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carla/CHANGELOG.md

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CARLA 0.9.10

  • Deterministic mode for Traffic Manager, limited by computational power
  • Support for OSM in Traffic Manager
  • Fixed a map change error when Traffic Manager is in synchronous mode
  • Fixes add entry issue for applying parameters more than once in Traffic Manager
  • Fixes std::numeric_limits::epsilon error in Traffic Manager
  • Upgraded carla Docker image to Ubuntu 18.04
  • Fixed memory leak on manual_control scripts (sensor listenning was not stoped before destroying)
  • Added PythonAPI carla.Osm2Odr.convert() function and calra.Osm2OdrSettings class to support Open Street Maps to OpenDRIVE conversions
  • Upgraded to AD RSS v4.1.0 supporting unstructured scenes and pedestrians, and fixed spdlog to v1.7.0
  • Fixed a bug in spawn_npc_sumo script computing not allowed routes for a given vehicle class
  • Fixed a bug where get_traffic_light would always return None
  • Changed frozen behavior for traffic lights. It now affects to all traffic lights at the same time
  • Added API function freeze_all_traffic_lights and reset_group
  • Fixed recorder determinism problems
  • Added function to stop the replayer
  • Added Light ids
  • Added new semantic segmenation tags: RailTrack, GuardRail, TrafficLight, Static, Dynamic, Water and Terrain
  • Fixed several untagged and mistagged objects
  • Added vehicle light and street light data to recorder
  • Change API: set_velocity to set_target_velocity for linear and angular velocities
  • Added API function add_angular_impulse() to add angular impulse to any actor
  • Fixed rain drop spawn issues when spawning camera sensors
  • Fixed assets import pipeline
  • Fixed Update.sh from failing when the root folder contains a space on it
  • Fixed dynamic meshes not moving to initial position when replaying
  • Fixed colors of lane markings when importing a map, they were reversed (white and yellow)
  • Fixed missing include directive in file WheelPhysicsControl.h
  • Fixed gravity measurement bug from IMU sensor
  • All sensors are now multi-stream, that means that the same sensor can be listened from different clients
  • Fixed point cloud of LiDAR. Now the points are given correctly in the sensor's coordinate system
  • Fixed light intensity and camera parameters to match
  • Fixed and improved auto exposure camera (histogram exposure mode)
  • RGB cameras exposure_mode is now set to histogram by default
  • New Lidar sensor ('lidar.ray_cast_semantic') that returns the point cloud with information regarding to the object that have collided: incident angle, idx of collided actor and it semantic tag
  • Added opend3D.py, a more friendly LiDAR visualizer
  • Exposed matrix form of transformation to the client and Python API
  • Added make command to download contributions as plugins (make plugins)
  • Added PythonAPI command to set multiple car light states at once
  • Added PythonAPI carla.world.get_vehicles_light_states to get all the car light states at once
  • OpenDRIVE ingestion bugfixes
  • Added a warning if the user tries to use the SpringArm exactly in the 'z' axis of the attached actor
  • Improved the LiDAR and Radar sensors with a parallel implentation of the raycasting
  • Added an approximation of the intensity of each point of the cloud in the LiDAR sensor
  • Added Dynamic Vision Sensor (DVS) camera based on ESIM simulation http://rpg.ifi.uzh.ch/esim.html
  • Improved LiDAR and radar to better match the shape of the vehicles
  • Added support for additional TraCI clients in Sumo co-simulation
  • Added script example to syncronize the gathering of sensor data in client
  • Added API functions get_right_vector and get_up_vector
  • Added default values and a warning message for lanes missing the width parameter in OpenDRIVE
  • Added parameter to enable/disable pedestrian navigation in standalone mode
  • Improved mesh split in standalone mode
  • Fixed delay in the tcp communication from server to client, improving performance in synchronous mode in linux systems
  • Fixed large RAM usage when loading polinomial geometry from OpenDRIVE
  • Fixed collision issues when debug draw(debug.draw_line) is called
  • Fixed Gyroscope sensor to properly give angular velocity readings in local frame
  • Added Renderdoc plugin to the Unreal project
  • Added configurable noise to Lidar sensor
  • Replace deprectated platform.dist() with recommended distro.linux_distribution()
  • Improved the performance on capture sensors.
  • Fixed minor typo in the introduction section of documentation.
  • Fixed a bug at the local planner when changing the route, causing it to maintain the first part of the previous one. This was only relevant when using very large buffer sizes.
  • Added automatic calculation of vehicle's BB
  • Retrieve BBs of all the elements of the level

CARLA 0.9.9

  • Introduced hybrid mode for Traffic Manager
  • Upgraded to Unreal Engine 4.24
  • Fixed autonomous agents' incorrect detection of red traffic lights affecting them
  • Improved manual_control by adding realistic throttle and brake
  • Added walkable pedestrian crosswalks in OpenDRIVE standalone mode
  • Improved mesh generation with a chunk system for better performance and bigger maps in the future
  • Added security features to the standalone OpenDRIVE mode aiming to prevent cars from falling down from the road
  • Added junction smoothing algorithm to prevent roads from blocking other roads with level differences
  • Added new Behavior agent
  • Added automatic generation of traffic lights, stop signal and yield signal from OpenDRIVE file
  • Upgraded to AD RSS v3.0.0 supporting complex road layouts and i.e. intersections
  • Added examples of sumo co-simulation for Town01, Town04 and Town05
  • Added ptv vissim and carla co-simulation
  • Fixed GetLeftLaneMarking() from a possible runtime error
  • API extensions:
    • Added new methods to Map: get_all_landmarks, get_all_landmarks_from_id and get_all_landmarks_of_type
  • Added synchronization of traffic lights in sumo co-simulation
  • Added light manager to control the lights of the map

CARLA 0.9.8

  • Added beta version sumo-carla co-simulation
  • Traffic Manager:
    • Added benchmark
    • Added synchronous mode
    • Fixed change map error
    • Added multiclient architecture
    • Added multi Traffic Manager architecture
    • Fixed linkage between waypoints
    • Implemented intersection anticipation
    • Implemented vehicle destruction when stuck
    • Implemented tunable parameters
    • Revamped lane changes
  • Added landmark class for signal-related queries
  • Added support to parse OpenDRIVE signals
  • Added junction class as queryable object from waypoint
  • Added timeout to World Tick
  • Added simple physical map generation from standalone OpenDRIVE data
  • Added support for generating walker navigation on server-side
  • Added support for new geometry: spiral, poly3, and paramPoly3
  • Improved get_waypoint(location) performance
  • New weather system: night time, fog, rain ripples, and now wind affects vegetation and rain (not car physics)
  • Fixed Low/Epic quality settings transition
  • Enabled Mesh distance fields
  • API extensions:
    • Added new methods to BoundingBox: contains(), get_local_vertices() and get_world_vertices(transform)
    • Added new function to get a waypoint specifying parameters from the OpenDRIVE: map.get_waypoint_xodr(road_id, lane_id, s)
    • Added 3 new parameters for the carla.Weather: fog_density, fog_distance, and (ground) wetness
    • Added carla.client.generate_opendrive_world(opendrive) that loads a map with custom OpenDRIVE basic physical topology
  • New python clients:
    • weather.py: allows weather changes using the new weather parameters
  • Fixed docker build of .BIN for pedestrian navigation
  • Fixed local_planner.py: agent will now stop when it reaches the desired destination
  • Fixed crash when missing elevation profile and lane offset in OpenDRIVE
  • Fixed typos
  • Fixed agent failures due to API changes in is_within_distance_ahead()
  • Fixed assertion bug when using LibCarla
  • Fixed incorrect doppler velocity for RADAR sensor
  • Fixed documentation links
  • Upgraded Boost to 1.72.0
  • Recorder feature:
    • Added an option -i to start_replaying.py to replay a session ignoreing the hero vehicles
  • Fixed import pipeline bugs:
    • Crash when no pedestrian navmesh is present
    • Automatically imported static meshes not properly tagged
  • Fixed PID controller's sensitivity to time discretization

CARLA 0.9.7

  • Upgraded parameters of Unreal/CarlaUE4/Config/DefaultInput.ini to prevent mouse freeze
  • Add build variant with AD RSS library integration with RSS sensor and result visualisation
  • Support for OpenGL and Vulkan in docker + headless mode
  • Added new sensor: Inertial measurement unit (IMU)
  • Added new sensor: Radar
  • Exposed rgb camera attributes: exposure, depth of field, tonemapper, color correction, and chromatic aberration
  • Now all the camera-based sensors are provided with an additional parametrized lens distortion shader
  • Added Traffic Manager to replace autopilot in managing the NPC vehicles
  • Improved pedestrians navigation
  • API changes:
    • Lidar: range is now set in meters, not in centimeters
    • Lidar: horizontal_angle is now received in radians, not in degrees
    • GNSS: carla.GnssEvent renamed to carla.GnssMeasurement
  • API extensions:
    • Added carla.IMUMeasurement
    • Added carla.RadarMeasurement and carla.RadarDetection
    • GNSS data can now be obtained with noise
    • IMU data can now be obtained with noise
  • Moved GNSS sensor from client to server side
  • Added exporter plugin for UE4 to allow export meshes ready for Recast calculation
  • The 'make import' process now rename the assets accordingly and set complex collision as simple
  • New Python API function added (map.get_crosswalks()) that returns a list with all points that define the crosswalk zones from OpenDRIVE file
  • Updated manual_control.py with a lens disortion effect example
  • Updated manual_control.py with IMU and Radar realtime visualization
  • Fixed pylint for python3 in travis
  • Fixed PointCloudIO cout that interfiered with other python modules
  • Better steering in manual control
  • Added Doxygen documentation online with automatic updates through Jenkins pipeline
  • Fixed an error in automatic_control.py failing because the Num Lock key
  • Fixed client_bounding_boxes.py example script
  • Fixed materials and semantic segmentation issues regarding importing assets
  • Fixed ObstacleSensor to return HitDistance instead of HitRadius

CARLA 0.9.6

  • Upgraded to Unreal Engine 4.22
  • Added Vulkan support, if installed, CARLA will use Vulkan, use -opengl flag to launch with OpenGL
  • The simulator is now compiled in "Shipping" mode, faster but it accepts less command-line arguments
  • Pedestrians are back:
    • Spawn pedestrians that will roam randomly on sidewalks
    • The script 'spawn_npc.py' spawns now pedestrians, adjust the number with the flag -w
    • Added navigation meshes for each maps for pedestrian navigation
  • Allow adding custom props (FBX) to CARLA Blueprint library so they are spawnable
  • Simplified pipeline for importing and packaging maps and custom props
  • Vehicle physics:
    • Added access to vehicle transmission details
    • Added access to vehicle physics brake values
    • Added tire friction trigger boxes for simulating slippery surfaces
  • Added camera gamma correction as command-line argument to manual_control.py
  • Added ability to set motion blur settings for RGB camera in sensor python blueprint
  • Added C++ client example using LibCarla
  • Added PythonAPI documentation generator, we documented in detail all the Python reference
  • Added a new Python script config.py that allows the user to configure the simulator from the command-line
  • New recorder features:
    • Documented recorded system and binary file
    • Added optional parameter to show more details about a recorder file (related to show_recorder_file_info.py)
    • Added playback speed (slow/fast motion) to the replayer
    • Allow custom paths for saving the recorded files
    • More data is now recorded to replay animations:
      • Wheels of vehicles are animated (steering, throttle, handbrake), also bikes and motorbikes
      • Walker animations are simulated (through speed of walker)
  • New high quality pedestrians: female, girl and boy; improved meshes and textures
  • More color and texture variations for each pedestrian
  • New vehicle Audi Etron: 25.000 tris and LODs
  • New material for Mustang, new system that will allow us to improve all the vehicle materials
  • Improved vehicle Tesla
  • New high-quality "Default" weather tailor-made for each map
  • Improved the rest of weather profiles too
  • RGB camera improvements:
    • Enabled temporal antialiasing and motion blur
    • Added gamma value and motion blur as a blueprint attributes
    • Enabled texture streaming for scene captures
  • API changes:
    • Renamed frame_count and frame_number as frame, old members are kept as deprecated
    • world.wait_for_tick() now returns a carla.WorldSnapshot
    • The callback of world.on_tick(callback) now receives a carla.WorldSnapshot
    • Deprecated waypoint's is_intersection, use is_junction instead
  • API extensions:
    • Added attachment type "SpringArm" for cinematic cameras
    • Added waypoint's junction_id that returns de OpenDrive identifier of the current junction
    • Added world.get_actor(id) to find a single actor by id
    • Added carla.WeatherParameters.Default for the default (tailor-made for each town) weather profile
    • Added WorldSnapshot that contains a list of ActorSnapshot, allows capturings a "still image" of the world at a single frame
    • Added world.tick() now synchronizes with the simulator and returns the id of the newly started frame
    • Added world.apply_settings(settings) now synchronizes with the simulator and returns the id of the frame when the settings took effect
    • Added world.remove_on_tick(id) to allow removing on tick callbacks
    • Added allow setting fixed frame-rate from client-side, now is part of carla.WorldSettings
    • Added is_invincible to walkers
  • Several optimizations to the RPC server, now supports a bigger load of async messages
  • Updated DebugHelper to render on Shipping packages, it has also better performance
  • Updated OpenDriveActor to use the new Waypoint API
  • Removed deprecated code and content
  • Exposed waypoints and OpenDrive map to UE4 Blueprints
  • Change the weight of cars. All cars have been compared with the real to have a feedback more real
  • Recorder fixes:
    • When a recorded session finish replaying, all vehicles will continue in autopilot, and all pedestrians will stop
    • Fixed a possible crash if an actor is respawned before the episode is ready when a new map is loaded automatically
    • Actors at start of playback could interpolate positions from its current position instead than the recorded position
    • Camera following in playback was not working if a new map was needed to load
    • API function 'show_recorder_file_info' was showing the wrong parent id
    • Script 'start_recording.py' now properly saves destruction of actors at stop
    • Problem when vehicles enable autopilot after a replayer, now it works better
  • Fixed dead-lock when loading a new map in synchronous mode
  • Fixed get_actors may produce actors without parent
  • Fixed std::bad_cast when importing other libraries, like tensorflow, before carla
  • Fixed latitude in WGS84 reprojection code such that Latitudes increase as one move north in CARLA worlds
  • Fixed walking animations, the animations now go at the same speed as the game
  • Fixed loading and reloading world not using the timeout
  • Fixed XODR files can be found now anywhere in content
  • Fixed bug related with Pygame error of surface too large, added sidewalks and improved lane markings in no_rendering_mode.py
  • Fixed Lidar effectiveness bug in manual_control.py
  • Fixed wrong units in VehiclePhysicsControl's center of mass
  • Fixed semantic segmentation of bike riders
  • Fixed inconsistent streetlights in Town03
  • Fixed incorrect vehicle bounds

CARLA 0.9.5

  • Added client_bounding_boxes.py to show bounding boxes client-side
  • New Town07, rural environment with narrow roads
  • Reworked OpenDRIVE parser and waypoints API
    • Fixed several situations in which the XODR was incorrectly parsed
    • Exposed more information: lane marking, lane type, lane section id, s
    • API change: waypoint's lane_type is now an enum, carla.LaneType
    • API change: carla.LaneMarking is not an enum anymore, extended with color, type, lane change, and width
    • API extension: map.get_waypoint accepts an extra optional flag argument lane_type for filtering lane types
    • API extension: carla.Map can be constructed off-line out of XODR files, carla.Map(town_name, xodr_content)
    • API extension: id property to waypoints, uniquely identifying waypoints up to half centimetre precision
  • API change: Renamed "lane_invasion" to "lane_detector", added too its server-side sensor to be visible to other clients
  • API extension: new carla.command.SpawnActor to spawn actors in batch
  • API extension: map.transform_to_geolocation to transform Location to GNSS GeoLocation
  • API extension: added timestamp (elapsed simulation seconds) to SensorData
  • API extension: method client.apply_batch_sync that sends commands in batch and waits for server response
  • API extension: optional argument "actor_ids" to world.get_actors to request only the actors with the ids provided
  • Migrated Content to AWS
  • Updated spawn_npc.py to spawn vehicles in batch
  • Added --rolename to "manual_control.py"
  • Added options to "no_rendering_mode.py" to draw extra road information
  • Added "scene_layout.py" to retrieve the whole information in the scene as Python dict
  • Basic agent integrated with global router
  • Allow usage of hostname for carla::Client and resolve them to IP addresses
  • Added new pack of assets
    • Windmill, different farm houses, silo
    • Plants corn, dandelion, poppy, and grass
    • Yield traffic sign
  • Added modular buildings New York style
  • Added marking lanes in Town03
  • Added command-line arguments to simulator to disable rendering and set the server timeout
  • Improved performance in Town01 and Town02
  • Changed yellow marking lane from Town01 and Town02 to dashed yellow marking lane
  • Improved lane cross detection to use the new Waypoint API
  • Enhanced stop triggers options
  • Fixed semantic segmentation tags in Town04, Town05, Town06
  • Fixed tree collision in Town01
  • Fixed VehicleSpawnPoint out of the road in Town01
  • Fixed geo-reference of Town01 and Town07
  • Fixed floating pillars in Town04
  • Fixed floating building in Town03
  • Fixed vehicles missing the route if autopilot enabled too late
  • Fixed division by zero in is_within_distance_ahead()
  • Fixed local planner to avoid premature route pruning at path overlaps
  • Fixed global router behavior to be consistent with new Waypoint API
  • Fixed clean up of local_planner when used by other modules
  • Fixed python client DLL error on Windows
  • Fixed wrong type returned by ActorList.Filter(...)
  • Fixed wheel's tire friction affecting all vehicles from physics control parameters
  • Fixed obstacle detector not working
  • Fixed small float bug in misc.py

CARLA 0.9.4

  • Added recording and playback functionality
  • Added synchronous mode, simulator waits until a client sends a "tick" cue, client.tick()
  • Allow changing map from client-side, added client.load_world(name), client.reload_world(), and client.get_available_maps()
  • Added scripts and tools to import maps directly from .fbx and .xodr files into the simulator
  • Exposed minimum physics control parameters for vehicles' engine and wheels
  • Allow controlling multiple actors in "batch mode"
  • New Town06, featuring a "Michigan left" intersection including:
    • Connection ramp between two highways
    • Incorporation to a highway requiring changing several lanes to take another exit
    • Junctions supporting different scenarios
  • New traffic signs assets: one-way, no-turn, more speed limits, do not enter, arrow floors, Michigan left, and lane end
  • New pedestrian texture to add more variations
  • New road PBR material
  • Extended the waypoint API with lane_change, lane_type, get_right_lane() and get_left_lane()
  • Added world settings for changing no-rendering mode and synchronous mode at run-time
  • Added methods to acquire a traffic light's pole index and all traffic lights in it's group
  • Added performance benchmark script to measure the simulator's rendering performance
  • Added manual_control_steeringwheel.py to control agents using Logitech G29 steering wheels (and maybe others)
  • Added movable props present in the map (e.g. chairs and tables) as actors so they can be controlled from Python
  • Added recording and playback bindings to manual_control.py script
  • Removed world.map_name from API, use world.get_map().name instead
  • Refactored no_rendering_mode.py to improve performance and interface
  • Several improvements to the build system for Windows
  • Expose traffic sign's trigger volumes on Python API
  • Improved export/import map tools
  • Simplify Dockerfile halving Carla Docker image size
  • Episodes have now a random unique id to avoid collisions between runs
  • Reduced overhead of many RPC calls by sending only actor IDs (instead of serializing all the actor attributes every time)
  • Added priority system for vehicle control input (internal, not exposed in API)
  • Removed "Example.CarlaSettings.ini", you can still use it, but it's no longer necessary
  • Improved time-out related error messages
  • Fixed Town01 placed 38 meters above the zero
  • Fixed parsing of OpenDrive geo-reference exported by RoadRunner
  • Fixed issue of retrieving an empty list when calling world.get_actors() right after creating the world
  • Fixed a few synchronization issues related to changing the world at runtime
  • Fixed traffic light when it gets illuminated by the hero vehicle in no_rendering_mode.py
  • Fixed manual_control.py and no_rendering_mode.py to prevent crashes when used in "no rendering mode"
  • Fixed traffic signs having the trigger box rotated
  • Fixed female walk animation
  • Fixed BP_MultipleFloor, tweaked offset in BaseFloor to adjust meshes between them
  • Fixed static objects present in the map were marked as "movable"

CARLA 0.9.3

  • Upgraded to Unreal Engine 4.21
  • Upgraded Boost to 1.69.0
  • New Town04 (biggest so far), includes a freeway, new bridge and road barrier, a nicer landscape based on height-map, and new street props
  • New Town05, adding more variety of intersections for the scenario runner
  • Redesigned pedestrian models and animations (walk and idle) for male and female characters
  • Added sensor for detecting obstacles (ray-cast based)
  • Added sensor GNSS (GPS)
  • Basic agent integrated with global router
  • 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)
  • Renamed vehicle.get_vehicle_control() to vehicle.get_control() to be consistent with walkers
  • Added new mesh for traffic lights
  • Added new pine tree assets, with their LODs finely tuned for performance
  • 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 Export/Import map tools
  • 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)
  • Updated BasicAgent to allow setting target_speed and handle US-style traffic lights properly
  • OpenDriveActor has been rewritten using the Waypoint API, this has fixed some bugs
  • Remove crash reporter from packaged build
  • Improved simulator fatal error handling, now uses UE4 fatal error system
  • LibCarla server pipeline now compiles with exceptions disabled for better performance and compatibility with UE4
  • 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
  • Fixed global route planner to handle round about turns and made the code consistent with local planner
  • Fixed local planner to avoid premature route pruning at path overlaps
  • Fixed autopilot direction not properly initialized that interfered with the initial raycast direction
  • Fixed crash when an actor was destroyed but not de-registered, e.g. falling out of world bounds

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
    • 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