Merge branch 'master' into documentation

.gitignore

@@ -25,6 +25,5 @@ Util/Build
 .vs
 __pycache__
 _benchmarks_results
-_images
+_images*
 core
-

CHANGELOG.md

@@ -1,3 +1,21 @@
+## CARLA 0.7.1
+
+  * New Python API module: Benchmark
+    - Defines a set of tasks and conditions to test a certain agent
+    - Contains a starting benchmark, CoRL2017
+    - Contains Agent Class: Interface for benchmarking AIs
+  * New Python API module: Basic Planner (Temporary Hack)
+    - Provide routes for the agent
+    - Contains AStar module to find the shortest route
+  * Other Python API improvements
+    - Converter class to convert between Unreal world and map units
+    - Metrics module to summarize benchmark results
+  * Send vehicle's roll, pitch, and yaw to client (orientation is now deprecated)
+  * New RoutePlanner class for assigning fixed routes to autopilot (IntersectionEntrance has been removed)
+  * Create a random engine for each vehicle, which greatly improves repeatability
+  * Add option to skip content download in Setup.sh
+  * Few small fixes to the city assets
+
 ## CARLA 0.7.0
 
   * New Python client API
@@ -9,7 +27,7 @@
     - Better documentation
     - Protocol: renamed "ai_control" to "autopilot_control"
     - Merged testing client
-    - Added the maps for both cities, the client can now access the car position within the lane.
+    - Added the maps for both cities, the client can now access the car position within the lane
   * Make CARLA start without client by default
   * Added wind effect to some trees and plants
   * Improvements to the existing weather presets

Docs/Example.CarlaSettings.ini

@@ -1,4 +1,6 @@
 ; Example of settings file for CARLA.
+;
+; Use it with `./CarlaUE4.sh -carla-settings=Path/To/This/File`.
 
 [CARLA/Server]
 ; If set to false, a mock controller will be used instead of waiting for a real

Package.sh

@@ -0,0 +1,156 @@
+#! /bin/bash
+
+################################################################################
+# Packages a CARLA build.
+################################################################################
+
+set -e
+
+DOC_STRING="Makes a packaged version of CARLA for distribution.
+Please make sure to run Rebuild.sh before!"
+
+USAGE_STRING="Usage: $0 [-h|--help] [--skip-packaging]"
+
+# ==============================================================================
+# -- Parse arguments -----------------------------------------------------------
+# ==============================================================================
+
+DO_PACKAGE=true
+DO_COPY_FILES=true
+DO_TARBALL=true
+
+OPTS=`getopt -o h --long help,skip-packaging -n 'parse-options' -- "$@"`
+
+if [ $? != 0 ] ; then echo "$USAGE_STRING" ; exit 2 ; fi
+
+eval set -- "$OPTS"
+
+while true; do
+  case "$1" in
+    --skip-packaging )
+      DO_PACKAGE=false
+      shift ;;
+    -h | --help )
+      echo "$DOC_STRING"
+      echo "$USAGE_STRING"
+      exit 1
+      ;;
+    * )
+      break ;;
+  esac
+done
+
+# ==============================================================================
+# -- Set up environment --------------------------------------------------------
+# ==============================================================================
+
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+pushd "$SCRIPT_DIR" >/dev/null
+
+REPOSITORY_TAG=`git describe --tags --dirty --always`
+
+echo "Packaging version '$REPOSITORY_TAG'."
+
+UNREAL_PROJECT_FOLDER=${PWD}/Unreal/CarlaUE4
+DIST_FOLDER=${PWD}/Dist
+BUILD_FOLDER=${DIST_FOLDER}/${REPOSITORY_TAG}
+
+function fatal_error {
+  echo -e "\033[0;31mERROR: $1\033[0m"
+  exit 1
+}
+
+function log {
+  echo -e "\033[0;33m$1\033[0m"
+}
+
+# ==============================================================================
+# -- Package project -----------------------------------------------------------
+# ==============================================================================
+
+if $DO_PACKAGE ; then
+
+  pushd "$UNREAL_PROJECT_FOLDER" >/dev/null
+
+  log "Packaging the project..."
+
+  if [ ! -d "${UE4_ROOT}" ]; then
+    fatal_error "UE4_ROOT is not defined, or points to a non-existant directory, please set this environment variable."
+  fi
+
+  rm -Rf ${BUILD_FOLDER}
+  mkdir ${BUILD_FOLDER}
+
+  ${UE4_ROOT}/Engine/Build/BatchFiles/RunUAT.sh BuildCookRun \
+      -project="${PWD}/CarlaUE4.uproject" \
+      -noP4 -platform=Linux \
+      -clientconfig=Development -serverconfig=Development \
+      -cook -compile -build -stage -pak -archive \
+      -archivedirectory="${BUILD_FOLDER}"
+
+  popd >/dev/null
+
+fi
+
+if [[ ! -d ${BUILD_FOLDER}/LinuxNoEditor ]] ; then
+  fatal_error "Failed to package the project!"
+fi
+
+# ==============================================================================
+# -- Copy files (Python server, README, etc) -----------------------------------
+# ==============================================================================
+
+if $DO_COPY_FILES ; then
+
+  DESTINATION=${BUILD_FOLDER}/LinuxNoEditor
+
+  log "Copying extra files..."
+
+  cp -v ./LICENSE ${DESTINATION}/LICENSE
+  cp -v ./CHANGELOG.md ${DESTINATION}/CHANGELOG
+  cp -v ./Docs/release_readme.md ${DESTINATION}/README
+  cp -v ./Docs/Example.CarlaSettings.ini ${DESTINATION}/Example.CarlaSettings.ini
+
+  rsync -vhr --delete --delete-excluded \
+      --exclude "__pycache__" \
+      --exclude "*.pyc" \
+      --exclude ".*" \
+      PythonClient/ ${DESTINATION}/PythonClient
+
+  echo
+
+fi
+
+# ==============================================================================
+# -- Zip the project -----------------------------------------------------------
+# ==============================================================================
+
+if $DO_TARBALL ; then
+
+  DESTINATION=${DIST_FOLDER}/CARLA_${REPOSITORY_TAG}.tar.gz
+  SOURCE=${BUILD_FOLDER}/LinuxNoEditor
+
+  pushd "$SOURCE" >/dev/null
+
+  log "Packaging build..."
+
+  rm -f ./Manifest_NonUFSFiles_Linux.txt
+  rm -Rf ./CarlaUE4/Saved
+  rm -Rf ./Engine/Saved
+
+  tar -czvf ${DESTINATION} *
+
+  popd >/dev/null
+
+fi
+
+# ==============================================================================
+# -- ...and we are done --------------------------------------------------------
+# ==============================================================================
+
+echo ""
+echo "****************"
+echo "*** Success! ***"
+echo "****************"
+
+popd >/dev/null

PythonClient/test/test_repeatability.py

@@ -0,0 +1,168 @@
+#!/usr/bin/env python3
+
+# Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de
+# Barcelona (UAB), and the INTEL Visual Computing Lab.
+#
+# This work is licensed under the terms of the MIT license.
+# For a copy, see <https://opensource.org/licenses/MIT>.
+
+"""Client that runs two servers simultaneously to test repeatability."""
+
+import argparse
+import logging
+import os
+import random
+import sys
+import time
+
+sys.path.append(os.path.join(os.path.dirname(__file__), '..'))
+
+from carla.client import make_carla_client
+from carla.sensor import Camera, Image
+from carla.settings import CarlaSettings
+from carla.tcp import TCPConnectionError
+
+
+def run_carla_clients(args):
+    filename = '_images_repeatability/server{:d}/{:0>6d}.png'
+    with make_carla_client(args.host1, args.port1) as client1:
+        logging.info('1st client connected')
+        with make_carla_client(args.host2, args.port2) as client2:
+            logging.info('2nd client connected')
+
+            settings = CarlaSettings()
+            settings.set(
+                SynchronousMode=True,
+                SendNonPlayerAgentsInfo=True,
+                NumberOfVehicles=50,
+                NumberOfPedestrians=50,
+                WeatherId=random.choice([1, 3, 7, 8, 14]))
+            settings.randomize_seeds()
+
+            if args.images_to_disk:
+                camera = Camera('DefaultCamera')
+                camera.set_image_size(800, 600)
+                settings.add_sensor(camera)
+
+            scene1 = client1.load_settings(settings)
+            scene2 = client2.load_settings(settings)
+
+            number_of_player_starts = len(scene1.player_start_spots)
+            assert number_of_player_starts == len(scene2.player_start_spots)
+            player_start = random.randint(0, max(0, number_of_player_starts - 1))
+            logging.info(
+                'start episode at %d/%d player start (run forever, press ctrl+c to cancel)',
+                player_start,
+                number_of_player_starts)
+
+            client1.start_episode(player_start)
+            client2.start_episode(player_start)
+
+            frame = 0
+            while True:
+                frame += 1
+
+                meas1, sensor_data1 = client1.read_data()
+                meas2, sensor_data2 = client2.read_data()
+
+                player1 = meas1.player_measurements
+                player2 = meas2.player_measurements
+
+                images1 = [x for x in sensor_data1.values() if isinstance(x, Image)]
+                images2 = [x for x in sensor_data2.values() if isinstance(x, Image)]
+
+                control1 = player1.autopilot_control
+                control2 = player2.autopilot_control
+
+                try:
+                    assert len(images1) == len(images2)
+                    assert len(meas1.non_player_agents) == len(meas2.non_player_agents)
+                    assert player1.transform.location.x == player2.transform.location.x
+                    assert player1.transform.location.y == player2.transform.location.y
+                    assert player1.transform.location.z == player2.transform.location.z
+                    assert control1.steer == control2.steer
+                    assert control1.throttle == control2.throttle
+                    assert control1.brake == control2.brake
+                    assert control1.hand_brake == control2.hand_brake
+                    assert control1.reverse == control2.reverse
+                except AssertionError:
+                    logging.exception('assertion failed')
+
+                if args.images_to_disk:
+                    assert len(images1) == 1
+                    images1[0].save_to_disk(filename.format(1, frame))
+                    images2[0].save_to_disk(filename.format(2, frame))
+
+                client1.send_control(control1)
+                client2.send_control(control2)
+
+
+def main():
+    argparser = argparse.ArgumentParser(description=__doc__)
+    argparser.add_argument(
+        '-v', '--verbose',
+        action='store_true',
+        dest='debug',
+        help='print debug information')
+    argparser.add_argument(
+        '--log',
+        metavar='LOG_FILE',
+        default=None,
+        help='print output to file')
+    argparser.add_argument(
+        '--host1',
+        metavar='H',
+        default='127.0.0.1',
+        help='IP of the first host server (default: 127.0.0.1)')
+    argparser.add_argument(
+        '-p1', '--port1',
+        metavar='P',
+        default=2000,
+        type=int,
+        help='TCP port to listen to the first server (default: 2000)')
+    argparser.add_argument(
+        '--host2',
+        metavar='H',
+        default='127.0.0.1',
+        help='IP of the second host server (default: 127.0.0.1)')
+    argparser.add_argument(
+        '-p2', '--port2',
+        metavar='P',
+        default=3000,
+        type=int,
+        help='TCP port to listen to the second server (default: 3000)')
+    argparser.add_argument(
+        '-i', '--images-to-disk',
+        action='store_true',
+        help='save images to disk')
+
+    args = argparser.parse_args()
+
+    logging_config = {
+        'format': '%(levelname)s: %(message)s',
+        'level': logging.DEBUG if args.debug else logging.INFO
+    }
+    if args.log:
+        logging_config['filename'] = args.log
+        logging_config['filemode'] = 'w+'
+    logging.basicConfig(**logging_config)
+
+    logging.info('listening to 1st server at %s:%s', args.host1, args.port1)
+    logging.info('listening to 2nd server at %s:%s', args.host2, args.port2)
+
+    while True:
+        try:
+
+            run_carla_clients(args)
+
+        except TCPConnectionError as error:
+            logging.error(error)
+            time.sleep(1)
+
+
+if __name__ == '__main__':
+
+    try:
+        main()
+    except KeyboardInterrupt:
+        print('\nCancelled by user. Bye!')

README.md

@@ -16,7 +16,9 @@ environmental conditions.
 For instructions on how to use and compile CARLA, check out
 [CARLA Documentation](http://carla.readthedocs.io).
 
-If you want to benchmark your model in the same conditions as in our CoRL’17 paper, check out [Benchmarking](https://github.com/carla-simulator/carla/blob/benchmark_branch/Docs/benchmark.md).
+If you want to benchmark your model in the same conditions as in our CoRL’17
+paper, check out
+[Benchmarking](http://carla.readthedocs.io/en/latest/benchmark/).
 
 News
 ----

Rebuild.sh

@@ -1,6 +1,46 @@
 #!/bin/bash
+
+################################################################################
+# Updates CARLA content.
+################################################################################
+
 set -e
 
+DOC_STRING="Update CARLA content to the latest version, to be run after 'git pull'."
+
+USAGE_STRING="Usage: $0 [-h|--help] [--no-editor]"
+
+# ==============================================================================
+# -- Parse arguments -----------------------------------------------------------
+# ==============================================================================
+
+LAUNCH_UE4_EDITOR=true
+
+OPTS=`getopt -o h --long help,no-editor -n 'parse-options' -- "$@"`
+
+if [ $? != 0 ] ; then echo "$USAGE_STRING" ; exit 2 ; fi
+
+eval set -- "$OPTS"
+
+while true; do
+  case "$1" in
+    --no-editor )
+      LAUNCH_UE4_EDITOR=false;
+      shift ;;
+    -h | --help )
+      echo "$DOC_STRING"
+      echo "$USAGE_STRING"
+      exit 1
+      ;;
+    * )
+      break ;;
+  esac
+done
+
+# ==============================================================================
+# -- Set up environment --------------------------------------------------------
+# ==============================================================================
+
 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 pushd "$SCRIPT_DIR" >/dev/null
 
@@ -60,8 +100,15 @@ set -e
 log "Build CarlaUE4 project..."
 make CarlaUE4Editor
 
-log "Launching UE4Editor..."
-${UE4_ROOT}/Engine/Binaries/Linux/UE4Editor "${PWD}/CarlaUE4.uproject"
+if $LAUNCH_UE4_EDITOR ; then
+  log "Launching UE4Editor..."
+  ${UE4_ROOT}/Engine/Binaries/Linux/UE4Editor "${PWD}/CarlaUE4.uproject"
+else
+  echo ""
+  echo "****************"
+  echo "*** Success! ***"
+  echo "****************"
+fi
 
 popd >/dev/null
 

Unreal/CarlaUE4/Config/DefaultGame.ini

@@ -3,7 +3,7 @@ ProjectID=675BF8694238308FA9368292CC440350
 ProjectName=CARLA UE4
 CompanyName=CVC
 CopyrightNotice="Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB). This work is licensed under the terms of the MIT license. For a copy, see <https://opensource.org/licenses/MIT>."
-ProjectVersion=0.7.0
+ProjectVersion=0.7.1
 
 [/Script/UnrealEd.ProjectPackagingSettings]
 BuildConfiguration=PPBC_Development

Unreal/CarlaUE4/Plugins/Carla/Carla.uplugin

@@ -1,7 +1,7 @@
 {
 	"FileVersion": 3,
 	"Version": 1,
-	"VersionName": "0.7.0",
+	"VersionName": "0.7.1",
 	"FriendlyName": "CARLA",
 	"Description": "",
 	"Category": "Science",

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/VehicleSpawnerBase.cpp

@@ -104,7 +104,7 @@ void AVehicleSpawnerBase::SpawnVehicleAtSpawnPoint(
     Vehicle->SpawnDefaultController();
     auto Controller = GetController(Vehicle);
     if (Controller != nullptr) { // Sometimes fails...
-      Controller->SetRandomEngine(GetRandomEngine());
+      Controller->GetRandomEngine()->Seed(GetRandomEngine()->GenerateSeed());
       Controller->SetRoadMap(GetRoadMap());
       Controller->SetAutopilot(true);
       Vehicles.Add(Vehicle);

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

@@ -73,6 +73,8 @@ static void ClearQueue(std::queue<T> &Queue)
 AWheeledVehicleAIController::AWheeledVehicleAIController(const FObjectInitializer& ObjectInitializer) :
   Super(ObjectInitializer)
 {
+  RandomEngine = CreateDefaultSubobject<URandomEngine>(TEXT("RandomEngine"));
+
   PrimaryActorTick.bCanEverTick = true;
   PrimaryActorTick.TickGroup = TG_PrePhysics;
 }

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

@@ -98,14 +98,10 @@ public:
   /// @{
 public:
 
-  void SetRandomEngine(URandomEngine *InRandomEngine)
-  {
-    RandomEngine = InRandomEngine;
-  }
-
   UFUNCTION(Category = "Random Engine", BlueprintCallable)
   URandomEngine *GetRandomEngine()
   {
+    check(RandomEngine != nullptr);
     return RandomEngine;
   }
 
@@ -221,13 +217,13 @@ private:
 private:
 
   UPROPERTY()
-  ACarlaWheeledVehicle *Vehicle;
+  ACarlaWheeledVehicle *Vehicle = nullptr;
 
   UPROPERTY()
-  URoadMap *RoadMap;
+  URoadMap *RoadMap = nullptr;
 
   UPROPERTY()
-  URandomEngine *RandomEngine;
+  URandomEngine *RandomEngine = nullptr;
 
   UPROPERTY(VisibleAnywhere)
   bool bAutopilotEnabled = false;

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp

@@ -176,7 +176,8 @@ void ACarlaGameModeBase::BeginPlay()
     VehicleSpawner->SetSeed(CarlaSettings.SeedVehicles);
     VehicleSpawner->SetRoadMap(RoadMap);
     if (PlayerController != nullptr) {
-      PlayerController->SetRandomEngine(VehicleSpawner->GetRandomEngine());
+      PlayerController->GetRandomEngine()->Seed(
+          VehicleSpawner->GetRandomEngine()->GenerateSeed());
     }
   } else {
     UE_LOG(LogCarla, Error, TEXT("Missing vehicle spawner actor!"));

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/RandomEngine.cpp

@@ -17,3 +17,10 @@ int32 URandomEngine::GenerateRandomSeed()
       std::numeric_limits<int32>::max());
   return Distribution(RandomDevice);
 }
+
+int32 URandomEngine::GenerateSeed()
+{
+  return GetUniformIntInRange(
+      std::numeric_limits<int32>::lowest(),
+      std::numeric_limits<int32>::max());
+}

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/RandomEngine.h

@@ -18,13 +18,19 @@ class URandomEngine : public UObject
 public:
 
   // ===========================================================================
-  /// @name Set and get seed
+  /// @name Seed
   // ===========================================================================
   /// @{
 
+  /// Generate a non-deterministic random seed.
   UFUNCTION(BlueprintCallable)
   static int32 GenerateRandomSeed();
 
+  /// Generate a seed derived from previous seed.
+  UFUNCTION(BlueprintCallable)
+  int32 GenerateSeed();
+
+  /// Seed the random engine.
   UFUNCTION(BlueprintCallable)
   void Seed(int32 InSeed)
   {

Update.sh

@@ -1,17 +1,19 @@
 #! /bin/bash
 
 ################################################################################
-# Updates CARLA contents.
+# Updates CARLA content.
 ################################################################################
 
 set -e
 
+DOC_STRING="Update CARLA content to the latest version, to be run after 'git pull'."
+
+USAGE_STRING="Usage: $0 [-h|--help] [-s|--skip-download]"
+
 # ==============================================================================
 # -- Parse arguments -----------------------------------------------------------
 # ==============================================================================
 
-USAGE_STRING="Usage: $0 [-h|--help] [-s|--skip-download]"
-
 SKIP_DOWNLOAD=false
 
 OPTS=`getopt -o hs --long help,skip-download -n 'parse-options' -- "$@"`
@@ -26,6 +28,7 @@ while true; do
       SKIP_DOWNLOAD=true;
       shift ;;
     -h | --help )
+      echo "$DOC_STRING"
       echo "$USAGE_STRING"
       exit 1
       ;;

Util/ContentVersions.txt

@@ -7,3 +7,4 @@
 0.5.4: 0B2HFV-VuKn3PYUFFanlmZ2VMTW8
 0.6.0: 1Gw8sw01hDEV4FtpHEZZwvS-6XN0jmaLT
 0.7.0: 11PKC_lG7L80L1ZxiMlzV17utU45UcRnT
+0.7.1: 1gf3YaFIjwr1EaK6qxq2V-a510Brt9Imq