From 3471484db3c6d97ee8f13b6461e5d133ae0e3dfd Mon Sep 17 00:00:00 2001
From: Sun Pochin <sunpochin@gmail.com>
Date: Fri, 5 Oct 2018 08:42:07 +0800
Subject: [PATCH 01/11] ./CarlaUE4 to ./CarlaUE4.sh

It seems in pre-compiled version 0.9.0 to cmd line is:
     ./CarlaUE4.sh  -carla-server -windowed -ResX=320 -ResY=240
---
 carla_ros_bridge/Readme.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/carla_ros_bridge/Readme.md b/carla_ros_bridge/Readme.md
index 31ad35a9f..39dada3e3 100644
--- a/carla_ros_bridge/Readme.md
+++ b/carla_ros_bridge/Readme.md
@@ -73,7 +73,7 @@ Run the following command after replacing [PATH_TO_CARLA] with the actual path t
     
 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:

From 67a6f98d3e7559d3196b4c3ade31b08a041288a8 Mon Sep 17 00:00:00 2001
From: Jacob Zhong <cmpute@qq.com>
Date: Sat, 6 Oct 2018 00:42:16 -0400
Subject: [PATCH 02/11] Fix ply file format for PCL reading

The PCL reader cannot directly read the .ply file generated by Carla. It will pop up an error message "cannot reading header". After trying several times, I found that it is due to the lack of line break at the end of the file. This pr will fix this.
---
 PythonClient/carla/sensor.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/PythonClient/carla/sensor.py b/PythonClient/carla/sensor.py
index 721948538..bc5977303 100644
--- a/PythonClient/carla/sensor.py
+++ b/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)

From be56c4cd25b485da3d2ac7ef4a351edc646df5dc Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Andre=20Schr=C3=B6der?= <andre.schroedr@gmail.com>
Date: Thu, 11 Oct 2018 10:46:08 +0200
Subject: [PATCH 03/11] Add link to the CoRL talk

---
 README.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/README.md b/README.md
index f45986603..87e425de3 100644
--- a/README.md
+++ b/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)]
 
 
 ```

From 27fbca590027af1c586f4415a5b67b4285e13cc8 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Mon, 15 Oct 2018 15:59:43 +0200
Subject: [PATCH 04/11] Better error message when a blueprint key is not found

---
 LibCarla/source/carla/client/ActorBlueprint.cpp   | 13 +++++++++++++
 LibCarla/source/carla/client/ActorBlueprint.h     |  8 ++------
 LibCarla/source/carla/client/BlueprintLibrary.cpp | 14 ++++++++++++++
 LibCarla/source/carla/client/BlueprintLibrary.h   | 11 ++++-------
 4 files changed, 33 insertions(+), 13 deletions(-)

diff --git a/LibCarla/source/carla/client/ActorBlueprint.cpp b/LibCarla/source/carla/client/ActorBlueprint.cpp
index ece4182df..b5d8a48e7 100644
--- a/LibCarla/source/carla/client/ActorBlueprint.cpp
+++ b/LibCarla/source/carla/client/ActorBlueprint.cpp
@@ -35,6 +35,19 @@ 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;
diff --git a/LibCarla/source/carla/client/ActorBlueprint.h b/LibCarla/source/carla/client/ActorBlueprint.h
index 8b8686cf6..a81d102f8 100644
--- a/LibCarla/source/carla/client/ActorBlueprint.h
+++ b/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();
diff --git a/LibCarla/source/carla/client/BlueprintLibrary.cpp b/LibCarla/source/carla/client/BlueprintLibrary.cpp
index eaec8397f..986ece391 100644
--- a/LibCarla/source/carla/client/BlueprintLibrary.cpp
+++ b/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");
diff --git a/LibCarla/source/carla/client/BlueprintLibrary.h b/LibCarla/source/carla/client/BlueprintLibrary.h
index 3e291741f..65d12b332 100644
--- a/LibCarla/source/carla/client/BlueprintLibrary.h
+++ b/LibCarla/source/carla/client/BlueprintLibrary.h
@@ -43,14 +43,10 @@ namespace client {
     /// Filters a list of ActorBlueprint with tags matching @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 {
@@ -58,6 +54,7 @@ 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*/ {

From e52f780bd59ffbb5ea53c9cfdf0af5594bc948e2 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Mon, 15 Oct 2018 16:00:54 +0200
Subject: [PATCH 05/11] Better distro check in setup.py

---
 PythonAPI/setup.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/PythonAPI/setup.py b/PythonAPI/setup.py
index 63a5178e2..0e4de2760 100644
--- a/PythonAPI/setup.py
+++ b/PythonAPI/setup.py
@@ -18,7 +18,7 @@ def get_libcarla_extensions():
     libraries = []
 
     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)

From bd15ef11ea804c397d5489a5bfcb7b94a8a0c416 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Mon, 22 Oct 2018 15:59:43 +0200
Subject: [PATCH 06/11] Suppress exceptions in Sensor's destructor

---
 LibCarla/source/carla/client/Sensor.cpp            |  8 +++++++-
 LibCarla/source/carla/client/detail/ActorState.cpp | 14 ++++++++++----
 LibCarla/source/carla/client/detail/ActorState.h   | 10 ++++++----
 3 files changed, 23 insertions(+), 9 deletions(-)

diff --git a/LibCarla/source/carla/client/Sensor.cpp b/LibCarla/source/carla/client/Sensor.cpp
index d40b4f178..77899370e 100644
--- a/LibCarla/source/carla/client/Sensor.cpp
+++ b/LibCarla/source/carla/client/Sensor.cpp
@@ -9,6 +9,8 @@
 #include "carla/Logging.h"
 #include "carla/client/detail/Client.h"
 
+#include <exception>
+
 namespace carla {
 namespace client {
 
@@ -20,7 +22,11 @@ namespace client {
           GetDisplayId());
     }
     if (_is_listening) {
-      Stop();
+      try {
+        Stop();
+      } catch (const std::exception &e) {
+        log_error("excetion trying to stop sensor:", GetDisplayId(), ':', e.what());
+      }
     }
   }
 
diff --git a/LibCarla/source/carla/client/detail/ActorState.cpp b/LibCarla/source/carla/client/detail/ActorState.cpp
index 2adb2dc6d..1c27ac2bf 100644
--- a/LibCarla/source/carla/client/detail/ActorState.cpp
+++ b/LibCarla/source/carla/client/detail/ActorState.cpp
@@ -12,10 +12,16 @@ namespace carla {
 namespace client {
 namespace detail {
 
-  std::string ActorState::GetDisplayId() const {
-    using namespace std::string_literals;
-    return "Actor "s + std::to_string(GetId()) + " (" + GetTypeId() + ')';
-  }
+  ActorState::ActorState(rpc::Actor description, Episode episode)
+    : _description(std::move(description)),
+      _episode(std::move(episode)),
+      _display_id([](const auto &desc) {
+        using namespace std::string_literals;
+        return
+            "Actor "s +
+            std::to_string(desc.id) +
+            " (" + desc.description.id + ')';
+      }(_description)) {}
 
 } // namespace detail
 } // namespace client
diff --git a/LibCarla/source/carla/client/detail/ActorState.h b/LibCarla/source/carla/client/detail/ActorState.h
index 348363f51..9113d2d5b 100644
--- a/LibCarla/source/carla/client/detail/ActorState.h
+++ b/LibCarla/source/carla/client/detail/ActorState.h
@@ -27,7 +27,9 @@ namespace detail {
       return _description.description.id;
     }
 
-    std::string GetDisplayId() const;
+    const std::string &GetDisplayId() const {
+      return _display_id;
+    }
 
     World GetWorld() const {
       return _episode;
@@ -51,13 +53,13 @@ namespace detail {
 
     friend class detail::Client;
 
-    ActorState(rpc::Actor description, Episode episode)
-      : _description(std::move(description)),
-        _episode(std::move(episode)) {}
+    ActorState(rpc::Actor description, Episode episode);
 
     rpc::Actor _description;
 
     Episode _episode;
+
+    std::string _display_id;
   };
 
 } // namespace detail

From 3389d4c58ba81ea585d79a8f1e55b6b411c490d1 Mon Sep 17 00:00:00 2001
From: FPerez <fperez@cvc.uab.es>
Date: Tue, 25 Sep 2018 11:38:51 +0200
Subject: [PATCH 07/11] Increased waypoint acceptance area, and expose debug
 info to blueprints

---
 .../Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.h   |  6 ++++++
 .../Carla/Source/Carla/Vehicle/VehicleControl.h        | 10 +++++-----
 .../Carla/Vehicle/WheeledVehicleAIController.cpp       |  2 +-
 .../Source/Carla/Vehicle/WheeledVehicleAIController.h  |  2 +-
 4 files changed, 13 insertions(+), 7 deletions(-)

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.h
index b1c030a36..dddc1c12c 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.h
+++ b/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).
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/VehicleControl.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/VehicleControl.h
index b59d3a32f..2fd78a880 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/VehicleControl.h
+++ b/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;
 };
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleAIController.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleAIController.cpp
index f94283463..f6b4ce49e 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleAIController.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleAIController.cpp
@@ -237,7 +237,7 @@ 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);
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleAIController.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleAIController.h
index b80be8674..d03969b00 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleAIController.h
+++ b/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;

From 46d36435d4c0b769a5de20077739e9490e50e5ad Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Tue, 23 Oct 2018 19:02:54 +0200
Subject: [PATCH 08/11] Change testing port

---
 LibCarla/source/test/test.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/LibCarla/source/test/test.h b/LibCarla/source/test/test.h
index d993f84c7..c61659668 100644
--- a/LibCarla/source/test/test.h
+++ b/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;

From e97882264e6547546d8e75262258c7271c1dd4de Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Fri, 26 Oct 2018 14:14:37 +0200
Subject: [PATCH 09/11] Disable texture streaming

---
 Unreal/CarlaUE4/Config/DefaultEngine.ini | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Unreal/CarlaUE4/Config/DefaultEngine.ini b/Unreal/CarlaUE4/Config/DefaultEngine.ini
index 84609565a..97cffc20b 100644
--- a/Unreal/CarlaUE4/Config/DefaultEngine.ini
+++ b/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

From c015a93558d88cf08d10e06d704b8bb8db084260 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Fri, 26 Oct 2018 15:14:26 +0200
Subject: [PATCH 10/11] Add missing includes

---
 LibCarla/source/carla/rpc/ActorAttribute.h   | 4 ++++
 LibCarla/source/carla/rpc/ActorDescription.h | 4 ++++
 2 files changed, 8 insertions(+)

diff --git a/LibCarla/source/carla/rpc/ActorAttribute.h b/LibCarla/source/carla/rpc/ActorAttribute.h
index 2bf9f9f05..79912cca6 100644
--- a/LibCarla/source/carla/rpc/ActorAttribute.h
+++ b/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 {
 
diff --git a/LibCarla/source/carla/rpc/ActorDescription.h b/LibCarla/source/carla/rpc/ActorDescription.h
index 84173040d..1fb7a1ae9 100644
--- a/LibCarla/source/carla/rpc/ActorDescription.h
+++ b/LibCarla/source/carla/rpc/ActorDescription.h
@@ -12,6 +12,10 @@
 
 #include <vector>
 
+#ifdef LIBCARLA_INCLUDED_FROM_UE4
+#  include "Carla/Actor/ActorDescription.h"
+#endif // LIBCARLA_INCLUDED_FROM_UE4
+
 namespace carla {
 namespace rpc {
 

From 8b858209d4cf3d91ba4cfb095605df67badbe20b Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Thu, 25 Oct 2018 18:49:17 +0200
Subject: [PATCH 11/11] Move PythonClient inside deprecated folder

---
 .gitignore                                    |   2 +-
 .travis.yml                                   |   4 +-
 .../PythonClient}/.pylintrc                   |   0
 .../PythonClient}/MANIFEST.in                 |   0
 .../PythonClient}/carla/__init__.py           |   0
 .../PythonClient}/carla/agent/__init__.py     |   0
 .../PythonClient}/carla/agent/agent.py        |   0
 .../carla/agent/forward_agent.py              |   0
 .../PythonClient}/carla/carla_server_pb2.py   |   0
 .../PythonClient}/carla/client.py             |   0
 .../carla/driving_benchmark/__init__.py       |   0
 .../driving_benchmark/driving_benchmark.py    |   0
 .../carla/driving_benchmark/experiment.py     |   0
 .../experiment_suites/__init__.py             |   0
 .../basic_experiment_suite.py                 |   0
 .../experiment_suites/corl_2017.py            |   0
 .../experiment_suites/experiment_suite.py     |   0
 .../carla/driving_benchmark/metrics.py        |   0
 .../carla/driving_benchmark/recording.py      |   0
 .../driving_benchmark/results_printer.py      |   0
 .../PythonClient}/carla/image_converter.py    |   0
 .../PythonClient}/carla/planner/Town01.png    | Bin
 .../PythonClient}/carla/planner/Town01.txt    |   0
 .../carla/planner/Town01Central.png           | Bin
 .../carla/planner/Town01Lanes.png             | Bin
 .../PythonClient}/carla/planner/Town02.png    | Bin
 .../PythonClient}/carla/planner/Town02.txt    |   0
 .../PythonClient}/carla/planner/Town02Big.png | Bin
 .../carla/planner/Town02Central.png           | Bin
 .../carla/planner/Town02Lanes.png             | Bin
 .../PythonClient}/carla/planner/__init__.py   |   0
 .../PythonClient}/carla/planner/astar.py      |   0
 .../PythonClient}/carla/planner/city_track.py |   0
 .../PythonClient}/carla/planner/converter.py  |   0
 .../PythonClient}/carla/planner/graph.py      |   0
 .../PythonClient}/carla/planner/grid.py       |   0
 .../PythonClient}/carla/planner/map.py        |   0
 .../PythonClient}/carla/planner/planner.py    |   0
 .../PythonClient}/carla/sensor.py             |   0
 .../PythonClient}/carla/settings.py           |   0
 .../PythonClient}/carla/tcp.py                |   0
 .../PythonClient}/carla/transform.py          |   0
 .../PythonClient}/carla/util.py               |   0
 .../PythonClient}/client_example.py           |   0
 .../driving_benchmark_example.py              |   0
 .../PythonClient}/manual_control.py           |   0
 .../PythonClient}/point_cloud_example.py      |   0
 .../PythonClient}/requirements.txt            |   0
 .../PythonClient}/setup.py                    |   0
 .../PythonClient}/test/__init__.py            |   0
 .../test/acceptance_tests/__init__.py         |   0
 .../PythonClient}/test/benchmark_server.py    |   0
 .../PythonClient}/test/console.py             |   0
 .../PythonClient}/test/suite/Basic.py         |   0
 .../PythonClient}/test/suite/__init__.py      |   0
 .../PythonClient}/test/test_client.py         |   0
 .../PythonClient}/test/test_repeatability.py  |   0
 .../PythonClient}/test/test_suite.py          |   0
 .../testfile_collisions/measurements.csv      |   0
 .../test_data/testfile_collisions/summary.csv |   0
 .../test/unit_tests/test_experiment_suite.py  |   0
 .../test/unit_tests/test_metrics.py           |   0
 .../test/unit_tests/test_recording.py         |   0
 .../PythonClient}/view_start_positions.py     |   0
 Docs/CONTRIBUTING.md                          |   5 +-
 Docs/benchmark_creating.md                    |   2 +-
 Docs/cameras_and_sensors.md                   |  16 ++---
 Docs/carla_design.md                          |   4 +-
 Docs/connecting_the_client.md                 |  23 ++++---
 Docs/pull_request_template.md                 |   5 +-
 Util/Protoc.bat                               |   2 +-
 Util/Protoc.sh                                |   2 +-
 carla_ros_bridge/Readme.md                    |  56 +++++++++---------
 73 files changed, 58 insertions(+), 63 deletions(-)
 rename {PythonClient => Deprecated/PythonClient}/.pylintrc (100%)
 rename {PythonClient => Deprecated/PythonClient}/MANIFEST.in (100%)
 rename {PythonClient => Deprecated/PythonClient}/carla/__init__.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/carla/agent/__init__.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/carla/agent/agent.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/carla/agent/forward_agent.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/carla/carla_server_pb2.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/carla/client.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/carla/driving_benchmark/__init__.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/carla/driving_benchmark/driving_benchmark.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/carla/driving_benchmark/experiment.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/carla/driving_benchmark/experiment_suites/__init__.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/carla/driving_benchmark/experiment_suites/basic_experiment_suite.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/carla/driving_benchmark/experiment_suites/corl_2017.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/carla/driving_benchmark/experiment_suites/experiment_suite.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/carla/driving_benchmark/metrics.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/carla/driving_benchmark/recording.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/carla/driving_benchmark/results_printer.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/carla/image_converter.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/carla/planner/Town01.png (100%)
 rename {PythonClient => Deprecated/PythonClient}/carla/planner/Town01.txt (100%)
 rename {PythonClient => Deprecated/PythonClient}/carla/planner/Town01Central.png (100%)
 rename {PythonClient => Deprecated/PythonClient}/carla/planner/Town01Lanes.png (100%)
 rename {PythonClient => Deprecated/PythonClient}/carla/planner/Town02.png (100%)
 rename {PythonClient => Deprecated/PythonClient}/carla/planner/Town02.txt (100%)
 rename {PythonClient => Deprecated/PythonClient}/carla/planner/Town02Big.png (100%)
 rename {PythonClient => Deprecated/PythonClient}/carla/planner/Town02Central.png (100%)
 rename {PythonClient => Deprecated/PythonClient}/carla/planner/Town02Lanes.png (100%)
 rename {PythonClient => Deprecated/PythonClient}/carla/planner/__init__.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/carla/planner/astar.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/carla/planner/city_track.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/carla/planner/converter.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/carla/planner/graph.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/carla/planner/grid.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/carla/planner/map.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/carla/planner/planner.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/carla/sensor.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/carla/settings.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/carla/tcp.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/carla/transform.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/carla/util.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/client_example.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/driving_benchmark_example.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/manual_control.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/point_cloud_example.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/requirements.txt (100%)
 rename {PythonClient => Deprecated/PythonClient}/setup.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/test/__init__.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/test/acceptance_tests/__init__.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/test/benchmark_server.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/test/console.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/test/suite/Basic.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/test/suite/__init__.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/test/test_client.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/test/test_repeatability.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/test/test_suite.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/test/unit_tests/test_data/testfile_collisions/measurements.csv (100%)
 rename {PythonClient => Deprecated/PythonClient}/test/unit_tests/test_data/testfile_collisions/summary.csv (100%)
 rename {PythonClient => Deprecated/PythonClient}/test/unit_tests/test_experiment_suite.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/test/unit_tests/test_metrics.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/test/unit_tests/test_recording.py (100%)
 rename {PythonClient => Deprecated/PythonClient}/view_start_positions.py (100%)

diff --git a/.gitignore b/.gitignore
index d025fb378..6241c1072 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,7 +1,7 @@
 Build
 Dist
 Doxygen
-PythonClient/dist
+Deprecated/PythonClient/dist
 Util/Build
 Install
 
diff --git a/.travis.yml b/.travis.yml
index 47ad49e55..e1c311728 100644
--- a/.travis.yml
+++ b/.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:
diff --git a/PythonClient/.pylintrc b/Deprecated/PythonClient/.pylintrc
similarity index 100%
rename from PythonClient/.pylintrc
rename to Deprecated/PythonClient/.pylintrc
diff --git a/PythonClient/MANIFEST.in b/Deprecated/PythonClient/MANIFEST.in
similarity index 100%
rename from PythonClient/MANIFEST.in
rename to Deprecated/PythonClient/MANIFEST.in
diff --git a/PythonClient/carla/__init__.py b/Deprecated/PythonClient/carla/__init__.py
similarity index 100%
rename from PythonClient/carla/__init__.py
rename to Deprecated/PythonClient/carla/__init__.py
diff --git a/PythonClient/carla/agent/__init__.py b/Deprecated/PythonClient/carla/agent/__init__.py
similarity index 100%
rename from PythonClient/carla/agent/__init__.py
rename to Deprecated/PythonClient/carla/agent/__init__.py
diff --git a/PythonClient/carla/agent/agent.py b/Deprecated/PythonClient/carla/agent/agent.py
similarity index 100%
rename from PythonClient/carla/agent/agent.py
rename to Deprecated/PythonClient/carla/agent/agent.py
diff --git a/PythonClient/carla/agent/forward_agent.py b/Deprecated/PythonClient/carla/agent/forward_agent.py
similarity index 100%
rename from PythonClient/carla/agent/forward_agent.py
rename to Deprecated/PythonClient/carla/agent/forward_agent.py
diff --git a/PythonClient/carla/carla_server_pb2.py b/Deprecated/PythonClient/carla/carla_server_pb2.py
similarity index 100%
rename from PythonClient/carla/carla_server_pb2.py
rename to Deprecated/PythonClient/carla/carla_server_pb2.py
diff --git a/PythonClient/carla/client.py b/Deprecated/PythonClient/carla/client.py
similarity index 100%
rename from PythonClient/carla/client.py
rename to Deprecated/PythonClient/carla/client.py
diff --git a/PythonClient/carla/driving_benchmark/__init__.py b/Deprecated/PythonClient/carla/driving_benchmark/__init__.py
similarity index 100%
rename from PythonClient/carla/driving_benchmark/__init__.py
rename to Deprecated/PythonClient/carla/driving_benchmark/__init__.py
diff --git a/PythonClient/carla/driving_benchmark/driving_benchmark.py b/Deprecated/PythonClient/carla/driving_benchmark/driving_benchmark.py
similarity index 100%
rename from PythonClient/carla/driving_benchmark/driving_benchmark.py
rename to Deprecated/PythonClient/carla/driving_benchmark/driving_benchmark.py
diff --git a/PythonClient/carla/driving_benchmark/experiment.py b/Deprecated/PythonClient/carla/driving_benchmark/experiment.py
similarity index 100%
rename from PythonClient/carla/driving_benchmark/experiment.py
rename to Deprecated/PythonClient/carla/driving_benchmark/experiment.py
diff --git a/PythonClient/carla/driving_benchmark/experiment_suites/__init__.py b/Deprecated/PythonClient/carla/driving_benchmark/experiment_suites/__init__.py
similarity index 100%
rename from PythonClient/carla/driving_benchmark/experiment_suites/__init__.py
rename to Deprecated/PythonClient/carla/driving_benchmark/experiment_suites/__init__.py
diff --git a/PythonClient/carla/driving_benchmark/experiment_suites/basic_experiment_suite.py b/Deprecated/PythonClient/carla/driving_benchmark/experiment_suites/basic_experiment_suite.py
similarity index 100%
rename from PythonClient/carla/driving_benchmark/experiment_suites/basic_experiment_suite.py
rename to Deprecated/PythonClient/carla/driving_benchmark/experiment_suites/basic_experiment_suite.py
diff --git a/PythonClient/carla/driving_benchmark/experiment_suites/corl_2017.py b/Deprecated/PythonClient/carla/driving_benchmark/experiment_suites/corl_2017.py
similarity index 100%
rename from PythonClient/carla/driving_benchmark/experiment_suites/corl_2017.py
rename to Deprecated/PythonClient/carla/driving_benchmark/experiment_suites/corl_2017.py
diff --git a/PythonClient/carla/driving_benchmark/experiment_suites/experiment_suite.py b/Deprecated/PythonClient/carla/driving_benchmark/experiment_suites/experiment_suite.py
similarity index 100%
rename from PythonClient/carla/driving_benchmark/experiment_suites/experiment_suite.py
rename to Deprecated/PythonClient/carla/driving_benchmark/experiment_suites/experiment_suite.py
diff --git a/PythonClient/carla/driving_benchmark/metrics.py b/Deprecated/PythonClient/carla/driving_benchmark/metrics.py
similarity index 100%
rename from PythonClient/carla/driving_benchmark/metrics.py
rename to Deprecated/PythonClient/carla/driving_benchmark/metrics.py
diff --git a/PythonClient/carla/driving_benchmark/recording.py b/Deprecated/PythonClient/carla/driving_benchmark/recording.py
similarity index 100%
rename from PythonClient/carla/driving_benchmark/recording.py
rename to Deprecated/PythonClient/carla/driving_benchmark/recording.py
diff --git a/PythonClient/carla/driving_benchmark/results_printer.py b/Deprecated/PythonClient/carla/driving_benchmark/results_printer.py
similarity index 100%
rename from PythonClient/carla/driving_benchmark/results_printer.py
rename to Deprecated/PythonClient/carla/driving_benchmark/results_printer.py
diff --git a/PythonClient/carla/image_converter.py b/Deprecated/PythonClient/carla/image_converter.py
similarity index 100%
rename from PythonClient/carla/image_converter.py
rename to Deprecated/PythonClient/carla/image_converter.py
diff --git a/PythonClient/carla/planner/Town01.png b/Deprecated/PythonClient/carla/planner/Town01.png
similarity index 100%
rename from PythonClient/carla/planner/Town01.png
rename to Deprecated/PythonClient/carla/planner/Town01.png
diff --git a/PythonClient/carla/planner/Town01.txt b/Deprecated/PythonClient/carla/planner/Town01.txt
similarity index 100%
rename from PythonClient/carla/planner/Town01.txt
rename to Deprecated/PythonClient/carla/planner/Town01.txt
diff --git a/PythonClient/carla/planner/Town01Central.png b/Deprecated/PythonClient/carla/planner/Town01Central.png
similarity index 100%
rename from PythonClient/carla/planner/Town01Central.png
rename to Deprecated/PythonClient/carla/planner/Town01Central.png
diff --git a/PythonClient/carla/planner/Town01Lanes.png b/Deprecated/PythonClient/carla/planner/Town01Lanes.png
similarity index 100%
rename from PythonClient/carla/planner/Town01Lanes.png
rename to Deprecated/PythonClient/carla/planner/Town01Lanes.png
diff --git a/PythonClient/carla/planner/Town02.png b/Deprecated/PythonClient/carla/planner/Town02.png
similarity index 100%
rename from PythonClient/carla/planner/Town02.png
rename to Deprecated/PythonClient/carla/planner/Town02.png
diff --git a/PythonClient/carla/planner/Town02.txt b/Deprecated/PythonClient/carla/planner/Town02.txt
similarity index 100%
rename from PythonClient/carla/planner/Town02.txt
rename to Deprecated/PythonClient/carla/planner/Town02.txt
diff --git a/PythonClient/carla/planner/Town02Big.png b/Deprecated/PythonClient/carla/planner/Town02Big.png
similarity index 100%
rename from PythonClient/carla/planner/Town02Big.png
rename to Deprecated/PythonClient/carla/planner/Town02Big.png
diff --git a/PythonClient/carla/planner/Town02Central.png b/Deprecated/PythonClient/carla/planner/Town02Central.png
similarity index 100%
rename from PythonClient/carla/planner/Town02Central.png
rename to Deprecated/PythonClient/carla/planner/Town02Central.png
diff --git a/PythonClient/carla/planner/Town02Lanes.png b/Deprecated/PythonClient/carla/planner/Town02Lanes.png
similarity index 100%
rename from PythonClient/carla/planner/Town02Lanes.png
rename to Deprecated/PythonClient/carla/planner/Town02Lanes.png
diff --git a/PythonClient/carla/planner/__init__.py b/Deprecated/PythonClient/carla/planner/__init__.py
similarity index 100%
rename from PythonClient/carla/planner/__init__.py
rename to Deprecated/PythonClient/carla/planner/__init__.py
diff --git a/PythonClient/carla/planner/astar.py b/Deprecated/PythonClient/carla/planner/astar.py
similarity index 100%
rename from PythonClient/carla/planner/astar.py
rename to Deprecated/PythonClient/carla/planner/astar.py
diff --git a/PythonClient/carla/planner/city_track.py b/Deprecated/PythonClient/carla/planner/city_track.py
similarity index 100%
rename from PythonClient/carla/planner/city_track.py
rename to Deprecated/PythonClient/carla/planner/city_track.py
diff --git a/PythonClient/carla/planner/converter.py b/Deprecated/PythonClient/carla/planner/converter.py
similarity index 100%
rename from PythonClient/carla/planner/converter.py
rename to Deprecated/PythonClient/carla/planner/converter.py
diff --git a/PythonClient/carla/planner/graph.py b/Deprecated/PythonClient/carla/planner/graph.py
similarity index 100%
rename from PythonClient/carla/planner/graph.py
rename to Deprecated/PythonClient/carla/planner/graph.py
diff --git a/PythonClient/carla/planner/grid.py b/Deprecated/PythonClient/carla/planner/grid.py
similarity index 100%
rename from PythonClient/carla/planner/grid.py
rename to Deprecated/PythonClient/carla/planner/grid.py
diff --git a/PythonClient/carla/planner/map.py b/Deprecated/PythonClient/carla/planner/map.py
similarity index 100%
rename from PythonClient/carla/planner/map.py
rename to Deprecated/PythonClient/carla/planner/map.py
diff --git a/PythonClient/carla/planner/planner.py b/Deprecated/PythonClient/carla/planner/planner.py
similarity index 100%
rename from PythonClient/carla/planner/planner.py
rename to Deprecated/PythonClient/carla/planner/planner.py
diff --git a/PythonClient/carla/sensor.py b/Deprecated/PythonClient/carla/sensor.py
similarity index 100%
rename from PythonClient/carla/sensor.py
rename to Deprecated/PythonClient/carla/sensor.py
diff --git a/PythonClient/carla/settings.py b/Deprecated/PythonClient/carla/settings.py
similarity index 100%
rename from PythonClient/carla/settings.py
rename to Deprecated/PythonClient/carla/settings.py
diff --git a/PythonClient/carla/tcp.py b/Deprecated/PythonClient/carla/tcp.py
similarity index 100%
rename from PythonClient/carla/tcp.py
rename to Deprecated/PythonClient/carla/tcp.py
diff --git a/PythonClient/carla/transform.py b/Deprecated/PythonClient/carla/transform.py
similarity index 100%
rename from PythonClient/carla/transform.py
rename to Deprecated/PythonClient/carla/transform.py
diff --git a/PythonClient/carla/util.py b/Deprecated/PythonClient/carla/util.py
similarity index 100%
rename from PythonClient/carla/util.py
rename to Deprecated/PythonClient/carla/util.py
diff --git a/PythonClient/client_example.py b/Deprecated/PythonClient/client_example.py
similarity index 100%
rename from PythonClient/client_example.py
rename to Deprecated/PythonClient/client_example.py
diff --git a/PythonClient/driving_benchmark_example.py b/Deprecated/PythonClient/driving_benchmark_example.py
similarity index 100%
rename from PythonClient/driving_benchmark_example.py
rename to Deprecated/PythonClient/driving_benchmark_example.py
diff --git a/PythonClient/manual_control.py b/Deprecated/PythonClient/manual_control.py
similarity index 100%
rename from PythonClient/manual_control.py
rename to Deprecated/PythonClient/manual_control.py
diff --git a/PythonClient/point_cloud_example.py b/Deprecated/PythonClient/point_cloud_example.py
similarity index 100%
rename from PythonClient/point_cloud_example.py
rename to Deprecated/PythonClient/point_cloud_example.py
diff --git a/PythonClient/requirements.txt b/Deprecated/PythonClient/requirements.txt
similarity index 100%
rename from PythonClient/requirements.txt
rename to Deprecated/PythonClient/requirements.txt
diff --git a/PythonClient/setup.py b/Deprecated/PythonClient/setup.py
similarity index 100%
rename from PythonClient/setup.py
rename to Deprecated/PythonClient/setup.py
diff --git a/PythonClient/test/__init__.py b/Deprecated/PythonClient/test/__init__.py
similarity index 100%
rename from PythonClient/test/__init__.py
rename to Deprecated/PythonClient/test/__init__.py
diff --git a/PythonClient/test/acceptance_tests/__init__.py b/Deprecated/PythonClient/test/acceptance_tests/__init__.py
similarity index 100%
rename from PythonClient/test/acceptance_tests/__init__.py
rename to Deprecated/PythonClient/test/acceptance_tests/__init__.py
diff --git a/PythonClient/test/benchmark_server.py b/Deprecated/PythonClient/test/benchmark_server.py
similarity index 100%
rename from PythonClient/test/benchmark_server.py
rename to Deprecated/PythonClient/test/benchmark_server.py
diff --git a/PythonClient/test/console.py b/Deprecated/PythonClient/test/console.py
similarity index 100%
rename from PythonClient/test/console.py
rename to Deprecated/PythonClient/test/console.py
diff --git a/PythonClient/test/suite/Basic.py b/Deprecated/PythonClient/test/suite/Basic.py
similarity index 100%
rename from PythonClient/test/suite/Basic.py
rename to Deprecated/PythonClient/test/suite/Basic.py
diff --git a/PythonClient/test/suite/__init__.py b/Deprecated/PythonClient/test/suite/__init__.py
similarity index 100%
rename from PythonClient/test/suite/__init__.py
rename to Deprecated/PythonClient/test/suite/__init__.py
diff --git a/PythonClient/test/test_client.py b/Deprecated/PythonClient/test/test_client.py
similarity index 100%
rename from PythonClient/test/test_client.py
rename to Deprecated/PythonClient/test/test_client.py
diff --git a/PythonClient/test/test_repeatability.py b/Deprecated/PythonClient/test/test_repeatability.py
similarity index 100%
rename from PythonClient/test/test_repeatability.py
rename to Deprecated/PythonClient/test/test_repeatability.py
diff --git a/PythonClient/test/test_suite.py b/Deprecated/PythonClient/test/test_suite.py
similarity index 100%
rename from PythonClient/test/test_suite.py
rename to Deprecated/PythonClient/test/test_suite.py
diff --git a/PythonClient/test/unit_tests/test_data/testfile_collisions/measurements.csv b/Deprecated/PythonClient/test/unit_tests/test_data/testfile_collisions/measurements.csv
similarity index 100%
rename from PythonClient/test/unit_tests/test_data/testfile_collisions/measurements.csv
rename to Deprecated/PythonClient/test/unit_tests/test_data/testfile_collisions/measurements.csv
diff --git a/PythonClient/test/unit_tests/test_data/testfile_collisions/summary.csv b/Deprecated/PythonClient/test/unit_tests/test_data/testfile_collisions/summary.csv
similarity index 100%
rename from PythonClient/test/unit_tests/test_data/testfile_collisions/summary.csv
rename to Deprecated/PythonClient/test/unit_tests/test_data/testfile_collisions/summary.csv
diff --git a/PythonClient/test/unit_tests/test_experiment_suite.py b/Deprecated/PythonClient/test/unit_tests/test_experiment_suite.py
similarity index 100%
rename from PythonClient/test/unit_tests/test_experiment_suite.py
rename to Deprecated/PythonClient/test/unit_tests/test_experiment_suite.py
diff --git a/PythonClient/test/unit_tests/test_metrics.py b/Deprecated/PythonClient/test/unit_tests/test_metrics.py
similarity index 100%
rename from PythonClient/test/unit_tests/test_metrics.py
rename to Deprecated/PythonClient/test/unit_tests/test_metrics.py
diff --git a/PythonClient/test/unit_tests/test_recording.py b/Deprecated/PythonClient/test/unit_tests/test_recording.py
similarity index 100%
rename from PythonClient/test/unit_tests/test_recording.py
rename to Deprecated/PythonClient/test/unit_tests/test_recording.py
diff --git a/PythonClient/view_start_positions.py b/Deprecated/PythonClient/view_start_positions.py
similarity index 100%
rename from PythonClient/view_start_positions.py
rename to Deprecated/PythonClient/view_start_positions.py
diff --git a/Docs/CONTRIBUTING.md b/Docs/CONTRIBUTING.md
index a77d3b8be..9b248d95d 100644
--- a/Docs/CONTRIBUTING.md
+++ b/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`
diff --git a/Docs/benchmark_creating.md b/Docs/benchmark_creating.md
index e49981181..18e4c31b7 100644
--- a/Docs/benchmark_creating.md
+++ b/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)
 
 
 
diff --git a/Docs/cameras_and_sensors.md b/Docs/cameras_and_sensors.md
index d3e0d029e..8dd432de1 100644
--- a/Docs/cameras_and_sensors.md
+++ b/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>
 
diff --git a/Docs/carla_design.md b/Docs/carla_design.md
index a912c4911..1d2d0dba9 100644
--- a/Docs/carla_design.md
+++ b/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
diff --git a/Docs/connecting_the_client.md b/Docs/connecting_the_client.md
index 7c33e5032..2bee92f06 100644
--- a/Docs/connecting_the_client.md
+++ b/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.
diff --git a/Docs/pull_request_template.md b/Docs/pull_request_template.md
index 3a5c29258..909b75fdb 100644
--- a/Docs/pull_request_template.md
+++ b/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`
 
 -->
 
diff --git a/Util/Protoc.bat b/Util/Protoc.bat
index bd209d7d0..938cb660a 100644
--- a/Util/Protoc.bat
+++ b/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" (
diff --git a/Util/Protoc.sh b/Util/Protoc.sh
index 8dd7a5ad2..a5654f9ae 100755
--- a/Util/Protoc.sh
+++ b/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
diff --git a/carla_ros_bridge/Readme.md b/carla_ros_bridge/Readme.md
index 39dada3e3..cccb2587d 100644
--- a/carla_ros_bridge/Readme.md
+++ b/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.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,