- Manual Control example fix for asynchronous captures.

- Server Game Controller flushes render queue before sending measurements.

PythonClient/manual_control.py

@@ -188,11 +188,11 @@ class CarlaGame(object):
 
         measurements, sensor_data = self.client.read_data()
 
-        self._main_image = sensor_data['CameraRGB']
+        self._main_image = sensor_data.get('CameraRGB',None)
-        self._mini_view_image1 = sensor_data['CameraDepth']
+        self._mini_view_image1 = sensor_data.get('CameraDepth' ,None)
-        self._mini_view_image2 = sensor_data['CameraSemSeg']
+        self._mini_view_image2 = sensor_data.get('CameraSemSeg',None)
         if self._enable_lidar:
-            self._lidar_measurement = sensor_data['Lidar32']
+            self._lidar_measurement = sensor_data.get('Lidar32',None)
 
         # Print measurements every second.
         if self._timer.elapsed_seconds_since_lap() > 1.0:

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/ServerGameController.cpp

@@ -11,6 +11,7 @@
 #include "Server/CarlaServer.h"
 #include "Server/ServerSensorDataSink.h"
 #include "Settings/CarlaSettings.h"
+#include "Private/RenderTargetTemp.h"
 
 using Errc = FCarlaServer::ErrorCode;
 
@@ -120,10 +121,16 @@ void FServerGameController::Tick(float DeltaSeconds)
 
   // Send measurements.
   {
+	if(CarlaSettings->bSynchronousMode)
+	{
+	  FlushRenderingCommands();
+	}
+
     if (Errc::Error == Server->SendMeasurements(
             DataRouter.GetPlayerState(),
             DataRouter.GetAgents(),
-            CarlaSettings->bSendNonPlayerAgentsInfo)) {
+            CarlaSettings->bSendNonPlayerAgentsInfo)) 
+	{
       Server = nullptr;
       return;
     }