* Added sparse map reprsentation
* Added pytorch for terramechanics modules
* Added saving loading particles in independent thread
* Added blank space at the EOF
* Added texture creation lambda
* Moving function to component
* Added input/output architecture for neural network
* Filling heightmap with particles data. Adding Logging to debug
* Updating Texture data at realtime
* Connected 3 stages, using MPC Position to Update and Texture
* Added square particle sampling. Added second model input/output scheme. Fixed start up crash.
* Added new flags and fixes
* Position to update not updating in material but yes in MPC
* Fixed coordinate frame issues and crashes
* Prepared to follow position in the 1st vehicle in map
* Fixed height map alignment
* Fixed large map and terrain tiles alignment
* Fixed inputs for new model
* Added scale factor
* Fixed slow read write operations
* Bug fixes
* Removed debug output
* Removed nvidia profinling marks
* Preparing merge debug code removed, runtime working by rounding the loading data properly
* Made pytorch optional module
* Added TRACE_CPUPROFILER_EVENT_SCOPE to Update and UpdateTexture
* Added optional pytorch conditions and macros
* Removed static Path
* Fixed #ifdef clause. Added missing include.
* Deformation on vehicle working. Ready to start optimisation
* First optimsation done. Heightmap per Tile
* Updated tiles'heightmap to make their size relative to texture and tilesize
* Fixed slow frames. Added functionality
* Removed unecessary library links
* Fixed pytorch link
* Limited search to relevant tiles
* Added multithreaded particle search. Fixed cuda architectures compilation
* Deformation plane added
* Added missing resources
* Updated particle movement update methods
* Spawn on runtime deformation plane
* Added cachemap lock when initializing a region
* Added UHeightMapDataAsset to hold heightmap data
* Fixing some settings
Co-authored-by: Aaron <samaniegoaaron112@gmail.com>
Co-authored-by: bernatx <bernatx@gmail.com>
- Increase max throttle to manual control to 1.0
- In manual control and generate traffic, ignore the generation
if the filter only returns one blueprint
- radar is not located in relation to the box of the car.
This fixes the cases where the radar was located inside the car
- removed annoying warning about speed
* Added LargeMapManager
* Added DVector Vector of doubles
* Declaration of interface
* Added AUncenteredPivotPointMesh
* Added map generation from assets folder
* Updates on FDVector
* Added tile load on demand
* Fixed load tile issues after rebasing origin
* Updated FDVector
* Added some auxiliary functions
* Added conversion and operator
* Added methods to check and configure the state
* Removed const and updated printed info
* Added macro to avoid logs
* Added info dump functions
* The asset spawn check was added to the tick
* LargeMapManager added to CarlaGM
* Moving to level load autocontrol
* Updated with new function name, AddNewClientToConsider
* Fixing forced tile load
* Added operator*(float)
* Disabled Localplayer
* Now the streaming is handled by us
* Fixed remove of considered actors
* Fixed typo
* Added MapOrigin to the Episode
* Added Vector3DInt to LibCarla
* Removed floats in Vector3DInt
* Added offset to client actor's location
* Fixed old cast warning
* Removed float
* Added explicit cast to avoid warning
* Fixed client actor transform
* Removed unnecessary code
* Added origin offset to spawn_actor
* Adding spawn points generation
* Added spawn points folder in editor
* Changed Spawnpoint for only Transforms
* World rebase is triggered directly
* Added offset when attaching actors
* Detecting hero vehicle
* Added LargeMapManager
* Added DVector Vector of doubles
* Declaration of interface
* Added AUncenteredPivotPointMesh
* Added map generation from assets folder
* Updates on FDVector
* Added tile load on demand
* Fixed load tile issues after rebasing origin
* Updated FDVector
* Added some auxiliary functions
* Added conversion and operator
* Added methods to check and configure the state
* Removed const and updated printed info
* Added macro to avoid logs
* Added info dump functions
* The asset spawn check was added to the tick
* LargeMapManager added to CarlaGM
* Moving to level load autocontrol
* Updated with new function name, AddNewClientToConsider
* Fixing forced tile load
* Added operator*(float)
* Disabled Localplayer
* Now the streaming is handled by us
* Fixed remove of considered actors
* Fixed typo
* Added MapOrigin to the Episode
* Added Vector3DInt to LibCarla
* Removed floats in Vector3DInt
* Added offset to client actor's location
* Fixed old cast warning
* Removed float
* Added explicit cast to avoid warning
* Fixed client actor transform
* Removed unnecessary code
* Added origin offset to spawn_actor
* Adding spawn points generation
* Added spawn points folder in editor
* Changed Spawnpoint for only Transforms
* World rebase is triggered directly
* Added offset when attaching actors
* Detecting hero vehicle
* Only hero vehicles are considered to stream tiles
* Little update on log macro
* Adding support for ghost actors
* Refactored LargeMap classes
* Refactored LargeMap classes
* Revert refactor
* Remove files
* Added dormant state to actors
* Fixed spawn+rebase on new OnActorSpawn
* Removed circular dependency warning
* Converted FActorView into an USTRUCT
* Added actor state conversion to dormant
* Removed ConvertActorDormant
* Added spawn and transition of dormants
* Ghost to Dormant working
* Replicated dormant actors
* Add substraction operators
* Added dormant to ghost conversion
* Fixed some issues in dormant to ghost conversion
* WIP! Attached actors not working properly
* WIP! Attached actors not working properly
* Changing several constant variables
Removing sorting in LocalizationStage.cpp
* Fixing variable name
* Fixing variable name
* WIP: Fixing hybrid mode
* Added tiles loaded from umaps.
* Fixed Missing includes
* Debug settings are still on.
Added extra points in tight curves for PID improvement.
Fixed Hybrid Mode, now moves in the direction of the next waypoint.
Reduced calculations in MotionPlanningStage.cpp
* Removed all debug helper functions
* Added FActorData classes to save and restore actor state for dormant actors. Edited all client - server calls to recognize the dormant state. FActorView now can hold null AActor* when is dormant. Large Maps now load tiled umaps instead of assets.
* Fixed dormant check for attached actors
* Expanded FActorData classes. Added world observer aware of dormant actors.
* Extended FActorData classes with walker data.
* Fixed missing includes
* Removed some with editor macros.
* Added virtual destructor to FActorData.
* Adding includes
* Fixed warnings. Added UNoWorldOffsetSceneComponent to have unreal actors unnafected by rebase.
* Fixed tile alingment.
* Added sensor data to restore the comunication.
* Added parent hierarchy consideration to sleep/wakeup of ghost/dormant actors.
* Fixed crash for sensor destruction.
* Changed InMemoryMap to generate more points if two waypoints are even further than a multiple of the limit.
Removed SetSimulatePhysics call when not needed.
Changed PID functions to inline.
* Fixed child-parent when waking up dormant actors. Added profiling traces. Fixed transformation of debug shapes in large maps.
* WIP: Relocating TM-controlled vehicles near the hero vehicle
* WIP: Vehicle teleportation near hero vehicle.
Missing a way to place them in a better order around the map.
Fixes non-deterministic seed setup.
* Fixes bug where the hero vehicle was also set to not have physics.
* Introduces parameter SetRespawnDormantVehicles
WIP Respawning dormant vehicles
* Fixed child-parent when waking up dormant actors. Added profiling traces. Fixed transformation of debug shapes in large maps.
* WIP: renaming FActorView to FCarlaActor. Changing calls related to FCarlaActor to acomodate new typing.
* Renaming FActorView to FCarlaActor. Changing calls related to FCarlaActor to acomodate new typing.
* Now traffic lights can be spawned without controllers inside junctions.
* Added functions to interface the FCarlaActor object with recorder. Started adapting recorder to new FCarlaActor object.
* Fixed missing includes.
* Updated CarlaRecorder and CarlaReplayer to use new FCarlaActor interface for vehicles, walkers and sensors.
* Fixed missing includes.
* Streaming level list now is persistant and can be saved for unreal to detect the dependencies.
* Enabled packages for large maps.
* Added Tiles to the MapPath.txt file. Removed debug warnings.
* WIP: Fix seed when setting deterministic mode.
WIP: Respawn actors when dormant
Added --hero and --respawn to spawn_npc.py
* Fixed traffic light trigger box placement in large maps.
* Fixed traffic light warning. Set speed limit for dormant actors to 30. Fixed semantic segmentation on streaming levels.
* added server bind for set_respawn_dormant_vehicles parameter
* TM doesn't destroy hero vehicle if idle.
ALSM stage will now update hero vehicles first.
MP stage will treat dormant vehicles like physics-less in hybrid mode.
Added fixed seed increment in deterministic mode.
* Fixed Traffic Light issue with recorder and dormant state. Removed old ActorView files.
* handles scenario where the hero vehicle does not exist
* Fixing line markings semantics
* Fixed recorder issues with traffic lights.
* Filter out the base large map as available map
* Added tile_stream_distance and actor_stream_distance to world settings.
* removed unused comments.
* Added IsActive functions. Dormant actors that cannot be respawned now remain dormant.
* Fixed missing includes.
* Fixed missing includes
* Review fixes. Missing includes.
* Fixed link errors.
* Fixes issue with Hybrid mode in async mode.
Introduces new set_boundaries_respawn_dormant_vehicles parameter.
Fixes issue when reloading map.
* WIP: New algorithm to move vehicles from dormant to active
* Finished new policy for teleporting vehicles.
Created new generate_traffic.py script, which works in sync mode.
Removed spawn_npc.py script.
General cleanup in Traffic Manager.
* Cleanup.
* Set FXAA antialiasing method
* Added automatic generation of speed limit signals.
* Adding some includes
* Fixed speed limit component crash when waking up.
* Fixed speed limit component wrong check.
* Fixed speed limit not reset when waking up actors.
* Fixed rare crash when traffic lights become dormant.
* Added speed limit to FActorData.
* Fixed generating waypoints when angle is tight
* Added warning when using asynchronous mode in generate traffic.
Lane changes now require more space.
Vehicle switching from no physics to physics in hybrid mode will have an initial speed.
Changed lower bound to 20 meters for respawn in Large Maps.
* WIP: Landmark anticipation using waypoints
* WIP: anticipation landmark
* Added lane check to landmark search
* Fixed excluded lanes
* WIP: landmark anticipation
* WIP: landmark anticipation
* Changes to constants for path buffer and max speed
Bug fix for landmarks that return nullptr
Included prints for debugging
* Updating constants
Changed collision radius check value
New max_distance for GetAllLandmakrsInDistance
* Incoming turns now make vehicles break
* Added variable radius when finding possible collisions
Added GetMap in InMemoryMap
Added TLMap in MPStage to cache TL
Finished GetLandmarkTargetVelocity function
General cleanup
* Fix merge error
Change constant for collision detection
* Improved lateral PID
* More PID improvements
* Improved longitudinal PID + minor fixes
* Tuned PID parameters
* Changed algorithm for respawn using GeoGrid IDs.
* Fix merge error
* Fixes intersection anticipation algorithm
* Removed print and debug helper init
Co-authored-by: doterop <daniel.oterop@gmail.com>
Co-authored-by: Axel <axellopez92@outlook.com>
Co-authored-by: bernat <bernatx@gmail.com>
Co-authored-by: Joel Moriana <joel.moriana@gmail.com>
Co-authored-by: Axel1092 <lopez1092@hotmail.com>
Co-authored-by: Axel1092 <35765780+Axel1092@users.noreply.github.com>
Co-authored-by: Guillermo <glopez@cvc.uab.es>
* Added MapLayer enum
* Added Load/Unload layer functions
* Added calls to register and tag objects on map change
* Added missing file
* Updated MapLayer to support more layers
* Added calls to PythonAPI
* Added default value
* Moved CurrentMapLayer to GI
* Updated manual_control with maplayer handling
* Updated help
* Updated Changelog
* Fixed a missing `;`
* Fixed LoadWorld() API so it works with old code
* Added missing include for shipping builds
* Fixed base enum type of MapLayer
* Removed int number from layer output
* Renamed variables
* MapLayer converted to int32 and added generic enumToString function
* MapLayer back to uint16
Co-authored-by: Marc Garcia Puig <marcgpuig@gmail.com>
* pr agent behaviors
* pr agent behaviors
* Add files via upload
* Add files via upload
* Add files via upload
* Add files via upload
* limits for steering
* Add files via upload
* pylint formatting
* pylint formatting
* seed flag for repeatability
* seed flag for repeatability
* Add files via upload
* Add files via upload
* first pr review corrections
* Add files via upload
* Add files via upload
* Delete parameters.py
* Add files via upload
* Add files via upload
* Add files via upload
* Add files via upload
* start of pedestrian avoidance + minor fixes
* start of pedestrian avoidance + minor fixes
* get_map check
* get_map check
* get_map check.
* Delete basic_agent.py
* Delete roaming_agent.py
* pylint final changes
* Pylint final check
* more pylint
* minor fix
* minor changes
* Add files via upload
* changes in PID + old models
* trying to stabilize waypoint distance
* fixed step in sampling radius
* folder structure change and more stuff
* pylint fix
* re-introducing pedestrian avoidance
* minor things
* deleted unused folder
* restore basic folder
* resurrected behavior agent
* set debug to false
* remove prints + open PR
* changelog
* setting behavior agent as default in auto_control
changing manual_control to have slower increasing braking too
* Requested modifications PR
The vehicle can now accelerate and brake at the same time again.
Removed unnecessary variable.
* Fix frame rate display for the client
* removing unnecessary duplication
reordering folders
code cleanup for codacity
* unused import
* codacity and travis changes
Co-authored-by: Joel Moriana <joel.moriana@gmail.com>
* Initial implementation of t.m. performance script
* Remove redundant getLocation() calls
* Demo for inter-client communication via Carla server
* WIP: To do: For client usage needed to be changed.
* Instead or client instance episodeProxy is passed to TM
* Instead or client instance episodeProxy is passed to TM
* parmeter improvements (walkers,cars,signs,lights)
* adding section id to map setup
* fix manual_control to reload car with autopilot on
* Instead of client instance episodeProxy is passed to TM.
* WIP: Only added vehicle register via RPC server / client call in TM to
local instance from remote instance. Similarly other APIs we need to
added.
* Added all TM APIs
* carla client now can provide TM instance if required.
* While getting TM instance if server given data is not valid new TM
instace is created. Need to decide what to do with earlier registed
vehicle with previous TM.
* Updated with HealthCheckRemoteTM() function to check TM server status
instead of ResetAllTrafficLights() for any new user client.
* Dynamic port selection added to TM server instace (in case of multiple
TM serve run, it required).
* Fixed change map error
* If registered TM at carla server is not present then remote TM should be
freed and new local TM instance is created.
* Created Process for Local TM.
It cheaks with total registered vehicles in it, if no register vehicles
for 5 sec, it closes it self.
In python spawn_npc.py Client Timeout set to 10 sec. as creating Process
is system dependent call and takes time.
User has to unregister vehicle before destroying it (if activated with
TM). Also neet to check TM unregister function to remove vehicles from
register list.
* Fix for collision ignore bug
* Update TM exit function check to compare registered vehicles with world
actors that if any valid vehicle present cointinue to run the TM else
stop.
* Print removal
* Splited work of main for loop in ApplyBatchCommandsSync
* WIP! Trying to get client directly
* WIP! Trying to access episode properly without getting it from TM ctr
* Changes to BatchControlStage for Sync Mode
Changes to Parameters for Synch Mode
* Added port support for TM. Multiclient MultiTM
* Added additions for RPC Synchronous Tick to TM.
Error handeling and code organization.
* Exposed API for Sync Mode
* TMServer notifies Server that it is gonna be destroyed
* Exposed Python API for Sync Mode
* Add TM as separate process and synchronous tick calls
* SetSynchronousModeTimeOutInMiliSecond method added
* TM shutsdown and informs to the connected clients
* WIP! Map change issues again
* Updated Traffic Manager for:
1) Multi-client, Multi-TM (as required) can be reistered to server.
2) TM is not a PROCESS separated from the user-client.
3) TM will exit if user-client exit.
4) If server closed, TM also get closed by catching runtime err.
* Server side changes ...
* Fixed possible stall on TM destruction
* fixing collision stage + cybertruck not safe
* Merge branch 'master' into 'soumyadeep/traffic_manager'
* WIP! Disconnection of server has to be properly handled by clients
* format update
* Fix bug unsignalized junctions
* # WARNING: head commit changed in the meantime
Merge branch 'doterop/traffic_manager' into soumyadeep/traffic_manager
Updates for Syncronized Tick.
* Updated runtime exception in Episode for smooth exit if TN server closed
for any other user client.
* Better Exception handeling
* Merged with jackbart94/tm_reduce_getloc_calls
* Merged soumyadeep/traffic_manager.
Removed World getter and recovered Episode as a parameter of TM ctr.
Fixed syntax errors.
* Initial implementation of t.m. performance script
* Remove redundant getLocation() calls
* Demo for inter-client communication via Carla server
* WIP: To do: For client usage needed to be changed.
* Instead or client instance episodeProxy is passed to TM
* Instead or client instance episodeProxy is passed to TM
* parmeter improvements (walkers,cars,signs,lights)
* fix manual_control to reload car with autopilot on
* Instead of client instance episodeProxy is passed to TM.
* WIP: Only added vehicle register via RPC server / client call in TM to
local instance from remote instance. Similarly other APIs we need to
added.
* Added all TM APIs
* carla client now can provide TM instance if required.
* While getting TM instance if server given data is not valid new TM
instace is created. Need to decide what to do with earlier registed
vehicle with previous TM.
* Updated with HealthCheckRemoteTM() function to check TM server status
instead of ResetAllTrafficLights() for any new user client.
* Dynamic port selection added to TM server instace (in case of multiple
TM serve run, it required).
* Fixed change map error
* If registered TM at carla server is not present then remote TM should be
freed and new local TM instance is created.
* Created Process for Local TM.
It cheaks with total registered vehicles in it, if no register vehicles
for 5 sec, it closes it self.
In python spawn_npc.py Client Timeout set to 10 sec. as creating Process
is system dependent call and takes time.
User has to unregister vehicle before destroying it (if activated with
TM). Also neet to check TM unregister function to remove vehicles from
register list.
* Fix for collision ignore bug
* Update TM exit function check to compare registered vehicles with world
actors that if any valid vehicle present cointinue to run the TM else
stop.
* Splited work of main for loop in ApplyBatchCommandsSync
* WIP! Trying to get client directly
* WIP! Trying to access episode properly without getting it from TM ctr
* Changes to BatchControlStage for Sync Mode
Changes to Parameters for Synch Mode
* Added port support for TM. Multiclient MultiTM
* Added additions for RPC Synchronous Tick to TM.
Error handeling and code organization.
* Exposed API for Sync Mode
* TMServer notifies Server that it is gonna be destroyed
* Exposed Python API for Sync Mode
* Add TM as separate process and synchronous tick calls
* SetSynchronousModeTimeOutInMiliSecond method added
* TM shutsdown and informs to the connected clients
* WIP! Map change issues again
* Updated Traffic Manager for:
1) Multi-client, Multi-TM (as required) can be reistered to server.
2) TM is not a PROCESS separated from the user-client.
3) TM will exit if user-client exit.
4) If server closed, TM also get closed by catching runtime err.
* Fixed possible stall on TM destruction
* fixing collision stage + cybertruck not safe
* Merge branch 'master' into 'soumyadeep/traffic_manager'
* WIP! Disconnection of server has to be properly handled by clients
* format update
* Fix bug unsignalized junctions
* # WARNING: head commit changed in the meantime
Merge branch 'doterop/traffic_manager' into soumyadeep/traffic_manager
Updates for Syncronized Tick.
* Updated runtime exception in Episode for smooth exit if TN server closed
for any other user client.
* Better Exception handeling
* Merged with jackbart94/tm_reduce_getloc_calls
* Merged soumyadeep/traffic_manager.
Removed World getter and recovered Episode as a parameter of TM ctr.
Fixed syntax errors.
* Rebased with master
* Changes after rebase
* Solving tab errors
* Updated Changelog
* Removing Destroyed vehicle's from TM Server
* Fixed uint compatibility with Windows
* Merged soumyadeep/traffic_manager. Discarded destroyed actors
* -Removed unnecessary files
* restoring docs from rebase
* Fix windows compilation
* refactoring stage-related code
* more code refactoring
* When map change the simulation doesn't throw exception anymore
* Fixed incorrect episode
* Fixed map change and TM remote detached thread destruction
* Syntax and comments fixes
* Missed change on previous commit
* Fixed compile minor compile issue
* Cleaned and fixed some issues after merge
* fix to sync localization bugs
modified PID parameters
revamping spawn_npc
* deleted tm_spawn_npc
* fixes spawn error in sync mode
* Redoing TM sync logic
* finished performance benchmark for tm
* deprecated wrapped methods:
register_vehicle
unregister_vehicle
* New TM management
* Fixed sync mode on TM
* Cleaned TM of prints and unussed functions
* collision stage checks for (0,0,0) to ignore.
in memory map has an # between keys to avoid possible mixup.
fixed spawn_npc with new sync mode
* changelog
* added more connection retries
* fixed changelog + comments (see reviewable)
* Moved socket include's to single header
* Added missing line at the end of the file
* Fixed syntax errors
* final commit
* Minor correction in comment
* update copyright year to 2020 + removed break
* restoring unwanted changes
* patch for smoke test error
* Removed "todo" for pylint
Co-authored-by: Jacopo Bartiromo <32928804+jackbart94@users.noreply.github.com>
Co-authored-by: Praveen Kumar <35625166+pravinblaze@users.noreply.github.com>
Co-authored-by: Soumyadeep <soumyadeep.dhar@kpit.com>
Co-authored-by: joel-mb <joel.moriana@gmail.com>
Co-authored-by: Sekhar Barua <58979936+sekhar2912@users.noreply.github.com>
Co-authored-by: bernat <bernatx@gmail.com>
Co-authored-by: Marc Garcia Puig <marcgpuig@gmail.com>
* Added more weather attributes
* Upload client_test.py as weather in utils
Activate mesh distance fields
* weather.py --> Added wetness, changed "cloudyness" , fixed some functions
Weather.cpp --> Skip weather
Weather.h --> Added "SetWeather" Function
* Changed ASCII characters in weather.py
* Finished weather script without dynamic weather
* Added missing end of file line.
* Fixed the initial state of weather.py
* Updated changelog & fix dynamic weather altitude
* New default values for weather presets
Temporal fix in manual_control.py to refresh weather when it opens the pygame windows or it changes the camera (Tab)
* Fixed walkers spawn in manual_control
Co-authored-by: Marc Garcia Puig <marcgpuig@gmail.com>
Co-authored-by: doterop <daniel.oterop@gmail.com>
* changed next sensor key from backquote to n
* fixed typo in spawn_npc.py
* reenabled backquote to switch sensor
Co-authored-by: Marc Garcia Puig <marcgpuig@gmail.com>
bernatx