Commit Graph

1232 Commits

Author SHA1 Message Date
Bernd Gassmann 9fe5e733ad RSS build uses the libproj version from CARLA
and now favours actually the boost variant from CARLA over the system
installed one
2021-07-21 16:05:25 +02:00
bernatx cdb0318e05 Fixing where open drive content is cached 2021-07-21 11:37:23 +02:00
bernat 76a51b9010 Removing spaces 2021-07-20 22:12:36 +02:00
bernat 71102a2336 Move implementation of class to .cpp 2021-07-20 22:12:36 +02:00
Roel Algaba Brizuela 5850bfcbdf Fix compilation error 2021-07-20 22:12:36 +02:00
Roel Algaba Brizuela 3c89b03c54 Updated file transfer system 2021-07-20 22:12:36 +02:00
Roel Algaba Brizuela 66cd52b7e8 Modified file transfer to avoid multiple downloads 2021-07-20 22:12:36 +02:00
bernat cd76952655 Fixing environment variable in windows 2021-07-20 22:12:36 +02:00
alejandroFraga 1a58b48564 OpenDrive .xodr file integrated with the required file system 2021-07-20 22:12:36 +02:00
Alejandro Fraga Cimadevila 05a09b1007 First iteration of the required files functionality 2021-07-20 22:12:36 +02:00
Jacopo Bartiromo 6efe45f04d
Traffic Manager for Large Maps (#4324)
* 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 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.

* Calculating TLStage even when dormant

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>
2021-07-15 15:58:28 +02:00
Axel 9c2d8aef94 Added comments 2021-07-13 19:25:44 +02:00
Axel a34e12f4f4 Fixed excluded lanes 2021-07-13 19:25:44 +02:00
Axel 2f488b6efe Added lane check to landmark search 2021-07-13 19:25:44 +02:00
Axel c62b4bb280 Added get_stop_waypoints() to traffic light. Renamed affected_lane_waypoints function. Added transform_vector function. 2021-07-04 20:11:19 +02:00
Axel bf4e7b0633 Added get_light_boxes in traffic light actors. Added functions to the World to obtain traffic lights from waypoints and junctions. Improved chached map method. 2021-07-04 20:11:19 +02:00
Axel c757462d03 Added new api functions `get_effect_waypoints`, `get_light_boxes` and `get_opendrive_id` for traffic lights. 2021-07-04 20:11:19 +02:00
Daniel Santos-Oliván e9efa7677e Added Command: ApplyVehiclePhysicsControl 2021-07-02 10:26:00 +02:00
Daniel Santos-Oliván 15be33e874 World: world methods will use same timeout as client
The world methods: tick, wait_for_tick and apply_settings
will use the timeout defined in the client but they still
allow to define a custom one.
2021-06-16 10:57:38 +02:00
Daniel Santos-Oliván 71682ee57f LibCarla::Client.h Fixed tick in apply batch 2021-06-16 10:57:38 +02:00
Axel1092 74380cdc23
Fixed existing features for Large Maps (#4293)
* 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.

* 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.

* Fixed Traffic Light issue with recorder and dormant state. Removed old ActorView files.

* 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.

Co-authored-by: bernat <bernatx@gmail.com>
2021-06-11 19:44:16 +02:00
Roel Algaba Brizuela 829664d8a3 Extended PythonAPI for weather 2021-06-11 14:31:49 +02:00
Daniel Santos-Oliván c88dc50052 Added missing header 2021-06-03 11:34:33 +02:00
Axel 68d75a9874 Fixed inacurate class description. Removed unused files. 2021-06-02 13:15:17 +02:00
Axel 2e76af9001 Fixed float texture format. Added method to convert optical flow to a color visualization. 2021-06-02 13:15:17 +02:00
Shashank Singh 6b6f639e15 removed unused code and added optical flow processing explanation+example to manual_control.py 2021-06-02 13:15:17 +02:00
Shashank Singh fa9f55a592 Optical Flow 2021-06-02 13:15:17 +02:00
Jacopo Bartiromo d3f8b58ae2 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.
2021-05-28 11:31:10 +02:00
Jacopo Bartiromo 83f0a0097c Removed all debug helper functions 2021-05-28 11:31:10 +02:00
Jacopo Bartiromo 0002f0b478 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
2021-05-28 11:31:10 +02:00
Jacopo Bartiromo 5f0f95879e WIP: Fixing hybrid mode 2021-05-28 11:31:10 +02:00
Jacopo Bartiromo 2ef69447e3 Fixing variable name 2021-05-28 11:31:10 +02:00
Jacopo Bartiromo 252be2d881 Fixing variable name 2021-05-28 11:31:10 +02:00
Jacopo Bartiromo 341571c762 Changing several constant variables
Removing sorting in LocalizationStage.cpp
2021-05-28 11:31:10 +02:00
Daniel Santos-Olivan e3ba9e4940 Added tire stiffness forces to physics control 2021-05-20 16:33:27 +02:00
Daniel Santos-Olivan 3fbdd5b908 Added Abs method to carla vectors 2021-05-20 16:33:27 +02:00
Axel1092 c46c65ff4f
Large Maps (#4207)
* 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

* Added tiles loaded from umaps.

* Fixed Missing includes

* 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.

Co-authored-by: doterop <daniel.oterop@gmail.com>
Co-authored-by: bernat <bernatx@gmail.com>
2021-05-20 16:09:43 +02:00
Axel 84b469b59e Added inertial position to parser. Updated osm2odr version. 2021-04-29 11:33:01 +02:00
Daniel Santos-Oliván 2eddbbcb39 Fix bug in lidar point count 2021-04-14 23:30:03 +02:00
Axel d7069ee098 Changed profiling macro fot static strings. 2021-04-07 12:34:05 +02:00
Axel 2584d884b9 Added trace profiler events for unreal insights. 2021-04-07 12:34:05 +02:00
doterop 86efe6f581 Added some UE isnights traces 2021-04-07 12:34:05 +02:00
Axel ed6062e5dd Added new argument to recreate sensors in the replayer. 2021-04-01 12:32:30 +02:00
bernat 7580c682f6 Disable the minimum size of a network packet to be sent 2021-03-31 10:00:24 +02:00
Roel Algaba Brizuela e9fc29898f
Added wheel control (#3868)
* First version - Wheel direction changes

* Updated CHANGELOG.md

* Fix DVSCamera include error

* Updated vehicle wheels direction commands

* Reset files back to default state

* Removed files from PR.

* Updated changelog
2021-03-15 15:42:33 +01:00
Daniel Santos-Olivan a0d8de23bc Fix bug in get_up_vector() 2021-03-15 12:37:15 +01:00
bernat 0ec6a45563 Ignore any error from socket when closing it 2021-03-08 14:48:22 +01:00
Axel 7d135da9c6 Added shut_down function to TM. 2021-03-08 13:31:28 +01:00
Axel c5fe20ab60 Compilation fix 2021-03-08 13:31:28 +01:00
Axel 081bb4191f Add small wait in TM for the next tick. 2021-03-08 13:31:28 +01:00