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@ -1,3 +1,117 @@
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## CARLA 0.9.1
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* New town: Town03
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- Created with Vector Zero's RoadRunner (including OpenDrive information of the road layout)
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- Bigger and more diverse
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- More road variety: multiple lanes and lane markings, curves at different angles, roundabout, elevation, tunnel
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* Lots of improvements to the Python API
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- Support for Python 3
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- Support for retrieving and changing lighting and weather conditions
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- Migrated Lidar sensor
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- Migrated image converter methods: Depth, LogarithmicDepth, and CityScapesPalette
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- Migrated IO methods for sensor data, "save_to_disk" available for PNG, JPEG, TIFF, and PLY
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- Added support for requesting the list of all the actors alive in the current world, `world.get_actors()`
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- `world.get_actors()` returns an `ActorList` object with `filter` functionality and lazy initialization of actors
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- Added collision event sensor, "sensor.other.collision", that triggers a callback on each collision to the actor it is attached to
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- Added lane detector sensor, "sensor.other.lane_detector", that detects lane invasion events
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- Added `carla.Map` and `carla.Waypoint` classes for querying info about the road layout
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- Added methods for converting and saving the map as OpenDrive format
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- Added `map.get_spawn_points()` to retrieve the recommended spawn points for vehicles
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- Added `map.get_waypoint(location)` to query the nearest waypoint
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- Added `map.generate_waypoints(distance)` to generate waypoints all over the map at an approximated distance
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- Added `map.get_topology()` for getting a list the tuples of waypoints that define the edges of the road graph
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- Added `waypoint.next(distance)` to retrieve the list of the waypoints at a distance that can be driven from this waypoint
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- Added `parent` attributes to actors, not None if the actor is attached to another actor
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- Added `semantic_tags` to actors containing the list of tags of all of its components
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- Added methods for retrieving velocity and acceleration of actors
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- Added function to enable/disable simulating physics on an actor, `actor.set_simulate_physics(enabled=True)`
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- Added bounding boxes to vehicles, `vehicle.bounding_box` property
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- Exposed last control applied to vehicles, `vehicle.get_vehicle_control()`
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- Added a "tick" message containing info of all the actors in the scene
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- Executed in the background and cached
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- Added `world.wait_for_tick()` for blocking the current thread until a "tick" message is received
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- Added `world.on_tick(callback)` for executing a callback asynchronously each time a "tick" message is received
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- These methods return/pass a `carla.Timestamp` object containing, frame count, delta time of last tick, global simulation time, and OS timestamp
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- Methods retrieving actor's info, e.g. `actor.get_transform()`, don't need to connect with the simulator, which makes these calls quite cheap
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- Allow drawing debug shapes from Python: points, lines, arrows, boxes, and strings (`world.debug.draw_*`)
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- Added id (id of current episode) and map name to `carla.World`
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- Exposed traffic lights and signs as actors. Traffic lights have a specialized actor class that has the traffic light state (red, green, yellow) as property
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- Added methods for accessing and modifying individual items in `carla.Image` (pixels) and `carla.LidarMeasurement` (locations)
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- Added `carla.Vector3D` for (x, y, z) objects that are not a `carla.Location`
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- Removed `client.ping()`, `client.get_server_version()` accomplishes the same
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- Renamed `contains_X()` methods to `has_X()`
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- Changed `client.set_timeout(seconds)` to use seconds (float) instead of milliseconds
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- Allow iterating attributes of an Actor's Blueprint
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- Fixed wildcard filtering issues, now "vehicle.*" or "*bmw*" patterns work too
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- Fixed `actor.set_transform()` broken for attached actors
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* More Python example scripts and improved the present ones
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- Now all the scripts use the list of recommended spawn points for each map
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- Renamed "example.py" to "tutorial.py", and updated it with latest changes in API
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- Added timeout to the examples
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- "manual_control.py" performance has been improved while having more measurements
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- "manual_control.py" now has options to change camera type and position
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- "manual_control.py" now has options to iterate weather presets
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- "manual_control.py" now has a fancier HUD with lots of info, and F1 key binding to remove it
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- Added "dynamic_weather.py" to change the weather in real-time (the one used in the video)
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- Added "spawn_npc.py" to quickly add a lot of NPC vehicles to the simulator
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- Added "spawn_npc.py --safe" to only add non-problematic vehicles
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- "vehicle_gallery.py" also got some small fixes
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* Asset and content improvements
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- New vehicle: Lincoln MKZ 2017
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- Refactored weather system, parametrized to make it easier to use
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- Improved control of bikes and motorbikes, still not perfect but causes less accidents
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- Added building block generator system
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- Misc city assets: New building, tunnel columns, rail-road bridges, new textures, new urban props
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- Adjusted vehicle physics and center of mass
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- Adjusted the maximum distance culling for foliage
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- Adjusted pedestrian animations and scale issues (not yet available with new API though)
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- Improved map building blueprints, spline based asset repeaters, and wall building tools
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- Replaced uses of Unreal's Foliage system with standard static meshes to work around a visual bug in Linux systems
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- Fixed filenames too long when packing the project on Windows
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- Fixed "SplineMeshRepeater" loses its collider mesh from time to time
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- Standardized asset nomenclature
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* New system for road information based on OpenDrive format
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- Added new map classes for querying info about the road layout and topology
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- Added methods for finding closest point on the road
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- Added methods for generating and iterating waypoints based on the road layout
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- Added OpenDrive parser to convert OpenDrive files to our map data structures
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* Other miscellaneous improvements and fixes
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- Fixed single channel Lidar crash (by @cwecht)
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- Fixed command-line argument `-carla-settings` fails to load absolute paths (by @harlowja)
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- Added an option to command-line to change quality level when launching the simulator, `-quality-level=Low`
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- Added ROS bridge odometry message (by @ShepelIlya)
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- New lens distortion shader, sadly not yet integrated with our cameras :(
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- New Docker tutorial
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- Disabled texture streaming to avoid issue of textures not loading in scene captures
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- Adjusted scene capture camera gamma to 2.4
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- Fixed leaking objects in simulation when despawning a vehicle. Now Pawn's controller is destroyed too if necessary when destroying an Actor
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- Fixed overflow on platform time-stamp, now it uses `double`
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- Upgraded @rpclib to fix crash when client exits too fast (rpclib/PR#167)
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- Moved "PythonClient" inside deprecated folder to avoid confusion
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- Refactored sensor related code
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- New plugin system for sensors that simplifies adding sensors, mini-tutorial at #830
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- Compile-time dispatcher for sensors and serializers
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* Improvements to the streaming library
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- Added multi-streams for streaming simultaneously to multiple clients (used by the "tick" message)
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- Messages re-use allocated memory when possible
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- Allows unsubscribing from a stream
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- Fixed client receives interleaved sensor messages, some messages can be discarded if connection is too slow though
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- Fixed streaming client fails to connect in Windows
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- Fixed streaming client keeps trying to reconnect after destroying a sensor
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* Refactored client C++ API
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- Python GIL is released whenever possible to avoid blocking
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- Fixed deadlock when closing the simulator while a client is connected
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- Fixed crash on simulator shutdown if a client has connected at some point
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- Set methods are now sent async which greatly improves performance in the client-side
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- Vehicle control is cached and not sent if haven't changed
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- Suppressed exceptions in destructors
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* Other development improvements
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- Improved Linux Makefile, fine-grained targets to reduce compilation times in development
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- Workaround for "setup.py" to link against "libcarla_client.a" again (Linux only)
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- Added support for ".gtest" file, each line of this file is passed to GTest executables as arguments when running `make check` targets
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- Python eggs are also archived on Jenkins to easily get them without downloading the full package
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- Added uncrustify config file for formatting UE4 C++ code
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## CARLA 0.9.0
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* Upgraded to Unreal Engine 4.19
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nsubiron