Merge branch 'master' into com

.gitignore

@@ -1,7 +1,7 @@
 Build
 Dist
 Doxygen
-PythonClient/dist
+Deprecated/PythonClient/dist
 Util/Build
 Install
 

.travis.yml

@@ -45,10 +45,10 @@ matrix:
             - python
             - python-pip
       install:
-        - pip2 install -q --user -r PythonClient/requirements.txt
+        - pip2 install -q --user -r Deprecated/PythonClient/requirements.txt
         - pip2 install -q --user pylint
       script:
-        - pylint --disable=R,C --rcfile=PythonClient/.pylintrc PythonClient/carla PythonClient/*.py
+        - pylint --disable=R,C --rcfile=Deprecated/PythonClient/.pylintrc Deprecated/PythonClient/carla Deprecated/PythonClient/*.py
 
     - env: TEST="MkDocs"
       install:

Deprecated/PythonClient/carla/sensor.py

@@ -274,7 +274,7 @@ class PointCloud(SensorData):
 
         # Open the file and save with the specific PLY format.
         with open(filename, 'w+') as ply_file:
-            ply_file.write('\n'.join([construct_ply_header(), ply]))
+            ply_file.write('\n'.join([construct_ply_header(), ply, '']))
 
     def __len__(self):
         return len(self.array)

Docs/CONTRIBUTING.md

@@ -131,7 +131,4 @@ If you see a red mark, please correct your code accordingly.
   - [ ] Your branch is up-to-date with the `master` branch and tested with latest changes
   - [ ] Extended the README / documentation, if necessary
   - [ ] Code compiles correctly
-  - [ ] All tests passing
-    - [ ] `make check`
-    - [ ] `pylint --disable=R,C --rcfile=PythonClient/.pylintrc PythonClient/carla PythonClient/*.py`
-    - [ ] `cppcheck . -iBuild -i.pb.cc --enable=warning`
+  - [ ] All tests passing with `make check`

Docs/benchmark_creating.md

@@ -213,7 +213,7 @@ vector as we show in the following code excerpt:
 
 
 
-The full code could be found at [basic_experiment_suite.py](https://github.com/carla-simulator/carla/blob/master/PythonClient/carla/driving_benchmark/experiment_suites/basic_experiment_suite.py)
+The full code could be found at [basic_experiment_suite.py](https://github.com/carla-simulator/carla/blob/master/Deprecated/PythonClient/carla/driving_benchmark/experiment_suites/basic_experiment_suite.py)
 
 
 

Docs/cameras_and_sensors.md

@@ -1,10 +1,11 @@
 <h1>Cameras and sensors</h1>
 
 !!! important
-    This document still refers to the 0.8.X API (stable version). The
-    proceedings stated here may not apply to latest versions, 0.9.0 or later.
-    Latest versions introduced significant changes in the API, we are still
-    working on documenting everything, sorry for the inconvenience.
+    This document still refers to the 0.8.X API (stable version), this API is
+    currently located under _"Deprecated/PythonClient"_. The proceedings stated
+    here may not apply to latest versions, 0.9.0 or later. Latest versions
+    introduced significant changes in the API, we are still working on
+    documenting everything, sorry for the inconvenience.
 
 !!! important
     Since version 0.8.0 the positions of the sensors are specified in meters
@@ -30,7 +31,8 @@ moment there are four different sensors available.
     The images are sent by the server as a BGRA array of bytes. The provided
     Python client retrieves the images in this format, it's up to the users to
     parse the images and convert them to the desired format. There are some
-    examples in the PythonClient folder showing how to parse the images.
+    examples in the Deprecated/PythonClient folder showing how to parse the
+    images.
 
 There is a fourth post-processing effect available for cameras, _None_, which
 provides a view with of the scene with no effect, not even scene lighting; we
@@ -46,7 +48,7 @@ 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
+[clientexamplelink]: https://github.com/carla-simulator/carla/blob/master/Deprecated/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
 
@@ -128,7 +130,7 @@ Our max render distance (far) is 1km.
 
 The generated "depth map" images are usually converted to a logarithmic
 grayscale for display. A point cloud can also be extracted from depth images as
-seen in "PythonClient/point_cloud_example.py".
+seen in "Deprecated/PythonClient/point_cloud_example.py".
 
 <h6>Python</h6>
 

Docs/carla_design.md

@@ -6,7 +6,7 @@ CARLA Design
 CARLA is composed by the following modules
 
   * Client side
-    - Python client API: "PythonClient/carla"
+    - Python client API: "Deprecated/PythonClient/carla"
   * Server side
     - CarlaUE4 Unreal Engine project: "Unreal/CarlaUE4"
     - Carla plugin for Unreal Engine: "Unreal/CarlaUE4/Plugins/Carla"
@@ -20,7 +20,7 @@ Python client API
 -----------------
 
 The client API provides a Python module for communicating with the CARLA server.
-In the folder "PythonClient", we provide several examples for scripting a CARLA
+In the folder "Deprecated/PythonClient", we provide several examples for scripting a CARLA
 client using the "carla" module.
 
 CarlaUE4 Unreal Engine project

Docs/connecting_the_client.md

@@ -8,11 +8,11 @@ aspects of simulation, from environment to duration of each episode, it can
 retrieve data from different sensors, and send control instructions to the
 player vehicle.
 
-PythonClient contents
----------------------
+Deprecated/PythonClient contents
+--------------------------------
 
-In the release package, inside the _"PythonClient"_ folder, we provide the
-Python API module together with some use examples.
+In the release package, inside the _"Deprecated/PythonClient"_ folder, we
+provide the Python API module together with some use examples.
 
 File or folder           | Description
 ------------------------ | ------------
@@ -25,9 +25,9 @@ view_start_positions.py  | Show all the possible start positions in a map
 
 !!! note
     If you are building CARLA from source, the Python code is inside the
-    _"PythonClient"_ folder in the CARLA repository. Bear in mind that the
-    `master` branch contains latest fixes and changes that might be incompatible
-    with the release version. Consider using the `stable` branch.
+    _"Deprecated/PythonClient"_ folder in the CARLA repository. Bear in mind
+    that the `master` branch contains latest fixes and changes that might be
+    incompatible with the release version. Consider using the `stable` branch.
 
 Install dependencies
 --------------------
@@ -37,7 +37,7 @@ given examples is also compatible with Python 2.7.
 
 Install the dependencies with "pip" using the requirements file provided
 
-    $ pip install -r PythonClient/requirements.txt
+    $ pip install -r Deprecated/PythonClient/requirements.txt
 
 Running the client example
 --------------------------
@@ -96,7 +96,6 @@ You can see all the available options in the script's help
 
 <h4>Running other examples</h4>
 
-The other scripts present in the _"PythonClient"_ folder run in a similar
-fashion. We recommend now launching _"manual_control.py"_ for a GUI interface
-implemented with PyGame.
-
+The other scripts present in the _"Deprecated/PythonClient"_ folder run in a
+similar fashion. We recommend now launching _"manual_control.py"_ for a GUI
+interface implemented with PyGame.

Docs/pull_request_template.md

@@ -8,10 +8,7 @@ Checklist:
   - [ ] Your branch is up-to-date with the `master` branch and tested with latest changes
   - [ ] Extended the README / documentation, if necessary
   - [ ] Code compiles correctly
-  - [ ] All tests passing
-    - [ ] `make check`
-    - [ ] `pylint --disable=R,C --rcfile=PythonClient/.pylintrc PythonClient/carla PythonClient/*.py`
-    - [ ] `cppcheck . -iBuild -i.pb.cc --enable=warning`
+  - [ ] All tests passing with `make check`
 
 -->
 

LibCarla/source/carla/client/ActorBlueprint.cpp

@@ -37,6 +37,19 @@ namespace client {
         });
   }
 
+  const ActorAttribute &ActorBlueprint::GetAttribute(const std::string &id) const {
+    auto it = _attributes.find(id);
+    if (it == _attributes.end()) {
+      using namespace std::string_literals;
+      throw std::out_of_range("attribute '"s + id + "' not found");
+    }
+    return it->second;
+  }
+
+  void ActorBlueprint::SetAttribute(const std::string &id, std::string value) {
+    const_cast<ActorAttribute &>(GetAttribute(id)).Set(std::move(value));
+  }
+
   rpc::ActorDescription ActorBlueprint::MakeActorDescription() const {
     rpc::ActorDescription description;
     description.uid = _uid;

LibCarla/source/carla/client/ActorBlueprint.h

@@ -76,18 +76,14 @@ namespace client {
     }
 
     /// @throw std::out_of_range if no such element exists.
-    const ActorAttribute &GetAttribute(const std::string &id) const {
-      return _attributes.at(id);
-    }
+    const ActorAttribute &GetAttribute(const std::string &id) const;
 
     /// Set the value of the attribute given by @a id.
     ///
     /// @throw std::out_of_range if no such element exists.
     /// @throw InvalidAttributeValue if attribute is not modifiable.
     /// @throw InvalidAttributeValue if format does not match the attribute type.
-    void SetAttribute(const std::string &id, std::string value) {
-      _attributes.at(id).Set(std::move(value));
-    }
+    void SetAttribute(const std::string &id, std::string value);
 
     size_t size() const {
       return _attributes.size();

LibCarla/source/carla/client/BlueprintLibrary.cpp

@@ -31,6 +31,20 @@ namespace client {
     return SharedPtr<BlueprintLibrary>{new BlueprintLibrary(result)};
   }
 
+  BlueprintLibrary::const_pointer BlueprintLibrary::Find(const std::string &key) const {
+    auto it = _blueprints.find(key);
+    return it != _blueprints.end() ? &it->second : nullptr;
+  }
+
+  BlueprintLibrary::const_reference BlueprintLibrary::at(const std::string &key) const {
+    auto it = _blueprints.find(key);
+    if (it == _blueprints.end()) {
+      using namespace std::string_literals;
+      throw std::out_of_range("blueprint '"s + key + "' not found");
+    }
+    return it->second;
+  }
+
   BlueprintLibrary::const_reference BlueprintLibrary::at(size_type pos) const {
     if (pos >= size())
       throw std::out_of_range("index out of range");

LibCarla/source/carla/client/BlueprintLibrary.h

@@ -44,14 +44,10 @@ namespace client {
     /// @a wildcard_pattern.
     SharedPtr<BlueprintLibrary> Filter(const std::string &wildcard_pattern) const;
 
-    const_pointer Find(const std::string &key) const {
-      auto it = _blueprints.find(key);
-      return it != _blueprints.end() ? &it->second : nullptr;
-    }
+    const_pointer Find(const std::string &key) const;
 
-    const_reference at(const std::string &key) const {
-      return _blueprints.at(key);
-    }
+    /// @throw std::out_of_range if no such element exists.
+    const_reference at(const std::string &key) const;
 
     /// @warning Linear complexity.
     const_reference operator[](size_type pos) const {
@@ -59,6 +55,7 @@ namespace client {
     }
 
     /// @warning Linear complexity.
+    /// @throw std::out_of_range if !(pos < size()).
     const_reference at(size_type pos) const;
 
     const_iterator begin() const /*noexcept*/ {

LibCarla/source/carla/client/Sensor.cpp

@@ -11,6 +11,8 @@
 
 #include <exception>
 
+#include <exception>
+
 namespace carla {
 namespace client {
 

LibCarla/source/carla/rpc/ActorAttribute.h

@@ -14,6 +14,10 @@
 
 MSGPACK_ADD_ENUM(carla::rpc::ActorAttributeType);
 
+#ifdef LIBCARLA_INCLUDED_FROM_UE4
+#  include "Carla/Actor/ActorAttribute.h"
+#endif // LIBCARLA_INCLUDED_FROM_UE4
+
 namespace carla {
 namespace rpc {
 

LibCarla/source/carla/rpc/ActorDescription.h

@@ -13,6 +13,10 @@
 
 #include <vector>
 
+#ifdef LIBCARLA_INCLUDED_FROM_UE4
+#  include "Carla/Actor/ActorDescription.h"
+#endif // LIBCARLA_INCLUDED_FROM_UE4
+
 namespace carla {
 namespace rpc {
 

LibCarla/source/test/test.h

@@ -21,6 +21,6 @@
 #include <cstdint>
 #include <iostream>
 
-constexpr uint16_t TESTING_PORT = 2000u;
+constexpr uint16_t TESTING_PORT = 2017u;
 
 using namespace std::chrono_literals;

PythonAPI/setup.py

@@ -20,7 +20,7 @@ def get_libcarla_extensions():
     sources = ['source/libcarla/libcarla.cpp']
 
     if os.name == "posix":
-        if platform.dist()[0] == "Ubuntu":
+        if platform.dist()[0].lower() in ["ubuntu", "debian"]:
             pwd = os.path.dirname(os.path.realpath(__file__))
             pylib = "libboost_python%d%d.a" % (sys.version_info.major,
                                                sys.version_info.minor)

README.md

@@ -44,6 +44,7 @@ If you use CARLA, please cite our CoRL’17 paper.
 _CARLA: An Open Urban Driving Simulator_<br>Alexey Dosovitskiy, German Ros,
 Felipe Codevilla, Antonio Lopez, Vladlen Koltun; PMLR 78:1-16
 [[PDF](http://proceedings.mlr.press/v78/dosovitskiy17a/dosovitskiy17a.pdf)]
+[[talk](https://www.youtube.com/watch?v=xfyK03MEZ9Q&feature=youtu.be&t=2h44m30s)]
 
 
 ```

Unreal/CarlaUE4/Config/DefaultEngine.ini

@@ -28,6 +28,7 @@ r.DefaultFeature.AmbientOcclusionStaticFraction=False
 r.DefaultFeature.AutoExposure=False
 r.CustomDepth=3
 r.Streaming.PoolSize=2000
+r.TextureStreaming=False
 
 [/Script/AIModule.AISense_Sight]
 bAutoRegisterAllPawnsAsSources=False

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.h

@@ -128,6 +128,12 @@ public:
     State = InState;
   }
 
+  UFUNCTION(Category = "AI Controller", BlueprintCallable)
+  ECarlaWheeledVehicleState GetAIVehicleState() const
+  {
+	  return State;
+  }
+
 private:
 
   /// Current state of the vehicle controller (for debugging purposes).

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/VehicleControl.h

@@ -13,18 +13,18 @@ struct CARLA_API FVehicleControl
 {
   GENERATED_BODY()
 
-  UPROPERTY(Category = "Vehicle Control", EditAnywhere)
+  UPROPERTY(Category = "Vehicle Control", EditAnywhere, BlueprintReadWrite)
   float Throttle = 0.0f;
 
-  UPROPERTY(Category = "Vehicle Control", EditAnywhere)
+  UPROPERTY(Category = "Vehicle Control", EditAnywhere, BlueprintReadWrite)
   float Steer = 0.0f;
 
-  UPROPERTY(Category = "Vehicle Control", EditAnywhere)
+  UPROPERTY(Category = "Vehicle Control", EditAnywhere, BlueprintReadWrite)
   float Brake = 0.0f;
 
-  UPROPERTY(Category = "Vehicle Control", EditAnywhere)
+  UPROPERTY(Category = "Vehicle Control", EditAnywhere, BlueprintReadWrite)
   bool bHandBrake = false;
 
-  UPROPERTY(Category = "Vehicle Control", EditAnywhere)
+  UPROPERTY(Category = "Vehicle Control", EditAnywhere, BlueprintReadWrite)
   bool bReverse = false;
 };

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleAIController.cpp

@@ -236,7 +236,7 @@ float AWheeledVehicleAIController::GoToNextTargetLocation(FVector &Direction)
     return FVector{Result.X, Result.Y, CurrentLocation.Z};
   }();
 
-  if (Target.Equals(CurrentLocation, 80.0f)) {
+  if (Target.Equals(CurrentLocation, 200.0f)) {
     TargetLocations.pop();
     if (!TargetLocations.empty()) {
       return GoToNextTargetLocation(Direction);

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleAIController.h

@@ -185,8 +185,8 @@ public:
   /// @name AI
   // ===========================================================================
   /// @{
-protected:
 
+  UFUNCTION(Category = "Wheeled Vehicle Controller", BlueprintCallable)
   const FVehicleControl &GetAutopilotControl() const
   {
     return AutopilotControl;

Util/Protoc.bat

@@ -2,7 +2,7 @@
 
 set PROTOBUF_SRC_DIR=Proto
 set PROTOBUF_CPP_OUT_DIR=CarlaServer/source/carla/server
-set PROTOBUF_PY_OUT_DIR=../PythonClient/carla
+set PROTOBUF_PY_OUT_DIR=../Deprecated/PythonClient/carla
 set PROTO_BASENAME=carla_server
 
 if "%1" == "--clean" (

Util/Protoc.sh

@@ -7,7 +7,7 @@ pushd "$SCRIPT_DIR" >/dev/null
 
 PROTOBUF_SRC_DIR=Proto
 PROTOBUF_CPP_OUT_DIR=CarlaServer/source/carla/server
-PROTOBUF_PY_OUT_DIR=../PythonClient/carla
+PROTOBUF_PY_OUT_DIR=../Deprecated/PythonClient/carla
 PROTO_BASENAME=carla_server
 
 if [ "$1" == "--clean" ]; then

carla_ros_bridge/Readme.md

@@ -16,7 +16,7 @@ This ros package aims at providing a simple ros bridge for carla simulator.
 - [x] Lidar sensor support
 - [x] Transform publications
 - [x] Manual control using ackermann msg
-- [x] Autopilot mode using rosparam 
+- [x] Autopilot mode using rosparam
 - [x] Rosbag in the bridge (in order to avoid rosbag recoard -a small time errors)
 - [x] Handle ros dependencies
 - [x] Marker/bounding box messages for cars/pedestrian
@@ -33,21 +33,21 @@ This ros package aims at providing a simple ros bridge for carla simulator.
     mkdir -p ~/ros/catkin_ws_for_carla/src
     cd ~/ros/catkin_ws_for_carla
     source /opt/ros/kinetic/setup.bash
-    catkin_make 
+    catkin_make
     source ~/ros/catkin_ws_for_carla/devel/setup.bash
-    
-For more information about configuring a ros environment see 
+
+For more information about configuring a ros environment see
 http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment
 
 ## Install carla python client in your workspace
 
-    cd carla/PythonClient
-    pip2 install -e .  --user --upgrade   
-    
+    cd carla/Deprecated/PythonClient
+    pip2 install -e .  --user --upgrade
+
 Check the installation is successfull by trying to import carla from python:
 
     python -c 'import carla;print("Success")'
-    
+
 You should see the Success message without any errors.
 
 ### Install recent protobuf version [optional]
@@ -55,9 +55,9 @@ You should see the Success message without any errors.
     sudo apt-get remove python-protobuf
     sudo pip2 install --upgrade protobuf
 
-    
+
 ### Add the carla_ros_bridge in the catkin workspace
-    
+
 Run the following command after replacing [PATH_TO_CARLA] with the actual path to carla directory on your machine:
 
     ln -s [PATH_TO_CARLA]/carla_ros_bridge/ ~/ros/catkin_ws_for_carla/src/
@@ -67,23 +67,23 @@ Run the following command after replacing [PATH_TO_CARLA] with the actual path t
     cd ~/ros/catkin_ws_for_carla
     catkin_make
     source ~/ros/catkin_ws_for_carla/devel/setup.bash
-    
+
 
 ### Test your installation
-    
+
 If you use the builded binary (0.8.2):
 
-     ./CarlaUE4  -carla-server -windowed -ResX=320 -ResY=240
+     ./CarlaUE4.sh  -carla-server -windowed -ResX=320 -ResY=240
+
 
-    
 Wait for the message:
 
     Waiting for the client to connect...
-    
+
 Then run the tests
-    
+
     rostest carla_ros_bridge ros_bridge_client.test
-    
+
 you should see:
 
     [carla_ros_bridge.rosunit-testTopics/test_publish][passed]
@@ -92,7 +92,7 @@ you should see:
      * RESULT: SUCCESS
 
 
-    
+
 # Start the ros bridge
 
 First run the simulator (see carla documentation: http://carla.readthedocs.io/en/latest/)
@@ -108,11 +108,11 @@ Then start the ros bridge:
 
     source ~/ros/catkin_ws_for_carla/devel/setup.bash
     roslaunch carla_ros_bridge client.launch
-    
+
 To start the ros bridge with rviz use:
 
     roslaunch carla_ros_bridge client_with_rviz.launch
-    
+
 You can setup the wanted camera/sensors in config/settings.yaml.
 
 # Autopilot control
@@ -120,13 +120,13 @@ You can setup the wanted camera/sensors in config/settings.yaml.
 To enable autopilot control set the ros param carla_autopilot to True
 
     rosparam set carla_autopilot True
-    
-# Manual control 
+
+# Manual control
 
 To enable manual control set the ros param carla_autopilot to False
 
     rosparam set carla_autopilot False
-    
+
 
 Then you can send command to the car using the /ackermann_cmd topic.
 
@@ -134,16 +134,16 @@ Example of forward movements, speed in in meters/sec.
 
      rostopic pub /ackermann_cmd ackermann_msgs/AckermannDrive "{steering_angle: 0.0, steering_angle_velocity: 0.0, speed: 10, acceleration: 0.0,
       jerk: 0.0}" -r 10
-  
-  
+
+
 Example of forward with steering
-  
+
      rostopic pub /ackermann_cmd ackermann_msgs/AckermannDrive "{steering_angle: 5.41, steering_angle_velocity: 0.0, speed: 10, acceleration: 0.0,
       jerk: 0.0}" -r 10
-      
+
   Warning: the steering_angle is the driving angle (in radians) not the wheel angle, for now max wheel is set to 500 degrees.
-  
-  
+
+
 Example for backward :
 
      rostopic pub /ackermann_cmd ackermann_msgs/AckermannDrive "{steering_angle: 0, steering_angle_velocity: 0.0, speed: -10, acceleration: 0.0,