent.h"

-#include "GameFramework/Character.h"
-
 UWalkerAgentComponent::UWalkerAgentComponent(const FObjectInitializer &ObjectInitializer)
  : Super(ObjectInitializer) {}

-float UWalkerAgentComponent::GetForwardSpeed() const
-{
-  /// @todo Is it necessary to compute this speed every tick?
-  return FVector::DotProduct(Walker->GetVelocity(), Walker->GetActorRotation().Vector());
-}
-
 void UWalkerAgentComponent::BeginPlay()
 {
  Walker = Cast<ACharacter>(GetOwner());
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/WalkerAgentComponent.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/WalkerAgentComponent.h
@ -8,9 +8,9 @@

 #include "Agent/AgentComponent.h"

-#include "WalkerAgentComponent.generated.h"
+#include "GameFramework/Character.h"

-class ACharacter;
+#include "WalkerAgentComponent.generated.h"

 /// This component can be added to any ACharacter to be added as agent.
 /// See UAgentComponent.
@ -24,7 +24,20 @@ public:
  UWalkerAgentComponent(const FObjectInitializer &ObjectInitializer);

  /// Return forward speed in cm/s.
-  float GetForwardSpeed() const;
+  float GetForwardSpeed() const
+  {
+    return FVector::DotProduct(Walker->GetVelocity(), Walker->GetActorRotation().Vector());
+  }
+
+  FTransform GetTransform() const
+  {
+    return Walker->GetActorTransform();
+  }
+
+  FTransform GetBoundingBoxTransform() const
+  {
+    return FTransform();
+  }

  FVector GetBoundingBoxExtent() const
  {
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp
@ -202,7 +202,7 @@ void ACarlaGameModeBase::BeginPlay()
 void ACarlaGameModeBase::EndPlay(const EEndPlayReason::Type EndPlayReason)
 {
 	Super::EndPlay(EndPlayReason);
-	if (CarlaSettingsDelegate != nullptr)
+	if (CarlaSettingsDelegate != nullptr && EndPlayReason!=EEndPlayReason::EndPlayInEditor)
 	{
 	  CarlaSettingsDelegate->Reset();
 	}
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaPlayerState.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaPlayerState.cpp
@ -7,6 +7,8 @@
 #include "Carla.h"
 #include "CarlaPlayerState.h"

+#include "CoreGlobals.h"
+
 void ACarlaPlayerState::Reset()
 {
  Super::Reset();
@ -25,6 +27,7 @@ void ACarlaPlayerState::CopyProperties(APlayerState *PlayerState)
    ACarlaPlayerState *Other = Cast<ACarlaPlayerState>(PlayerState);
    if (Other != nullptr)
    {
+      FrameNumber = Other->FrameNumber;
      FramesPerSecond = Other->FramesPerSecond;
      PlatformTimeStamp = Other->PlatformTimeStamp;
      GameTimeStamp = Other->GameTimeStamp;
@ -74,6 +77,7 @@ static int32 RoundToMilliseconds(float Seconds)

 void ACarlaPlayerState::UpdateTimeStamp(float DeltaSeconds)
 {
+  FrameNumber = GFrameCounter;
  FramesPerSecond = 1.0f / DeltaSeconds;
  PlatformTimeStamp = RoundToMilliseconds(FPlatformTime::Seconds());
  GameTimeStamp += RoundToMilliseconds(DeltaSeconds);
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaPlayerState.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaPlayerState.h
@ -40,6 +40,11 @@ public:
  // ===========================================================================
  /// @{

+  uint64 GetFrameNumber() const
+  {
+    return FrameNumber;
+  }
+
  UFUNCTION(BlueprintCallable)
  float GetFramesPerSecond() const
  {
@ -83,9 +88,15 @@ public:
  }

  UFUNCTION(BlueprintCallable)
-  FVector GetBoundsExtent() const
+  FTransform GetBoundingBoxTransform() const
  {
-    return BoundsExtent;
+    return BoundingBoxTransform;
+  }
+
+  UFUNCTION(BlueprintCallable)
+  FVector GetBoundingBoxExtent() const
+  {
+    return BoundingBoxExtent;
  }

  UFUNCTION(BlueprintCallable)
@ -214,6 +225,9 @@ private:
  // If you add another variable here, don't forget to copy it inside
  // CopyProperties if necessary.

+  UPROPERTY(VisibleAnywhere)
+  uint64 FrameNumber;
+
  UPROPERTY(VisibleAnywhere)
  float FramesPerSecond;

@ -227,7 +241,10 @@ private:
  FTransform Transform;

  UPROPERTY(VisibleAnywhere)
-  FVector BoundsExtent;
+  FTransform BoundingBoxTransform;
+
+  UPROPERTY(VisibleAnywhere)
+  FVector BoundingBoxExtent;

  UPROPERTY(VisibleAnywhere)
  float ForwardSpeed = 0.0f;
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.cpp
@ -94,6 +94,7 @@ void ALidar::ReadPoints(const float DeltaTime)
  }

  const float HorizontalAngle = std::fmod(CurrentHorizontalAngle + AngleDistanceOfTick, 360.0f);
+  LidarMeasurement.SetFrameNumber(GFrameCounter);
  LidarMeasurement.SetHorizontalAngle(HorizontalAngle);
 }

--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/LidarMeasurement.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/LidarMeasurement.h
@ -15,6 +15,7 @@
 /// The header consists of an array of uint32's in the following layout
 ///
 ///    {
+///      Frame number (uint64)
 ///      Horizontal angle (float),
 ///      Channel count,
 ///      Point count of channel 0,
@ -37,8 +38,8 @@ public:
  explicit FLidarMeasurement(uint32 SensorId = 0u, uint32 ChannelCount = 0u)
    : SensorId(SensorId)
  {
-    Header.AddDefaulted(2u + ChannelCount);
-    Header[1] = ChannelCount;
+    Header.AddDefaulted(4u + ChannelCount);
+    Header[3] = ChannelCount;
  }

  FLidarMeasurement &operator=(FLidarMeasurement &&Other)
@ -50,31 +51,36 @@ public:
    return *this;
  }

+  void SetFrameNumber(uint64 FrameNumber)
+  {
+    std::memcpy(Header.GetData(), reinterpret_cast<const void *>(&FrameNumber), 2u);
+  }
+
  float GetHorizontalAngle() const
  {
-    return reinterpret_cast<const float &>(Header[0]);
+    return reinterpret_cast<const float &>(Header[2]);
  }

  void SetHorizontalAngle(float HorizontalAngle)
  {
-    Header[0] = reinterpret_cast<const uint32 &>(HorizontalAngle);
+    Header[2] = reinterpret_cast<const uint32 &>(HorizontalAngle);
  }

  uint32 GetChannelCount() const
  {
-    return Header[1];
+    return Header[3];
  }

  void Reset(uint32 TotalPointCount)
  {
-    std::memset(Header.GetData() + 2u, 0, sizeof(uint32) * GetChannelCount());
+    std::memset(Header.GetData() + 4u, 0, sizeof(uint32) * GetChannelCount());
    Points.Reset(3u * TotalPointCount);
  }

  void WritePoint(uint32 Channel, const FVector &Point)
  {
-    check(Header[1] > Channel);
-    Header[2u + Channel] += 1u;
+    check(Header[3] > Channel);
+    Header[4u + Channel] += 1u;
    constexpr float TO_METERS = 1e-2f;
    Points.Emplace(TO_METERS * Point.X);
    Points.Emplace(TO_METERS * Point.Y);
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.cpp
@ -8,41 +8,68 @@
 #include "SceneCaptureCamera.h"

 #include "Sensor/SensorDataView.h"
+#include "Settings/CarlaSettings.h"

 #include "Components/DrawFrustumComponent.h"
 #include "Components/SceneCaptureComponent2D.h"
 #include "Components/StaticMeshComponent.h"
+#include "ConstructorHelpers.h"
+#include "CoreGlobals.h"
 #include "Engine/CollisionProfile.h"
 #include "Engine/TextureRenderTarget2D.h"
-#include "HighResScreenshot.h"
+#include "Game/CarlaGameInstance.h"
+#include "Kismet/KismetSystemLibrary.h"
 #include "Materials/Material.h"
-#include "Paths.h"

+#include <memory>
+
+// =============================================================================
+// -- Local static variables ---------------------------------------------------
+// =============================================================================

 static constexpr auto DEPTH_MAT_PATH =
 #if PLATFORM_LINUX
-    TEXT("Material'/Carla/PostProcessingMaterials/DepthEffectMaterial_GLSL.DepthEffectMaterial_GLSL'");
+  TEXT("Material'/Carla/PostProcessingMaterials/DepthEffectMaterial_GLSL.DepthEffectMaterial_GLSL'");
 #elif PLATFORM_WINDOWS
-    TEXT("Material'/Carla/PostProcessingMaterials/DepthEffectMaterial.DepthEffectMaterial'");
+  TEXT("Material'/Carla/PostProcessingMaterials/DepthEffectMaterial.DepthEffectMaterial'");
 #else
 #  error No depth material defined for this platform
 #endif

 static constexpr auto SEMANTIC_SEGMENTATION_MAT_PATH =
-    TEXT("Material'/Carla/PostProcessingMaterials/GTMaterial.GTMaterial'");
+  TEXT("Material'/Carla/PostProcessingMaterials/GTMaterial.GTMaterial'");
+
+// =============================================================================
+// -- Local static methods and types -------------------------------------------
+// =============================================================================
+
+struct FImageHeaderData
+{
+  uint64 FrameNumber;
+  uint32 Width;
+  uint32 Height;
+  uint32 Type;
+  float FOV;
+};

 static void RemoveShowFlags(FEngineShowFlags &ShowFlags);

-ASceneCaptureCamera::ASceneCaptureCamera(const FObjectInitializer& ObjectInitializer) :
-  Super(ObjectInitializer),
-  SizeX(720u),
-  SizeY(512u),
-  PostProcessEffect(EPostProcessEffect::SceneFinal)
+// =============================================================================
+// -- ASceneCaptureCamera ------------------------------------------------------
+// =============================================================================
+
+uint32 ASceneCaptureCamera::NumSceneCapture = 0;
+
+ASceneCaptureCamera::ASceneCaptureCamera(const FObjectInitializer &ObjectInitializer)
+  : Super(ObjectInitializer),
+    SizeX(720u),
+    SizeY(512u),
+    PostProcessEffect(EPostProcessEffect::SceneFinal)
 {
  PrimaryActorTick.bCanEverTick = true;
  PrimaryActorTick.TickGroup = TG_PrePhysics;

-  MeshComp = CreateDefaultSubobject<UStaticMeshComponent>(TEXT("CamMesh0"));
+  MeshComp = CreateDefaultSubobject<UStaticMeshComponent>(TEXT("CamMesh"));

  MeshComp->SetCollisionProfileName(UCollisionProfile::NoCollision_ProfileName);

@ -51,28 +78,34 @@ ASceneCaptureCamera::ASceneCaptureCamera(const FObjectInitializer& ObjectInitial
  MeshComp->PostPhysicsComponentTick.bCanEverTick = false;
  RootComponent = MeshComp;

-  DrawFrustum = CreateDefaultSubobject<UDrawFrustumComponent>(TEXT("DrawFrust0"));
+  DrawFrustum = CreateDefaultSubobject<UDrawFrustumComponent>(TEXT("DrawFrust"));
  DrawFrustum->bIsEditorOnly = true;
  DrawFrustum->SetupAttachment(MeshComp);

-  CaptureRenderTarget = CreateDefaultSubobject<UTextureRenderTarget2D>(TEXT("CaptureRenderTarget0"));
-  #if WITH_EDITORONLY_DATA
-	CaptureRenderTarget->CompressionNoAlpha = true;
-	CaptureRenderTarget->MipGenSettings = TextureMipGenSettings::TMGS_NoMipmaps;
-  #endif
+  CaptureRenderTarget = CreateDefaultSubobject<UTextureRenderTarget2D>(
+      FName(*FString::Printf(TEXT("CaptureRenderTarget%d"), NumSceneCapture)));
+#if WITH_EDITORONLY_DATA
+  CaptureRenderTarget->CompressionNoAlpha = true;
+  CaptureRenderTarget->MipGenSettings = TextureMipGenSettings::TMGS_NoMipmaps;
+  CaptureRenderTarget->bUseLegacyGamma = false;
+#endif
  CaptureRenderTarget->CompressionSettings = TextureCompressionSettings::TC_Default;
-  CaptureRenderTarget->SRGB=0;
+  CaptureRenderTarget->SRGB = false;
  CaptureRenderTarget->bAutoGenerateMips = false;
  CaptureRenderTarget->AddressX = TextureAddress::TA_Clamp;
  CaptureRenderTarget->AddressY = TextureAddress::TA_Clamp;
-  CaptureComponent2D = CreateDefaultSubobject<USceneCaptureComponent2D>(TEXT("SceneCaptureComponent2D"));
+  CaptureComponent2D = CreateDefaultSubobject<USceneCaptureComponent2D>(
+      TEXT("SceneCaptureComponent2D"));
  CaptureComponent2D->SetupAttachment(MeshComp);
-  
+
  // Load post-processing materials.
-  static ConstructorHelpers::FObjectFinder<UMaterial> DEPTH(DEPTH_MAT_PATH);
+  static ConstructorHelpers::FObjectFinder<UMaterial> DEPTH(
+      DEPTH_MAT_PATH);
  PostProcessDepth = DEPTH.Object;
-  static ConstructorHelpers::FObjectFinder<UMaterial> SEMANTIC_SEGMENTATION(SEMANTIC_SEGMENTATION_MAT_PATH);
+  static ConstructorHelpers::FObjectFinder<UMaterial> SEMANTIC_SEGMENTATION(
+      SEMANTIC_SEGMENTATION_MAT_PATH);
  PostProcessSemanticSegmentation = SEMANTIC_SEGMENTATION.Object;
+  NumSceneCapture++;
 }

 void ASceneCaptureCamera::PostActorCreated()
@ -81,18 +114,23 @@ void ASceneCaptureCamera::PostActorCreated()

  // no need load the editor mesh when there is no editor
 #if WITH_EDITOR
-  if(MeshComp)
+  if (MeshComp)
  {
    if (!IsRunningCommandlet())
    {
-      if( !MeshComp->GetStaticMesh())
+      if (!MeshComp->GetStaticMesh())
      {
-        UStaticMesh* CamMesh = LoadObject<UStaticMesh>(NULL, TEXT("/Engine/EditorMeshes/MatineeCam_SM.MatineeCam_SM"), NULL, LOAD_None, NULL);
+        UStaticMesh *CamMesh = LoadObject<UStaticMesh>(
+            NULL,
+            TEXT("/Engine/EditorMeshes/MatineeCam_SM.MatineeCam_SM"),
+            NULL,
+            LOAD_None,
+            NULL);
        MeshComp->SetStaticMesh(CamMesh);
      }
    }
  }
-#endif // WITH_EDITOR
+#endif   // WITH_EDITOR

  // Sync component with CameraActor frustum settings.
  UpdateDrawFrustum();
@ -105,49 +143,104 @@ void ASceneCaptureCamera::BeginPlay()
  // Setup render target.
  const bool bInForceLinearGamma = bRemovePostProcessing;
  CaptureRenderTarget->InitCustomFormat(SizeX, SizeY, PF_B8G8R8A8, bInForceLinearGamma);
-
+  if (!IsValid(CaptureComponent2D) || CaptureComponent2D->IsPendingKill())
+  {
+    CaptureComponent2D = NewObject<USceneCaptureComponent2D>(this, TEXT("SceneCaptureComponent2D"));
+    CaptureComponent2D->SetupAttachment(MeshComp);
+  }
  CaptureComponent2D->Deactivate();
  CaptureComponent2D->TextureTarget = CaptureRenderTarget;

-  // Setup camera post-processing.
-  if (PostProcessEffect != EPostProcessEffect::None) {
-    CaptureComponent2D->CaptureSource = ESceneCaptureSource::SCS_FinalColorLDR; //HD is much slower!
+  // Setup camera post-processing depending on the quality level:
+  const UCarlaGameInstance *GameInstance  = Cast<UCarlaGameInstance>(GetWorld()->GetGameInstance());
+  check(GameInstance != nullptr);
+  const UCarlaSettings &CarlaSettings = GameInstance->GetCarlaSettings();
+  switch (PostProcessEffect)
+  {
+    case EPostProcessEffect::None:
+      break;
+    case EPostProcessEffect::SceneFinal:
+    {
+      // We set LDR for high quality because it will include post-fx and HDR for
+      // low quality to avoid high contrast.
+      switch (CarlaSettings.GetQualitySettingsLevel())
+      {
+        case EQualitySettingsLevel::Low:
+          CaptureComponent2D->CaptureSource = ESceneCaptureSource::SCS_SceneColorHDRNoAlpha;
+          break;
+        default:
+          // LDR is faster than HDR (smaller bitmap array).
+          CaptureComponent2D->CaptureSource = ESceneCaptureSource::SCS_FinalColorLDR;
+          break;
+      }
+      break;
+    }
+    default:
+      CaptureComponent2D->CaptureSource = SCS_FinalColorLDR;
+      break;
  }
-  if (bRemovePostProcessing) {
+
+  if (bRemovePostProcessing)
+  {
    RemoveShowFlags(CaptureComponent2D->ShowFlags);
  }
-  if (PostProcessEffect == EPostProcessEffect::Depth) {
+
+  if (PostProcessEffect == EPostProcessEffect::Depth)
+  {
    CaptureComponent2D->PostProcessSettings.AddBlendable(PostProcessDepth, 1.0f);
-  } else if (PostProcessEffect == EPostProcessEffect::SemanticSegmentation) {
+  }
+  else if (PostProcessEffect == EPostProcessEffect::SemanticSegmentation)
+  {
    CaptureComponent2D->PostProcessSettings.AddBlendable(PostProcessSemanticSegmentation, 1.0f);
  }

  CaptureComponent2D->UpdateContent();
  CaptureComponent2D->Activate();

+  // Make sure that there is enough time in the render queue.
+  UKismetSystemLibrary::ExecuteConsoleCommand(
+      GetWorld(),
+      FString("g.TimeoutForBlockOnRenderFence 300000"));
+
  Super::BeginPlay();
 }

+void ASceneCaptureCamera::EndPlay(const EEndPlayReason::Type EndPlayReason)
+{
+  if (NumSceneCapture != 0)
+  {
+    NumSceneCapture = 0;
+  }
+}
+
 void ASceneCaptureCamera::Tick(const float DeltaSeconds)
 {
  Super::Tick(DeltaSeconds);
-  if(IsVulkanPlatform(GMaxRHIShaderPlatform))
+
+  const auto FrameNumber = GFrameCounter;
+
+  if (IsVulkanPlatform(GMaxRHIShaderPlatform))
  {
-    auto fn = [=](FRHICommandListImmediate& RHICmdList){WritePixelsNonBlocking(DeltaSeconds,RHICmdList);};
+    auto fn = [=](FRHICommandListImmediate &RHICmdList) {
+        WritePixelsNonBlocking(FrameNumber, RHICmdList);
+      };
    ENQUEUE_UNIQUE_RENDER_COMMAND_ONEPARAMETER(
-      FWritePixelsNonBlocking,
-      decltype(fn),write_function_vulkan,fn,
-      {
-    	write_function_vulkan(RHICmdList);
-      });
-  } else
-  {
-    auto fn = [=](){WritePixels(DeltaSeconds);};
-    ENQUEUE_UNIQUE_RENDER_COMMAND_ONEPARAMETER(
-    FWritePixels,
-    decltype(fn),write_function,fn,
+        FWritePixelsNonBlocking,
+        decltype(fn), write_function_vulkan, fn,
    {
-		write_function();
+      write_function_vulkan(RHICmdList);
+    });
+  }
+  else
+  {
+    auto fn = [=]() {
+        WritePixels(FrameNumber);
+      };
+    ENQUEUE_UNIQUE_RENDER_COMMAND_ONEPARAMETER(
+        FWritePixels,
+        decltype(fn), write_function, fn,
+    {
+      write_function();
    });
  }
 }
@ -168,7 +261,8 @@ void ASceneCaptureCamera::SetPostProcessEffect(EPostProcessEffect otherPostProce
 {
  PostProcessEffect = otherPostProcessEffect;
  auto &PostProcessSettings = CaptureComponent2D->PostProcessSettings;
-  if (PostProcessEffect != EPostProcessEffect::SceneFinal) {
+  if (PostProcessEffect != EPostProcessEffect::SceneFinal)
+  {
    PostProcessSettings.bOverride_AutoExposureMethod = false;
    PostProcessSettings.bOverride_AutoExposureMinBrightness = false;
    PostProcessSettings.bOverride_AutoExposureMaxBrightness = false;
@ -192,7 +286,8 @@ void ASceneCaptureCamera::Set(const UCameraDescription &CameraDescription)
 {
  Super::Set(CameraDescription);

-  if (CameraDescription.bOverrideCameraPostProcessParameters) {
+  if (CameraDescription.bOverrideCameraPostProcessParameters)
+  {
    auto &Override = CameraDescription.CameraPostProcessParameters;
    auto &PostProcessSettings = CaptureComponent2D->PostProcessSettings;
    PostProcessSettings.bOverride_AutoExposureMethod = true;
@ -211,13 +306,15 @@ void ASceneCaptureCamera::Set(const UCameraDescription &CameraDescription)

 bool ASceneCaptureCamera::ReadPixels(TArray<FColor> &BitMap) const
 {
-  if(!CaptureRenderTarget)
+  if (!CaptureRenderTarget)
  {
-	  UE_LOG(LogCarla, Error, TEXT("SceneCaptureCamera: Missing render target"));
-	  return false;
+    UE_LOG(LogCarla, Error, TEXT("SceneCaptureCamera: Missing render target"));
+    return false;
  }
-  FTextureRenderTargetResource* RTResource = CaptureRenderTarget->GameThread_GetRenderTargetResource();
-  if (RTResource == nullptr) {
+  FTextureRenderTargetResource *RTResource =
+      CaptureRenderTarget->GameThread_GetRenderTargetResource();
+  if (RTResource == nullptr)
+  {
    UE_LOG(LogCarla, Error, TEXT("SceneCaptureCamera: Missing render target"));
    return false;
  }
@ -226,105 +323,116 @@ bool ASceneCaptureCamera::ReadPixels(TArray<FColor> &BitMap) const
  return RTResource->ReadPixels(BitMap, ReadPixelFlags);
 }

-void ASceneCaptureCamera::WritePixelsNonBlocking(float DeltaTime, FRHICommandListImmediate& rhi_cmd_list) const
- {
+void ASceneCaptureCamera::WritePixelsNonBlocking(
+    const uint64 FrameNumber,
+    FRHICommandListImmediate &rhi_cmd_list) const
+{
  check(IsInRenderingThread());
-  if(!CaptureRenderTarget)
+  if (!CaptureRenderTarget)
  {
-  	UE_LOG(LogCarla, Error, TEXT("SceneCaptureCamera: Missing render target"));
-  	return ;
+    UE_LOG(LogCarla, Error, TEXT("SceneCaptureCamera: Missing render target"));
+    return;
  }
-  FTextureRenderTarget2DResource* RenderResource = (FTextureRenderTarget2DResource*)CaptureRenderTarget->Resource;
+  FTextureRenderTarget2DResource *RenderResource =
+      (FTextureRenderTarget2DResource *) CaptureRenderTarget->Resource;
  FTextureRHIParamRef texture = RenderResource->GetRenderTargetTexture();
-  if(!texture)
+  if (!texture)
  {
    UE_LOG(LogCarla, Error, TEXT("SceneCaptureCamera: Missing render target texture"));
    return;
  }
-  struct {
-    uint32 Width;
-    uint32 Height;
-    uint32 Type;
-    float FOV;
-  } ImageHeader = {
+  FImageHeaderData ImageHeader = {
+    FrameNumber,
    SizeX,
    SizeY,
    PostProcessEffect::ToUInt(PostProcessEffect),
    CaptureComponent2D->FOVAngle
  };
-  
-  struct FReadSurfaceContext
-  {
-    FRenderTarget* SrcRenderTarget;
-    TArray<FColor>* OutData;
-    FIntRect Rect;
-    FReadSurfaceDataFlags Flags;
-  };
-  TArray<FColor> Pixels;   
+
+  TArray<FColor> Pixels;
  rhi_cmd_list.ReadSurfaceData(
-    texture,
-    FIntRect(0, 0, RenderResource->GetSizeXY().X, RenderResource->GetSizeXY().Y),
-    Pixels,
-    FReadSurfaceDataFlags(RCM_UNorm, CubeFace_MAX)
-  );
+      texture,
+      FIntRect(0, 0, RenderResource->GetSizeXY().X, RenderResource->GetSizeXY().Y),
+      Pixels,
+      FReadSurfaceDataFlags(RCM_UNorm, CubeFace_MAX));
  FSensorDataView DataView(
-     GetId(),
-     FReadOnlyBufferView{reinterpret_cast<const void *>(&ImageHeader), sizeof(ImageHeader)},
-     FReadOnlyBufferView{Pixels}
-   );
-   WriteSensorData(DataView);
-  
+      GetId(),
+      FReadOnlyBufferView{reinterpret_cast<const void *>(&ImageHeader), sizeof(ImageHeader)},
+      FReadOnlyBufferView{Pixels});
+  WriteSensorData(DataView);
 }

-void ASceneCaptureCamera::WritePixels(float DeltaTime) const
+void ASceneCaptureCamera::WritePixels(const uint64 FrameNumber) const
 {
  FRHITexture2D *texture = CaptureRenderTarget->GetRenderTargetResource()->GetRenderTargetTexture();
-  if(!texture)
+  if (!texture)
  {
-	  UE_LOG(LogCarla, Error, TEXT("SceneCaptureCamera: Missing render texture"));
-	  return ;
+    UE_LOG(LogCarla, Error, TEXT("SceneCaptureCamera: Missing render texture"));
+    return;
  }
+  const uint32 num_bytes_per_pixel = 4;    // PF_R8G8B8A8
  const uint32 width = texture->GetSizeX();
-  uint32 height = texture->GetSizeY();
-  uint32 stride;
-  uint8 *src = reinterpret_cast<uint8*>(RHILockTexture2D(texture, 0, RLM_ReadOnly, stride, false));
-  struct {
-    uint32 Width;
-    uint32 Height;
-    uint32 Type;
-    float FOV;
-  } ImageHeader = {
-    SizeX,
-    SizeY,
+  const uint32 height = texture->GetSizeY();
+  const uint32 dest_stride = width * height * num_bytes_per_pixel;
+  uint32 src_stride;
+  uint8 *src = reinterpret_cast<uint8 *>(
+      RHILockTexture2D(texture, 0, RLM_ReadOnly, src_stride, false));
+  FImageHeaderData ImageHeader = {
+    FrameNumber,
+    width,
+    height,
    PostProcessEffect::ToUInt(PostProcessEffect),
    CaptureComponent2D->FOVAngle
  };
-  FSensorDataView DataView(
-    GetId(),
-    FReadOnlyBufferView{reinterpret_cast<const void *>(&ImageHeader), sizeof(ImageHeader)},
-    FReadOnlyBufferView{src,stride*height}
-  );
+
+  std::unique_ptr<uint8[]> dest = nullptr;
+  // Direct 3D uses additional rows in the buffer,so we need check the result
+  // stride from the lock:
+  if (IsD3DPlatform(GMaxRHIShaderPlatform, false) && (dest_stride != src_stride))
+  {
+    const uint32 copy_row_stride = width * num_bytes_per_pixel;
+    dest = std::make_unique<uint8[]>(dest_stride);
+    // Copy per row
+    uint8 *dest_row = dest.get();
+    uint8 *src_row = src;
+    for (uint32 Row = 0; Row < height; ++Row)
+    {
+      FMemory::Memcpy(dest_row, src_row, copy_row_stride);
+      dest_row += copy_row_stride;
+      src_row += src_stride;
+    }
+    src = dest.get();
+  }
+
+  const FSensorDataView DataView(
+      GetId(),
+      FReadOnlyBufferView{reinterpret_cast<const void *>(&ImageHeader), sizeof(ImageHeader)},
+      FReadOnlyBufferView{src, dest_stride});

  WriteSensorData(DataView);
  RHIUnlockTexture2D(texture, 0, false);
 }

-
 void ASceneCaptureCamera::UpdateDrawFrustum()
 {
-  if(DrawFrustum && CaptureComponent2D)
+  if (DrawFrustum && CaptureComponent2D)
  {
    DrawFrustum->FrustumStartDist = GNearClippingPlane;

-    // 1000 is the default frustum distance, ideally this would be infinite but that might cause rendering issues
-    DrawFrustum->FrustumEndDist = (CaptureComponent2D->MaxViewDistanceOverride > DrawFrustum->FrustumStartDist)
+    // 1000 is the default frustum distance, ideally this would be infinite but
+    // that might cause rendering issues.
+    DrawFrustum->FrustumEndDist =
+      (CaptureComponent2D->MaxViewDistanceOverride > DrawFrustum->FrustumStartDist)
      ? CaptureComponent2D->MaxViewDistanceOverride : 1000.0f;

    DrawFrustum->FrustumAngle = CaptureComponent2D->FOVAngle;
-    //DrawFrustum->FrustumAspectRatio = CaptureComponent2D->AspectRatio;
  }
 }

+// =============================================================================
+// -- Local static functions implementations -----------------------------------
+// =============================================================================
+
 // Remove the show flags that might interfere with post-processing effects like
 // depth and semantic segmentation.
 static void RemoveShowFlags(FEngineShowFlags &ShowFlags)
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.h
@ -37,7 +37,7 @@ protected:
 public:

  virtual void BeginPlay() override;
-
+  virtual void EndPlay(const EEndPlayReason::Type EndPlayReason) override;
  virtual void Tick(float DeltaSeconds) override;

  uint32 GetImageSizeX() const
@ -68,13 +68,21 @@ public:
  void Set(const UCameraDescription &CameraDescription);

  bool ReadPixels(TArray<FColor> &BitMap) const;
-  
+
+protected:
+  static uint32 NumSceneCapture;

 private:
-  ///Read the camera buffer and write it to the client with no lock of the resources (for Vulkan API)
-  void WritePixelsNonBlocking(float DeltaTime,FRHICommandListImmediate& rhi_cmd_list) const;
-  ///Read the camera buffer and write it to the client with opengl or direct3d
-  void WritePixels(float DeltaTime) const;
+
+  /// Read the camera buffer and write it to the client with no lock of the
+  /// resources (for Vulkan API).
+  void WritePixelsNonBlocking(
+      uint64 FrameNumber,
+      FRHICommandListImmediate& rhi_cmd_list) const;
+
+  /// Read the camera buffer and write it to the client with opengl or direct3d.
+  void WritePixels(uint64 FrameNumber) const;
+
  /// Used to synchronize the DrawFrustumComponent with the
  /// SceneCaptureComponent2D settings.
  void UpdateDrawFrustum();
@ -97,7 +105,7 @@ private:
  UDrawFrustumComponent* DrawFrustum;

  /** Render target necessary for scene capture */
-  UPROPERTY(Transient)
+  UPROPERTY()
  UTextureRenderTarget2D* CaptureRenderTarget;

  /** Scene capture component. */
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureToDiskCamera.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureToDiskCamera.cpp
@ -12,7 +12,7 @@

 ASceneCaptureToDiskCamera::ASceneCaptureToDiskCamera(const FObjectInitializer& ObjectInitializer) :
  Super(ObjectInitializer),
-  SaveToFolder(FPaths::Combine(FPaths::ProjectSavedDir(), "SceneCaptures")),
+  SaveToFolder(*FPaths::Combine(FPaths::ProjectSavedDir(), TEXT("SceneCaptures"))),
  FileName("capture_%05d.png") {}

 void ASceneCaptureToDiskCamera::BeginPlay()
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaEncoder.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaEncoder.cpp
@ -106,11 +106,13 @@ void FCarlaEncoder::Encode(
    const ACarlaPlayerState &PlayerState,
    carla_measurements &Data)
 {
+  Data.frame_number = PlayerState.GetFrameNumber();
  Data.platform_timestamp = PlayerState.GetPlatformTimeStamp();
  Data.game_timestamp = PlayerState.GetGameTimeStamp();
  auto &Player = Data.player_measurements;
  ::Encode(PlayerState.GetTransform(), Player.transform);
-  ::Encode(PlayerState.GetBoundsExtent() * TO_METERS, Player.box_extent);
+  ::Encode(PlayerState.GetBoundingBoxTransform(), Player.bounding_box.transform);
+  ::Encode(PlayerState.GetBoundingBoxExtent() * TO_METERS, Player.bounding_box.extent);
  ::Encode(PlayerState.GetAcceleration() * TO_METERS, Player.acceleration);
  Player.forward_speed = PlayerState.GetForwardSpeed() * TO_METERS;
  Player.collision_vehicles = PlayerState.GetCollisionIntensityCars() * TO_METERS;
@ -204,17 +206,18 @@ void FCarlaEncoder::Visit(const UTrafficSignAgentComponent &Agent)

 void FCarlaEncoder::Visit(const UVehicleAgentComponent &Agent)
 {
-  auto &Vehicle = Agent.GetVehicle();
-  ::Encode(Vehicle.GetVehicleTransform(), Data.transform);
+  ::Encode(Agent.GetTransform(), Data.transform);
  Data.type = CARLA_SERVER_AGENT_VEHICLE;
-  Data.forward_speed = Vehicle.GetVehicleForwardSpeed() * TO_METERS;
-  ::Encode(Vehicle.GetVehicleBoundsExtent() * TO_METERS, Data.box_extent);
+  Data.forward_speed = Agent.GetForwardSpeed() * TO_METERS;
+  ::Encode(Agent.GetBoundingBoxTransform(), Data.bounding_box.transform);
+  ::Encode(Agent.GetBoundingBoxExtent() * TO_METERS, Data.bounding_box.extent);
 }

 void FCarlaEncoder::Visit(const UWalkerAgentComponent &Agent)
 {
-  ::Encode(Agent.GetComponentTransform(), Data.transform);
+  ::Encode(Agent.GetTransform(), Data.transform);
  Data.type = CARLA_SERVER_AGENT_PEDESTRIAN;
  Data.forward_speed = Agent.GetForwardSpeed() * TO_METERS;
-  ::Encode(Agent.GetBoundingBoxExtent() * TO_METERS, Data.box_extent);
+  ::Encode(Agent.GetBoundingBoxTransform(), Data.bounding_box.transform);
+  ::Encode(Agent.GetBoundingBoxExtent() * TO_METERS, Data.bounding_box.extent);
 }
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp
@ -122,10 +122,7 @@ static void LoadSettingsFromConfig(
  // QualitySettings.
  FString sQualityLevel;
  ConfigFile.GetString(S_CARLA_QUALITYSETTINGS, TEXT("QualityLevel"), sQualityLevel);
-  if(!Settings.SetQualitySettingsLevel(UQualitySettings::FromString(sQualityLevel)))
-  {
-	 //error
-  }
+  Settings.SetQualitySettingsLevel(UQualitySettings::FromString(sQualityLevel));

  // Sensors.
  FString Sensors;
@ -176,17 +173,9 @@ FString UQualitySettings::ToString(EQualitySettingsLevel QualitySettingsLevel)
  return ptr->GetNameStringByIndex(static_cast<int32>(QualitySettingsLevel));
 }

-bool UCarlaSettings::SetQualitySettingsLevel(EQualitySettingsLevel newQualityLevel)
+void UCarlaSettings::SetQualitySettingsLevel(EQualitySettingsLevel newQualityLevel)
 {
-	if(newQualityLevel==EQualitySettingsLevel::None)
-	{
-		UE_LOG(LogCarla ,Warning, TEXT("Quality Settings Level not set!"));
-		return false;
-	}
-
 	QualitySettingsLevel = newQualityLevel;
-
-	return true;
 }

 void UCarlaSettings::LoadSettings()
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.h
@ -5,13 +5,11 @@
 // For a copy, see <https://opensource.org/licenses/MIT>.

 #pragma once
-
+#include "Engine/StaticMesh.h"
 #include "WeatherDescription.h"
-
-#include "UObject/NoExportTypes.h"
-
 #include "CarlaSettings.generated.h"

+
 UENUM(BlueprintType)
 enum class EQualitySettingsLevel : uint8
 {
@ -42,7 +40,7 @@ public:
 };

 class USensorDescription;
-struct FStaticMaterial;
+
 /** Global settings for CARLA.
 * Setting object used to hold both config settings and editable ones in one place
 * To ensure the settings are saved to the specified config file make sure to add
@ -57,12 +55,12 @@ public:
  
  /** 
   * Sets the new quality settings level and make changes in the game related to it. 
-   * Returns the result of the operation. 
   * @note This will not apply the quality settings. Use ApplyQualitySettings functions instead
   * @param newQualityLevel Store the new quality 
   */
  UFUNCTION(BlueprintCallable, Category="CARLA Settings")
-  bool SetQualitySettingsLevel(EQualitySettingsLevel newQualityLevel);
+  void SetQualitySettingsLevel(EQualitySettingsLevel newQualityLevel);
+
  /** @return current quality settings level (could not be applied yet) */
  UFUNCTION(BlueprintCallable, Category="CARLA Settings")
  EQualitySettingsLevel GetQualitySettingsLevel() const { return QualitySettingsLevel; }
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettingsDelegate.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettingsDelegate.cpp
@ -1,5 +1,5 @@
 #include "Carla.h"
-#include "Engine/World.h"
+
 #include "Game/CarlaGameModeBase.h"
 #include "Settings/CarlaSettings.h"
 #include "CarlaSettingsDelegate.h"
@ -10,6 +10,7 @@
 #include "Engine/StaticMesh.h"
 #include "Engine/PostProcessVolume.h"
 #include "UObjectIterator.h"
+#include "Async.h"

 ///quality settings configuration between runs
 EQualitySettingsLevel UCarlaSettingsDelegate::AppliedLowPostResetQualitySettingsLevel = EQualitySettingsLevel::Epic;
@ -21,8 +22,7 @@ UCarlaSettingsDelegate::UCarlaSettingsDelegate() :

 void UCarlaSettingsDelegate::Reset()
 {
-	LaunchEpicQualityCommands(GetLocalWorld());
-	AppliedLowPostResetQualitySettingsLevel = EQualitySettingsLevel::Epic;
+  AppliedLowPostResetQualitySettingsLevel = EQualitySettingsLevel::None;
 }

 void UCarlaSettingsDelegate::RegisterSpawnHandler(UWorld *InWorld)
@ -62,7 +62,8 @@ void UCarlaSettingsDelegate::ApplyQualitySettingsLevelPostRestart()
 {
 	CheckCarlaSettings(nullptr);
 	UWorld *InWorld = CarlaSettings->GetWorld();
-    EQualitySettingsLevel QualitySettingsLevel = CarlaSettings->GetQualitySettingsLevel();
+  
+  EQualitySettingsLevel QualitySettingsLevel = CarlaSettings->GetQualitySettingsLevel();
 	if(AppliedLowPostResetQualitySettingsLevel==QualitySettingsLevel) return;
 	
 	switch(QualitySettingsLevel)
@ -70,7 +71,7 @@ void UCarlaSettingsDelegate::ApplyQualitySettingsLevelPostRestart()
 	  case EQualitySettingsLevel::Low:
 		{
 		  //execute tweaks for quality 
-		  LaunchLowQualityCommands(InWorld);	
+		  LaunchLowQualityCommands(InWorld);
 		  //iterate all directional lights, deactivate shadows
 		  SetAllLights(InWorld,CarlaSettings->LowLightFadeDistance,false,true);
 		  //Set all the roads the low quality materials
@ -181,45 +182,49 @@ void UCarlaSettingsDelegate::LaunchLowQualityCommands(UWorld * world) const

 void UCarlaSettingsDelegate::SetAllRoads(UWorld* world, const float max_draw_distance, const TArray<FStaticMaterial> &road_pieces_materials) const
 {
-  TArray<AActor*> actors;
-  UGameplayStatics::GetAllActorsWithTag(world, UCarlaSettings::CARLA_ROAD_TAG,actors);
-  
-  for(int32 i=0; i<actors.Num(); i++)
-  {
-	if(!IsValid(actors[i]) || actors[i]->IsPendingKillPending()) continue;
-  	TArray<UActorComponent*> components = actors[i]->GetComponentsByClass(UStaticMeshComponent::StaticClass());
-  	for(int32 j=0; j<components.Num(); j++)
-  	{
-  	  UStaticMeshComponent* staticmeshcomponent = Cast<UStaticMeshComponent>(components[j]);
-  	  if(staticmeshcomponent)
-  	  {
-		staticmeshcomponent->bAllowCullDistanceVolume = (max_draw_distance>0);
-		staticmeshcomponent->bUseAsOccluder = false;
-		staticmeshcomponent->LDMaxDrawDistance = max_draw_distance; 
-  		staticmeshcomponent->CastShadow = (max_draw_distance==0);
-		if(road_pieces_materials.Num()>0)
-		{
-          TArray<FName> meshslotsnames = staticmeshcomponent->GetMaterialSlotNames();
-          for(int32 k=0; k<meshslotsnames.Num(); k++)
+  if(!world||!IsValid(world)||world->IsPendingKill()) return;
+  AsyncTask(ENamedThreads::GameThread, [=](){
+    if(!world||!IsValid(world)||world->IsPendingKill()) return;
+    TArray<AActor*> actors;
+    UGameplayStatics::GetAllActorsWithTag(world, UCarlaSettings::CARLA_ROAD_TAG,actors);
+    
+    for(int32 i=0; i<actors.Num(); i++)
+    {
+    if(!IsValid(actors[i]) || actors[i]->IsPendingKillPending()) continue;
+      TArray<UActorComponent*> components = actors[i]->GetComponentsByClass(UStaticMeshComponent::StaticClass());
+      for(int32 j=0; j<components.Num(); j++)
+      {
+        UStaticMeshComponent* staticmeshcomponent = Cast<UStaticMeshComponent>(components[j]);
+        if(staticmeshcomponent)
+        {
+          staticmeshcomponent->bAllowCullDistanceVolume = (max_draw_distance>0);
+          staticmeshcomponent->bUseAsOccluder = false;
+          staticmeshcomponent->LDMaxDrawDistance = max_draw_distance; 
+            staticmeshcomponent->CastShadow = (max_draw_distance==0);
+          if(road_pieces_materials.Num()>0)
          {
-            const FName &slotname = meshslotsnames[k];
-            road_pieces_materials.ContainsByPredicate(
-		  	  [staticmeshcomponent,slotname](const FStaticMaterial& material)
+            TArray<FName> meshslotsnames = staticmeshcomponent->GetMaterialSlotNames();
+            for(int32 k=0; k<meshslotsnames.Num(); k++)
            {
-              if(material.MaterialSlotName.IsEqual(slotname))
+              const FName &slotname = meshslotsnames[k];
+              road_pieces_materials.ContainsByPredicate(
+            [staticmeshcomponent,slotname](const FStaticMaterial& material)
              {
-                staticmeshcomponent->SetMaterial(
-                  staticmeshcomponent->GetMaterialIndex(slotname), 
-                  material.MaterialInterface
-                );
-                return true;
-              } else return false;
-            });
+                if(material.MaterialSlotName.IsEqual(slotname))
+                {
+                  staticmeshcomponent->SetMaterial(
+                    staticmeshcomponent->GetMaterialIndex(slotname), 
+                    material.MaterialInterface
+                  );
+                  return true;
+                } else return false;
+              });
+            }
          }
-		}
-  	  }
-  	}
-  }
+        }
+      }
+    }
+  }); //,DELAY_TIME_TO_SET_ALL_ROADS, false);
 }

 void UCarlaSettingsDelegate::SetActorComponentsDrawDistance(AActor* actor, const float max_draw_distance) const
@ -243,20 +248,24 @@ void UCarlaSettingsDelegate::SetActorComponentsDrawDistance(AActor* actor, const
 void UCarlaSettingsDelegate::SetAllActorsDrawDistance(UWorld* world, const float max_draw_distance) const
 {
  ///@TODO: use semantics to grab all actors by type (vehicles,ground,people,props) and set different distances configured in the global properties
-  TArray<AActor*> actors;
-  #define _MAX_SCALE_SIZE 50.0f
-  //set the lower quality - max draw distance
-  UGameplayStatics::GetAllActorsOfClass(world, AActor::StaticClass(),actors);
-  for(int32 i=0; i<actors.Num(); i++)
-  {
-	 if(!IsValid(actors[i]) || actors[i]->IsPendingKillPending() || 
-		 actors[i]->ActorHasTag(UCarlaSettings::CARLA_ROAD_TAG) ||
-		 actors[i]->ActorHasTag(UCarlaSettings::CARLA_SKY_TAG)
-     ){
-	 	continue;
-	 }
-     SetActorComponentsDrawDistance(actors[i], max_draw_distance);
-  }
+  if(!world||!IsValid(world)||world->IsPendingKill()) return;
+  AsyncTask(ENamedThreads::GameThread, [=](){
+    if(!world||!IsValid(world)||world->IsPendingKill()) return;
+    TArray<AActor*> actors;
+    #define _MAX_SCALE_SIZE 50.0f
+    //set the lower quality - max draw distance
+    UGameplayStatics::GetAllActorsOfClass(world, AActor::StaticClass(),actors);
+    for(int32 i=0; i<actors.Num(); i++)
+    {
+    if(!IsValid(actors[i]) || actors[i]->IsPendingKillPending() || 
+      actors[i]->ActorHasTag(UCarlaSettings::CARLA_ROAD_TAG) ||
+      actors[i]->ActorHasTag(UCarlaSettings::CARLA_SKY_TAG)
+      ){
+        continue;
+      }
+      SetActorComponentsDrawDistance(actors[i], max_draw_distance);
+    }
+  });
 }


@ -266,12 +275,12 @@ void UCarlaSettingsDelegate::SetPostProcessEffectsEnabled(UWorld* world, const b
  UGameplayStatics::GetAllActorsOfClass(world, APostProcessVolume::StaticClass(), actors);
  for(int32 i=0; i<actors.Num(); i++)
  {
-	if(!IsValid(actors[i]) || actors[i]->IsPendingKillPending()) continue;
-    APostProcessVolume* postprocessvolume = Cast<APostProcessVolume>(actors[i]);
-	if(postprocessvolume)
-	{
-		postprocessvolume->bEnabled = enabled;
-	}
+	  if(!IsValid(actors[i]) || actors[i]->IsPendingKillPending()) continue;
+      APostProcessVolume* postprocessvolume = Cast<APostProcessVolume>(actors[i]);
+	  if(postprocessvolume)
+	  {
+  		postprocessvolume->bEnabled = enabled;
+	  }
  }
 }

@ -318,21 +327,26 @@ void UCarlaSettingsDelegate::LaunchEpicQualityCommands(UWorld* world) const

 void UCarlaSettingsDelegate::SetAllLights(UWorld* world, const float max_distance_fade, const bool cast_shadows, const bool hide_non_directional) const
 {
-  TArray<AActor*> actors;
-  UGameplayStatics::GetAllActorsOfClass(world, ALight::StaticClass(), actors);
-  for(int32 i=0;i<actors.Num();i++)
-  {
-	if(!IsValid(actors[i]) || actors[i]->IsPendingKillPending()) continue;
-    //tweak directional lights
-    ADirectionalLight* directionallight = Cast<ADirectionalLight>(actors[i]);
-    if(directionallight)
+  if(!world||!IsValid(world)||world->IsPendingKill()) return;
+  AsyncTask(ENamedThreads::GameThread, [=](){
+    if(!world||!IsValid(world)||world->IsPendingKill()) return;
+    TArray<AActor*> actors;
+    UGameplayStatics::GetAllActorsOfClass(world, ALight::StaticClass(), actors);
+    for(int32 i=0;i<actors.Num();i++)
    {
-      directionallight->SetCastShadows(cast_shadows);
-      directionallight->SetLightFunctionFadeDistance(max_distance_fade);
-      continue;
+    if(!IsValid(actors[i]) || actors[i]->IsPendingKillPending()) continue;
+      //tweak directional lights
+      ADirectionalLight* directionallight = Cast<ADirectionalLight>(actors[i]);
+      if(directionallight)
+      {
+        directionallight->SetCastShadows(cast_shadows);
+        directionallight->SetLightFunctionFadeDistance(max_distance_fade);
+        continue;
+      }
+      //disable any other type of light
+      actors[i]->SetActorHiddenInGame(hide_non_directional);
    }
-    //disable any other type of light
-    actors[i]->SetActorHiddenInGame(hide_non_directional);
-  }
+  });
+  
 }

--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettingsDelegate.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettingsDelegate.h
@ -5,12 +5,10 @@
 // For a copy, see <https://opensource.org/licenses/MIT>.

 #pragma once
-
+#include "CoreMinimal.h"
+#include "Engine/World.h"
 #include "CarlaSettingsDelegate.generated.h"

-
-class UCarlaSettings;
-
 /// Used to set settings for every actor that is spawned into the world.
 UCLASS(BlueprintType)
 class CARLA_API UCarlaSettingsDelegate : public UObject
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaVehicleController.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaVehicleController.cpp
@ -42,8 +42,9 @@ void ACarlaVehicleController::Possess(APawn *aPawn)
    // Get custom player state.
    CarlaPlayerState = Cast<ACarlaPlayerState>(PlayerState);
    check(CarlaPlayerState != nullptr);
-    // We can set bounds extent already as it's not going to change.
-    CarlaPlayerState->BoundsExtent = GetPossessedVehicle()->GetVehicleBoundsExtent();
+    // We can set the bounding box already as it's not going to change.
+    CarlaPlayerState->BoundingBoxTransform = GetPossessedVehicle()->GetVehicleBoundingBoxTransform();
+    CarlaPlayerState->BoundingBoxExtent = GetPossessedVehicle()->GetVehicleBoundingBoxExtent();
    // Set HUD input.
    CarlaHUD = Cast<ACarlaHUD>(GetHUD());
    if (CarlaHUD != nullptr) {
@ -114,9 +115,11 @@ void ACarlaVehicleController::IntersectPlayerWithRoadMap()
  check(IsPossessingAVehicle());
  auto Vehicle = GetPossessedVehicle();
  constexpr float ChecksPerCentimeter = 0.1f;
+  const auto *BoundingBox = Vehicle->GetVehicleBoundingBox();
+  check(BoundingBox != nullptr);
  auto Result = RoadMap->Intersect(
-      Vehicle->GetVehicleTransform(),
-      Vehicle->GetVehicleBoundsExtent(),
+      BoundingBox->GetComponentTransform(),
+      Vehicle->GetVehicleBoundingBoxExtent(), // Get scaled bounding box extent.
      ChecksPerCentimeter);

  CarlaPlayerState->OffRoadIntersectionFactor = Result.OffRoad;
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp
@ -8,7 +8,6 @@
 #include "CarlaWheeledVehicle.h"

 #include "Agent/VehicleAgentComponent.h"
-#include "Vehicle/VehicleControl.h"

 #include "Components/BoxComponent.h"
 #include "Engine/CollisionProfile.h"
@ -37,13 +36,6 @@ ACarlaWheeledVehicle::~ACarlaWheeledVehicle() {}
 // -- Get functions ------------------------------------------------------------
 // =============================================================================

-FTransform ACarlaWheeledVehicle::GetVehicleTransform() const
-{
-  FTransform Transform = VehicleBounds->GetComponentTransform();
-  Transform.SetScale3D(GetActorTransform().GetScale3D());
-  return Transform;
-}
-
 float ACarlaWheeledVehicle::GetVehicleForwardSpeed() const
 {
  return GetVehicleMovementComponent()->GetForwardSpeed();
@ -59,7 +51,12 @@ int32 ACarlaWheeledVehicle::GetVehicleCurrentGear() const
  return GetVehicleMovementComponent()->GetCurrentGear();
 }

-FVector ACarlaWheeledVehicle::GetVehicleBoundsExtent() const
+FTransform ACarlaWheeledVehicle::GetVehicleBoundingBoxTransform() const
+{
+  return VehicleBounds->GetRelativeTransform();
+}
+
+FVector ACarlaWheeledVehicle::GetVehicleBoundingBoxExtent() const
 {
  return VehicleBounds->GetScaledBoxExtent();
 }
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.h
@ -9,6 +9,7 @@
 #include "WheeledVehicle.h"

 #include "Vehicle/CarlaWheeledVehicleState.h"
+#include "Vehicle/VehicleControl.h"

 #include "CoreMinimal.h"

@ -16,7 +17,6 @@

 class UBoxComponent;
 class UVehicleAgentComponent;
-struct FVehicleControl;

 /// Base class for CARLA wheeled vehicles.
 UCLASS()
@ -44,7 +44,10 @@ public:
  /// Transform of the vehicle. Location is shifted so it matches center of the
  /// vehicle bounds rather than the actor's location.
  UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable)
-  FTransform GetVehicleTransform() const;
+  FTransform GetVehicleTransform() const
+  {
+    return GetActorTransform();
+  }

  /// Forward speed in cm/s. Might be negative if goes backwards.
  UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable)
@ -58,9 +61,20 @@ public:
  UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable)
  int32 GetVehicleCurrentGear() const;

-  /// Extent of the vehicle's bounds.
+  /// Transform of the vehicle's bounding box relative to the vehicle.
  UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable)
-  FVector GetVehicleBoundsExtent() const;
+  FTransform GetVehicleBoundingBoxTransform() const;
+
+  /// Extent of the vehicle's bounding box.
+  UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable)
+  FVector GetVehicleBoundingBoxExtent() const;
+
+  /// Get vehicle's bounding box component.
+  UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable)
+  UBoxComponent *GetVehicleBoundingBox() const
+  {
+    return VehicleBounds;
+  }

  /// Get the maximum angle at which the front wheel can steer.
  UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable)
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/VehicleSpawnerBase.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/VehicleSpawnerBase.cpp
@ -11,10 +11,12 @@
 #include "Vehicle/CarlaWheeledVehicle.h"
 #include "Vehicle/WheeledVehicleAIController.h"

-#include "Engine/PlayerStartPIE.h"
+
 #include "EngineUtils.h"
 #include "GameFramework/Character.h"
 #include "GameFramework/PlayerStart.h"
+#include "TimerManager.h"
+#include "Kismet/GameplayStatics.h"

 // =============================================================================
 // -- Static local methods -----------------------------------------------------
@ -35,8 +37,7 @@ static AWheeledVehicleAIController *GetController(ACarlaWheeledVehicle *Vehicle)
 // =============================================================================

 // Sets default values
-AVehicleSpawnerBase::AVehicleSpawnerBase(const FObjectInitializer& ObjectInitializer)
-  : Super(ObjectInitializer)
+AVehicleSpawnerBase::AVehicleSpawnerBase(const FObjectInitializer& ObjectInitializer): Super(ObjectInitializer)
 {
  PrimaryActorTick.bCanEverTick = false;
 }
@ -55,31 +56,71 @@ void AVehicleSpawnerBase::BeginPlay()
    SpawnPoints.Add(*It);
  }

-  UE_LOG(LogCarla, Log, TEXT("Found %d positions for spawning vehicles"), SpawnPoints.Num());
+  UE_LOG(LogCarla, Log, TEXT("Found %d PlayerStart positions for spawning vehicles"), SpawnPoints.Num());

-  if (SpawnPoints.Num() < NumberOfVehicles) {
-    bSpawnVehicles = false;
-    UE_LOG(LogCarla, Error, TEXT("We don't have enough spawn points for vehicles!"));
+  if (SpawnPoints.Num() < NumberOfVehicles && SpawnPoints.Num()>0) 
+  {
+    UE_LOG(LogCarla, Warning, TEXT("We don't have enough spawn points (PlayerStart) for vehicles!"));
+	if(SpawnPoints.Num()==0)
+	{
+	  UE_LOG(LogCarla, Error, TEXT("At least one spawn point (PlayerStart) is needed to spawn vehicles!"));	
+	} else
+	{
+	  UE_LOG(LogCarla, Log, 
+	    TEXT("To cover the %d vehicles to spawn after beginplay, it will spawn one new vehicle each %f seconds"),
+	    NumberOfVehicles - SpawnPoints.Num(),
+		TimeBetweenSpawnAttemptsAfterBegin
+	  )
+;
+	}
  }
+  
+  if(NumberOfVehicles==0||SpawnPoints.Num()==0) bSpawnVehicles = false;

-  if (bSpawnVehicles) {
-    const int32 MaximumNumberOfAttempts = 4 * NumberOfVehicles;
+  if (bSpawnVehicles) 
+  {
+	GetRandomEngine()->Shuffle(SpawnPoints);
+    const int32 MaximumNumberOfAttempts = SpawnPoints.Num();
    int32 NumberOfAttempts = 0;
-    while ((NumberOfVehicles > Vehicles.Num()) && (NumberOfAttempts < MaximumNumberOfAttempts)) {
-      // Try to spawn one vehicle.
-      TryToSpawnRandomVehicle();
+
+    while ((NumberOfVehicles > Vehicles.Num()) && (NumberOfAttempts < MaximumNumberOfAttempts)) 
+	{
+	  SpawnVehicleAtSpawnPoint(*SpawnPoints[NumberOfAttempts]);
      ++NumberOfAttempts;
    }
-
-    if (NumberOfVehicles > Vehicles.Num()) {
+	
+    if (NumberOfAttempts > NumberOfVehicles) 
+	{
      UE_LOG(LogCarla, Error, TEXT("Requested %d vehicles, but we were only able to spawn %d"), NumberOfVehicles, Vehicles.Num());
+    } else
+    {
+	  if(NumberOfAttempts == NumberOfVehicles)
+	  {
+	    UE_LOG(LogCarla, Log, TEXT("Spawned all %d vehicles"), NumberOfAttempts);
+	  } else
+	  {
+		UE_LOG(LogCarla, Log, 
+		  TEXT("Starting the timer to spawn the other %d vehicles, one per %f seconds"), 
+		  NumberOfVehicles - NumberOfAttempts,
+		  TimeBetweenSpawnAttemptsAfterBegin
+		);
+		GetWorld()->GetTimerManager().SetTimer(AttemptTimerHandle,this, &AVehicleSpawnerBase::SpawnVehicleAttempt, TimeBetweenSpawnAttemptsAfterBegin,false,-1);
+
+	  }
+	 
    }
  }
 }

+void AVehicleSpawnerBase::EndPlay(const EEndPlayReason::Type EndPlayReason)
+{
+	GetWorld()->GetTimerManager().ClearAllTimersForObject(this);
+}
+
 void AVehicleSpawnerBase::SetNumberOfVehicles(const int32 Count)
 {
-  if (Count > 0) {
+  if (Count > 0) 
+  {
    bSpawnVehicles = true;
    NumberOfVehicles = Count;
  } else {
@ -90,7 +131,8 @@ void AVehicleSpawnerBase::SetNumberOfVehicles(const int32 Count)
 void AVehicleSpawnerBase::TryToSpawnRandomVehicle()
 {
  auto SpawnPoint = GetRandomSpawnPoint();
-  if (SpawnPoint != nullptr) {
+  if (SpawnPoint != nullptr) 
+  {
      SpawnVehicleAtSpawnPoint(*SpawnPoint);
  } else {
    UE_LOG(LogCarla, Error, TEXT("Unable to find spawn point"));
@ -102,11 +144,13 @@ void AVehicleSpawnerBase::SpawnVehicleAtSpawnPoint(
 {
  ACarlaWheeledVehicle *Vehicle;
  SpawnVehicle(SpawnPoint.GetActorTransform(), Vehicle);
-  if ((Vehicle != nullptr) && !Vehicle->IsPendingKill()) {
+  if ((Vehicle != nullptr) && !Vehicle->IsPendingKill())
+  {
    Vehicle->AIControllerClass = AWheeledVehicleAIController::StaticClass();
    Vehicle->SpawnDefaultController();
    auto Controller = GetController(Vehicle);
-    if (Controller != nullptr) { // Sometimes fails...
+    if (Controller != nullptr) 
+	{ // Sometimes fails...
      Controller->GetRandomEngine()->Seed(GetRandomEngine()->GenerateSeed());
      Controller->SetRoadMap(GetRoadMap());
      Controller->SetAutopilot(true);
@ -118,6 +162,38 @@ void AVehicleSpawnerBase::SpawnVehicleAtSpawnPoint(
  }
 }

+void AVehicleSpawnerBase::SpawnVehicleAttempt()
+{
+	if(Vehicles.Num()>=NumberOfVehicles) 
+	{
+	  UE_LOG(LogCarla, Log, TEXT("All vehicles spawned correctly"));
+	  return;
+	}
+	
+	APlayerStart* spawnpoint = GetRandomSpawnPoint();
+	APawn* playerpawn = UGameplayStatics::GetPlayerPawn(GetWorld(),0);
+	const float DistanceToPlayer = playerpawn&&spawnpoint? FVector::Distance(playerpawn->GetActorLocation(),spawnpoint->GetActorLocation()):0.0f;
+	float NextTime = TimeBetweenSpawnAttemptsAfterBegin;
+	if(DistanceToPlayer>DistanceToPlayerBetweenSpawnAttemptsAfterBegin)
+	{
+	  SpawnVehicleAtSpawnPoint(*spawnpoint);
+	} else
+	{
+	  NextTime /= 2.0f;
+	}
+	
+	if(Vehicles.Num()<NumberOfVehicles)
+	{
+	  auto &timemanager = GetWorld()->GetTimerManager();
+	  if(AttemptTimerHandle.IsValid()) timemanager.ClearTimer(AttemptTimerHandle);
+	  timemanager.SetTimer(AttemptTimerHandle,this, &AVehicleSpawnerBase::SpawnVehicleAttempt,NextTime,false,-1);
+	} else
+	{
+	  UE_LOG(LogCarla, Log, TEXT("Last vehicle spawned correctly"));
+	}
+
+}
+
 APlayerStart *AVehicleSpawnerBase::GetRandomSpawnPoint()
 {
  return (SpawnPoints.Num() > 0 ? GetRandomEngine()->PickOne(SpawnPoints) : nullptr);
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/VehicleSpawnerBase.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/VehicleSpawnerBase.h
@ -28,6 +28,9 @@ protected:
  // Called when the game starts or when spawned
  virtual void BeginPlay() override;

+  // Called when the actor is removed from the level
+  virtual void EndPlay(const EEndPlayReason::Type EndPlayReason) override;
+
  UFUNCTION(BlueprintImplementableEvent)
  void SpawnVehicle(const FTransform &SpawnTransform, ACarlaWheeledVehicle *&SpawnedCharacter);

@ -57,6 +60,9 @@ public:
  {
    return RoadMap;
  }
+  /** Function called to spawn another vehicle when there is not enough spawn points in the beginplay */
+  UFUNCTION(Category = "Vehicle Spawner", BlueprintCallable)
+  void SpawnVehicleAttempt();

 protected:

@ -65,7 +71,7 @@ protected:
  void SpawnVehicleAtSpawnPoint(const APlayerStart &SpawnPoint);

  UPROPERTY()
-  URoadMap *RoadMap;
+  URoadMap *RoadMap = nullptr;

  /** If false, no walker will be spawned. */
  UPROPERTY(Category = "Vehicle Spawner", EditAnywhere)
@ -75,9 +81,22 @@ protected:
  UPROPERTY(Category = "Vehicle Spawner", EditAnywhere, meta = (EditCondition = bSpawnVehicles, ClampMin = "1"))
  int32 NumberOfVehicles = 10;

-  UPROPERTY(Category = "Vechicle Spawner", VisibleAnywhere, AdvancedDisplay)
+  UPROPERTY(Category = "Vehicle Spawner", VisibleAnywhere, AdvancedDisplay)
  TArray<APlayerStart *> SpawnPoints;

  UPROPERTY(Category = "Vehicle Spawner", BlueprintReadOnly, VisibleAnywhere, AdvancedDisplay)
  TArray<ACarlaWheeledVehicle *> Vehicles;
+
+  /** Time to spawn new vehicles after begin play if there was not enough spawn points at the moment */
+  UPROPERTY(Category = "Vehicle Spawner", BlueprintReadWrite, EditAnywhere, meta = (ClampMin = "0.1", ClampMax = "1000.0", UIMin = "0.1", UIMax = "1000.0"))
+  float TimeBetweenSpawnAttemptsAfterBegin = 3.0f;
+
+  /** Min Distance to the player vehicle to validate a spawn point location for the next vehicle spawn attempt */
+  UPROPERTY(Category = "Vehicle Spawner", BlueprintReadWrite, EditAnywhere, meta = (ClampMin = "10", ClampMax = "10000", UIMin = "10", UIMax = "10000"))
+  float DistanceToPlayerBetweenSpawnAttemptsAfterBegin = 5000;
+private:
+  
+  /** Time handler to spawn more vehicles in the case we could not do it in the beginplay */
+  FTimerHandle AttemptTimerHandle;
+ 
 };
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleAIController.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleAIController.cpp
@ -40,7 +40,7 @@ static bool IsThereAnObstacleAhead(
    const FVector &Direction)
 {
  const auto ForwardVector = Vehicle.GetVehicleOrientation();
-  const auto VehicleBounds = Vehicle.GetVehicleBoundsExtent();
+  const auto VehicleBounds = Vehicle.GetVehicleBoundingBoxExtent();

  const float Distance = std::max(50.0f, Speed * Speed); // why?

@ -250,7 +250,7 @@ float AWheeledVehicleAIController::GoToNextTargetLocation(FVector &Direction)
 float AWheeledVehicleAIController::CalcStreeringValue(FVector &direction)
 {
  float steering = 0;
-  FVector BoxExtent = Vehicle->GetVehicleBoundsExtent();
+  FVector BoxExtent = Vehicle->GetVehicleBoundingBoxExtent();
  FVector forward = Vehicle->GetActorForwardVector();

  FVector rightSensorPosition(BoxExtent.X / 2.0f, (BoxExtent.Y / 2.0f) + 100.0f, 0.0f);
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerAIController.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerAIController.cpp
@ -10,7 +10,6 @@
 #include "Navigation/CrowdFollowingComponent.h"
 #include "Perception/AIPerceptionComponent.h"
 #include "Perception/AISenseConfig_Sight.h"
-#include "Perception/AISense_Sight.h"
 #include "WheeledVehicle.h"
 #include "WheeledVehicleMovementComponent.h"

@ -27,8 +26,8 @@ static constexpr float UPDATE_TIME_IN_SECONDS = 0.6f;
 static constexpr float PREVISION_TIME_IN_SECONDS = 5.0f;
 static constexpr float WALKER_SIGHT_RADIUS = 500.0f;
 static constexpr float WALKER_SPEED_DAMPING = 4.0f;
-static constexpr float WALKER_PERIPHERAL_VISION_ANGLE_IN_DEGREES = 155.0f;
-static constexpr float WALKER_MAX_TIME_PAUSED = 10.0f;
+static constexpr float WALKER_PERIPHERAL_VISION_ANGLE_IN_DEGREES =	130.0f;
+static constexpr float WALKER_MAX_TIME_PAUSED = 5.0f;
 static constexpr float VEHICLE_SAFETY_RADIUS = 600.0f;


@ -176,11 +175,13 @@ void AWalkerAIController::Tick(float DeltaSeconds)
 {
  Super::Tick(DeltaSeconds);
  TimeInState+=DeltaSeconds;
-  if (Status != EWalkerStatus::RunOver) {
+  if (Status != EWalkerStatus::RunOver) 
+  {
    switch (GetMoveStatus()) 
 	{
-      case EPathFollowingStatus::Idle:
-      case EPathFollowingStatus::Waiting:
+	  default: break;
+      case EPathFollowingStatus::Idle: 
+      //case EPathFollowingStatus::Waiting: //<-- incomplete path
        LOG_AI_WALKER(Warning, "is stuck!");
        ChangeStatus(EWalkerStatus::Stuck);
        break;
@ -190,7 +191,8 @@ void AWalkerAIController::Tick(float DeltaSeconds)
 			TryResumeMovement();
 		}
        break;
-    };
+	
+	};
  }
 }

@ -225,7 +227,7 @@ void AWalkerAIController::OnMoveCompleted(
  ChangeStatus(EWalkerStatus::MoveCompleted);
 }

-void AWalkerAIController::SenseActors(const TArray<AActor *> Actors)
+void AWalkerAIController::SenseActors(TArray<AActor *> Actors)
 {
  const auto *aPawn = GetPawn();
  if ((Status == EWalkerStatus::Moving) &&
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerAIController.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerAIController.h
@ -54,6 +54,9 @@ public:
  UFUNCTION(BlueprintCallable)
  void TrySetMovement(bool paused);

+  UFUNCTION(BlueprintCallable)
+  float GetTimeInState() const { return TimeInState; }
+
 private:
  void ChangeStatus(EWalkerStatus status);
  void TryResumeMovement();
@ -68,6 +71,6 @@ private:

  UPROPERTY(VisibleAnywhere)
  EWalkerStatus Status = EWalkerStatus::Unknown;
-
+  /** Continous time in the same EWalkerStatus */
  float TimeInState=0.0f;
 };
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerSpawnerBase.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerSpawnerBase.cpp
@ -10,10 +10,10 @@
 #include "Util/RandomEngine.h"
 #include "Walker/WalkerAIController.h"
 #include "Walker/WalkerSpawnPoint.h"
-
 #include "Components/BoxComponent.h"
 #include "EngineUtils.h"
 #include "GameFramework/Character.h"
+#include "Kismet/KismetSystemLibrary.h"

 // =============================================================================
 // -- Static local methods -----------------------------------------------------
@ -78,14 +78,19 @@ void AWalkerSpawnerBase::BeginPlay()
      SpawnPoints.Add(SpawnPoint);
    }
  }
+  #ifdef CARLA_AI_WALKERS_EXTRA_LOG
  UE_LOG(LogCarla, Log, TEXT("Found %d positions for spawning walkers at begin play."), BeginSpawnPoints.Num());
  UE_LOG(LogCarla, Log, TEXT("Found %d positions for spawning walkers during game play."), SpawnPoints.Num());
-
+  #endif 
  if (SpawnPoints.Num() < 2) {
    bSpawnWalkers = false;
+    #ifdef CARLA_AI_WALKERS_EXTRA_LOG
    UE_LOG(LogCarla, Error, TEXT("We don't have enough spawn points for walkers!"));
+    #endif
  } else if (BeginSpawnPoints.Num() < NumberOfWalkers) {
+    #ifdef CARLA_AI_WALKERS_EXTRA_LOG
    UE_LOG(LogCarla, Warning, TEXT("Requested %d walkers, but we only have %d spawn points. Some will fail to spawn."), NumberOfWalkers, BeginSpawnPoints.Num());
+    #endif
  }

  GetRandomEngine()->Shuffle(BeginSpawnPoints);
@ -97,7 +102,9 @@ void AWalkerSpawnerBase::BeginPlay()
        ++Count;
      }
    }
+    #ifdef CARLA_AI_WALKERS_EXTRA_LOG
    UE_LOG(LogCarla, Log, TEXT("Spawned %d walkers at begin play."), Count);
+    #endif
  }
 }

@ -110,45 +117,139 @@ void AWalkerSpawnerBase::Tick(float DeltaTime)
    TryToSpawnWalkerAt(GetRandomSpawnPoint());
  }

-  if (WalkersBlackList.Num() > 0) {
-    // If still stuck in the black list, just kill it.
-    const int32 Index = (++CurrentIndexToCheck % WalkersBlackList.Num());
-    auto Walker = WalkersBlackList[Index];
-    const auto Status = GetWalkerStatus(Walker);
-    if ((Status == EWalkerStatus::MoveCompleted) ||
-        (Status == EWalkerStatus::Invalid) ||
-        (Status == EWalkerStatus::RunOver)) {
-      WalkersBlackList.RemoveAtSwap(Index);
-      if ((Walker != nullptr) && (Status != EWalkerStatus::RunOver)) {
-        Walker->Destroy();
+  if (WalkersBlackList.Num() > 0) 
+  {
+	  CurrentBlackWalkerIndexToCheck = ++CurrentBlackWalkerIndexToCheck % WalkersBlackList.Num();
+    ACharacter* BlackListedWalker = WalkersBlackList[CurrentBlackWalkerIndexToCheck];
+	  AWalkerAIController* controller = BlackListedWalker!=nullptr?Cast<AWalkerAIController>(BlackListedWalker->GetController()):nullptr;
+	  if(BlackListedWalker != nullptr && controller!=nullptr && IsValid(BlackListedWalker))
+	  {
+      const auto Status = GetWalkerStatus(BlackListedWalker);
+      #ifdef CARLA_AI_WALKERS_EXTRA_LOG
+	    UE_LOG(LogCarla, Log, TEXT("Watching walker %s with state %d"), *UKismetSystemLibrary::GetDisplayName(BlackListedWalker), (int)Status);
+      #endif
+	    switch(Status)
+	    {
+  	    case EWalkerStatus::RunOver:{
+	  	  //remove from list and wait for auto-destroy
+	        WalkersBlackList.RemoveAtSwap(CurrentBlackWalkerIndexToCheck);
+	        break;
+	      }
+		    case EWalkerStatus::MoveCompleted:
+		    {
+          BlackListedWalker->Destroy();
+		      break;	    
+		    }
+	      default: {
+		      switch(controller->GetMoveStatus())
+		      {
+			      case EPathFollowingStatus::Idle: 
+			        if(!TrySetDestination(*BlackListedWalker))
+			        {
+	  		        if(!SetRandomWalkerDestination(BlackListedWalker))
+	  		        {
+                  #ifdef CARLA_AI_WALKERS_EXTRA_LOG
+		  	  	      UE_LOG(LogCarla,Error,TEXT("Could not set a random destination to walker %s"),*UKismetSystemLibrary::GetDisplayName(BlackListedWalker));
+                  #endif
+	  		        }
+	  		      }
+			      break;
+			    case EPathFollowingStatus::Waiting: 
+			      //incomplete path
+		  	  break;
+			   case EPathFollowingStatus::Paused: 
+			    //waiting for blueprint code 
+		  	  break;
+			  case EPathFollowingStatus::Moving:			  
+			    if(BlackListedWalker->GetVelocity().Size()>1.0f)
+			    {
+			      WalkersBlackList.RemoveAtSwap(CurrentBlackWalkerIndexToCheck);
+		        Walkers.Add(BlackListedWalker);
+			    }
+		  	  break;
+			   default: break;
+		    }
+	  	  break;
+		    }
      }
-    }
+      #ifdef CARLA_AI_WALKERS_EXTRA_LOG
+	    UE_LOG(LogCarla, Log, TEXT("New state for walker %s : %d"), *UKismetSystemLibrary::GetDisplayName(BlackListedWalker), (int)GetWalkerStatus(BlackListedWalker));
+      #endif
+    } 
+  	
  }

-  if (Walkers.Num() > 0) {
+  if (Walkers.Num() > 0) 
+  {
    // Check one walker, if fails black-list it or kill it.
-    const int32 Index = (++CurrentIndexToCheck % Walkers.Num());
-    auto Walker = Walkers[Index];
-    const auto Status = GetWalkerStatus(Walker);
-
-    if ((Status == EWalkerStatus::MoveCompleted) ||
-        (Status == EWalkerStatus::Invalid) ||
-        (Status == EWalkerStatus::RunOver)) {
-      // Kill it.
-      Walkers.RemoveAtSwap(Index);
-      // If it was run over will self-destroy.
-      if ((Walker != nullptr) && (Status != EWalkerStatus::RunOver)) {
-        Walker->Destroy();
-      }
-    } else if (Status == EWalkerStatus::Stuck) {
-      // Black-list it.
-      TrySetDestination(*Walker);
-      WalkersBlackList.Add(Walker);
-      Walkers.RemoveAtSwap(Index);
+	  CurrentWalkerIndexToCheck = ++CurrentWalkerIndexToCheck % Walkers.Num();
+    auto Walker = Walkers[CurrentWalkerIndexToCheck];
+	  if(Walker == nullptr || !IsValid(Walker))
+	  {
+  	  Walkers.RemoveAtSwap(CurrentWalkerIndexToCheck);
+  	} else {
+	    const auto Status = GetWalkerStatus(Walker);
+  	  switch (Status)
+	    {
+  		  default: 
+		    case EWalkerStatus::Paused:
+		    case EWalkerStatus::Unknown:
+  		    break;
+	      case EWalkerStatus::RunOver: {
+          Walkers.RemoveAtSwap(CurrentWalkerIndexToCheck);
+	        break;
+	      }
+	      case EWalkerStatus::MoveCompleted:
+    		  Walker->Destroy();
+		      break;
+  	    case EWalkerStatus::Invalid:
+	      case EWalkerStatus::Stuck:
+	      {
+    		  SetRandomWalkerDestination(Walker);
+		      // Black-list it and wait for this walker to move
+		      WalkersBlackList.Add(Walker);
+		      Walkers.RemoveAtSwap(CurrentWalkerIndexToCheck);
+		      break;
+        }
+	    }
    }
  }
 }

+bool AWalkerSpawnerBase::SetRandomWalkerDestination(ACharacter *Walker)
+{
+	const auto &DestinationPoint = GetRandomSpawnPoint();
+	auto Controller = GetController(Walker);
+	if(!Controller) {
+    #ifdef CARLA_AI_WALKERS_EXTRA_LOG
+	  UE_LOG(LogCarla, Warning, TEXT("AWalkerSpawnerBase::SetRandomWalkerDestination: Walker %s has no controller"), 
+	   *UKismetSystemLibrary::GetDisplayName(Walker)
+      );
+    #endif
+	  return false;
+	}
+	const EPathFollowingRequestResult::Type request_result = Controller->MoveToLocation(DestinationPoint.GetActorLocation(),-1.0f,false,true,true,true,nullptr,true);
+	switch(request_result)
+	{
+	  case EPathFollowingRequestResult::Type::Failed:
+	  {
+      #ifdef CARLA_AI_WALKERS_EXTRA_LOG
+	    UE_LOG(LogCarla, Warning, TEXT("AWalkerSpawnerBase::SetRandomWalkerDestination: Bad destination point %s"), 
+		  *UKismetSystemLibrary::GetDisplayName(&DestinationPoint)
+		  );
+      #endif
+	    return false;
+	  }
+	  case EPathFollowingRequestResult::Type::AlreadyAtGoal:{
+      #ifdef CARLA_AI_WALKERS_EXTRA_LOG
+		  UE_LOG(LogCarla, Log, TEXT("AWalkerSpawnerBase::SetRandomWalkerDestination already in destination, generating new location"));
+      #endif
+	  	return SetRandomWalkerDestination(Walker);
+	  }
+	  default: case EPathFollowingRequestResult::Type::RequestSuccessful: return true;
+	}
+}
+
 // =============================================================================
 // -- Other member functions ---------------------------------------------------
 // =============================================================================
@ -205,7 +306,10 @@ bool AWalkerSpawnerBase::TryToSpawnWalkerAt(const AWalkerSpawnPointBase &SpawnPo

  // Add walker and set destination.
  Walkers.Add(Walker);
-  Controller->MoveToLocation(Destination);
+  if (Controller->MoveToLocation(Destination,-1.0f,false,true,true,true,nullptr,true)!=EPathFollowingRequestResult::Type::RequestSuccessful)
+  {
+    SetRandomWalkerDestination(Walker);
+  }
  return true;
 }

@ -214,15 +318,22 @@ bool AWalkerSpawnerBase::TrySetDestination(ACharacter &Walker)
  // Try to retrieve controller.
  auto Controller = GetController(&Walker);
  if (Controller == nullptr) {
+	  UE_LOG(LogCarla, Warning, TEXT("Could not get valid controller for walker: %s"), *Walker.GetName());
    return false;
  }

  // Try find destination.
  FVector Destination;
  if (!TryGetValidDestination(Walker.GetActorLocation(), Destination)) {
+    #ifdef CARLA_AI_WALKERS_EXTRA_LOG
+	  UE_LOG(
+      LogCarla, Warning, 
+		  TEXT("Could not get a new destiny: %s for walker: %s"), 
+		  *Destination.ToString(), *Walker.GetName()
+	  );
+    #endif
    return false;
  }

-  Controller->MoveToLocation(Destination);
-  return true;
+  return Controller->MoveToLocation(Destination,-1.0f,false,true,true,true,nullptr,true)==EPathFollowingRequestResult::RequestSuccessful;
 }
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerSpawnerBase.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerSpawnerBase.h
@ -45,6 +45,7 @@ public:

  virtual void Tick(float DeltaTime) override;

+
  /// @}
  // ===========================================================================
  /// @name Blueprintable functions
@ -87,6 +88,7 @@ private:

  bool TrySetDestination(ACharacter &Walker);

+  bool SetRandomWalkerDestination(ACharacter * Walker);
  /// @}

 private:
@ -116,5 +118,7 @@ private:
  UPROPERTY(Category = "Walker Spawner", VisibleAnywhere, AdvancedDisplay)
  TArray<ACharacter *> WalkersBlackList;

-  uint32 CurrentIndexToCheck = 0u;
+  uint32 CurrentWalkerIndexToCheck = 0u;
+
+  uint32 CurrentBlackWalkerIndexToCheck = 0u;
 };
--- a/Util/CarlaServer/include/carla/carla_server.h
+++ b/Util/CarlaServer/include/carla/carla_server.h
@ -43,6 +43,11 @@ extern "C" {
    struct carla_rotation3d rotation;
  };

+  struct carla_bounding_box {
+    struct carla_transform transform;
+    struct carla_vector3d extent;
+  };
+
  /* ======================================================================== */
  /* -- agents -------------------------------------------------------------- */
  /* ======================================================================== */
@ -66,7 +71,7 @@ extern "C" {
    uint32_t id;
    uint32_t type;
    struct carla_transform transform;
-    struct carla_vector3d box_extent;
+    struct carla_bounding_box bounding_box;
    float forward_speed;
  };

@ -159,8 +164,8 @@ extern "C" {
  struct carla_player_measurements {
    /** World transform of the player. */
    struct carla_transform transform;
-    /** Extent of the bounding box of the player. */
-    struct carla_vector3d box_extent;
+    /** Bounding box of the player. */
+    struct carla_bounding_box bounding_box;
    /** Current acceleration of the player. */
    struct carla_vector3d acceleration;
    /** Forward speed in m/s. */
@ -184,6 +189,8 @@ extern "C" {
  /* ======================================================================== */

  struct carla_measurements {
+    /** Frame counter. */
+    uint32_t frame_number;
    /** Time-stamp of the current frame, in milliseconds as given by the OS. */
    uint32_t platform_timestamp;
    /** In-game time-stamp, milliseconds elapsed since the beginning of the current level. */
--- a/Util/CarlaServer/source/carla/server/CarlaEncoder.cpp
+++ b/Util/CarlaServer/source/carla/server/CarlaEncoder.cpp
@ -54,6 +54,12 @@ namespace server {
    Set(lhs->mutable_rotation(), rhs.rotation);
  }

+  static void Set(cs::BoundingBox *lhs, const carla_bounding_box &rhs) {
+    DEBUG_ASSERT(lhs != nullptr);
+    Set(lhs->mutable_transform(), rhs.transform);
+    Set(lhs->mutable_extent(), rhs.extent);
+  }
+
  static void Set(cs::Sensor *lhs, const carla_sensor_definition &rhs) {
    DEBUG_ASSERT(lhs != nullptr);
    lhs->set_id(rhs.id);
@ -79,14 +85,14 @@ namespace server {
  static void SetVehicle(cs::Vehicle *lhs, const carla_agent &rhs) {
    DEBUG_ASSERT(lhs != nullptr);
    Set(lhs->mutable_transform(), rhs.transform);
-    Set(lhs->mutable_box_extent(), rhs.box_extent);
+    Set(lhs->mutable_bounding_box(), rhs.bounding_box);
    lhs->set_forward_speed(rhs.forward_speed);
  }

  static void SetPedestrian(cs::Pedestrian *lhs, const carla_agent &rhs) {
    DEBUG_ASSERT(lhs != nullptr);
    Set(lhs->mutable_transform(), rhs.transform);
-    Set(lhs->mutable_box_extent(), rhs.box_extent);
+    Set(lhs->mutable_bounding_box(), rhs.bounding_box);
    lhs->set_forward_speed(rhs.forward_speed);
  }

@ -149,13 +155,14 @@ namespace server {
  std::string CarlaEncoder::Encode(const carla_measurements &values) {
    static thread_local auto *message = _protobuf.CreateMessage<cs::Measurements>();
    DEBUG_ASSERT(message != nullptr);
+    message->set_frame_number(values.frame_number);
    message->set_platform_timestamp(values.platform_timestamp);
    message->set_game_timestamp(values.game_timestamp);
    // Player measurements.
    auto *player = message->mutable_player_measurements();
    DEBUG_ASSERT(player != nullptr);
    Set(player->mutable_transform(), values.player_measurements.transform);
-    Set(player->mutable_box_extent(), values.player_measurements.box_extent);
+    Set(player->mutable_bounding_box(), values.player_measurements.bounding_box);
    Set(player->mutable_acceleration(), values.player_measurements.acceleration);
    player->set_forward_speed(values.player_measurements.forward_speed);
    player->set_collision_vehicles(values.player_measurements.collision_vehicles);
--- a/Util/CarlaServer/source/test/Sensor.cpp
+++ b/Util/CarlaServer/source/test/Sensor.cpp
@ -17,11 +17,12 @@ namespace test {
    std::lock_guard<std::mutex> lock(_mutex);

    const struct {
+      uint64_t FrameNumber;
      uint32_t Width;
      uint32_t Height;
      uint32_t Type;
      float FOV;
-    } ImageHeader = {300u, 200u, 1u, 90.0f};
+    } ImageHeader = {++_frame_number, 300u, 200u, 1u, 90.0f};

    _data.header_size = sizeof(ImageHeader);
    auto header = std::make_unique<unsigned char[]>(_data.header_size);
--- a/Util/CarlaServer/source/test/Sensor.h
+++ b/Util/CarlaServer/source/test/Sensor.h
@ -34,6 +34,8 @@ namespace test {

    Sensor(uint32_t id);

+    uint64_t _frame_number = 0u;
+
    mutable std::mutex _mutex;

    const std::string _name;
--- a/Util/CarlaServer/source/test/Test_CarlaServer.cpp
+++ b/Util/CarlaServer/source/test/Test_CarlaServer.cpp
@ -106,7 +106,7 @@ TEST(CarlaServerAPI, SimBlocking) {
      agents_data[i].id = i;
      agents_data[i].type = CARLA_SERVER_AGENT_VEHICLE;
      agents_data[i].transform = start_locations[0u];
-      agents_data[i].box_extent = {100.0f, 100.0f, 100.0f};
+      agents_data[i].bounding_box = {start_locations[0u], {100.0f, 100.0f, 100.0f}};
      agents_data[i].forward_speed = 50.0f;
    }

--- a/Util/ContentVersions.txt
+++ b/Util/ContentVersions.txt
@ -10,3 +10,4 @@
 0.7.1: 1gf3YaFIjwr1EaK6qxq2V-a510Brt9Imq
 0.8.0: 1tA-WwKA0RNhBoENYunqF3-F_wg11dL86
 0.8.1: 1su5wQH7KJphAcirMA8VEDLndGigQ9tzq
+Latest: 17Fi8DYdNkBJ5AIsh_uUbUPdD-XeVlTf9
--- a/Util/Proto/carla_server.proto
+++ b/Util/Proto/carla_server.proto
@ -32,6 +32,11 @@ message Transform {
  Rotation3D rotation = 3;
 }

+message BoundingBox {
+  Transform transform = 1;
+  Vector3D extent = 2;
+}
+
 // =============================================================================
 // -- Sensors ------------------------------------------------------------------
 // =============================================================================
@ -54,13 +59,13 @@ message Sensor {

 message Vehicle {
  Transform transform = 1;
-  Vector3D box_extent = 2;
+  BoundingBox bounding_box = 4;
  float forward_speed = 3;
 }

 message Pedestrian {
  Transform transform = 1;
-  Vector3D box_extent = 2;
+  BoundingBox bounding_box = 4;
  float forward_speed = 3;
 }

@ -126,7 +131,7 @@ message Measurements {
  message PlayerMeasurements {
    Transform transform = 1;

-    Vector3D box_extent = 11;
+    BoundingBox bounding_box = 12;

    Vector3D acceleration = 3;
    float forward_speed = 4;
@ -141,6 +146,8 @@ message Measurements {
    Control autopilot_control = 10;
  }

+  uint64 frame_number = 5;
+
  uint32 platform_timestamp = 1;

  uint32 game_timestamp = 2;