* Added performance benchmarking section to documentation
* Added API functions to traffic light actor `get_effect_waypoints()`, `get_light_boxes()` and `get_opendrive_id()`
* Added API functions to world `get_traffic_lights_from_waypoint()` and `get_traffic_lights_in_junction`
* Added API functions to world `get_traffic_lights_from_waypoint()`, `get_traffic_lights_in_junction` and `get_traffic_light_from_opendrive_id`
* Added API parameters to `WorldSettings`: `tile_stream_distance` and `actor_active_distance`
* Added API parameters and functions to `Osm2OdrSettings`: `proj_string`, `center_map`, `generate_traffic_lights`, `all_junctions_with_traffic_lights`, `set_osm_way_types`, and `set_traffic_light_excluded_way_types`
* Added API function to enable car telemetry
* CARLA is compatible with the last RoadRunner nomenclature for road assets
* Fixed a bug when importing a FBX map with some **_** in the FBX name
* Extended make import process for applying road painter materials (carla art tool)
* Added Large Map feature to CARLA, alowing to import large maps divided in square tiles (at most 2kmx2km per tile). Only section of a Large Map can be loaded at a time which introduces a sleep state for actors that are far away from the hero vehicle
* Added creation of custom JSON file for applying decals to imported roads
* Added ApplyVehiclePhysicsControl to commands
* Added flush in the sublevel loading to increase carla's determinism in Opt maps
@ -63,6 +63,10 @@ Sets a vehicle's velocity vector to a constant value over time. The resulting ve
_</font>
- **Warning:**<fontcolor="#ED2F2F">_Enabling a constant velocity for a vehicle managed by the [Traffic Manager](https://[carla.readthedocs.io](#carla.readthedocs.io)/en/latest/adv_traffic_manager/) may cause conflicts. This method overrides any changes in velocity by the TM.
Enables or disables the telemetry on this vehicle. This shows information about the vehicles current state and forces applied to it in the spectator window. Only information for one vehicle can be shown so if you enable a second one, the previous will be automatically disabled.
Defines the proj4 string (https://github.com/OSGeo/proj.4) that will be used to compute the projection from geocoordinates to cartesian coordinates. This string will be written in the resulting OpenDRIVE unless the options `use_offsets` or `center_map` are enabled as these options override some of the definitions in the string.
Indicates wether to generate traffic light data in the OpenDRIVE. road types defined by `set_traffic_light_excluded_way_types(way_types)` will not generate traffic lights.
When disabled, the converter will generate traffic light data from the OpenStreetMaps data only. When enabled, all junctions will generate traffic lights.
Defines the OpenStreetMaps road types that will be imported to OpenDRIVE. By default the road types imported are `motorway, motorway_link, trunk, trunk_link, primary, primary_link, secondary, secondary_link, tertiary, tertiary_link, unclassified, residential`. For a full list of road types check https://wiki.openstreetmap.org/wiki/Main_Page .
- **Parameters:**
- `way_types` (_list(str)_) – The list of road types.
Defines the OpenStreetMaps road types that will not generate traffic lights even if `generate_traffic_lights` is enabled. By default the road types excluded are `motorway_link, primary_link, secondary_link, tertiary_link`.
- **Parameters:**
- `way_types` (_list(str)_) – The list of road types.
---
@ -2083,6 +2107,9 @@ Resets the state of the traffic lights of the group to the initial state at the
Returns a list of waypoints indicating the stop position for the traffic light. These waypoints are computed from the trigger boxes of the traffic light that indicate where a vehicle should stop.
This function performs a search along the road in front of the specified waypoint and returns a list of traffic light actors found in the specified search distance.
- **Parameters:**
- `waypoint` (_[carla.Waypoint](#carla.Waypoint)_) – The input waypoint.
Defines wether to use deterministic physics for pedestrian death animations or physical ragdoll simulation. When enabled, pedestrians have less realistic death animation but ensures determinism. When disabled, pedestrians are simulated as ragdolls with more realistic simulation and collision but no determinsm can be ensured.
Used for large maps only. Configures the maximum distance from the hero vehicle to stream tiled maps. Regions of the map within this range will be visible (and capable of simulating physics). Regions outside this region will not be loaded.
Used for large maps only. Configures the distance from the hero vehicle to convert actors to dormant. Actors within this range will be active, and actors outside will become dormant.
Command adaptation of __<fontcolor="#7fb800">apply_physics_control()</font>__ in [carla.Vehicle](#carla.Vehicle). Applies a new physics control to a vehicle, modifying its physical parameters.
Sets a given time for the yellow light to be active.
# --------------------------------------
- def_name:get_affected_lane_waypoints
return:list(carla.Waypoint)
doc:>
Returns a list of waypoints indicating the positions and lanes where the traffic light is having an effect.
# --------------------------------------
- def_name:get_light_boxes
return:list(carla.BoundingBox)
doc:>
Returns a list of the bounding boxes encapsulating each light box of the traffic light.
# --------------------------------------
- def_name:get_opendrive_id
return:str
doc:>
Returns the OpenDRIVE id of this traffic light.
# --------------------------------------
- def_name:get_stop_waypoints
return:list(carla.Waypoint)
doc:>
Returns a list of waypoints indicating the stop position for the traffic light. These waypoints are computed from the trigger boxes of the traffic light that indicate where a vehicle should stop.
Defines the height separating two different [OpenStreetMap layers](https://wiki.openstreetmap.org/wiki/Key:layer). Default value is __0.0__.
- var_name:proj_string
type:str
doc:>
Defines the proj4 string (https://github.com/OSGeo/proj.4) that will be used to compute the projection from geocoordinates to cartesian coordinates. This string will be written in the resulting OpenDRIVE unless the options `use_offsets` or `center_map` are enabled as these options override some of the definitions in the string.
- var_name:generate_traffic_lights
type:bool
doc:>
Indicates wether to generate traffic light data in the OpenDRIVE. road types defined by `set_traffic_light_excluded_way_types(way_types)` will not generate traffic lights.
- var_name:all_junctions_with_traffic_lights
type:bool
doc:>
When disabled, the converter will generate traffic light data from the OpenStreetMaps data only. When enabled, all junctions will generate traffic lights.
methods:
- def_name:set_osm_way_types
doc:>
Defines the OpenStreetMaps road types that will be imported to OpenDRIVE. By default the road types imported are `motorway, motorway_link, trunk, trunk_link, primary, primary_link, secondary, secondary_link, tertiary, tertiary_link, unclassified, residential`. For a full list of road types check https://wiki.openstreetmap.org/wiki/Main_Page .
params:
- param_name:way_types
type:list(str)
doc:>
The list of road types.
- def_name:set_traffic_light_excluded_way_types
doc:>
Defines the OpenStreetMaps road types that will not generate traffic lights even if `generate_traffic_lights` is enabled. By default the road types excluded are `motorway_link, primary_link, secondary_link, tertiary_link`
Defines wether to use deterministic physics for pedestrian death animations or physical ragdoll simulation.
When enabled, pedestrians have less realistic death animation but ensures determinism.
When disabled, pedestrians are simulated as ragdolls with more realistic simulation and collision but no determinsm can be ensured.
- var_name:tile_stream_distance
type:float
doc:>
Used for large maps only. Configures the maximum distance from the hero vehicle to stream tiled maps. Regions of the map within this range will be visible (and capable of simulating physics). Regions outside this region will not be loaded.
- var_name:actor_active_distance
type:float
doc:>
Used for large maps only. Configures the distance from the hero vehicle to convert actors to dormant. Actors within this range will be active, and actors outside will become dormant.
# - METHODS ----------------------------
methods:
- def_name:__init__
@ -497,6 +505,40 @@
doc:>
Provided a landmark, returns the traffic light object it describes.
# --------------------------------------
- def_name:get_traffic_light_from_opendrive_id
return:carla.TrafficLight
params:
- param_name:traffic_light_id
type:str
doc:>
The OpenDRIVE id.
doc:>
Returns the traffic light actor corresponding to the indicated OpenDRIVE id.
# --------------------------------------
- def_name:get_traffic_lights_from_waypoint
return:list(carla.TrafficLight)
params:
- param_name:waypoint
type:carla.Waypoint
doc:>
The input waypoint.
- param_name:distance
type:float
doc:>
Search distance.
doc:>
This function performs a search along the road in front of the specified waypoint and returns a list of traffic light actors found in the specified search distance.
# --------------------------------------
- def_name:get_traffic_lights_in_junction
return:list(carla.TrafficLight)
params:
- param_name:junction_id
type:int
doc:>
The id of the junction.
doc:>
Returns the list of traffic light actors affecting the junction indicated in `junction_id`.
Axel