Merge 1ec58b4cf5 into 2a2cc5f1be

The downloadplugins target is already defined below (line 162).

CHANGELOG.md

@@ -1,6 +1,8 @@
 ## Latest Changes
+ * Fixed a bug that caused navigation information not to be loaded when switching maps
  * Prevent from segfault on failing SignalReference identification when loading OpenDrive files
  * Added vehicle doors to the recorder
+ * Adjusted vehicle BoundingBox when the vehicle opens the doors.
  * Added functions to get actor' components transform
  * Added posibility to Digital Twins to work with local files (osm and xodr)
  * Enable proper material merging for Building in Digital Twins
@@ -18,6 +20,7 @@
  * PythonAPI `Sensor.is_listening` was defined twice (property and method), cleaned and clarified it as a method.
  * Added V2X sensors for cooperative awareness message and custom user-defined messages to support vehicle-to-vehicle communication
  * Added named tuples for BasicAgent.py's detection result to allow for type-hints and better semantics.
+ * Added type-hint support for the PythonAPI
 
 
 ## CARLA 0.9.15

Docs/adv_digital_twin.md

@@ -15,6 +15,8 @@
 
 The __Digital Twin Tool__ enables procedural generation of unique 3D environments based on road networks derived from the [OpenStreetMap](https://www.openstreetmap.org) (OSM) service. Through the Digital Twin Tool interface in CARLA's Unreal Engine editor a user can select a region of map from OSM and download the road network as the basis for a new CARLA map. The tool then fills the spaces between the roads with procedurally generated 3D buildings that adjust to the layout of the road, creating a realistic 3D road environment with high variability.
 
+<iframe width="100%" height="400px" src="https://www.youtube.com/embed/gTutXdS2UkQ?si=hssM3YRCAjSIzdXM" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" referrerpolicy="strict-origin-when-cross-origin" allowfullscreen></iframe>
+
 ## Building the OSM renderer
 
 If you are using Linux, you have the option of using the OSM renderer in the CARLA interface to navigate a large OSM map region that you have downloaded. You first need to build the OSM renderer before proceeding to build CARLA. Run `make osmrenderer` inside the CARLA root directory. You may need to upgrade your version of CMake to v3.2 or above in order for this to work. This will create two folders in your build directory called `libosmcout-source` and `libosmcout-build`. Before proceeding to build CARLA, you need to then edit the `Build.sh` file in the directory `$CARLA_ROOT/Build/libosmcout-source/maps` like so, to ensure the executable is found:

Docs/build_windows_ue5.md

@@ -1,7 +1,7 @@
 !!! warning
         This is a work in progress!! This version of CARLA is not considered a stable release. Over the following months many significant changes may be made to this branch which could break any modifications you make. We advise you to treat this branch as experimental.
 
-# Building CARLA in Windowswith Unreal Engine 5.3
+# Building CARLA in Windows with Unreal Engine 5.3
 
 ## Set up the environment
 

Docs/python_api.md

@@ -1999,7 +1999,7 @@ Iterate over the [carla.RadarDetection](#carla.RadarDetection) retrieved as data
 
 ## carla.Rotation<a name="carla.Rotation"></a>
 Class that represents a 3D rotation and therefore, an orientation in space. CARLA uses the Unreal Engine coordinates system. This is a Z-up left-handed system.  <br>
-<br>The constructor method follows a specific order of declaration: `(pitch, yaw, roll)`, which corresponds to `(Y-rotation,Z-rotation,X-rotation)`.  <br> <br>![UE4_Rotation](https://d26ilriwvtzlb.cloudfront.net/8/83/BRMC_9.jpg) *Unreal Engine's coordinates system*.  
+<br>The constructor method follows a specific order of declaration: `(pitch, yaw, roll)`, which corresponds to `(Y-rotation,Z-rotation,X-rotation)`.  <br> <br>![UE4_Rotation](/img/unreal_lhcs.png) *Unreal Engine's coordinates system*.  
 
 ### Instance Variables
 - <a name="carla.Rotation.pitch"></a>**<font color="#f8805a">pitch</font>** (_float<small> - degrees</small>_)  

Docs/ref_sensors.md

@@ -736,7 +736,7 @@ The following tags are currently available (Note, tags changed from version 0.9.
 | `14`           | Car            | `(0, 0, 142)`    | Cars, vans        |
 | `15`           | Truck          | `(0, 0, 70)`    | Trucks        |
 | `16`           | Bus            | `(0, 60, 100)`  | Busses        |
-| `17`           | Train          | `(0, 60, 100)`  | Trains        |
+| `17`           | Train          | `(0, 80, 100)`  | Trains        |
 | `18`           | Motorcycle     | `(0, 0, 230)`    | Motorcycle, Motorbike        |
 | `19`           | Bicycle        | `(119, 11, 32)`   | Bicylces      |
 | `20`           | Static         | `(110, 190, 160)`            | Elements in the scene and props that are immovable. <br> E.g. fire hydrants, fixed benches, fountains, bus stops, etc.    |
@@ -940,21 +940,19 @@ While the visibility is simulated within CARLA, the scenario can be configured b
 *   __Output:__ [carla.CAMData](python_api.md#carla.CAMData), triggered according to the ETSI CAM standard, unless configured otherwise
 
 Triggering conditions according to ETSI standard:
-- Heading angle change > $4$°
+- Heading angle change > 4°
-- Position difference > $4$ m
+- Position difference > 4 m
-- Speed change > $5$ m/s
+- Speed change > 5 m/s
 - Time elapsed > CAM Generation time (configurable)
-- Low Frequency Container Time Elapsed $> 500$ ms
+- Low Frequency Container Time Elapsed > 500 ms
 
 For the CAM V2X sensor, additional blueprint attributes apply:
 
 | Blueprint attribute     | Type   | Default  | Description                        |
 |-------------------------|--------|-------------------------|------------------------------------|
-| <td colspan=4> Message generation | 
+| gen\_cam\_min           | float  | 0.1         |  Minimum elapsed time between two successive CAMs in seconds (s)        |
-| gen\_cam\_min           | float  | $0.1$         |  Minimum elapsed time between two successive CAMs in seconds (s)        |
+| gen\_cam\_max           | float  | 1.0       |   Maximum elapsed time between two successive CAMs in seconds (s)          |
-| gen\_cam\_max           | float  | $1.0$       |   Maximum elapsed time between two successive CAMs in seconds (s)          |
 | fixed\_rate             | bool   | false [true]     |  Generate a CAM in every CARLA tick (only for debug purposes, will result in slowdown)    |
-| <td colspan=4> Data generation | 
 | `noise_vel_stddev_x` | float  | 0\.0   | Standard deviation parameter in the noise model for velocity (X axis). |
 | `noise_accel_stddev_x`          | float   | 0\.0    | Standard deviation parameter in the noise model for acceleration (X axis).  |
 | `noise_accel_stddev_y`          | float   | 0\.0    | Standard deviation parameter in the noise model for acceleration (Y axis).  |
@@ -993,14 +991,14 @@ Example:
 
 | Blueprint attribute     | Type   | Default | Description                        |
 |-------------------------|--------|-------------------------|------------------------------------|
-| transmit\_power         | float  | $21.5$       | Sender transmission power in dBm                         |
+| transmit\_power         | float  | 21.5       | Sender transmission power in dBm                         |
-| receiver\_sensitivity   | float  | $-99$        | Receiver sensitivity in dBm                                |
+| receiver\_sensitivity   | float  | -99        | Receiver sensitivity in dBm                                |
-| frequency\_ghz          | float  | $5.9$ | Transmission frequency in GHz. 5.9 GHz is standard for several physical channels.                 |
+| frequency\_ghz          | float  | 5.9 | Transmission frequency in GHz. 5.9 GHz is standard for several physical channels.                 |
-| noise\_seed             | int    | $0$   | Random parameter for initialization of noise                           |
+| noise\_seed             | int    | 0   | Random parameter for initialization of noise                           |
-| filter\_distance        | float  | $500$      | Maximum transmission distance in meter, path loss calculations above are skipped for simulation speed      |
+| filter\_distance        | float  | 500      | Maximum transmission distance in meter, path loss calculations above are skipped for simulation speed      |
-| <td colspan=4> __Path loss model parameters__ |
+| __Path loss model parameters__ | | | |
-| combined\_antenna\_gain | float  | $10.0$   | Combined gain of sender and receiver antennas in dBi, parameter for radiation efficiency and directivity |
+| combined\_antenna\_gain | float  | 10.0   | Combined gain of sender and receiver antennas in dBi, parameter for radiation efficiency and directivity |
-| d\_ref                  | float  | $ 1.0 $    | reference distance for Log-distance path loss model in meter           |
+| d\_ref                  | float  | 1.0     | reference distance for Log-distance path loss model in meter           |
 | path\_loss\_exponent    | float  | 2.7                     |    Loss parameter for non-line of sight due to building obstruction    |
 | scenario                | string | urban   | Options: [urban, rural, highway], defines the fading noise parameters |
 | path\_loss\_model       | string | geometric     |   general path loss model to be used. Options: [geometric, winner]  |

LibCarla/source/carla/client/detail/Simulator.cpp

@@ -88,6 +88,12 @@ namespace detail {
     const auto id = GetCurrentEpisode().GetId();
     _client.LoadEpisode(std::move(map_name), reset_settings, map_layers);
 
+    // delete the pointer to _episode so that the Navigation information
+    // will be loaded for the correct map
+    assert(_episode.use_count() == 1);
+    _episode.reset();
+    GetReadyCurrentEpisode();
+
     // We are waiting 50ms for the server to reload the episode.
     // If in this time we have not detected a change of episode, we try again
     // 'number_of_attempts' times.

LibCarla/source/carla/streaming/detail/tcp/Client.cpp

@@ -15,7 +15,6 @@
 #include <boost/asio/connect.hpp>
 #include <boost/asio/read.hpp>
 #include <boost/asio/write.hpp>
-#include <boost/asio/post.hpp>
 #include <boost/asio/bind_executor.hpp>
 
 #include <exception>
@@ -86,7 +85,6 @@ namespace tcp {
 
   void Client::Connect() {
     auto self = shared_from_this();
-    boost::asio::post(_strand, [this, self]() {
       if (_done) {
         return;
       }
@@ -139,18 +137,15 @@ namespace tcp {
 
       log_debug("streaming client: connecting to", ep);
       _socket.async_connect(ep, boost::asio::bind_executor(_strand, handle_connect));
-    });
   }
 
   void Client::Stop() {
     _connection_timer.cancel();
     auto self = shared_from_this();
-    boost::asio::post(_strand, [this, self]() {
       _done = true;
       if (_socket.is_open()) {
         _socket.close();
       }
-    });
   }
 
   void Client::Reconnect() {
@@ -165,7 +160,6 @@ namespace tcp {
 
   void Client::ReadData() {
     auto self = shared_from_this();
-    boost::asio::post(_strand, [this, self]() {
       if (_done) {
         return;
       }
@@ -182,7 +176,7 @@ namespace tcp {
           // Move the buffer to the callback function and start reading the next
           // piece of data.
           // log_debug("streaming client: success reading data, calling the callback");
-          boost::asio::post(_strand, [self, message]() { self->_callback(message->pop()); });
+          self->_callback(message->pop());
           ReadData();
         } else {
           // As usual, if anything fails start over from the very top.
@@ -219,7 +213,6 @@ namespace tcp {
           _socket,
           message->size_as_buffer(),
           boost::asio::bind_executor(_strand, handle_read_header));
-    });
   }
 
 } // namespace tcp

LibCarla/source/carla/streaming/detail/tcp/ServerSession.cpp

@@ -79,7 +79,6 @@ namespace tcp {
     DEBUG_ASSERT(message != nullptr);
     DEBUG_ASSERT(!message->empty());
     auto self = shared_from_this();
-    boost::asio::post(_strand, [=]() {
       if (!_socket.is_open()) {
         return;
       }
@@ -111,11 +110,8 @@ namespace tcp {
       log_debug("session", _session_id, ": sending message of", message->size(), "bytes");
 
       _deadline.expires_from_now(_timeout);
-      boost::asio::async_write(
+      boost::asio::async_write(_socket, message->GetBufferSequence(), 
-          _socket,
+        boost::asio::bind_executor(_strand, handle_sent));
-          message->GetBufferSequence(),
-          handle_sent);
-    });
   }
 
   void ServerSession::Close() {

PythonAPI/docs/geom.yml

@@ -328,7 +328,7 @@
       Class that represents a 3D rotation and therefore, an orientation in space. CARLA uses the Unreal Engine coordinates system. This is a Z-up left-handed system.  <br>
 
       <br>The constructor method follows a specific order of declaration: `(pitch, yaw, roll)`, which corresponds to `(Y-rotation,Z-rotation,X-rotation)`.  <br>
-      <br>![UE4_Rotation](https://d26ilriwvtzlb.cloudfront.net/8/83/BRMC_9.jpg)
+      <br>![UE4_Rotation](/img/unreal_lhcs.png)
       *Unreal Engine's coordinates system*
     # - PROPERTIES -------------------------
     instance_variables:

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/BoundingBoxCalculator.cpp

@@ -23,6 +23,7 @@
 
 #include "Rendering/SkeletalMeshRenderData.h"
 #include "Engine/SkeletalMeshSocket.h"
+#include "Kismet/KismetMathLibrary.h"
 
 namespace crp = carla::rpc;
 
@@ -30,10 +31,11 @@ static FBoundingBox ApplyTransformToBB(
     FBoundingBox InBB,
     const FTransform& Transform)
 {
-  auto Scale = Transform.GetScale3D();
+  const auto Scale = Transform.GetScale3D();
+  const auto TransformRotation = Transform.GetRotation().Rotator();
   InBB.Origin *= Scale;
-  InBB.Rotation = Transform.GetRotation().Rotator();
+  InBB.Rotation = UKismetMathLibrary::ComposeRotators(TransformRotation, InBB.Rotation);
-  InBB.Origin = InBB.Rotation.RotateVector(InBB.Origin) + Transform.GetLocation();
+  InBB.Origin = TransformRotation.RotateVector(InBB.Origin) + Transform.GetLocation();
   InBB.Extent *= Scale;
   return InBB;
 }
@@ -183,6 +185,14 @@ FBoundingBox UBoundingBoxCalculator::GetVehicleBoundingBox(
     }
   }
 
+  // Calculate bounding boxes of the doors.
+  FBoundingBox DoorsBB = GetVehicleDoorsBoundingBox(Vehicle);
+  if(DoorsBB.Extent != FVector::ZeroVector)
+  {
+    // Combine doors Bounding Box with the vehicle BB.
+    BB = CombineBBs({DoorsBB, BB});
+  }
+  
   // Component-to-world transform for this component
   auto& CompToWorldTransform = ParentComp->GetComponentTransform();
   BB = ApplyTransformToBB(BB, CompToWorldTransform);
@@ -445,7 +455,7 @@ TArray<FBoundingBox> UBoundingBoxCalculator::GetBBsOfActor(
     {
       Result.Add(BoundingBox);
     }
-    return Result;;
+    return Result;
   }
 
   // Pedestrians, we just use the capsule component at the moment.
@@ -645,3 +655,34 @@ void UBoundingBoxCalculator::GetMeshCompsFromActorBoundingBox(
     }
   }
 }
+
+FBoundingBox UBoundingBoxCalculator::GetVehicleDoorsBoundingBox(const ACarlaWheeledVehicle* Vehicle)
+{
+  FBoundingBox DoorsBB;
+  if(Vehicle && Vehicle->GetConstraintsComponents().Num() > 0)
+  {
+    FBox DoorsBox(ForceInit);
+    const FTransform& ActorToWorld = Vehicle->GetActorTransform();
+    const FTransform WorldToActor = ActorToWorld.Inverse();
+
+    // Iterates over all doors of the vehicle
+    for(const UPhysicsConstraintComponent* ConstraintComp : Vehicle->GetConstraintsComponents())
+    {
+      const UPrimitiveComponent* DoorComponent = Vehicle->GetConstraintDoor()[ConstraintComp];
+      if(const UStaticMeshComponent* StaticMeshComp = Cast<UStaticMeshComponent>(DoorComponent))
+      {
+        const FTransform ComponentToActor = StaticMeshComp->GetComponentTransform() * WorldToActor;
+        DoorsBox += StaticMeshComp->CalcBounds(ComponentToActor).GetBox();
+      }
+    }
+
+    if(DoorsBox.IsValid)
+    {
+      // DoorBB is aligned with the Vehicle orientation, for this reason it is not necessary to assign rotation.
+      DoorsBB.Origin = DoorsBox.GetCenter();
+      DoorsBB.Extent = DoorsBox.GetExtent();
+    }
+  }
+
+  return DoorsBB;
+}

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/BoundingBoxCalculator.h

@@ -110,4 +110,7 @@ public:
     const FBoundingBox& InBB,
     TArray<UStaticMeshComponent*>& OutStaticMeshComps);
 
+  // Return the combined BB of all doors of the vehicle, with the same orientation.
+  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
+  static FBoundingBox GetVehicleDoorsBoundingBox(const ACarlaWheeledVehicle* Vehicle);
 };

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp

@@ -1085,6 +1085,15 @@ void ACarlaWheeledVehicle::OpenDoorPhys(const EVehicleDoor DoorIdx)
   }
 
   RecordDoorChange(DoorIdx, true);
+
+  // Wait until door is max opened to recalculate its bounds.
+  float TimeNeededToHaveItOpened = (AngleLimit + Constraint->ConstraintInstance.AngularRotationOffset.Yaw) / (DoorOpenStrength > 0.f ? DoorOpenStrength : 1.f);
+  TimeNeededToHaveItOpened = TimeNeededToHaveItOpened < 0.f ? TimeNeededToHaveItOpened * -1.f : TimeNeededToHaveItOpened;
+  FTimerHandle DoorMaxOpenRangeTimerHandle;
+  GetWorldTimerManager().SetTimer(DoorMaxOpenRangeTimerHandle, [this]()
+  {
+    AdjustVehicleBounds();
+  }, TimeNeededToHaveItOpened, false);
 }
 
 void ACarlaWheeledVehicle::CloseDoorPhys(const EVehicleDoor DoorIdx)
@@ -1099,6 +1108,8 @@ void ACarlaWheeledVehicle::CloseDoorPhys(const EVehicleDoor DoorIdx)
   DoorComponent->AttachToComponent(
       GetMesh(), FAttachmentTransformRules(EAttachmentRule::KeepWorld, true));
   RecordDoorChange(DoorIdx, false);
+
+  AdjustVehicleBounds();
 }
 
 void ACarlaWheeledVehicle::RecordDoorChange(const EVehicleDoor DoorIdx, bool bIsOpen)

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.h

@@ -432,6 +432,10 @@ public:
   UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable)
   static void SetPhysicsConstraintAngle(
       UPhysicsConstraintComponent*Component, const FRotator &NewAngle);
+  
+  const TArray<UPhysicsConstraintComponent*>& GetConstraintsComponents() const { return ConstraintsComponents; }
+
+  const TMap<UPhysicsConstraintComponent*, UPrimitiveComponent*>& GetConstraintDoor() const {return ConstraintDoor; }
  
 private:
 

Util/BuildTools/Linux.mk

@@ -138,7 +138,7 @@ LibCarla.client.rss.release: setup ad-rss
 plugins:
 	@${CARLA_BUILD_TOOLS_FOLDER}/Plugins.sh $(ARGS)
 
-setup downloadplugins:
+setup: downloadplugins
 	@${CARLA_BUILD_TOOLS_FOLDER}/Setup.sh $(ARGS)
 
 ad-rss: