## Latest changes * Upgraded to Unreal Engine 4.21 * Upgraded Boost to 1.69.0 * Added point transformation functionality for LibCarla and PythonAPI * Added "sensor_tick" attribute to sensors (cameras and lidars) to specify the capture rate in seconds * Added "get_forward_vector()" to rotation and transform, retrieves the unit vector on the rotation's X-axis * Added support for Deepin in PythonAPI's setup.py * Added support for spawning and controlling walkers (pedestrians) * Renamed vehicle.get_vehicle_control() to vehicle.get_control() to be consistent with walkers * Added a few methods to manage an actor: - set_velocity: for setting the linear velocity - set_angular_velocity: for setting the angular velocity - get_angular_velocity: for getting the angular velocity - add_impulse: for applying an impulse (in world axis) * Added support for gnss_sensor * Fixed TCP accept error, too many open files while creating and destroying a lot of sensors * Fixed lost error messages in client-side, now when a request fails it reports the reason * Improved simulator fatal error handling, now uses UE4 fatal error system * Fixed crash when an actor was destroyed but not de-registered, e.g. falling out of world bounds * LibCarla server pipeline now compiles with exceptions disabled for better performance and compatibility with UE4 * OpenDriveActor has been rewritten using the Waypoint API, this has fixed some bugs ## CARLA 0.9.2 * Updated ROS bridge for CARLA 0.9.X (moved to its own repository) * Added Python API "agents" extension, includes - Global route planner based on the Waypoints API (compatible with OpenDrive) - BasicAgent: new client agent that can drive to a given coordinate of the map using the waypoint API and PID controllers, attending to other vehicles and traffic lights - RoamingAgent: new client agent that can drive at different speeds following waypoints based on PID controllers, attending to other vehicles and traffic lights - LocalPlanner functionality to navigate waypoints using PID controllers - LateralControl and LongitudinalControl PIDs * Added support for manual gear shifting * Added "role_name" attribute to actors to easily identify the "hero" vehicle * Changed traffic lights in Town03 to American style * Added new junction types with only stop signs * Updates to documentation and tutorials * Simulator now starts by default in windowed mode * CMake version required downgraded to 3.5 for better compatibility * Fixed waypoints height were all placed at zero height * Fixed actors in world.get_actors() missing parent actor * Fixed some vehicles losing their wheels after calling set_simulate_physics * Fixed bounding box of Lincoln MkZ * Several fixes and improvements to OpenDriveActor ## CARLA 0.9.1 * New town: Town03 - Created with Vector Zero's RoadRunner (including OpenDrive information of the road layout) - Bigger and more diverse - More road variety: multiple lanes and lane markings, curves at different angles, roundabout, elevation, tunnel * Lots of improvements to the Python API - Support for Python 3 - Support for retrieving and changing lighting and weather conditions - Migrated Lidar sensor - Migrated image converter methods: Depth, LogarithmicDepth, and CityScapesPalette - Migrated IO methods for sensor data, "save_to_disk" available for PNG, JPEG, TIFF, and PLY - Added support for requesting the list of all the actors alive in the current world, `world.get_actors()` - `world.get_actors()` returns an `ActorList` object with `filter` functionality and lazy initialization of actors - Added collision event sensor, "sensor.other.collision", that triggers a callback on each collision to the actor it is attached to - Added lane detector sensor, "sensor.other.lane_detector", that detects lane invasion events - Added `carla.Map` and `carla.Waypoint` classes for querying info about the road layout - Added methods for converting and saving the map as OpenDrive format - Added `map.get_spawn_points()` to retrieve the recommended spawn points for vehicles - Added `map.get_waypoint(location)` to query the nearest waypoint - Added `map.generate_waypoints(distance)` to generate waypoints all over the map at an approximated distance - Added `map.get_topology()` for getting a list the tuples of waypoints that define the edges of the road graph - Added `waypoint.next(distance)` to retrieve the list of the waypoints at a distance that can be driven from this waypoint - Added `parent` attributes to actors, not None if the actor is attached to another actor - Added `semantic_tags` to actors containing the list of tags of all of its components - Added methods for retrieving velocity and acceleration of actors - Added function to enable/disable simulating physics on an actor, `actor.set_simulate_physics(enabled=True)` - Added bounding boxes to vehicles, `vehicle.bounding_box` property - Exposed last control applied to vehicles, `vehicle.get_vehicle_control()` - Added a "tick" message containing info of all the actors in the scene - Executed in the background and cached - Added `world.wait_for_tick()` for blocking the current thread until a "tick" message is received - Added `world.on_tick(callback)` for executing a callback asynchronously each time a "tick" message is received - These methods return/pass a `carla.Timestamp` object containing, frame count, delta time of last tick, global simulation time, and OS timestamp - Methods retrieving actor's info, e.g. `actor.get_transform()`, don't need to connect with the simulator, which makes these calls quite cheap - Allow drawing debug shapes from Python: points, lines, arrows, boxes, and strings (`world.debug.draw_*`) - Added id (id of current episode) and map name to `carla.World` - Exposed traffic lights and signs as actors. Traffic lights have a specialized actor class that has the traffic light state (red, green, yellow) as property - Added methods for accessing and modifying individual items in `carla.Image` (pixels) and `carla.LidarMeasurement` (locations) - Added `carla.Vector3D` for (x, y, z) objects that are not a `carla.Location` - Removed `client.ping()`, `client.get_server_version()` accomplishes the same - Renamed `contains_X()` methods to `has_X()` - Changed `client.set_timeout(seconds)` to use seconds (float) instead of milliseconds - Allow iterating attributes of an Actor's Blueprint - Fixed wildcard filtering issues, now "vehicle.*" or "*bmw*" patterns work too - Fixed `actor.set_transform()` broken for attached actors * More Python example scripts and improved the present ones - Now all the scripts use the list of recommended spawn points for each map - Renamed "example.py" to "tutorial.py", and updated it with latest changes in API - Added timeout to the examples - "manual_control.py" performance has been improved while having more measurements - "manual_control.py" now has options to change camera type and position - "manual_control.py" now has options to iterate weather presets - "manual_control.py" now has a fancier HUD with lots of info, and F1 key binding to remove it - Added "dynamic_weather.py" to change the weather in real-time (the one used in the video) - Added "spawn_npc.py" to quickly add a lot of NPC vehicles to the simulator - Added "spawn_npc.py --safe" to only add non-problematic vehicles - "vehicle_gallery.py" also got some small fixes * Asset and content improvements - New vehicle: Lincoln MKZ 2017 - Refactored weather system, parametrized to make it easier to use - Improved control of bikes and motorbikes, still not perfect but causes less accidents - Added building block generator system - Misc city assets: New building, tunnel columns, rail-road bridges, new textures, new urban props - Adjusted vehicle physics and center of mass - Adjusted the maximum distance culling for foliage - Adjusted pedestrian animations and scale issues (not yet available with new API though) - Improved map building blueprints, spline based asset repeaters, and wall building tools - Replaced uses of Unreal's Foliage system with standard static meshes to work around a visual bug in Linux systems - Fixed filenames too long when packing the project on Windows - Fixed "SplineMeshRepeater" loses its collider mesh from time to time - Standardized asset nomenclature * New system for road information based on OpenDrive format - Added new map classes for querying info about the road layout and topology - Added methods for finding closest point on the road - Added methods for generating and iterating waypoints based on the road layout - Added OpenDrive parser to convert OpenDrive files to our map data structures * Other miscellaneous improvements and fixes - Fixed single channel Lidar crash (by @cwecht) - Fixed command-line argument `-carla-settings` fails to load absolute paths (by @harlowja) - Added an option to command-line to change quality level when launching the simulator, `-quality-level=Low` - Added ROS bridge odometry message (by @ShepelIlya) - New lens distortion shader, sadly not yet integrated with our cameras :( - New Docker tutorial - Disabled texture streaming to avoid issue of textures not loading in scene captures - Adjusted scene capture camera gamma to 2.4 - Fixed leaking objects in simulation when despawning a vehicle. Now Pawn's controller is destroyed too if necessary when destroying an Actor - Fixed overflow on platform time-stamp, now it uses `double` - Upgraded @rpclib to fix crash when client exits too fast (rpclib/PR#167) - Moved "PythonClient" inside deprecated folder to avoid confusion - Refactored sensor related code - New plugin system for sensors that simplifies adding sensors, mini-tutorial at #830 - Compile-time dispatcher for sensors and serializers * Improvements to the streaming library - Added multi-streams for streaming simultaneously to multiple clients (used by the "tick" message) - Messages re-use allocated memory when possible - Allows unsubscribing from a stream - Fixed client receives interleaved sensor messages, some messages can be discarded if connection is too slow though - Fixed streaming client fails to connect in Windows - Fixed streaming client keeps trying to reconnect after destroying a sensor * Refactored client C++ API - Python GIL is released whenever possible to avoid blocking - Fixed deadlock when closing the simulator while a client is connected - Fixed crash on simulator shutdown if a client has connected at some point - Set methods are now sent async which greatly improves performance in the client-side - Vehicle control is cached and not sent if haven't changed - Suppressed exceptions in destructors * Other development improvements - Improved Linux Makefile, fine-grained targets to reduce compilation times in development - Workaround for "setup.py" to link against "libcarla_client.a" again (Linux only) - Added support for ".gtest" file, each line of this file is passed to GTest executables as arguments when running `make check` targets - Python eggs are also archived on Jenkins to easily get them without downloading the full package - Added uncrustify config file for formatting UE4 C++ code ## CARLA 0.9.0 * Upgraded to Unreal Engine 4.19 * Redesign of the networking architecture - Allows any number of clients to connect simultaneously - Now is possible to add and remove at any time any vehicle or camera - Now is possible to control any vehicle or camera - Now is possible to place cameras anywhere - Reduced to two ports instead of three - First port uses an RPC protocol based on [rpclib](http://rpclib.net/) - Second port is for the streaming of the sensor data * Redesign of the Python API - Actors and sensors are now exposed in the API and can be independently controlled - The Python module is built in C++, with significant performance gain in some operations - Many functionality haven't been ported yet, so expect a lot of things missing * Redesign of the build system to accommodate the changes in dependencies - Everything can be done now with the Makefile - For the moment only Linux is supported, sorry * Massive clean up of all unused assets * Some aesthetic fixes to the vehicles ## CARLA 0.8.4 * Community contribution: ROS bridge by @laurent-george * New vehicle: Tesla Model 3 * Added an option to _"CarlaSettings.ini"_ to disable bikes and motorbikes * Fixed missing collision of vehicles introduced in 0.8.3 * Improved stability of bikes and motorbikes * Improved autopilot turning behaviour at intersections, now using front wheels positions as reference * Temporarily removed Kawasaki Ninja motorbikes because the model was having some stability issues ## CARLA 0.8.3 * Added two-wheeled vehicles, 3 bicycles and 4 motorbikes * Several art optimizations (CARLA is now about 10% faster) - Improved the performance of vegetation assets, adjusted LOD and culling distance, set billboards where possible - Drastically reduced the number of polygons of the landscape while keeping the original shape - Removed some high-cost unnecessary assets - Remodelled Mustang and NissanMicra, now with less polygons and materials, better textures and LOD - Remodelled building SM_TerracedHouse_01, now with more polygons but less materials and better textures * CARLA releases include now a Dockerfile for building docker images * Change in HUD: replace "FPS" by "Simulation Step" * The current map name is now included in the scene description message sent to the client * Adapted "manual_control.py" and "view_start_positions.py" to use the map name sent by the simulator * Improved the vehicle spawning algorithm, now it tries to spawn as much cars as possible even if there are not enough spawn points * "Setup.sh" is now faster and accepts an argument to run multiple jobs in parallel * Fixed foliage distance culling using wrong distance in "Low Mode" * Fixed NissanMicra slightly turning left when driving straight ## CARLA 0.8.2 * Revamped driving benchmark - Changed name from benchmark to driving benchmark - Fully Redesigned the architecture of the module - Added a lot more documentation - Now you can stop and resume the benchmarks you run * Rolled back vehicle's location to the pivot of the mesh instead of the center of the bounding box * Added relative transform of the vehicle's bounding box to the measurements, player and non-players * Added "frame number" to each sensor measurement so it is possible to sync all the measurements based on the frame they are produced * Improved vehicle spawner to better handle spawning failures * Walkers use now a closer angle to detect vehicles, so they don't stop moving if a car passes nearby * Fixed lighting artefact causing the road to change its brightness depending on the distance to the camera * Fixed captured images overexposed in Low mode * Fixed illegal character in asset name * Fixed editing sun azimuth angle in CarlaWeadther.ini had no effect * Fixed crash when using a non-standard image size in DirectX (Windows) * Fixed issue with using multiple "SceneCaptureToDiskCamera" ## CARLA 0.8.1 * New Python example for visualizing the player start positions * Fixed box extent of non-player agents was sent in centimeters instead of meters * Fixed speed limits were sent in km/h instead of m/s * Fixed issue in Volkswagen T2 wheels causing it to overturn ## CARLA 0.8.0 * Upgraded to Unreal Engine 4.18 * Created our own pedestrian 3D models free to use and distribute * Removed Epic's Automotive Materials dependencies * 360 Lidars support (similar to Velodyne HDL-32E or VLP-16) thanks to Anton Pechenko (Yandex) - Ray-cast based - Configurable settings - Added methods to save points to disk as PLY file * Added quality level settings - Low: low quality graphics, about 3 times faster with one camera - Epic: best quality (as before) * Measurements now use SI units - Locations: m - Speed: m/s - Acceleration: m/s^2 - Collisions: kg*m/s - Angles: degrees * Added API methods to convert depth images to a point cloud - New method "image_converter.depth_to_local_point_cloud" - A supplementary image can be passed to attach colors to the points - New client example generates a point cloud in world coordinates - Added Transform class to Python API * Performance optimizations - Significant speed improvements in both Epic and Low modes - Fixed materials and improved shaders for roads, architecture, sidewalks, foliage, landscapes, cars, walkers, reflections, water - Execution of a set of Project and Engine parameters to improve performance (quality, vsync, AO, occlusion) - Generation of the road pieces using static meshes and actors instead of a single actor with instanced meshes - Improved performance since now is able to apply occlusion and draw distance - Images are captured asynchronously in the render thread - In asynchronous mode, images may arrive up to two frames later - In synchronous mode, game thread is blocked until images are ready - Blueprint code optimizations for vehicles, walkers, and splines - Added a way to configure different quality levels with culling distance and materials configuration * Refactored sensor related code to ease adding new sensors in the future * Added vehicle box extent to player measurements * Removed the player from the list of non-player agents * Adjusted bounding boxes to vehicles' height * Changed vehicles' center to match bounding box * Added autopilot mode to manual_control.py * Added quality level options to manual_control.py and client_example.py * Replaced background landscape and trees by a matte painting * Fixed road map generated some meshes twice * Small improvements to Windows support - Fixed issues with the Makefile - Fixed asset names too long or containing special characters ## CARLA 0.7.1 * New Python API module: Benchmark - Defines a set of tasks and conditions to test a certain agent - Contains a starting benchmark, CoRL2017 - Contains Agent Class: Interface for benchmarking AIs * New Python API module: Basic Planner (Temporary Hack) - Provide routes for the agent - Contains AStar module to find the shortest route * Other Python API improvements - Converter class to convert between Unreal world and map units - Metrics module to summarize benchmark results * Send vehicle's roll, pitch, and yaw to client (orientation is now deprecated) * New RoutePlanner class for assigning fixed routes to autopilot (IntersectionEntrance has been removed) * Create a random engine for each vehicle, which greatly improves repeatability * Add option to skip content download in Setup.sh * Few small fixes to the city assets ## CARLA 0.7.0 * New Python client API - Cleaner and more robust - Compatible with Python 2 and 3 - Improved exception handling - Improved examples - Included methods for parsing the images - Better documentation - Protocol: renamed "ai_control" to "autopilot_control" - Merged testing client - Added the maps for both cities, the client can now access the car position within the lane * Make CARLA start without client by default * Added wind effect to some trees and plants * Improvements to the existing weather presets * Build script: skip content download if up-to-date ## CARLA 0.6.0 * Included Unreal project and reorganised folders * Enabled semantic segmentation by default * Added Felipe's Python client * New build system (Linux only) * Few fixes to city assets ## CARLA 0.5.4 * Added command-line parameter -carla-no-hud * Remove override gamma from weather settings * Fixed issue road map generation hangs cooking command * Organise Python client and make sample script * Rename maps - CARLA_ORIGIN_0 --> Town02 - CARLA_ORIGIN_1 --> Town01 * Fixed Carla-Cola machine falling at begin play ## CARLA 0.5.3 * Fixed issues with weather * Fixed missing building ## CARLA 0.5.2 * Autopilot mode has been removed, now server sends AI control together with measurements every frame * State and position of traffic lights and signs are now included in the measurements too * Added a python console client * Fixed crash when client sends an invalid player start * Fixed some issues with the dynamic weather not looking as it used to do * Fixed some collision boxes missing ## CARLA 0.5.1 * Fixed issue server was destroyed on every reset, closing the connection * Fixed issue agent servers connect too late * Improvements to the python client * Added python client test suite for testing the release * Added image converter * Fixed missing floor on CARLA_ORIGIN_0 * Changed sidewalk texture * Improvements on the physics of some vehicles * More props and decals added to the cities ## CARLA 0.5.0 * Upgraded to Unreal Engine 4.17 - Fixes memory leaks - Fixes crashes with C++ std classes * Redesigned CarlaServer - Faster, avoids unnecessary copies - Sends images as raw data (no compression) - Supports synchronous and asynchronous mode - Networking operation have a time-out - Synchronous methods have a time-out - Pure C interface for better compatibility - Unit tests with GoogleTest * New server-client protocol - Upgraded to proto3 - Supports repeated fields - Optionally send information about all dynamic agents in the scene - Now sends transforms instead of locations only - Autopilot mode added to control * New build system to avoid linkage issues * Added autopilot mode * Added an on-board camera to the car * Added traffic lights and speed limit to player state * Added player pawn selection to config file * Improved blueprint interface of the C++ classes * Some performance improvements to vehicle controllers * Fix issues with depth material in Windows * Fix issues with random engine not being available for vehicles * Fixed issue that compiling a release hang when saving the road map * Added more content; 7 vehicles, 30 pedestrians, many decals and props * Randomized pedestrian clothing * Many improvements and fixes to the city levels and assets * Added sub-surface scattering to vegetation * Added key binding to change weather during play * Added key binding to toggle autopilot mode * Added a second camera to the player ## CARLA 0.4.6 * Add weather presets specific for each level * Some map fixes, adjust weather presets specific for each level * Fixed regression that some walkers may go at extremely slow and fast speeds ## CARLA 0.4.5 * Add random seeds to config file * Improve logging * Removed rotation of map CARLA_ORIGIN_1 ## CARLA 0.4.4 * Fixed regression walkers despawning when stopping after seeing a car * Changed, collision is only registered if player moves faster than 1 km/h * Fixed issue walkers resume movement after sensing nothing, but the car is still there sometimes * Few improvements to the city assets ## CARLA 0.4.3 * Fixed issue with reward, intersect other lane wasn't sent to the client * Improvements to the AI of other vehicles, and how they detect pedestrians * Improvements to the AI of the pedestrians, trying to avoid slightly better the cars * Made roads collision channel WorldStatic * Tune several vehicles' physics and engine * Fixed issue with vehicles bouncing back after hitting a pedestrian * Add bigger box to pedestrians to avoid accidents * Make vehicles spawn in order instead of randomly ## CARLA 0.4.2 * Fixed issues with the server-client protocol * More improvements to the AI of other vehicles, now they barely crash * Improved the physics of some vehicles * Tweak the city for better AI of other vehicles ## CARLA 0.4.1 * Improved AI of other vehicles, still needs some adjustment, but now they crash much less * Fixed wrong semantic segmentation label of the poles of traffic lights and signs * Added randomized vehicle license plates * Few improvements to the city assets ## CARLA 0.4.0 * Made vehicle input more realistic, now reverse and brake use different input * Changed server-client protocol - CarlaSettings.ini is sent for every new episode - Control is extended with brake, reverse and handbrake * Set a clearer hierarchy for loading settings files * Made camera post-process settings able to change depending on the weather * Added basic functionality for NPC vehicles * Some improvements to the walker spawner * Generate road map metadata on save * Added command-line switch -carla-no-networking * Improved verbosity control of CarlaServer * Fixed issue with server that two threads used 100% CPU * Fixed issue with the attachment of the main camera to the player * Fixed issues with CarlaServer interface with Unreal, does not use STL containers anymore * Fixed issue with server not running below 30 fps at fixed frame rate, added physics sub-stepping * Fixed issues with some weather settings * Added randomized pedestrians with their AI and animations * Added other vehicles with their AI and physics * Added traffic lights and signs * Tweaked capture image to look similar to main camera * Changed car input to match settings in plugin * General improvements to levels and assets ## CARLA 0.3.0 * Added basic dynamic weather functionality - Weather and sun light can be changed during game - Presets stored in config file CarlaWeather.ini - Added some presets for dynamic weather * Add basic functionality to spawn pedestrians * Split road meshes for intersections and turns for better precission of the road map * Better debug for road map * Implemented collision count for other cars and pedestrians * Command line argument -carla-settings now accepts relative paths * Improved performance when semantic segmentation is disabled * Improved tagger system * Implemented nav-mesh and spawn points for pedestrians * Added new cars * Added dynamic street lights * General improvements to levels and assets * Make the car jump ## CARLA 0.2.4 * Fixed serialization of road map resulting in a huge map size * Some optimizations in the vegetation * Implemented more LODS ## CARLA 0.2.3 * Fixed rounding errors in HUD (100% was shown as 99%, 30 FPS as 29 FPS) * Fixed crash when player goes out of road map * Fixed several issues related to the transform of the road map (wasn't working in CARLA_ORIGIN_1) * Make custom depth pass disable by default (semantic segmentation won't work by default) * Fixed road width in T-intersections * Implement road LOD * Fixed missing assets ## CARLA 0.2.2 * Implemented signals for off-road and opposite lane invasion * Fixed linking issues (use Unreal's libpng) * Fixed memory leak in PNG compression * Added boundaries to the map * Several fixes in the map content ## CARLA 0.2.1 * Fixed the memory leak related to protobuf issues * Fixed color shift in semantic segmentation and depth * Added in-game timestamp (now sending both OS and in-game) ## CARLA 0.2.0 * Fixed Depth issues * Fixed random crash due to an invalid player start position * Added semantic segmentation * Changed codification to PNG * Camera configuration through config INI file ## CARLA 0.1.1 * Added build system for Windows and Linux * Added more content ## CARLA 0.1.0 * Added basic functionality