Merge branch 'master' into manishthani/expose_physx_fixes

2019-03-14 13:56:21 +01:00 · 2019-03-14 13:56:21 +01:00 · e3f61e285a
parent 0e1cbb9e62 0d5a6f335c
commit e3f61e285a
62 changed files with 880 additions and 398 deletions
--- a/.gitignore
+++ b/.gitignore
@ -31,6 +31,7 @@ Install
 .codelite
 .gdb_history
 .gtest
+.idea
 .tags*
 .vs
 .vscode
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@ -1,5 +1,10 @@
 ## Latest Changes
+  * Allow user to disable rendering and set the server timeout from the command line
+  * Add timestamp to SensorData
  * Allow usage of hostname for carla::Client and resolve them to IP address
+  * Added `map.transform_to_geolocation` to transform Location to GNSS GeoLocation
+  * Added `id` property to waypoints, uniquely identifying waypoints up to half centimetre precision
+  * Added OpenDrive's road offset `s` as property to waypoints
  * Fixed python client DLL error on Windows

 ## CARLA 0.9.4
--- a/Docs/cameras_and_sensors.md
+++ b/Docs/cameras_and_sensors.md
@ -30,10 +30,13 @@ sensor.listen(lambda data: do_something(data))
 ```

 Note that each sensor has a different set of attributes and produces different
-type of data. However, the data produced by a sensor comes always tagged with a
-**frame number** and a **transform**. The frame number is used to identify the
-frame at which the measurement took place, the transform gives you the
-transformation in world coordinates of the sensor at that same frame.
+type of data. However, the data produced by a sensor comes always tagged with:
+
+| Sensor data attribute | Type   | Description |
+| --------------------- | ------ | ----------- |
+| `frame_number`        | int    | Frame number when the measurement took place |
+| `timestamp`           | double | Timestamp of the measurement in simulation seconds since the beginning of the epispode |
+| `transform`           | carla.Transform | Transform in world coordinates of the sensor at the time of the measurement |

 Most sensor data objects, like images and lidar measurements, have a function
 for saving the measurements to disk.
@ -59,7 +62,7 @@ The "RGB" camera acts as a regular camera capturing images from the scene.
 | ------------------- | ----  | ------- | ----------- |
 | `image_size_x`      | int   | 800     | Image width in pixels |
 | `image_size_y`      | int   | 600     | Image height in pixels  |
-| `fov`               | float | 90.0    | Field of view in degrees |
+| `fov`               | float | 90.0    | Horizontal field of view in degrees |
 | `enable_postprocess_effects` | bool | True | Whether the post-process effect in the scene affect the image |
 | `sensor_tick`       | float | 0.0     | Seconds between sensor captures (ticks) |

@ -81,11 +84,12 @@ objects.

 | Sensor data attribute | Type | Description |
 | --------------------- | ---- | ----------- |
-| `frame_number`        | int  | Frame count when the measurement took place |
+| `frame_number`        | int    | Frame number when the measurement took place |
+| `timestamp`           | double | Timestamp of the measurement in simulation seconds since the beginning of the epispode |
 | `transform`           | carla.Transform | Transform in world coordinates of the sensor at the time of the measurement |
 | `width`               | int  | Image width in pixels |
 | `height`              | int  | Image height in pixels |
-| `fov`                 | float | Field of view in degrees |
+| `fov`                 | float | Horizontal field of view in degrees |
 | `raw_data`            | bytes | Array of BGRA 32-bit pixels |

 sensor.camera.depth
@ -100,7 +104,7 @@ pixel to the camera (also known as **depth buffer** or **z-buffer**).
 | ------------------- | ----  | ------- | ----------- |
 | `image_size_x`      | int   | 800     | Image width in pixels |
 | `image_size_y`      | int   | 600     | Image height in pixels  |
-| `fov`               | float | 90.0    | Field of view in degrees |
+| `fov`               | float | 90.0    | Horizontal field of view in degrees |
 | `sensor_tick`       | float | 0.0     | Seconds between sensor captures (ticks) |

 This sensor produces [`carla.Image`](python_api.md#carlaimagecarlasensordata)
@ -108,11 +112,12 @@ objects.

 | Sensor data attribute | Type | Description |
 | --------------------- | ---- | ----------- |
-| `frame_number`        | int  | Frame count when the measurement took place |
+| `frame_number`        | int    | Frame number when the measurement took place |
+| `timestamp`           | double | Timestamp of the measurement in simulation seconds since the beginning of the epispode |
 | `transform`           | carla.Transform | Transform in world coordinates of the sensor at the time of the measurement |
 | `width`               | int  | Image width in pixels |
 | `height`              | int  | Image height in pixels |
-| `fov`                 | float | Field of view in degrees |
+| `fov`                 | float | Horizontal field of view in degrees |
 | `raw_data`            | bytes | Array of BGRA 32-bit pixels |


@ -138,7 +143,7 @@ pedestrians appear in a different color than vehicles.
 | ------------------- | ----  | ------- | ----------- |
 | `image_size_x`      | int   | 800     | Image width in pixels |
 | `image_size_y`      | int   | 600     | Image height in pixels  |
-| `fov`               | float | 90.0    | Field of view in degrees |
+| `fov`               | float | 90.0    | Horizontal field of view in degrees |
 | `sensor_tick`       | float | 0.0     | Seconds between sensor captures (ticks) |

 This sensor produces [`carla.Image`](python_api.md#carlaimagecarlasensordata)
@ -146,11 +151,12 @@ objects.

 | Sensor data attribute | Type | Description |
 | --------------------- | ---- | ----------- |
-| `frame_number`        | int  | Frame count when the measurement took place |
+| `frame_number`        | int    | Frame number when the measurement took place |
+| `timestamp`           | double | Timestamp of the measurement in simulation seconds since the beginning of the epispode |
 | `transform`           | carla.Transform | Transform in world coordinates of the sensor at the time of the measurement |
 | `width`               | int  | Image width in pixels |
 | `height`              | int  | Image height in pixels |
-| `fov`                 | float | Field of view in degrees |
+| `fov`                 | float | Horizontal field of view in degrees |
 | `raw_data`            | bytes | Array of BGRA 32-bit pixels |

 The server provides an image with the tag information **encoded in the red
@ -213,7 +219,8 @@ objects.

 | Sensor data attribute      | Type       | Description |
 | -------------------------- | ---------- | ----------- |
-| `frame_number`             | int        | Frame count when the measurement took place |
+| `frame_number`             | int        | Frame number when the measurement took place |
+| `timestamp`                | double     | Timestamp of the measurement in simulation seconds since the beginning of the epispode |
 | `transform`                | carla.Transform | Transform in world coordinates of the sensor at the time of the measurement |
 | `horizontal_angle`         | float      | Angle in XY plane of the lidar this frame (in degrees) |
 | `channels`                 | int        | Number of channels (lasers) of the lidar |
@ -251,7 +258,8 @@ object for each collision registered

 | Sensor data attribute  | Type        | Description |
 | ---------------------- | ----------- | ----------- |
-| `frame_number`         | int         | Frame count when the measurement took place |
+| `frame_number`         | int         | Frame number when the measurement took place |
+| `timestamp`            | double      | Timestamp of the measurement in simulation seconds since the beginning of the epispode |
 | `transform`            | carla.Transform | Transform in world coordinates of the sensor at the time of the measurement |
 | `actor`                | carla.Actor | Actor that measured the collision ("self" actor) |
 | `other_actor`          | carla.Actor | Actor against whom we collide |
@ -282,7 +290,8 @@ object for each lane marking crossed by the actor

 | Sensor data attribute   | Type        | Description |
 | ----------------------- | ----------- | ----------- |
-| `frame_number`          | int         | Frame count when the measurement took place |
+| `frame_number`          | int         | Frame number when the measurement took place |
+| `timestamp`             | double      | Timestamp of the measurement in simulation seconds since the beginning of the epispode |
 | `transform`             | carla.Transform | Transform in world coordinates of the sensor at the time of the measurement |
 | `actor`                 | carla.Actor | Actor that invaded another lane ("self" actor) |
 | `crossed_lane_markings` | carla.LaneMarking list | List of lane markings that have been crossed |
@ -300,7 +309,8 @@ objects.

 | Sensor data attribute  | Type        | Description |
 | ---------------------- | ----------- | ----------- |
-| `frame_number`         | int         | Frame count when the measurement took place |
+| `frame_number`         | int         | Frame number when the measurement took place |
+| `timestamp`            | double      | Timestamp of the measurement in simulation seconds since the beginning of the epispode |
 | `transform`            | carla.Transform | Transform in world coordinates of the sensor at the time of the measurement |
 | `latitude`             | double | Latitude position of the actor |
 | `longitude`            | double | Longitude position of the actor |
--- a/Docs/configuring_the_simulation.md
+++ b/Docs/configuring_the_simulation.md
@ -88,6 +88,8 @@ Other command-line options

  * `-carla-port=N` Listen for client connections at port N, streaming port is set to N+1.
  * `-quality-level={Low,Epic}` Change graphics quality level, "Low" mode runs significantly faster.
+  * `-carla-server-timeout=10000ms` Set server timeout.
+  * `-no-rendering` Disable rendering.
  * [Full list of UE4 command-line arguments][ue4clilink].

 [ue4clilink]: https://docs.unrealengine.com/en-US/Programming/Basics/CommandLineArguments
--- a/Docs/python_api.md
+++ b/Docs/python_api.md
@ -159,6 +159,7 @@
 ## `carla.SensorData`

 - `frame_number`
+- `timestamp`
 - `transform`

 ## `carla.Image(carla.SensorData)`
@ -254,6 +255,7 @@
 - `get_waypoint(location, project_to_road=True)`
 - `get_topology()`
 - `generate_waypoints(distance)`
+- `transform_to_geolocation(location)`
 - `to_opendrive()`
 - `save_to_disk(path=self.name)`

--- a/LibCarla/cmake/CMakeLists.txt
+++ b/LibCarla/cmake/CMakeLists.txt
@ -1,13 +1,21 @@
 cmake_minimum_required(VERSION 3.5.1)
 project(libcarla)

-message(STATUS "Building ${PROJECT_NAME} version ${CARLA_VERSION}")
+option(LIBCARLA_BUILD_DEBUG "Build debug configuration" ON)
+option(LIBCARLA_BUILD_RELEASE "Build release configuration" ON)
+option(LIBCARLA_BUILD_TEST "Build unit tests" ON)
+
+message(STATUS "Build debug:   ${LIBCARLA_BUILD_DEBUG}")
+message(STATUS "Build release: ${LIBCARLA_BUILD_RELEASE}")
+message(STATUS "Build test:    ${LIBCARLA_BUILD_TEST}")

 set(libcarla_source_path "${PROJECT_SOURCE_DIR}/../source")

 include_directories(${libcarla_source_path})

-configure_file(${libcarla_source_path}/carla/Version.h.in ${libcarla_source_path}/carla/Version.h)
+if (CARLA_VERSION)
+  configure_file(${libcarla_source_path}/carla/Version.h.in ${libcarla_source_path}/carla/Version.h)
+endif()

 if (CMAKE_BUILD_TYPE STREQUAL "Client")
  add_subdirectory("client")
@ -18,6 +26,10 @@ else ()
 endif ()

 # GTest is not compiled on Windows.
-if (NOT WIN32)
+if ((LIBCARLA_BUILD_TEST) AND (NOT WIN32))
  add_subdirectory("test")
 endif()
+
+unset(LIBCARLA_BUILD_TEST CACHE)
+unset(LIBCARLA_BUILD_RELEASE CACHE)
+unset(LIBCARLA_BUILD_DEBUG CACHE)
--- a/LibCarla/cmake/client/CMakeLists.txt
+++ b/LibCarla/cmake/client/CMakeLists.txt
@ -84,11 +84,9 @@ file(GLOB libcarla_carla_pointcloud_sources
 set(libcarla_sources "${libcarla_sources};${libcarla_carla_pointcloud_sources}")
 install(FILES ${libcarla_carla_pointcloud_sources} DESTINATION include/carla/pointcloud)

-file(GLOB libcarla_carla_profiler_sources
-    "${libcarla_source_path}/carla/profiler/*.cpp"
+file(GLOB libcarla_carla_profiler_headers
    "${libcarla_source_path}/carla/profiler/*.h")
-set(libcarla_sources "${libcarla_sources};${libcarla_carla_profiler_sources}")
-install(FILES ${libcarla_carla_profiler_sources} DESTINATION include/carla/profiler)
+install(FILES ${libcarla_carla_profiler_headers} DESTINATION include/carla/profiler)

 file(GLOB libcarla_carla_road_sources
    "${libcarla_source_path}/carla/road/*.cpp"
@ -165,23 +163,35 @@ install(FILES ${libcarla_moodycamel_sources} DESTINATION include/moodycamel)
 # Create targets for debug and release in the same build type.
 # ==============================================================================

-foreach(target carla_client_debug carla_client)
-  add_library(${target} STATIC ${libcarla_sources})
+if (LIBCARLA_BUILD_RELEASE)

-  target_include_directories(${target} PRIVATE
+  add_library(carla_client STATIC ${libcarla_sources})
+
+  target_include_directories(carla_client PRIVATE
      "${BOOST_INCLUDE_PATH}"
      "${RPCLIB_INCLUDE_PATH}")

-  install(TARGETS ${target} DESTINATION lib)
-endforeach(target)
+  install(TARGETS carla_client DESTINATION lib)

-# Specific options for debug.
-set_target_properties(carla_client_debug PROPERTIES COMPILE_FLAGS ${CMAKE_CXX_FLAGS_DEBUG})
-target_compile_definitions(carla_client_debug PUBLIC -DBOOST_ASIO_ENABLE_BUFFER_DEBUGGING)
-
-# Specific options for release.
-if (WIN32) # @todo Fix PythonAPI build on Windows.
+  if (WIN32) # @todo Fix PythonAPI build on Windows.
    set_target_properties(carla_client PROPERTIES COMPILE_FLAGS ${CMAKE_CXX_FLAGS_RELEASE})
-else ()
+  else ()
    set_target_properties(carla_client PROPERTIES COMPILE_FLAGS ${CMAKE_CXX_FLAGS_RELEASE_CLIENT})
-endif (WIN32)
+  endif (WIN32)
+
+endif()
+
+if (LIBCARLA_BUILD_DEBUG)
+
+  add_library(carla_client_debug STATIC ${libcarla_sources})
+
+  target_include_directories(carla_client_debug PRIVATE
+      "${BOOST_INCLUDE_PATH}"
+      "${RPCLIB_INCLUDE_PATH}")
+
+  install(TARGETS carla_client_debug DESTINATION lib)
+
+  set_target_properties(carla_client_debug PROPERTIES COMPILE_FLAGS ${CMAKE_CXX_FLAGS_DEBUG})
+  target_compile_definitions(carla_client_debug PUBLIC -DBOOST_ASIO_ENABLE_BUFFER_DEBUGGING)
+
+endif()
--- a/LibCarla/cmake/server/CMakeLists.txt
+++ b/LibCarla/cmake/server/CMakeLists.txt
@ -107,20 +107,35 @@ file(GLOB libcarla_server_sources
    "${libcarla_source_path}/carla/streaming/detail/tcp/*.h"
    "${libcarla_source_path}/carla/streaming/low_level/*.h")

+# ==============================================================================
 # Create targets for debug and release in the same build type.
-foreach(target carla_server_debug carla_server)
-  add_library(${target} STATIC ${libcarla_server_sources})
+# ==============================================================================

-  target_include_directories(${target} PRIVATE
+if (LIBCARLA_BUILD_RELEASE)
+
+  add_library(carla_server STATIC ${libcarla_server_sources})
+
+  target_include_directories(carla_server PRIVATE
      "${BOOST_INCLUDE_PATH}"
      "${RPCLIB_INCLUDE_PATH}")

-  install(TARGETS ${target} DESTINATION lib)
-endforeach(target)
+  install(TARGETS carla_server DESTINATION lib OPTIONAL)

-# Specific options for debug.
-set_target_properties(carla_server_debug PROPERTIES COMPILE_FLAGS ${CMAKE_CXX_FLAGS_DEBUG})
-target_compile_definitions(carla_server_debug PUBLIC -DBOOST_ASIO_ENABLE_BUFFER_DEBUGGING)
+  set_target_properties(carla_server PROPERTIES COMPILE_FLAGS ${CMAKE_CXX_FLAGS_RELEASE})

-# Specific options for release.
-set_target_properties(carla_server PROPERTIES COMPILE_FLAGS ${CMAKE_CXX_FLAGS_RELEASE})
+endif()
+
+if (LIBCARLA_BUILD_DEBUG)
+
+  add_library(carla_server_debug STATIC ${libcarla_server_sources})
+
+  target_include_directories(carla_server_debug PRIVATE
+      "${BOOST_INCLUDE_PATH}"
+      "${RPCLIB_INCLUDE_PATH}")
+
+  install(TARGETS carla_server_debug DESTINATION lib OPTIONAL)
+
+  set_target_properties(carla_server_debug PROPERTIES COMPILE_FLAGS ${CMAKE_CXX_FLAGS_DEBUG})
+  target_compile_definitions(carla_server_debug PUBLIC -DBOOST_ASIO_ENABLE_BUFFER_DEBUGGING)
+
+endif()
--- a/LibCarla/cmake/test/CMakeLists.txt
+++ b/LibCarla/cmake/test/CMakeLists.txt
@ -23,8 +23,17 @@ file(GLOB libcarla_test_sources

 file(GLOB libcarla_test_client_sources "")

+if (LIBCARLA_BUILD_DEBUG)
+  list(APPEND build_targets libcarla_test_${carla_config}_debug)
+endif()
+
+if (LIBCARLA_BUILD_RELEASE)
+  list(APPEND build_targets libcarla_test_${carla_config}_release)
+endif()
+
 # Create targets for debug and release in the same build type.
-foreach(target libcarla_test_${carla_config}_debug libcarla_test_${carla_config}_release)
+foreach(target ${build_targets})
+
  add_executable(${target} ${libcarla_test_sources})

  target_compile_definitions(${target} PUBLIC
@ -47,14 +56,18 @@ foreach(target libcarla_test_${carla_config}_debug libcarla_test_${carla_config}
      target_link_libraries(${target} "-lgtest")
  endif()

-    install(TARGETS ${target} DESTINATION test)
+  install(TARGETS ${target} DESTINATION test OPTIONAL)
 endforeach(target)

-# Specific options for debug.
-set_target_properties(libcarla_test_${carla_config}_debug PROPERTIES COMPILE_FLAGS ${CMAKE_CXX_FLAGS_DEBUG})
-target_link_libraries(libcarla_test_${carla_config}_debug "carla_${carla_config}_debug")
-target_compile_definitions(libcarla_test_${carla_config}_debug PUBLIC -DBOOST_ASIO_ENABLE_BUFFER_DEBUGGING)
+if (LIBCARLA_BUILD_DEBUG)
+  # Specific options for debug.
+  set_target_properties(libcarla_test_${carla_config}_debug PROPERTIES COMPILE_FLAGS ${CMAKE_CXX_FLAGS_DEBUG})
+  target_link_libraries(libcarla_test_${carla_config}_debug "carla_${carla_config}_debug")
+  target_compile_definitions(libcarla_test_${carla_config}_debug PUBLIC -DBOOST_ASIO_ENABLE_BUFFER_DEBUGGING)
+endif()

-# Specific options for release.
-set_target_properties(libcarla_test_${carla_config}_release PROPERTIES COMPILE_FLAGS ${CMAKE_CXX_FLAGS_RELEASE})
-target_link_libraries(libcarla_test_${carla_config}_release "carla_${carla_config}")
+if (LIBCARLA_BUILD_RELEASE)
+  # Specific options for release.
+  set_target_properties(libcarla_test_${carla_config}_release PROPERTIES COMPILE_FLAGS ${CMAKE_CXX_FLAGS_RELEASE})
+  target_link_libraries(libcarla_test_${carla_config}_release "carla_${carla_config}")
+endif()
--- a/LibCarla/source/carla/Buffer.h
+++ b/LibCarla/source/carla/Buffer.h
@ -85,10 +85,19 @@ namespace carla {
      copy_from(source);
    }

-    Buffer(const value_type *data, size_type size) {
+    explicit Buffer(const value_type *data, size_type size) {
      copy_from(data, size);
    }

+    /// @copydoc Buffer(size_type)
+    explicit Buffer(const value_type *data, uint64_t size)
+      : Buffer(data, [size]() {
+          if (size > max_size()) {
+            throw_exception(std::invalid_argument("message size too big"));
+          }
+          return static_cast<size_type>(size);
+        } ()) {}
+
    Buffer(const Buffer &) = delete;

    Buffer(Buffer &&rhs) noexcept
@ -326,7 +335,7 @@ namespace carla {
    /// Copy @a size bytes of the memory pointed by @a data into this buffer,
    /// leaving at the front an offset of @a offset bytes uninitialized.
    /// Allocates memory if necessary.
-    void copy_from(size_t offset, const value_type *data, size_type size) {
+    void copy_from(size_type offset, const value_type *data, size_type size) {
      copy_from(offset, boost::asio::buffer(data, size));
    }

--- a/LibCarla/source/carla/ThreadGroup.h
+++ b/LibCarla/source/carla/ThreadGroup.h
@ -6,6 +6,7 @@

 #pragma once

+#include "carla/Debug.h"
 #include "carla/NonCopyable.h"

 #include <thread>
--- a/LibCarla/source/carla/client/GnssSensor.cpp
+++ b/LibCarla/source/carla/client/GnssSensor.cpp
@ -8,60 +8,13 @@
 #include "carla/Logging.h"
 #include "carla/client/Map.h"
 #include "carla/client/detail/Simulator.h"
-#include "carla/geom/Math.h"
 #include "carla/sensor/data/GnssEvent.h"
-#include "carla/StringUtil.h"

 #include <exception>
-#include <cmath>
-#include <sstream>
-#include <limits>
-
-#if defined(_WIN32) && !defined(_USE_MATH_DEFINES)
-#define _USE_MATH_DEFINES
-#include <math.h> // cmath is not enough for MSVC
-#endif

 namespace carla {
 namespace client {

-  const double EARTH_RADIUS_EQUA = 6378137.0;// earth radius at equator [m]
-
-  // inlined functions to avoid multiple definitions
-
-  /// @brief convert latitude to scale, which is needed by mercator transformations
-  /// @param lat latitude in degrees (DEG)
-  /// @return scale factor
-  /// @note when converting from lat/lon -> mercator and back again,
-  ///        or vice versa, use the same scale in both transformations!
-  inline double LatToScale (double lat) {
-    return cos(lat * geom::Math::pi() / 180.0);
-  }
-
-  /// @brief converts lat/lon/scale to mx/my (mx/my in meters if correct scale is given)
-  ///
-  template<class float_type>
-  inline void LatLonToMercator (double lat, double lon, double scale, float_type &mx, float_type &my) {
-    mx = scale * lon * geom::Math::pi() * EARTH_RADIUS_EQUA / 180.0;
-    my = scale * EARTH_RADIUS_EQUA * log( tan((90.0+lat) * geom::Math::pi() / 360.0) );
-  }
-
-  /// @brief converts mx/my/scale to lat/lon (mx/my in meters if correct scale is given)
-  inline void MercatorToLatLon (double mx, double my, double scale, double &lat, double &lon) {
-    lon = mx * 180.0 / (geom::Math::pi() * EARTH_RADIUS_EQUA * scale);
-    lat = 360.0 * atan( exp(my/(EARTH_RADIUS_EQUA * scale)) ) / geom::Math::pi() - 90.0;
-  }
-
-  /// @brief adds meters dx/dy to given lat/lon and returns new lat/lon
-  inline void LatLonAddMeters (double lat_start, double lon_start, double dx, double dy, double &lat_end, double &lon_end) {
-    double scale = LatToScale (lat_start);
-    double mx,my;
-    LatLonToMercator (lat_start, lon_start, scale, mx, my);
-    mx += dx;
-    my += dy;
-    MercatorToLatLon (mx, my, scale, lat_end, lon_end);
-  }
-
  GnssSensor::~GnssSensor() = default;

  void GnssSensor::Listen(CallbackFunctionType callback) {
@ -76,40 +29,11 @@ namespace client {
    }

    SharedPtr<Map> map = GetWorld().GetMap();
-
    DEBUG_ASSERT(map != nullptr);
+    _geo_reference = map->GetGeoReference();

    auto self = boost::static_pointer_cast<GnssSensor>(shared_from_this());

-    //parse geo reference string
-    _map_latitude = std::numeric_limits<double>::quiet_NaN();
-    _map_longitude = std::numeric_limits<double>::quiet_NaN();
-    std::vector<std::string> geo_ref_splitted;
-    StringUtil::Split(geo_ref_splitted, map->GetGeoReference(), " ");
-
-    for (auto element: geo_ref_splitted) {
-      std::vector<std::string> geo_ref_key_value;
-      StringUtil::Split(geo_ref_key_value, element, "=");
-      if (geo_ref_key_value.size() != 2u) {
-        continue;
-      }
-
-      if (geo_ref_key_value[0] == "+lat_0") {
-        _map_latitude = ParseDouble(geo_ref_key_value[1]);
-      } else if (geo_ref_key_value[0] == "+lon_0") {
-        _map_longitude = ParseDouble(geo_ref_key_value[1]);
-      }
-    }
-
-
-    if (std::isnan(_map_latitude) || std::isnan(_map_longitude)) {
-      log_warning(GetDisplayId(), ": cannot parse georeference: '" + map->GetGeoReference() + "'. Using default values.");
-      _map_latitude = 42.0;
-      _map_longitude = 2.0;
-    }
-
-    log_debug(GetDisplayId(), ": map geo reference: latitude ", _map_latitude, ", longitude ", _map_longitude);
-
    log_debug(GetDisplayId(), ": subscribing to tick event");
    GetEpisode().Lock()->RegisterOnTickEvent([
        cb=std::move(callback),
@ -122,43 +46,27 @@ namespace client {
        }
      }
    });
-    _is_listening = true;
-  }

-  double GnssSensor::ParseDouble(std::string const &stringValue) const {
-    double value;
-    std::istringstream istr(stringValue);
-    istr.imbue(std::locale("C"));
-    istr >> value;
-    if (istr.fail() || !istr.eof()) {
-      value = std::numeric_limits<double>::quiet_NaN();
-    }
-    return value;
+    _is_listening = true;
  }

  SharedPtr<sensor::SensorData> GnssSensor::TickGnssSensor(
      const Timestamp &timestamp) {
    try {
-      const auto location = GetLocation();
-      double current_lat, current_lon;
-
-      LatLonAddMeters(_map_latitude, _map_longitude, location.x, location.y, current_lat, current_lon);
-
      return MakeShared<sensor::data::GnssEvent>(
               timestamp.frame_count,
+               timestamp.elapsed_seconds,
               GetTransform(),
-               current_lat,
-               current_lon,
-               location.z);
+               _geo_reference.Transform(GetLocation()));
    } catch (const std::exception &e) {
      /// @todo We need to unsubscribe the sensor.
      // log_error("LaneDetector:", e.what());
      return nullptr;
    }
-
  }

  void GnssSensor::Stop() {
+    /// @todo We need unsubscribe from the world on tick.
    _is_listening = false;
  }

--- a/LibCarla/source/carla/client/GnssSensor.h
+++ b/LibCarla/source/carla/client/GnssSensor.h
@ -6,14 +6,11 @@
 #pragma once

 #include "carla/client/Sensor.h"
-#include <string>
+#include "carla/geom/GeoLocation.h"

 namespace carla {
 namespace client {

-  class Map;
-  class Vehicle;
-
  class GnssSensor final : public Sensor {
  public:

@ -43,14 +40,9 @@ namespace client {

    SharedPtr<sensor::SensorData> TickGnssSensor(const Timestamp &timestamp);

-    double ParseDouble(std::string const &stringValue) const;
-
-    double _map_latitude;
-
-    double _map_longitude;
+    geom::GeoLocation _geo_reference;

    bool _is_listening = false;
-
  };

 } // namespace client
--- a/LibCarla/source/carla/client/LaneDetector.cpp
+++ b/LibCarla/source/carla/client/LaneDetector.cpp
@ -92,6 +92,7 @@ namespace client {
          nullptr :
          MakeShared<sensor::data::LaneInvasionEvent>(
              timestamp.frame_count,
+              timestamp.elapsed_seconds,
              _vehicle->GetTransform(),
              _vehicle,
              crossed_lanes);
--- a/LibCarla/source/carla/client/Map.cpp
+++ b/LibCarla/source/carla/client/Map.cpp
@ -23,14 +23,17 @@ namespace client {

  Map::Map(rpc::MapInfo description)
    : _description(std::move(description)),
-      _map(MakeMap(_description.open_drive_file)) {}
+      _map(MakeMap(_description.open_drive_file)) {
+    if (_map == nullptr) {
+      throw_exception(std::runtime_error("failed to generate map"));
+    }
+  }

  Map::~Map() = default;

  SharedPtr<Waypoint> Map::GetWaypoint(
      const geom::Location &location,
      bool project_to_road) const {
-    DEBUG_ASSERT(_map != nullptr);
    boost::optional<road::element::Waypoint> waypoint;
    if (project_to_road) {
      waypoint = _map->GetClosestWaypointOnRoad(location);
@ -43,7 +46,6 @@ namespace client {
  }

  Map::TopologyList Map::GetTopology() const {
-    DEBUG_ASSERT(_map != nullptr);
    namespace re = carla::road::element;
    std::unordered_map<re::id_type, std::unordered_map<int, SharedPtr<Waypoint>>> waypoints;

@ -82,14 +84,12 @@ namespace client {
  std::vector<road::element::LaneMarking> Map::CalculateCrossedLanes(
      const geom::Location &origin,
      const geom::Location &destination) const {
-    DEBUG_ASSERT(_map != nullptr);
    return _map->CalculateCrossedLanes(origin, destination);
  }

-
-  std::string Map::GetGeoReference() const {
-    DEBUG_ASSERT(_map != nullptr);
+  const geom::GeoLocation &Map::GetGeoReference() const {
    return _map->GetData().GetGeoReference();
  }
+
 } // namespace client
 } // namespace carla
--- a/LibCarla/source/carla/client/Map.h
+++ b/LibCarla/source/carla/client/Map.h
@ -14,6 +14,7 @@
 #include <string>

 namespace carla {
+namespace geom { class GeoLocation; }
 namespace road { class Map; }
 namespace client {

@ -54,13 +55,13 @@ namespace client {
        const geom::Location &origin,
        const geom::Location &destination) const;

-    std::string GetGeoReference() const;
+    const geom::GeoLocation &GetGeoReference() const;

  private:

-    rpc::MapInfo _description;
+    const rpc::MapInfo _description;

-    SharedPtr<road::Map> _map;
+    const SharedPtr<const road::Map> _map;
  };

 } // namespace client
--- a/LibCarla/source/carla/client/Waypoint.h
+++ b/LibCarla/source/carla/client/Waypoint.h
@ -8,8 +8,9 @@

 #include "carla/Memory.h"
 #include "carla/NonCopyable.h"
-#include "carla/road/element/Waypoint.h"
 #include "carla/road/element/RoadInfoMarkRecord.h"
+#include "carla/road/element/Waypoint.h"
+#include "carla/road/element/WaypointHash.h"

 namespace carla {
 namespace client {
@ -31,6 +32,14 @@ namespace client {

    ~Waypoint();

+    /// Returns an unique Id identifying this waypoint.
+    ///
+    /// The Id takes into account OpenDrive's road Id, lane Id, and s distance
+    /// on its road segment up to half-centimetre precision.
+    uint64_t GetId() const {
+      return road::element::WaypointHash()(_waypoint);
+    }
+
    const geom::Transform &GetTransform() const {
      return _transform;
    }
@ -51,6 +60,10 @@ namespace client {
      return _waypoint.GetLaneId();
    }

+    double GetDistance() const {
+      return _waypoint.GetDistance();
+    }
+
    std::string GetType() const {
      return _waypoint.GetType();
    }
--- a/LibCarla/source/carla/client/detail/Simulator.h
+++ b/LibCarla/source/carla/client/detail/Simulator.h
@ -9,7 +9,6 @@
 #include "carla/Debug.h"
 #include "carla/Memory.h"
 #include "carla/NonCopyable.h"
-#include "carla/Version.h"
 #include "carla/client/Actor.h"
 #include "carla/client/GarbageCollectionPolicy.h"
 #include "carla/client/TrafficLight.h"
--- a/LibCarla/source/carla/geom/GeoLocation.cpp
+++ b/LibCarla/source/carla/geom/GeoLocation.cpp
@ -0,0 +1,76 @@
+// 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>.
+
+#include "carla/geom/GeoLocation.h"
+
+#include "carla/geom/Location.h"
+#include "carla/geom/Math.h"
+
+#include <cmath>
+
+#if defined(_WIN32) && !defined(_USE_MATH_DEFINES)
+#  define _USE_MATH_DEFINES
+#  include <math.h> // cmath is not enough for MSVC
+#endif
+
+namespace carla {
+namespace geom {
+
+  /// Earth radius at equator [m].
+  static constexpr double EARTH_RADIUS_EQUA = 6378137.0;
+
+  /// Convert latitude to scale, which is needed by mercator
+  /// transformations
+  /// @param lat latitude in degrees (DEG)
+  /// @return scale factor
+  /// @note when converting from lat/lon -> mercator and back again,
+  ///        or vice versa, use the same scale in both transformations!
+  static double LatToScale(double lat) {
+    return std::cos(Math::to_radians(lat));
+  }
+
+  /// Converts lat/lon/scale to mx/my (mx/my in meters if correct scale
+  /// is given).
+  template <class float_type>
+  static void LatLonToMercator(double lat, double lon, double scale, float_type &mx, float_type &my) {
+    mx = scale * Math::to_radians(lon) * EARTH_RADIUS_EQUA;
+    my = scale * EARTH_RADIUS_EQUA * std::log(std::tan((90.0 + lat) * Math::pi() / 360.0));
+  }
+
+  /// Converts mx/my/scale to lat/lon (mx/my in meters if correct scale
+  /// is given).
+  static void MercatorToLatLon(double mx, double my, double scale, double &lat, double &lon) {
+    lon = mx * 180.0 / (Math::pi() * EARTH_RADIUS_EQUA * scale);
+    lat = 360.0 * std::atan(std::exp(my / (EARTH_RADIUS_EQUA * scale))) / Math::pi() - 90.0;
+  }
+
+  /// Adds meters dx/dy to given lat/lon and returns new lat/lon.
+  static void LatLonAddMeters(
+      double lat_start,
+      double lon_start,
+      double dx,
+      double dy,
+      double &lat_end,
+      double &lon_end) {
+    double scale = LatToScale(lat_start);
+    double mx, my;
+    LatLonToMercator(lat_start, lon_start, scale, mx, my);
+    mx += dx;
+    my += dy;
+    MercatorToLatLon(mx, my, scale, lat_end, lon_end);
+  }
+
+  GeoLocation GeoLocation::Transform(const Location &location) const {
+    GeoLocation result{0.0, 0.0, altitude + location.z};
+    LatLonAddMeters(
+        latitude, longitude,
+        location.x, location.y,
+        result.latitude, result.longitude);
+    return result;
+  }
+
+} // namespace geom
+} // namespace carla
--- a/LibCarla/source/carla/geom/GeoLocation.h
+++ b/LibCarla/source/carla/geom/GeoLocation.h
@ -0,0 +1,62 @@
+// 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>.
+
+#pragma once
+
+namespace carla {
+namespace geom {
+
+  class Location;
+
+  class GeoLocation {
+  public:
+
+    // =========================================================================
+    // -- Public data members --------------------------------------------------
+    // =========================================================================
+
+    double latitude = 0.0;
+
+    double longitude = 0.0;
+
+    double altitude = 0.0;
+
+    // =========================================================================
+    // -- Constructors ---------------------------------------------------------
+    // =========================================================================
+
+    GeoLocation() = default;
+
+    GeoLocation(const GeoLocation &) = default;
+
+    GeoLocation(double latitude, double longitude, double altitude)
+      : latitude(latitude),
+        longitude(longitude),
+        altitude(altitude) {}
+
+    // =========================================================================
+    // -- Transform locations --------------------------------------------------
+    // =========================================================================
+
+    /// Transform the given @a location to a GeoLocation using this as
+    /// geo-reference.
+    GeoLocation Transform(const Location &location) const;
+
+    // =========================================================================
+    // -- Comparison operators -------------------------------------------------
+    // =========================================================================
+
+    bool operator==(const GeoLocation &rhs) const {
+      return (latitude == rhs.latitude) && (longitude == rhs.longitude) && (altitude == rhs.altitude);
+    }
+
+    bool operator!=(const GeoLocation &rhs) const {
+      return !(*this == rhs);
+    }
+  };
+
+} // namespace geom
+} // namespace carla
--- a/LibCarla/source/carla/opendrive/parser/GeoReferenceParser.cpp
+++ b/LibCarla/source/carla/opendrive/parser/GeoReferenceParser.cpp
@ -0,0 +1,67 @@
+// 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>.
+
+#include "carla/opendrive/parser/GeoReferenceParser.h"
+
+#include "carla/Logging.h"
+#include "carla/StringUtil.h"
+
+#include <limits>
+#include <sstream>
+#include <vector>
+
+namespace carla {
+namespace opendrive {
+namespace parser {
+
+  static double ParseDouble(const std::string &string_value) {
+    double value;
+    std::istringstream istr(string_value);
+    istr.imbue(std::locale("C"));
+    istr >> value;
+    if (istr.fail() || !istr.eof()) {
+      value = std::numeric_limits<double>::quiet_NaN();
+    }
+    return value;
+  }
+
+  geom::GeoLocation GeoReferenceParser::Parse(const std::string &geo_reference_string) {
+    geom::GeoLocation result{
+        std::numeric_limits<double>::quiet_NaN(),
+        std::numeric_limits<double>::quiet_NaN(),
+        0.0};
+
+    std::vector<std::string> geo_ref_splitted;
+    StringUtil::Split(geo_ref_splitted, geo_reference_string, " ");
+
+    for (auto element: geo_ref_splitted) {
+      std::vector<std::string> geo_ref_key_value;
+      StringUtil::Split(geo_ref_key_value, element, "=");
+      if (geo_ref_key_value.size() != 2u) {
+        continue;
+      }
+
+      if (geo_ref_key_value[0] == "+lat_0") {
+        result.latitude = ParseDouble(geo_ref_key_value[1]);
+      } else if (geo_ref_key_value[0] == "+lon_0") {
+        result.longitude = ParseDouble(geo_ref_key_value[1]);
+      }
+    }
+
+    if (std::isnan(result.latitude) || std::isnan(result.longitude)) {
+      log_warning("cannot parse georeference: '" + geo_reference_string + "'. Using default values.");
+      result.latitude = 42.0;
+      result.longitude = 2.0;
+    }
+
+    log_debug("map geo reference: latitude ", result.latitude, ", longitude ", result.longitude);
+
+    return result;
+  }
+
+} // parser
+} // opendrive
+} // carla
--- a/LibCarla/source/carla/opendrive/parser/GeoReferenceParser.h
+++ b/LibCarla/source/carla/opendrive/parser/GeoReferenceParser.h
@ -0,0 +1,25 @@
+// 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>.
+
+#pragma once
+
+#include "carla/geom/GeoLocation.h"
+
+#include <string>
+
+namespace carla {
+namespace opendrive {
+namespace parser {
+
+  class GeoReferenceParser {
+  public:
+
+    static geom::GeoLocation Parse(const std::string &geo_reference_string);
+  };
+
+} // parser
+} // opendrive
+} // carla
--- a/LibCarla/source/carla/opendrive/parser/OpenDriveParser.cpp
+++ b/LibCarla/source/carla/opendrive/parser/OpenDriveParser.cpp
@ -0,0 +1,102 @@
+// 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>.
+
+#include "carla/opendrive/parser/OpenDriveParser.h"
+
+#include "carla/geom/GeoLocation.h"
+#include "carla/opendrive/parser/GeoReferenceParser.h"
+#include "carla/opendrive/parser/GeometryParser.h"
+#include "carla/opendrive/parser/JunctionParser.h"
+#include "carla/opendrive/parser/LaneParser.h"
+#include "carla/opendrive/parser/ProfilesParser.h"
+#include "carla/opendrive/parser/RoadLinkParser.h"
+#include "carla/opendrive/parser/TrafficGroupParser.h"
+#include "carla/opendrive/parser/TrafficSignParser.h"
+#include "carla/opendrive/parser/TrafficSignalsParser.h"
+
+#include "./pugixml/pugixml.hpp"
+
+bool OpenDriveParser::Parse(
+    const char *xml,
+    carla::opendrive::types::OpenDriveData &out_open_drive_data,
+    XmlInputType inputType,
+    std::string *out_error) {
+  namespace odp = carla::opendrive::parser;
+
+  pugi::xml_document xmlDoc;
+  pugi::xml_parse_result pugiParseResult;
+
+  switch (inputType) {
+    case XmlInputType::FILE: {
+      pugiParseResult = xmlDoc.load_file(xml);
+    } break;
+
+    case XmlInputType::CONTENT: {
+      pugiParseResult = xmlDoc.load_string(xml);
+    } break;
+
+    default: {
+      // TODO(Andrei): Log some kind of error
+      return false;
+    } break;
+  }
+
+  if (pugiParseResult == false) {
+    if (out_error != nullptr) {
+      *out_error = pugiParseResult.description();
+    }
+
+    return false;
+  }
+
+  for (pugi::xml_node road = xmlDoc.child("OpenDRIVE").child("road");
+      road;
+      road = road.next_sibling("road")) {
+    carla::opendrive::types::RoadInformation openDriveRoadInformation;
+
+    openDriveRoadInformation.attributes.name = road.attribute("name").value();
+    openDriveRoadInformation.attributes.id = std::atoi(road.attribute("id").value());
+    openDriveRoadInformation.attributes.length = std::stod(road.attribute("length").value());
+    openDriveRoadInformation.attributes.junction = std::atoi(road.attribute("junction").value());
+
+    ///////////////////////////////////////////////////////////////////////////////
+
+    odp::ProfilesParser::Parse(road, openDriveRoadInformation.road_profiles);
+
+    odp::RoadLinkParser::Parse(road.child("link"), openDriveRoadInformation.road_link);
+    odp::TrafficSignalsParser::Parse(road.child("signals"),
+        openDriveRoadInformation.trafic_signals);
+
+    odp::LaneParser::Parse(road.child("lanes"), openDriveRoadInformation.lanes);
+    odp::GeometryParser::Parse(road.child("planView"),
+        openDriveRoadInformation.geometry_attributes);
+
+    out_open_drive_data.roads.emplace_back(std::move(openDriveRoadInformation));
+  }
+
+  for (pugi::xml_node junction = xmlDoc.child("OpenDRIVE").child("junction");
+      junction;
+      junction = junction.next_sibling("junction")) {
+    odp::JunctionParser::Parse(junction, out_open_drive_data.junctions);
+  }
+
+  for (pugi::xml_node tlgroup = xmlDoc.child("OpenDRIVE").child("tlGroup");
+      tlgroup;
+      tlgroup = tlgroup.next_sibling("tlGroup")) {
+    odp::TrafficGroupParser::Parse(tlgroup, out_open_drive_data.trafficlightgroups);
+  }
+
+  for (pugi::xml_node trafficsigns = xmlDoc.child("OpenDRIVE").child("trafficsign");
+      trafficsigns;
+      trafficsigns = trafficsigns.next_sibling("trafficsign")) {
+    odp::TrafficSignParser::Parse(trafficsigns, out_open_drive_data.trafficsigns);
+  }
+
+  out_open_drive_data.geoReference = odp::GeoReferenceParser::Parse(
+      xmlDoc.child("OpenDRIVE").child("header").child_value("geoReference"));
+
+  return true;
+}
--- a/LibCarla/source/carla/opendrive/parser/OpenDriveParser.h
+++ b/LibCarla/source/carla/opendrive/parser/OpenDriveParser.h
@ -6,20 +6,7 @@

 #pragma once

-#include "TrafficSignalsParser.h"
-#include "RoadLinkParser.h"
-#include "JunctionParser.h"
-
-#include "ProfilesParser.h"
-#include "GeometryParser.h"
-#include "LaneParser.h"
-
-#include "TrafficGroupParser.h"
-#include "TrafficSignParser.h"
-
-#include "./pugixml/pugixml.hpp"
-
-#include <iostream>
+#include "carla/opendrive/types.h"

 enum class XmlInputType : int {
  FILE,
@ -31,78 +18,5 @@ struct OpenDriveParser {
      const char *xml,
      carla::opendrive::types::OpenDriveData &out_open_drive_data,
      XmlInputType inputType,
-      std::string *out_error = nullptr) {
-    pugi::xml_document xmlDoc;
-    pugi::xml_parse_result pugiParseResult;
-
-    switch (inputType) {
-      case XmlInputType::FILE: {
-        pugiParseResult = xmlDoc.load_file(xml);
-      } break;
-
-      case XmlInputType::CONTENT: {
-        pugiParseResult = xmlDoc.load_string(xml);
-      } break;
-
-      default: {
-        // TODO(Andrei): Log some kind of error
-        return false;
-      } break;
-    }
-
-    if (pugiParseResult == false) {
-      if (out_error != nullptr) {
-        *out_error = pugiParseResult.description();
-      }
-
-      return false;
-    }
-
-    for (pugi::xml_node road = xmlDoc.child("OpenDRIVE").child("road");
-        road;
-        road = road.next_sibling("road")) {
-      carla::opendrive::types::RoadInformation openDriveRoadInformation;
-
-      openDriveRoadInformation.attributes.name = road.attribute("name").value();
-      openDriveRoadInformation.attributes.id = std::atoi(road.attribute("id").value());
-      openDriveRoadInformation.attributes.length = std::stod(road.attribute("length").value());
-      openDriveRoadInformation.attributes.junction = std::atoi(road.attribute("junction").value());
-
-      ///////////////////////////////////////////////////////////////////////////////
-
-      carla::opendrive::parser::ProfilesParser::Parse(road, openDriveRoadInformation.road_profiles);
-
-      carla::opendrive::parser::RoadLinkParser::Parse(road.child("link"), openDriveRoadInformation.road_link);
-      carla::opendrive::parser::TrafficSignalsParser::Parse(road.child("signals"),
-          openDriveRoadInformation.trafic_signals);
-
-      carla::opendrive::parser::LaneParser::Parse(road.child("lanes"), openDriveRoadInformation.lanes);
-      carla::opendrive::parser::GeometryParser::Parse(road.child("planView"),
-          openDriveRoadInformation.geometry_attributes);
-
-      out_open_drive_data.roads.emplace_back(std::move(openDriveRoadInformation));
-    }
-
-    for (pugi::xml_node junction = xmlDoc.child("OpenDRIVE").child("junction");
-        junction;
-        junction = junction.next_sibling("junction")) {
-      carla::opendrive::parser::JunctionParser::Parse(junction, out_open_drive_data.junctions);
-    }
-
-    for (pugi::xml_node tlgroup = xmlDoc.child("OpenDRIVE").child("tlGroup");
-        tlgroup;
-        tlgroup = tlgroup.next_sibling("tlGroup")) {
-      carla::opendrive::parser::TrafficGroupParser::Parse(tlgroup, out_open_drive_data.trafficlightgroups);
-    }
-
-    for (pugi::xml_node trafficsigns = xmlDoc.child("OpenDRIVE").child("trafficsign");
-        trafficsigns;
-        trafficsigns = trafficsigns.next_sibling("trafficsign")) {
-      carla::opendrive::parser::TrafficSignParser::Parse(trafficsigns, out_open_drive_data.trafficsigns);
-    }
-
-    out_open_drive_data.geoReference = xmlDoc.child("OpenDRIVE").child("header").child_value("geoReference");
-
-    return true;
-  }
+      std::string *out_error = nullptr);
 };
--- a/LibCarla/source/carla/opendrive/types.h
+++ b/LibCarla/source/carla/opendrive/types.h
@ -6,6 +6,8 @@

 #pragma once

+#include "carla/geom/GeoLocation.h"
+
 #include <memory>
 #include <string>
 #include <vector>
@ -305,7 +307,7 @@ namespace types {
  /////////////////////////////////////////////////////////////////

  struct OpenDriveData {
-    std::string geoReference;
+    geom::GeoLocation geoReference;
    std::vector<RoadInformation> roads;
    std::vector<Junction> junctions;
    std::vector<TrafficLightGroup> trafficlightgroups;
--- a/LibCarla/source/carla/road/MapBuilder.h
+++ b/LibCarla/source/carla/road/MapBuilder.h
@ -23,7 +23,7 @@ namespace road {
      _map_data.SetJunctionInformation(junctionInfo);
    }

-    void SetGeoReference(const std::string &geoReference) {
+    void SetGeoReference(const geom::GeoLocation &geoReference) {
      _map_data.SetGeoReference(geoReference);
    }

--- a/LibCarla/source/carla/road/MapData.h
+++ b/LibCarla/source/carla/road/MapData.h
@ -53,7 +53,7 @@ namespace road {
      return _junction_information;
    }

-    const std::string &GetGeoReference() const {
+    const geom::GeoLocation &GetGeoReference() const {
      return _geo_reference;
    }

@ -83,7 +83,7 @@ namespace road {
      _junction_information = junctionInfo;
    }

-    void SetGeoReference(const std::string &geoReference) {
+    void SetGeoReference(const geom::GeoLocation &geoReference) {
      _geo_reference = geoReference;
    }

@ -95,7 +95,7 @@ namespace road {
      _traffic_signs = trafficSignData;
    }

-    std::string _geo_reference;
+    geom::GeoLocation _geo_reference;

    std::vector<lane_junction_t> _junction_information;

--- a/LibCarla/source/carla/road/element/RoadInfo.h
+++ b/LibCarla/source/carla/road/element/RoadInfo.h
@ -8,8 +8,9 @@

 #include "carla/road/element/RoadInfoVisitor.h"

-#include <string>
 #include <map>
+#include <string>
+#include <vector>

 namespace carla {
 namespace road {
--- a/LibCarla/source/carla/road/element/Waypoint.h
+++ b/LibCarla/source/carla/road/element/Waypoint.h
@ -37,6 +37,10 @@ namespace element {
      return _lane_id;
    }

+    double GetDistance() const {
+      return _dist;
+    }
+
    const std::string &GetType() const;

    const RoadSegment &GetRoadSegment() const;
--- a/LibCarla/source/carla/road/element/WaypointHash.cpp
+++ b/LibCarla/source/carla/road/element/WaypointHash.cpp
@ -0,0 +1,27 @@
+// 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>.
+
+#include "carla/road/element/WaypointHash.h"
+
+#include "carla/road/element/Waypoint.h"
+
+#include <boost/container_hash/hash.hpp>
+
+namespace carla {
+namespace road {
+namespace element {
+
+  uint64_t WaypointHash::operator()(const Waypoint &waypoint) const {
+    uint64_t seed = 0u;
+    boost::hash_combine(seed, waypoint.GetRoadId());
+    boost::hash_combine(seed, waypoint.GetLaneId());
+    boost::hash_combine(seed, static_cast<float>(std::floor(waypoint.GetDistance() * 200.0)));
+    return seed;
+  }
+
+} // namespace element
+} // namespace road
+} // namespace carla
--- a/LibCarla/source/carla/road/element/WaypointHash.h
+++ b/LibCarla/source/carla/road/element/WaypointHash.h
@ -0,0 +1,31 @@
+// 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>.
+
+#pragma once
+
+#include <cstdint>
+
+namespace carla {
+namespace road {
+namespace element {
+
+  class Waypoint;
+
+  struct WaypointHash {
+
+    using argument_type = Waypoint;
+
+    using result_type = uint64_t;
+
+    /// Generates an unique id for @a waypoint based on its road_id, lane_id,
+    /// and "s" offset. The "s" offset is truncated to half centimetre
+    /// precision.
+    uint64_t operator()(const Waypoint &waypoint) const;
+  };
+
+} // namespace element
+} // namespace road
+} // namespace carla
--- a/LibCarla/source/carla/sensor/RawData.h
+++ b/LibCarla/source/carla/sensor/RawData.h
@ -37,6 +37,11 @@ namespace sensor {
     return GetHeader().frame_number;
    }

+    /// Timestamp when the data was generated.
+    double GetTimestamp() const {
+     return GetHeader().timestamp;
+    }
+
    /// Sensor's transform when the data was generated.
    const rpc::Transform &GetSensorTransform() const {
     return GetHeader().sensor_transform;
--- a/LibCarla/source/carla/sensor/SensorData.h
+++ b/LibCarla/source/carla/sensor/SensorData.h
@ -23,12 +23,13 @@ namespace sensor {
      private NonCopyable {
  protected:

-    SensorData(size_t frame_number, const rpc::Transform &sensor_transform)
+    SensorData(size_t frame_number, double timestamp, const rpc::Transform &sensor_transform)
      : _frame_number(frame_number),
+        _timestamp(timestamp),
        _sensor_transform(sensor_transform) {}

    explicit SensorData(const RawData &data)
-      : SensorData(data.GetFrameNumber(), data.GetSensorTransform()) {}
+      : SensorData(data.GetFrameNumber(), data.GetTimestamp(), data.GetSensorTransform()) {}

  public:

@ -39,6 +40,11 @@ namespace sensor {
      return _frame_number;
    }

+    /// Time the data was generated.
+    double GetTimestamp() const {
+      return _timestamp;
+    }
+
    /// Sensor's transform when the data was generated.
    const rpc::Transform &GetSensorTransform() const {
      return _sensor_transform;
@ -58,6 +64,8 @@ namespace sensor {

    const size_t _frame_number;

+    const double _timestamp;
+
    const rpc::Transform _sensor_transform;
  };

--- a/LibCarla/source/carla/sensor/data/GnssEvent.h
+++ b/LibCarla/source/carla/sensor/data/GnssEvent.h
@ -5,49 +5,44 @@

 #pragma once

-#include "carla/road/element/LaneMarking.h"
+#include "carla/geom/GeoLocation.h"
 #include "carla/sensor/SensorData.h"

-#include <vector>
-
 namespace carla {
 namespace sensor {
 namespace data {

-  /// A change of gnss data
+  /// A change of GNSS data.
  class GnssEvent : public SensorData {
  public:

    explicit GnssEvent(
        size_t frame_number,
+        double timestamp,
        const rpc::Transform &sensor_transform,
-        double lat,
-        double lon,
-        double alt)
-      : SensorData(frame_number, sensor_transform),
-        _lat(std::move(lat)),
-        _lon(std::move(lon)),
-        _alt(std::move(alt)) {}
+        const geom::GeoLocation &geo_location)
+      : SensorData(frame_number, timestamp, sensor_transform),
+        _geo_location(geo_location) {}

-    const double &GetLatitude() const {
-      return _lat;
+    const geom::GeoLocation &GetGeoLocation() const {
+      return _geo_location;
    }

-    const double &GetLongitude() const {
-      return _lon;
+    double GetLongitude() const {
+      return _geo_location.longitude;
    }

-    const double &GetAltitude() const {
-      return _alt;
+    double GetLatitude() const {
+      return _geo_location.latitude;
+    }
+
+    double GetAltitude() const {
+      return _geo_location.altitude;
    }

  private:

-    double _lat;
-
-    double _lon;
-
-    double _alt;
+    geom::GeoLocation _geo_location;
  };

 } // namespace data
--- a/LibCarla/source/carla/sensor/data/LaneInvasionEvent.h
+++ b/LibCarla/source/carla/sensor/data/LaneInvasionEvent.h
@ -23,10 +23,11 @@ namespace data {

    explicit LaneInvasionEvent(
        size_t frame_number,
+        double timestamp,
        const rpc::Transform &sensor_transform,
        SharedPtr<client::Actor> self_actor,
        std::vector<LaneMarking> crossed_lane_markings)
-      : SensorData(frame_number, sensor_transform),
+      : SensorData(frame_number, timestamp, sensor_transform),
        _self_actor(std::move(self_actor)),
        _crossed_lane_markings(std::move(crossed_lane_markings)) {}

--- a/LibCarla/source/carla/sensor/s11n/SensorHeaderSerializer.cpp
+++ b/LibCarla/source/carla/sensor/s11n/SensorHeaderSerializer.cpp
@ -13,7 +13,7 @@ namespace sensor {
 namespace s11n {

  static_assert(
-      SensorHeaderSerializer::header_offset == 2u * 8u + 6u * 4u,
+      SensorHeaderSerializer::header_offset == 3u * 8u + 6u * 4u,
      "Header size missmatch");

  static Buffer PopBufferFromPool() {
@ -24,10 +24,12 @@ namespace s11n {
  Buffer SensorHeaderSerializer::Serialize(
      const uint64_t index,
      const uint64_t frame,
+      double timestamp,
      const rpc::Transform transform) {
    Header h;
    h.sensor_type = index;
    h.frame_number = frame;
+    h.timestamp = timestamp;
    h.sensor_transform = transform;
    auto buffer = PopBufferFromPool();
    buffer.copy_from(reinterpret_cast<const unsigned char *>(&h), sizeof(h));
--- a/LibCarla/source/carla/sensor/s11n/SensorHeaderSerializer.h
+++ b/LibCarla/source/carla/sensor/s11n/SensorHeaderSerializer.h
@ -21,13 +21,14 @@ namespace s11n {
    struct Header {
      uint64_t sensor_type;
      uint64_t frame_number;
+      double timestamp;
      rpc::Transform sensor_transform;
    };
 #pragma pack(pop)

    constexpr static auto header_offset = sizeof(Header);

-    static Buffer Serialize(uint64_t index, uint64_t frame, rpc::Transform transform);
+    static Buffer Serialize(uint64_t index, uint64_t frame, double timestamp, rpc::Transform transform);

    static const Header &Deserialize(const Buffer &message) {
      return *reinterpret_cast<const Header *>(message.data());
--- a/LibCarla/source/carla/streaming/EndPoint.h
+++ b/LibCarla/source/carla/streaming/EndPoint.h
@ -75,7 +75,7 @@ namespace detail {
  static inline auto make_address(const std::string &address) {
    boost::asio::io_service io_service;
    boost::asio::ip::tcp::resolver resolver(io_service);
-    boost::asio::ip::tcp::resolver::query query(address, "");
+    boost::asio::ip::tcp::resolver::query query(boost::asio::ip::tcp::v4(), address, "", boost::asio::ip::tcp::resolver::query::canonical_name);
    boost::asio::ip::tcp::resolver::iterator iter = resolver.resolve(query);
    boost::asio::ip::tcp::resolver::iterator end;
    while (iter != end)
--- a/LibCarla/source/carla/streaming/detail/MultiStreamState.h
+++ b/LibCarla/source/carla/streaming/detail/MultiStreamState.h
@ -24,7 +24,7 @@ namespace detail {
    using StreamStateBase::StreamStateBase;

    template <typename... Buffers>
-    void Write(Buffers... buffers) {
+    void Write(Buffers &&... buffers) {
      auto message = Session::MakeMessage(std::move(buffers)...);
      std::lock_guard<std::mutex> lock(_mutex);
      for (auto &session : _sessions) {
--- a/LibCarla/source/carla/streaming/detail/Stream.h
+++ b/LibCarla/source/carla/streaming/detail/Stream.h
@ -48,7 +48,7 @@ namespace detail {

    /// Flush @a buffers down the stream. No copies are made.
    template <typename... Buffers>
-    void Write(Buffers... buffers) {
+    void Write(Buffers &&... buffers) {
      _shared_state->Write(std::move(buffers)...);
    }

--- a/LibCarla/source/carla/streaming/detail/StreamState.h
+++ b/LibCarla/source/carla/streaming/detail/StreamState.h
@ -20,7 +20,7 @@ namespace detail {
    using StreamStateBase::StreamStateBase;

    template <typename... Buffers>
-    void Write(Buffers... buffers) {
+    void Write(Buffers &&... buffers) {
      auto session = _session.load();
      if (session != nullptr) {
        session->Write(std::move(buffers)...);
--- a/LibCarla/source/carla/streaming/detail/tcp/Message.h
+++ b/LibCarla/source/carla/streaming/detail/tcp/Message.h
@ -44,7 +44,7 @@ namespace tcp {
    MessageTmpl(size_t) {}

    template <typename... Buffers>
-    MessageTmpl(size_t size, Buffer buffer, Buffers... buffers)
+    MessageTmpl(size_t size, Buffer &&buffer, Buffers &&... buffers)
      : MessageTmpl(size, std::move(buffers)...) {
      ++_number_of_buffers;
      _total_size += buffer.size();
@ -55,7 +55,7 @@ namespace tcp {
  public:

    template <typename... Buffers>
-    MessageTmpl(Buffer buf, Buffers... buffers)
+    MessageTmpl(Buffer &&buf, Buffers &&... buffers)
      : MessageTmpl(sizeof...(Buffers) + 1u, std::move(buf), std::move(buffers)...) {
      static_assert(sizeof...(Buffers) < max_size(), "Too many buffers!");
      _buffer_views[0u] = boost::asio::buffer(&_total_size, sizeof(_total_size));
--- a/LibCarla/source/carla/streaming/detail/tcp/ServerSession.h
+++ b/LibCarla/source/carla/streaming/detail/tcp/ServerSession.h
@ -53,7 +53,7 @@ namespace tcp {
    }

    template <typename... Buffers>
-    static auto MakeMessage(Buffers... buffers) {
+    static auto MakeMessage(Buffers &&... buffers) {
      static_assert(
          are_same<Buffer, Buffers...>::value,
          "This function only accepts arguments of type Buffer.");
@ -65,7 +65,7 @@ namespace tcp {

    /// Writes some data to the socket.
    template <typename... Buffers>
-    void Write(Buffers... buffers) {
+    void Write(Buffers &&... buffers) {
      Write(MakeMessage(std::move(buffers)...));
    }

--- a/PythonAPI/setup.py
+++ b/PythonAPI/setup.py
@ -38,8 +38,7 @@ def get_libcarla_extensions():
                os.path.join(pwd, 'dependencies/lib', pylib)]
            extra_compile_args = [
                '-fPIC', '-std=c++14', '-Wno-missing-braces',
-                '-DBOOST_ERROR_CODE_HEADER_ONLY', '-DLIBCARLA_WITH_PYTHON_SUPPORT',
-                '-DLIBCARLA_ENABLE_LIFETIME_PROFILER',
+                '-DBOOST_ERROR_CODE_HEADER_ONLY', '-DLIBCARLA_WITH_PYTHON_SUPPORT'
            ]
            if 'TRAVIS' in os.environ and os.environ['TRAVIS'] == 'true':
                print('Travis CI build detected: disabling PNG support.')
--- a/PythonAPI/source/libcarla/Geom.cpp
+++ b/PythonAPI/source/libcarla/Geom.cpp
@ -5,6 +5,7 @@
 // For a copy, see <https://opensource.org/licenses/MIT>.

 #include <carla/geom/BoundingBox.h>
+#include <carla/geom/GeoLocation.h>
 #include <carla/geom/Location.h>
 #include <carla/geom/Rotation.h>
 #include <carla/geom/Transform.h>
@ -68,6 +69,13 @@ namespace geom {
    return out;
  }

+  std::ostream &operator<<(std::ostream &out, const GeoLocation &geo_location) {
+    out << "GeoLocation(latitude=" << geo_location.latitude
+        << ", longitude=" << geo_location.longitude
+        << ", altitude=" << geo_location.altitude << ')';
+    return out;
+  }
+
 } // namespace geom
 } // namespace carla

@ -129,7 +137,7 @@ void export_geom() {
    .def(self_ns::str(self_ns::self))
  ;

-class_<cg::Location, bases<cg::Vector3D>>("Location")
+  class_<cg::Location, bases<cg::Vector3D>>("Location")
    .def(init<float, float, float>((arg("x")=0.0f, arg("y")=0.0f, arg("z")=0.0f)))
    .def(init<const cg::Vector3D &>((arg("rhs"))))
    .add_property("x", +[](const cg::Location &self) { return self.x; }, +[](cg::Location &self, float x) { self.x = x; })
@ -177,4 +185,14 @@ class_<cg::Location, bases<cg::Vector3D>>("Location")
    .def("__ne__", &cg::BoundingBox::operator!=)
    .def(self_ns::str(self_ns::self))
  ;
+
+  class_<cg::GeoLocation>("GeoLocation")
+    .def(init<double, double, double>((arg("latitude")=0.0, arg("longitude")=0.0, arg("altitude")=0.0)))
+    .def_readwrite("latitude", &cg::GeoLocation::latitude)
+    .def_readwrite("longitude", &cg::GeoLocation::longitude)
+    .def_readwrite("altitude", &cg::GeoLocation::altitude)
+    .def("__eq__", &cg::GeoLocation::operator==)
+    .def("__ne__", &cg::GeoLocation::operator!=)
+    .def(self_ns::str(self_ns::self))
+  ;
 }
--- a/PythonAPI/source/libcarla/Map.cpp
+++ b/PythonAPI/source/libcarla/Map.cpp
@ -47,6 +47,12 @@ static auto GetTopology(const carla::client::Map &self) {
  return result;
 }

+static carla::geom::GeoLocation ToGeolocation(
+    const carla::client::Map &self,
+    const carla::geom::Location &location) {
+  return self.GetGeoReference().Transform(location);
+}
+
 void export_map() {
  using namespace boost::python;
  namespace cc = carla::client;
@ -58,6 +64,7 @@ void export_map() {
    .def("get_waypoint", &cc::Map::GetWaypoint, (arg("location"), arg("project_to_road")=true))
    .def("get_topology", &GetTopology)
    .def("generate_waypoints", CALL_RETURNING_LIST_1(cc::Map, GenerateWaypoints, double), (args("distance")))
+    .def("transform_to_geolocation", &ToGeolocation, (arg("location")))
    .def("to_opendrive", CALL_RETURNING_COPY(cc::Map, GetOpenDrive))
    .def("save_to_disk", &SaveOpenDriveToDisk, (arg("path")=""))
    .def(self_ns::str(self_ns::self))
@ -71,11 +78,13 @@ void export_map() {
  ;

  class_<cc::Waypoint, boost::noncopyable, boost::shared_ptr<cc::Waypoint>>("Waypoint", no_init)
+    .add_property("id", &cc::Waypoint::GetId)
    .add_property("transform", CALL_RETURNING_COPY(cc::Waypoint, GetTransform))
    .add_property("is_intersection", &cc::Waypoint::IsIntersection)
    .add_property("lane_width", &cc::Waypoint::GetLaneWidth)
    .add_property("road_id", &cc::Waypoint::GetRoadId)
    .add_property("lane_id", &cc::Waypoint::GetLaneId)
+    .add_property("s", &cc::Waypoint::GetDistance)
    .add_property("lane_change", &cc::Waypoint::GetLaneChange)
    .add_property("lane_type", &cc::Waypoint::GetType)
    .def("next", CALL_RETURNING_LIST_1(cc::Waypoint, Next, double), (args("distance")))
--- a/PythonAPI/source/libcarla/SensorData.cpp
+++ b/PythonAPI/source/libcarla/SensorData.cpp
@ -28,6 +28,7 @@ namespace data {

  std::ostream &operator<<(std::ostream &out, const Image &image) {
    out << "Image(frame=" << image.GetFrameNumber()
+        << ", timestamp=" << image.GetTimestamp()
        << ", size=" << image.GetWidth() << 'x' << image.GetHeight()
        << ')';
    return out;
@ -35,6 +36,7 @@ namespace data {

  std::ostream &operator<<(std::ostream &out, const LidarMeasurement &meas) {
    out << "LidarMeasurement(frame=" << meas.GetFrameNumber()
+        << ", timestamp=" << meas.GetTimestamp()
        << ", number_of_points=" << meas.size()
        << ')';
    return out;
@ -42,6 +44,7 @@ namespace data {

  std::ostream &operator<<(std::ostream &out, const CollisionEvent &meas) {
    out << "CollisionEvent(frame=" << meas.GetFrameNumber()
+        << ", timestamp=" << meas.GetTimestamp()
        << ", other_actor=" << meas.GetOtherActor()
        << ')';
    return out;
@ -49,18 +52,22 @@ namespace data {

  std::ostream &operator<<(std::ostream &out, const ObstacleDetectionEvent &meas) {
    out << "ObstacleDetectionEvent(frame=" << meas.GetFrameNumber()
+        << ", timestamp=" << meas.GetTimestamp()
        << ", other_actor=" << meas.GetOtherActor()
        << ')';
    return out;
  }

  std::ostream &operator<<(std::ostream &out, const LaneInvasionEvent &meas) {
-    out << "LaneInvasionEvent(frame=" << meas.GetFrameNumber() << ')';
+    out << "LaneInvasionEvent(frame=" << meas.GetFrameNumber() 
+        << ", timestamp=" << meas.GetTimestamp()
+        << ')';
    return out;
  }

  std::ostream &operator<<(std::ostream &out, const GnssEvent &meas) {
    out << "GnssEvent(frame=" << meas.GetFrameNumber()
+        << ", timestamp=" << meas.GetTimestamp()
        << ", lat=" << meas.GetLatitude()
        << ", lon=" << meas.GetLongitude()
        << ", alt=" << meas.GetAltitude()
@ -156,6 +163,7 @@ void export_sensor_data() {

  class_<cs::SensorData, boost::noncopyable, boost::shared_ptr<cs::SensorData>>("SensorData", no_init)
    .add_property("frame_number", &cs::SensorData::GetFrameNumber)
+    .add_property("timestamp", &cs::SensorData::GetTimestamp)
    .add_property("transform", CALL_RETURNING_COPY(cs::SensorData, GetSensorTransform))
  ;

@ -228,9 +236,9 @@ void export_sensor_data() {
  ;

  class_<csd::GnssEvent, bases<cs::SensorData>, boost::noncopyable, boost::shared_ptr<csd::GnssEvent>>("GnssEvent", no_init)
-    .add_property("latitude", CALL_RETURNING_COPY(csd::GnssEvent, GetLatitude))
-    .add_property("longitude", CALL_RETURNING_COPY(csd::GnssEvent, GetLongitude))
-    .add_property("altitude", CALL_RETURNING_COPY(csd::GnssEvent, GetAltitude))
+    .add_property("latitude", &csd::GnssEvent::GetLatitude)
+    .add_property("longitude", &csd::GnssEvent::GetLongitude)
+    .add_property("altitude", &csd::GnssEvent::GetAltitude)
    .def(self_ns::str(self_ns::self))
  ;
 }
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/AsyncDataStream.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/AsyncDataStream.h
@ -63,7 +63,7 @@ private:

  /// @pre This functions needs to be called in the game-thread.
  template <typename SensorT>
-  explicit FAsyncDataStreamTmpl(const SensorT &InSensor, StreamType InStream);
+  explicit FAsyncDataStreamTmpl(const SensorT &InSensor, float Timepoint, StreamType InStream);

  StreamType Stream;

@ -95,13 +95,15 @@ template <typename T>
 template <typename SensorT>
 inline FAsyncDataStreamTmpl<T>::FAsyncDataStreamTmpl(
    const SensorT &Sensor,
+    float Timepoint,
    StreamType InStream)
  : Stream(std::move(InStream)),
-    Header([&Sensor]() {
+    Header([&Sensor, Timepoint]() {
      check(IsInGameThread());
      using Serializer = carla::sensor::s11n::SensorHeaderSerializer;
      return Serializer::Serialize(
          carla::sensor::SensorRegistry::template get<SensorT*>::index,
          GFrameCounter,
+          Timepoint,
          Sensor.GetActorTransform());
    }()) {}
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/CollisionSensor.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/CollisionSensor.cpp
@ -62,7 +62,7 @@ void ACollisionSensor::OnCollisionEvent(
  {
    constexpr float TO_METERS = 1e-2;
    NormalImpulse *= TO_METERS;
-    GetDataStream(*this).Send(
+    GetDataStream(*this, Actor->GetWorld()->GetTimeSeconds()).Send(
        *this,
        Episode->SerializeActor(Episode->FindOrFakeActor(Actor)),
        Episode->SerializeActor(Episode->FindOrFakeActor(OtherActor)),
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/DataStream.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/DataStream.h
@ -37,10 +37,10 @@ public:
  ///
  /// @pre This functions needs to be called in the game-thread.
  template <typename SensorT>
-  auto MakeAsyncDataStream(const SensorT &Sensor)
+  auto MakeAsyncDataStream(const SensorT &Sensor, float Timestamp)
  {
    check(Stream.has_value());
-    return FAsyncDataStreamTmpl<T>{Sensor, *Stream};
+    return FAsyncDataStreamTmpl<T>{Sensor, Timestamp, *Stream};
  }

  /// Return the token that allows subscribing to this stream.
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/ObstacleDetectionSensor.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/ObstacleDetectionSensor.cpp
@ -134,7 +134,7 @@ void AObstacleDetectionSensor::Tick(float DeltaSeconds)

  if (isHitReturned)
  {
-    OnObstacleDetectionEvent(this, HitOut.Actor.Get(), HitOut.Distance, HitOut);
+    OnObstacleDetectionEvent(this, HitOut.Actor.Get(), HitOut.Distance, HitOut, currentWorld->GetTimeSeconds());
  }
 }

@ -142,11 +142,12 @@ void AObstacleDetectionSensor::OnObstacleDetectionEvent(
    AActor *Actor,
    AActor *OtherActor,
    float HitDistance,
-    const FHitResult &Hit)
+    const FHitResult &Hit,
+    float Timestamp)
 {
  if ((Episode != nullptr) && (Actor != nullptr) && (OtherActor != nullptr))
  {
-    GetDataStream(*this).Send(*this,
+    GetDataStream(*this, Timestamp).Send(*this,
        Episode->SerializeActor(Episode->FindOrFakeActor(Actor)),
        Episode->SerializeActor(Episode->FindOrFakeActor(OtherActor)),
        HitRadius);
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/ObstacleDetectionSensor.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/ObstacleDetectionSensor.h
@ -38,7 +38,8 @@ private:
      AActor *Actor,
      AActor *OtherActor,
      float Distance,
-      const FHitResult &Hit);
+      const FHitResult &Hit,
+      float Timestamp);

  UPROPERTY()
  const UCarlaEpisode *Episode = nullptr;
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/PixelReader.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/PixelReader.h
@ -87,7 +87,7 @@ void FPixelReader::SendPixelsInRenderThread(TSensor &Sensor)

  // First we create the message header (needs to be created in the
  // game-thread).
-  auto AsyncStream = Sensor.GetDataStream(Sensor);
+  auto AsyncStream = Sensor.GetDataStream(Sensor, Sensor.GetWorld()->GetTimeSeconds());

  // We need a shared ptr here because UE4 macros do not move the arguments -_-
  auto StreamPtr = std::make_shared<decltype(AsyncStream)>(std::move(AsyncStream));
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastLidar.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastLidar.cpp
@ -69,7 +69,7 @@ void ARayCastLidar::Tick(const float DeltaTime)

  ReadPoints(DeltaTime);

-  auto DataStream = GetDataStream(*this);
+  auto DataStream = GetDataStream(*this, GetWorld()->GetTimeSeconds());
  DataStream.Send(*this, LidarMeasurement, DataStream.PopBufferFromPool());
 }

--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h
@ -47,9 +47,9 @@ protected:
  /// You need to provide a reference to self, this is necessary for template
  /// deduction.
  template <typename SensorT>
-  FAsyncDataStream GetDataStream(const SensorT &Self)
+  FAsyncDataStream GetDataStream(const SensorT &Self, float Timestamp)
  {
-    return Stream.MakeAsyncDataStream(Self);
+    return Stream.MakeAsyncDataStream(Self, Timestamp);
  }

 private:
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/WorldObserver.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/WorldObserver.cpp
@ -150,7 +150,7 @@ static carla::Buffer FWorldObserver_Serialize(

 void FWorldObserver::BroadcastTick(const UCarlaEpisode &Episode, float DeltaSeconds)
 {
-  auto AsyncStream = Stream.MakeAsyncDataStream(*this);
+  auto AsyncStream = Stream.MakeAsyncDataStream(*this, Episode.GetWorld()->GetTimeSeconds());

  auto buffer = FWorldObserver_Serialize(
      AsyncStream.PopBufferFromPool(),
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp
@ -178,6 +178,14 @@ void UCarlaSettings::LoadSettings()
    {
      QualityLevel = QualityLevelFromString(StringQualityLevel, EQualityLevel::Epic);
    }
+    if (FParse::Value(FCommandLine::Get(), TEXT("-carla-server-timeout="), Value))
+    {
+      ServerTimeOut = Value;
+    }
+    if (FParse::Param(FCommandLine::Get(), TEXT("-no-rendering")))
+    {
+      bDisableRendering = true;
+    }
  }
 }

--- a/Util/BuildTools/BuildLibCarla.sh
+++ b/Util/BuildTools/BuildLibCarla.sh
@ -8,13 +8,34 @@ source $(dirname "$0")/Environment.sh

 DOC_STRING="Build LibCarla."

-USAGE_STRING="Usage: $0 [-h|--help] [--rebuild] [--server] [--client] [--clean]"
+USAGE_STRING=$(cat <<- END
+Usage: $0 [-h|--help]
+
+Choose one or more build configurations
+
+    [--server]   Build server-side configuration.
+    [--client]   Build client-side configuration.
+
+and choose one or more build options
+
+    [--debug]    Build debug targets.
+    [--release]  Build release targets.
+
+Other commands
+
+    [--clean]    Clean intermediate files.
+    [--rebuild]  Clean and rebuild both configurations.
+END
+)

 REMOVE_INTERMEDIATE=false
 BUILD_SERVER=false
 BUILD_CLIENT=false
+BUILD_OPTION_DEBUG=false
+BUILD_OPTION_RELEASE=false
+BUILD_OPTION_DUMMY=false

-OPTS=`getopt -o h --long help,rebuild,server,client,clean -n 'parse-options' -- "$@"`
+OPTS=`getopt -o h --long help,rebuild,server,client,clean,debug,release -n 'parse-options' -- "$@"`

 if [ $? != 0 ] ; then echo "$USAGE_STRING" ; exit 2 ; fi

@ -26,6 +47,8 @@ while true; do
      REMOVE_INTERMEDIATE=true;
      BUILD_SERVER=true;
      BUILD_CLIENT=true;
+      BUILD_OPTION_DEBUG=true;
+      BUILD_OPTION_RELEASE=true;
      shift ;;
    --server )
      BUILD_SERVER=true;
@ -35,6 +58,13 @@ while true; do
      shift ;;
    --clean )
      REMOVE_INTERMEDIATE=true;
+      BUILD_OPTION_DUMMY=true;
+      shift ;;
+    --debug )
+      BUILD_OPTION_DEBUG=true;
+      shift ;;
+    --release )
+      BUILD_OPTION_RELEASE=true;
      shift ;;
    -h | --help )
      echo "$DOC_STRING"
@ -50,6 +80,10 @@ if ! { ${REMOVE_INTERMEDIATE} || ${BUILD_SERVER} || ${BUILD_CLIENT}; }; then
  fatal_error "Nothing selected to be done."
 fi

+if ! { ${BUILD_OPTION_DUMMY} || ${BUILD_OPTION_DEBUG} || ${BUILD_OPTION_RELEASE} ; }; then
+  fatal_error "Choose --debug and/or --release."
+fi
+
 # ==============================================================================
 # -- Clean intermediate files --------------------------------------------------
 # ==============================================================================
@ -58,30 +92,57 @@ if ${REMOVE_INTERMEDIATE} ; then

  log "Cleaning intermediate files and folders."

-  rm -Rf ${LIBCARLA_BUILD_SERVER_FOLDER} ${LIBCARLA_BUILD_CLIENT_FOLDER}
+  rm -Rf ${LIBCARLA_BUILD_SERVER_FOLDER}* ${LIBCARLA_BUILD_CLIENT_FOLDER}*
  rm -Rf ${LIBCARLA_INSTALL_SERVER_FOLDER} ${LIBCARLA_INSTALL_CLIENT_FOLDER}
-  rm -f ${LIBCARLA_ROOT_FOLDER}/source/carla/Version.h

 fi

 # ==============================================================================
-# -- Build Server configuration ------------------------------------------------
+# -- Define build function -----------------------------------------------------
 # ==============================================================================

-if ${BUILD_SERVER} ; then
+# Build LibCarla for the given configuration.
+#
+#     usage: build_libcarla {Server,Client} {Debug,Release}
+#
+function build_libcarla {

-  log "Building LibCarla \"Server\" configuration."
+  if [ $1 == Server ] ; then
+    M_TOOLCHAIN=${LIBCPP_TOOLCHAIN_FILE}
+    M_BUILD_FOLDER=${LIBCARLA_BUILD_SERVER_FOLDER}.$(echo "$2" | tr '[:upper:]' '[:lower:]')
+    M_INSTALL_FOLDER=${LIBCARLA_INSTALL_SERVER_FOLDER}
+  elif [ $1 == Client ] ; then
+    M_TOOLCHAIN=${LIBSTDCPP_TOOLCHAIN_FILE}
+    M_BUILD_FOLDER=${LIBCARLA_BUILD_CLIENT_FOLDER}.$(echo "$2" | tr '[:upper:]' '[:lower:]')
+    M_INSTALL_FOLDER=${LIBCARLA_INSTALL_CLIENT_FOLDER}
+  else
+    fatal_error "Invalid build configuration \"$1\""
+  fi

-  mkdir -p ${LIBCARLA_BUILD_SERVER_FOLDER}
-  pushd "${LIBCARLA_BUILD_SERVER_FOLDER}" >/dev/null
+  if [ $2 == Debug ] ; then
+    M_DEBUG=ON
+    M_RELEASE=OFF
+  elif [ $2 == Release ] ; then
+    M_DEBUG=OFF
+    M_RELEASE=ON
+  else
+    fatal_error "Invalid build option \"$2\""
+  fi
+
+  log "Building LibCarla \"$1.$2\" configuration."
+
+  mkdir -p ${M_BUILD_FOLDER}
+  pushd "${M_BUILD_FOLDER}" >/dev/null

  if [ ! -f "build.ninja" ]; then

    cmake \
        -G "Ninja" \
-        -DCMAKE_BUILD_TYPE=Server \
-        -DCMAKE_TOOLCHAIN_FILE=${LIBCPP_TOOLCHAIN_FILE} \
-        -DCMAKE_INSTALL_PREFIX=${LIBCARLA_INSTALL_SERVER_FOLDER} \
+        -DCMAKE_BUILD_TYPE=$1 \
+        -DLIBCARLA_BUILD_DEBUG=${M_DEBUG} \
+        -DLIBCARLA_BUILD_RELEASE=${M_RELEASE} \
+        -DCMAKE_TOOLCHAIN_FILE=${M_TOOLCHAIN} \
+        -DCMAKE_INSTALL_PREFIX=${M_INSTALL_FOLDER} \
        -DCMAKE_EXPORT_COMPILE_COMMANDS=1 \
        ${CARLA_ROOT_FOLDER}

@ -92,37 +153,33 @@ if ${BUILD_SERVER} ; then
  ninja install | grep -v "Up-to-date:"

  popd >/dev/null
+}
+
+# ==============================================================================
+# -- Build all possible configurations -----------------------------------------
+# ==============================================================================
+
+if { ${BUILD_SERVER} && ${BUILD_OPTION_DEBUG}; }; then
+
+  build_libcarla Server Debug

 fi

-# ==============================================================================
-# -- Build Client configuration ------------------------------------------------
-# ==============================================================================
+if { ${BUILD_SERVER} && ${BUILD_OPTION_RELEASE}; }; then

-if ${BUILD_CLIENT} ; then
+  build_libcarla Server Release

-  log "Building LibCarla \"Client\" configuration."
+fi

-  mkdir -p ${LIBCARLA_BUILD_CLIENT_FOLDER}
-  pushd "${LIBCARLA_BUILD_CLIENT_FOLDER}" >/dev/null
+if { ${BUILD_CLIENT} && ${BUILD_OPTION_DEBUG}; }; then

-  if [ ! -f "build.ninja" ]; then
+  build_libcarla Client Debug

-    cmake \
-        -G "Ninja" \
-        -DCMAKE_BUILD_TYPE=Client \
-        -DCMAKE_TOOLCHAIN_FILE=${LIBSTDCPP_TOOLCHAIN_FILE} \
-        -DCMAKE_INSTALL_PREFIX=${LIBCARLA_INSTALL_CLIENT_FOLDER} \
-        -DCMAKE_EXPORT_COMPILE_COMMANDS=1 \
-        ${CARLA_ROOT_FOLDER}
+fi

-  fi
+if { ${BUILD_CLIENT} && ${BUILD_OPTION_RELEASE}; }; then

-  ninja
-
-  ninja install | grep -v "Up-to-date:"
-
-  popd >/dev/null
+  build_libcarla Client Release

 fi

--- a/Util/BuildTools/Linux.mk
+++ b/Util/BuildTools/Linux.mk
@ -3,7 +3,7 @@ default: help
 help:
 	@less ${CARLA_BUILD_TOOLS_FOLDER}/Linux.mk.help

-launch: LibCarla.server
+launch: LibCarla.server.release
 	@${CARLA_BUILD_TOOLS_FOLDER}/BuildCarlaUE4.sh --build --launch

 launch-only:
@ -41,10 +41,10 @@ check: LibCarla PythonAPI
 check.LibCarla: LibCarla
 	@${CARLA_BUILD_TOOLS_FOLDER}/Check.sh --libcarla-debug --libcarla-release $(ARGS)

-check.LibCarla.debug: LibCarla
+check.LibCarla.debug: LibCarla.debug
 	@${CARLA_BUILD_TOOLS_FOLDER}/Check.sh --libcarla-debug $(ARGS)

-check.LibCarla.release: LibCarla
+check.LibCarla.release: LibCarla.release
 	@${CARLA_BUILD_TOOLS_FOLDER}/Check.sh --libcarla-release $(ARGS)

 check.PythonAPI: PythonAPI
@ -56,31 +56,40 @@ check.PythonAPI.2: PythonAPI.2
 check.PythonAPI.3: PythonAPI.3
 	@${CARLA_BUILD_TOOLS_FOLDER}/Check.sh --python-api-3 $(ARGS)

-benchmark: LibCarla.server
+benchmark: LibCarla.release
 	@${CARLA_BUILD_TOOLS_FOLDER}/Check.sh --benchmark $(ARGS)
 	@cat profiler.csv

-CarlaUE4Editor: LibCarla.server
+CarlaUE4Editor: LibCarla.server.release
 	@${CARLA_BUILD_TOOLS_FOLDER}/BuildCarlaUE4.sh --build

 .PHONY: PythonAPI
-PythonAPI: LibCarla.client
+PythonAPI: LibCarla.client.release
 	@${CARLA_BUILD_TOOLS_FOLDER}/BuildPythonAPI.sh --py2 --py3

-PythonAPI.2: LibCarla.client
+PythonAPI.2: LibCarla.client.release
 	@${CARLA_BUILD_TOOLS_FOLDER}/BuildPythonAPI.sh --py2

-PythonAPI.3: LibCarla.client
+PythonAPI.3: LibCarla.client.release
 	@${CARLA_BUILD_TOOLS_FOLDER}/BuildPythonAPI.sh --py3

 .PHONY: LibCarla
 LibCarla: LibCarla.server LibCarla.client

-LibCarla.server: setup
-	@${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.sh --server
+LibCarla.debug: LibCarla.server.debug LibCarla.client.debug
+LibCarla.release: LibCarla.server.release LibCarla.client.release

-LibCarla.client: setup
-	@${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.sh --client
+LibCarla.server: LibCarla.server.debug LibCarla.server.release
+LibCarla.server.debug: setup
+	@${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.sh --server --debug
+LibCarla.server.release: setup
+	@${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.sh --server --release
+
+LibCarla.client: LibCarla.client.debug LibCarla.client.release
+LibCarla.client.debug: setup
+	@${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.sh --client --debug
+LibCarla.client.release: setup
+	@${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.sh --client --release

 setup:
 	@${CARLA_BUILD_TOOLS_FOLDER}/Setup.sh
--- a/Util/BuildTools/Linux.mk.help
+++ b/Util/BuildTools/Linux.mk.help
@ -73,7 +73,7 @@ for developers:

        Build and package the Python API module for Python 2 and/or 3.

-    LibCarla(.server|.client):
+    LibCarla(.server|.client)(.debug|.release):

        Build LibCarla, "Server" and/or "Client" configurations.

--- a/Util/BuildTools/Setup.sh
+++ b/Util/BuildTools/Setup.sh
@ -280,6 +280,21 @@ fi

 unset GTEST_BASENAME

+# ==============================================================================
+# -- Generate Version.h --------------------------------------------------------
+# ==============================================================================
+
+CARLA_VERSION=$(get_carla_version)
+
+log "CARLA version ${CARLA_VERSION}."
+
+VERSION_H_FILE=${LIBCARLA_ROOT_FOLDER}/source/carla/Version.h
+VERSION_H_FILE_GEN=${CARLA_BUILD_FOLDER}/Version.h
+
+sed -e "s|\${CARLA_VERSION}|${CARLA_VERSION}|g" ${VERSION_H_FILE}.in > ${VERSION_H_FILE_GEN}
+
+move_if_changed "${VERSION_H_FILE_GEN}" "${VERSION_H_FILE}"
+
 # ==============================================================================
 # -- Generate CMake toolchains and config --------------------------------------
 # ==============================================================================
@ -298,7 +313,7 @@ set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -std=c++14 -pthread -fPIC" CACHE STRING
 set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -Werror -Wall -Wextra" CACHE STRING "" FORCE)

 # @todo These flags need to be compatible with setup.py compilation.
-set(CMAKE_CXX_FLAGS_RELEASE_CLIENT "\${CMAKE_CXX_FLAGS_RELEASE} -DNDEBUG -g -fwrapv -O2 -Wall -Wstrict-prototypes -fno-strict-aliasing -Wdate-time -D_FORTIFY_SOURCE=2 -g -fstack-protector-strong -Wformat -Werror=format-security -fPIC -std=c++14 -Wno-missing-braces -DBOOST_ERROR_CODE_HEADER_ONLY -DLIBCARLA_ENABLE_LIFETIME_PROFILER -DLIBCARLA_WITH_PYTHON_SUPPORT" CACHE STRING "" FORCE)
+set(CMAKE_CXX_FLAGS_RELEASE_CLIENT "\${CMAKE_CXX_FLAGS_RELEASE} -DNDEBUG -g -fwrapv -O2 -Wall -Wstrict-prototypes -fno-strict-aliasing -Wdate-time -D_FORTIFY_SOURCE=2 -g -fstack-protector-strong -Wformat -Werror=format-security -fPIC -std=c++14 -Wno-missing-braces -DBOOST_ERROR_CODE_HEADER_ONLY -DLIBCARLA_WITH_PYTHON_SUPPORT" CACHE STRING "" FORCE)
 EOL

 # -- LIBCPP_TOOLCHAIN_FILE -----------------------------------------------------
@ -320,8 +335,6 @@ EOL
 cat >${CMAKE_CONFIG_FILE}.gen <<EOL
 # Automatically generated by `basename "$0"`

-set(CARLA_VERSION $(get_carla_version))
-
 add_definitions(-DBOOST_ERROR_CODE_HEADER_ONLY)

 if (CMAKE_BUILD_TYPE STREQUAL "Server")
--- a/Util/CARLA.sublime-project
+++ b/Util/CARLA.sublime-project
@ -77,7 +77,7 @@
 			}
 		},
 		{
-			"name": "CARLA - make LibCarla (Server)",
+			"name": "CARLA - make LibCarla (Server All)",
 			"working_dir": "${project_path}/..",
 			"file_regex": "^../../([^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
 			"syntax": "Packages/Makefile/Make Output.sublime-syntax",
@ -87,7 +87,27 @@
 			}
 		},
 		{
-			"name": "CARLA - make LibCarla (Client)",
+			"name": "CARLA - make LibCarla (Server Debug)",
+			"working_dir": "${project_path}/..",
+			"file_regex": "^../../([^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
+			"syntax": "Packages/Makefile/Make Output.sublime-syntax",
+			"linux":
+			{
+				"shell_cmd": "CARLA_BUILD_NO_COLOR=true make LibCarla.server.debug"
+			}
+		},
+		{
+			"name": "CARLA - make LibCarla (Server Release)",
+			"working_dir": "${project_path}/..",
+			"file_regex": "^../../([^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
+			"syntax": "Packages/Makefile/Make Output.sublime-syntax",
+			"linux":
+			{
+				"shell_cmd": "CARLA_BUILD_NO_COLOR=true make LibCarla.server.release"
+			}
+		},
+		{
+			"name": "CARLA - make LibCarla (Client All)",
 			"working_dir": "${project_path}/..",
 			"file_regex": "^../../([^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
 			"syntax": "Packages/Makefile/Make Output.sublime-syntax",
@ -96,6 +116,26 @@
 				"shell_cmd": "CARLA_BUILD_NO_COLOR=true make LibCarla.client"
 			}
 		},
+		{
+			"name": "CARLA - make LibCarla (Client Debug)",
+			"working_dir": "${project_path}/..",
+			"file_regex": "^../../([^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
+			"syntax": "Packages/Makefile/Make Output.sublime-syntax",
+			"linux":
+			{
+				"shell_cmd": "CARLA_BUILD_NO_COLOR=true make LibCarla.client.debug"
+			}
+		},
+		{
+			"name": "CARLA - make LibCarla (Client Release)",
+			"working_dir": "${project_path}/..",
+			"file_regex": "^../../([^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
+			"syntax": "Packages/Makefile/Make Output.sublime-syntax",
+			"linux":
+			{
+				"shell_cmd": "CARLA_BUILD_NO_COLOR=true make LibCarla.client.release"
+			}
+		},
 		{
 			"name": "CARLA - make PythonAPI (All)",
 			"working_dir": "${project_path}/..",