carla/CHANGELOG.md

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
  • 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