1080 lines
65 KiB
Markdown
1080 lines
65 KiB
Markdown
## Latest
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* Fixed the extra data in Directx textures, so we need to copy row by row on Windows to remove extra bytes on images
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## CARLA 0.9.14
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* Fixed bug in FrictionTrigger causing sometimes server segfault
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* Added attachment type "SpringArmGhost" for cinematic cameras but without doing the collision test.
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* Improved algorithm to move signals out of the road by computing the desired displacement direction.
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* Added `TrafficManager.vehicle_lane_offset(actor, offset)` and `TrafficManager.global_lane_offset(offset)` methods.
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* Some of the warnings shown when building a map will now only be showing when debugging.
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* The ids for semantic segmentation has been modified to be the same as cityscapes (labels, ids and colors)
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* Fixed bug causing traffic signals at the end points of a road to sometimes create malformed waypoints.
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* Fixed pedestrian skeleton frame, where sometimes it was draw displaced from the body
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* Fixed decals when importing maps. It was using other .json files found in other packages.
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* In multi-GPU mode some sensors now are forced to be created on the primary server always (ex. collision sensor)
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* Added the speed limits for 100, 110 and 120 Km/h.
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* Fixing sensor destruction, now the stream and socket is succesfully destroyed.
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* Fixed bug at `Vehicle.get_traffic_light_state()` and `Vehicle.is_at_traffic_light()` causing vehicles to temporarily not lose the information of a traffic light if they moved away from it before it turned green.
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* Changed the height of the automatic spawn points, from 3m to only 0.5m
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* Added pedestrian skeleton to the recorder, as additional data. They will replay with the exact pose.
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* Added multi-GPU feature. Now several servers (with dedicated GPU) can render sensors for the same simulation.
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* Fixed bug causing the `Vehicle.get_traffic_light_state()` function not notify about the green to yellow and yellow to red light state changes.
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* Fixed bug causing the `Vehicle.is_at_traffic_light()` function to return *false* if the traffic light was green.
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* Fixed bug causing the scene lights to return an incorrect location at large maps.
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* Fixed bug causing the `world.ground_projection()` function to return an incorrect location at large maps.
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* Added failure state to vehicles, which can be retrieved by using `Vehicle.get_failure_state()`. Only Rollover failure state is currently supported.
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* Fixed bug causing the TM to block the simulation when a vehicle with no physics was teleported.
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* Fixed bug causing the TM to block the simulation when travelling through a short roads that looped on themselves.
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* Improved the TM's handling of non signalized junctions, resulting in a more fluid overall behavior.
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* Added check to avoid adding procedural trigger boxes inside intersections.
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* Python agents now accept a carla.Map and GlobalRoutePlanner instances as inputs, avoiding the need to recompute them.
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* Python agents now have a function to lane change.
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* Python agents now detect vehicle in adjacent lanes if invaded due to the offset.
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* Fixed bug causing the python agents to sometimes not detect a blocking actor if there were severral actors around it.
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* Improved Python agents performance for large maps.
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* Fix a bug at `Map.get_topology()`, causing lanes with no successors to not be part of it.
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* Added new ConstantVelocityAgent
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* Added new parameter to the TrafficManager, `set_desired_speed`, to set a vehicle's speed.
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* Added 4 new attributes to all vehicles:
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- `base_type` can be use as a vehicle classification. The possible values are *car*, *truck*, *van*, *motorcycle* and *bycicle*.
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- `special_type` provides more information about the vehicle. It is currently restricted to *electric*, *emergency* and *taxi*, and not all vehicles have this attribute filled.
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- `has_dynamics_doors` can either be *true* or *false* depending on whether or not the vehicle has doors that can be opened using the API.
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- `has_lights` works in the same way as *has_dynamic_doors*, but differentiates between vehicles with lights, and those that don't.
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* Added native ackermann controller:
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- `apply_ackermann_control`: to apply an ackermann control command to a vehicle
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- `get_ackermann_controller_settings`: to get the last ackermann controller settings applied
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- `apply_ackermann_controller_settings`: to apply new ackermann controller settings
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* Fixed bug causing the Traffic Manager to not be deterministic when using hybrid mode
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* Added `NormalsSensor`, a new sensor with normals information
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* Added support for N wheeled vehicles
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* Added support for new batch commands ConsoleCommand, ApplyLocation (to actor), SetTrafficLightState
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* Added new API function: `set_day_night_cycle` at the LightManager, to (de)activate the automatic switch of the lights when the simulation changes from day to night mode, and viceversa.
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* Switch to boost::variant2 for rpc::Command as that allows more than 20 RPC commands
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* Added post process effects for rainy and dusty weathers.
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* Switched data type of the dust storm weather parameter from bool to float.
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* Check for the version of the installed Clang compiler during build.
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* Added API function to get direct access to the GBuffer textures of a sensor:
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- `listen_to_gbuffer`: to set a callback for a specific GBuffer texture
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## CARLA 0.9.13
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* Added new **instance aware semantic segmentation** sensor `sensor.camera.instance_segmentation`
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* Added new API classes: `MaterialParameter`, `TextureColor` and `TextureFloatColor` to encode texture data and field (normal map, diffuse, etc)
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* Added new API functions: `apply_color_texture_to_object`, `apply_float_color_texture_to_object` and `apply_textures_to_object` to paint objects in **runtime**
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* Added the option for users to set a **route** using RoadOption elements to a vehicle controlled by the Traffic Manager.
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* **Cache** now has an extra folder with current version of CARLA (so different cache per version)
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* Added **set_percentage_random_left_lanechange** and **set_percentage_random_right_lanechange**.
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* Improved handling of **collisions** in Traffic Manager when driving at **very high speeds**.
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* Added physical simulation to **vehicle doors**, capable of opening and closing
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* Added **open/close doors** feature for vehicles.
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* Added API functions to **3D vectors**: `squared_length`, `length`, `make_unit_vector`, `dot`, `dot_2d`, `distance`, `distance_2d`, `distance_squared`, `distance_squared_2d`, `get_vector_angle`
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* Added API functions to **2D vectors**: `squared_length`, `length`, `make_unit_vector`
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* Added a **seed** for better reproducibility of pedestrians
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- New API function `set_pedestrians_seed`
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- New parameter **--seedw** in generate_traffic.py script
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* Added missing dependency `libomp5` to **Release.Dockerfile**
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* Added API functions to interact with **pedestrian bones**:
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- `get_bones / set_bones`: to get/set the bones of a pedestrian
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- `blend_pose`: to blend a custom pose with current animation
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- `show_pose / hide_pose`: to show or hide the custom pose
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- `get_pose_from_animation`: to set the custom pose with the animation current frame
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* Added a new script in **PythonAPI/examples/draw_skeleton.py** to draw the bones of a pedestrian from client side
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* Improved **collision** detection of the Python agents
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* Added the new **VehicleLightStage** to the Traffic Manager to dynamically update the vehicle lights.
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* Added two new examples to **PythonAPI/util**: Conversion of OpenStreetMaps to OpenDRIVE maps `osm_to_xodr.py` and Extraction of map spawn points `extract_spawn_points.py`
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* Fixed the **import of props** without any map
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* Fixed **global route planner** crash when being used at maps without lane markings
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* Fixed bug causing the server to **sigsegv** when a vehicle collides an environment object in recording mode.
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* Fixed **RSSSensor**: made client side calculations threaded
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* Fixed **keep_right_rule** parameter.
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## CARLA 0.9.12
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* Changed the resolution of the cached map in Traffic Manager from 0.1 to 5 meters
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* Fixed import sumo_integration module from other scripts
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* CARLA now is built with Visual Studio 2019 in Windows
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* Fixed bug causing the RoadOptions at the BehaviorAgent to not work as intended
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* Upgrading to Unreal Engine 4.26
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* Added generation attribute to vehicles and pedestrians
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* Added Lincoln 2020 vehicle dimensions for CarSim integration
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* Enabling the **no_delay** option to RPC and stream sockets
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* The special nomenclature to define roads (ROAD_ROAD), sidewalks (ROAD_SIDEWALK)... can be at any position of the asset name
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* Improved performance bencharmark script: sync, map and sensor selection, ...
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* Improved performance, destroyed PhysX state for vehicles when physics are disable
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* Improved parallelism of raycast sensors in system with large number of cores
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* Added 'visualize_multiple_sensors' example
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* Added 'check_lidar_bb' util script
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* Added optional flag to `client.replay_file()` `replay_sensors` to enable or disable the replaying the sensors
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* Improved manual_control: now cameras are set in relation with car size
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* Client required files are sent from the server to a local cache (OpenDRIVE, Traffic Manager...)
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* Added CHRONO library for vehicle dynamics simulation (https://projectchrono.org/)
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- Supported JSON vehicle definition
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- Unsupported collision dynamics
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* Added performance benchmarking section to documentation
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* Added API functions to traffic light actor `get_effect_waypoints()`, `get_light_boxes()` and `get_opendrive_id()`
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* Added API functions to world `get_traffic_lights_from_waypoint()`, `get_traffic_lights_in_junction` and `get_traffic_light_from_opendrive_id`
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* Added API parameters to `WorldSettings`: `tile_stream_distance` and `actor_active_distance`
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* Added API parameters and functions to `Osm2OdrSettings`: `proj_string`, `center_map`, `generate_traffic_lights`, `all_junctions_with_traffic_lights`, `set_osm_way_types`, and `set_traffic_light_excluded_way_types`
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* Added API function to enable car telemetry
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* CARLA is compatible with the last RoadRunner nomenclature for road assets
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* Fixed a bug when importing a FBX map with some **_** in the FBX name
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* Extended make import process for applying road painter materials (carla art tool)
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* Added Large Map feature to CARLA, alowing to import large maps divided in square tiles (at most 2kmx2km per tile). Only section of a Large Map can be loaded at a time which introduces a sleep state for actors that are far away from the hero vehicle
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* Added creation of custom JSON file for applying decals to imported roads
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* Added ApplyVehiclePhysicsControl to commands
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* Added flush in the sublevel loading to increase carla's determinism in Opt maps
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* Fix bug in carla.Transform.get_up_vector()
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* Fix bug in lidar channel point count
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* Fix imu: some weird cases were given nan values
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* Fix bugs in apply_physics_control and friction trigger
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* Exposed tire parameters for longitudinal and lateral stiffness in the PhysicsControl.
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* When setting a global plan at the LocalPlanner, it is now optional to stop the automatic fill of the waypoint buffer
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* Improved agent's vehicle detection to also take into account the actor bounding boxes
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* Added Optical Flow camera
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* API extensions:
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- Added `set_wheel_steer_direction()` function to change the bone angle of each wheel of a vehicle
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- Added `get_wheel_steer_angle()` function to get the steer angle of a vehicle wheel
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- Added `scattering_intensity` , `mie_scattering_scale` , `rayleigh_scattering_scale` to PythonAPI for changing weather attributes
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- Improved the python agents API. Old behaviors have been improved and new ones have also been added, improving the functionalities of the agents. Several bugs have also been fixed
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## CARLA 0.9.11
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* Improved the documentation for use with pandoc tool by converting html tags to their markdown equivalent
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* Refactored FAQ section of docs to use minimal html and fix broken layout
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* Extended the local planner with a lateral `offset`
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* Upgraded to DirectX 12 on Windows
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* Added the new core pipeline for the simulator
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* Added parameter to carla settings to control culling
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* Added fully deterministic option for Traffic Manager, sorting vehicles by ID and avoiding race conditions
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* Added the option to sweep the wheel shape for collision. This requires to patch the engine
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* Added the possibility of changing physics substepping options from client
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* Added 'noise_seed' to sensors to initialize the random generators
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* API extensions:
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- Added `actor.set_enable_gravity()` function to enable/disable the gravity affecting the actor
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- Added `load_map_layer` and `unload_map_layer` to control map layers on new maps that support subleveling
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- Added `get_environment_objects`call to get all the placed objects in the level
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- Added `enable_environment_objects`call to enable/disable objects of the level
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- Added `horizontal_fov` parameter to lidar sensor to allow for restriction of its field of view
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- Added `WorldSettings.deterministic_ragdolls` to enable deterministic or physically based ragdolls
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* Fixed RSSSensor python3 build and import of open drive maps by updating to ad-rss v4.2.0 and ad-map-access v2.3.0. Python import of dependent 'ad' python modules reflects now the namespaces of the C++ interface and follow doxygen documentation
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* Fixed sensor transformations and sensor data transformations mismatch in IMU and camera-based sensors
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* Fixed random dead-lock on synchronous mode at high frame rate
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* Fixed bug on Windows causing sun reflection artifacts
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* Fixed bug in `waypoint.get_landmarks()` causing some landmarks to be missed when s = 0
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* Fixed the `actor.set_simulate_physics()` for pedestrians and vehicles
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* Fixed bug causing camera-based sensors to stop sending data
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* Fixed the lack of determinism on the output of raycast sensors
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* Fixed missing `laneChange` record in converted OSM maps
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* Fixed bug in the actor's id returned by the semantic lidar
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* Fixed error when using `--config` parameter in `make package`
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* Fixed dependency of library **Xerces-c** on package
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* Fixed minor typo in the simulation data section of the documentation
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* Fixed the `config.py` to read the `.osm ` files in proper `utf-8` encoding
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## CARLA 0.9.10
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* Added retrieval of bounding boxes for all the elements of the level
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* Added deterministic mode for Traffic Manager
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* Added support in Traffic Manager for dead-end roads
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* Upgraded CARLA Docker image to Ubuntu 18.04
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* Upgraded to AD RSS v4.1.0 supporting unstructured scenes and pedestrians, and fixed spdlog to v1.7.0
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* Changed frozen behavior for traffic lights. It now affects to all traffic lights at the same time
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* Added new pedestrian models
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* API changes:
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- Renamed `actor.set_velocity()` to `actor.set_target_velocity()`
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- Renamed `actor.set_angular_velocity()` to `actor.set_target_velocity()`
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- RGB cameras `exposure_mode` is now set to `histogram` by default
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* API extensions:
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- Added `carla.Osm2Odr.convert()` function and `carla.Osm2OdrSettings` class to support Open Street Maps to OpenDRIVE conversion
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- Added `world.freeze_all_traffic_lights()` and `traffic_light.reset_group()`
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- Added `client.stop_replayer()` to stop the replayer
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- Added `world.get_vehicles_light_states()` to get all the car light states at once
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- Added constant velocity mode (`actor.enable_constant_velocity()` / `actor.disable_constant_velocity()`)
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- Added function `actor.add_angular_impulse()` to add angular impulse to any actor
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- Added `actor.add_force()` and `actor.add_torque()`
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- Added functions `transform.get_right_vector()` and `transform.get_up_vector()`
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- Added command to set multiple car light states at once
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- Added 4-matrix form of transformations
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* Added new semantic segmentation tags: `RailTrack`, `GuardRail`, `TrafficLight`, `Static`, `Dynamic`, `Water` and `Terrain`
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* Added fixed ids for street and building lights
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* Added vehicle light and street light data to the recorder
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* Improved the colliders and physics for all vehicles
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* All sensors are now multi-stream, the same sensor can be listened from different clients
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* New semantic LiDAR sensor (`lidar.ray_cast_semantic`)
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* Added `open3D_lidar.py`, a more friendly LiDAR visualizer
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* Added make command to download contributions as plugins (`make plugins`)
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* Added a warning when using SpringArm exactly in the 'z' axis of the attached actor
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* Improved performance of raycast-based sensors through parallelization
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* Added an approximation of the intensity of each point of the cloud in the LiDAR sensor
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* Added Dynamic Vision Sensor (DVS) camera based on ESIM simulation http://rpg.ifi.uzh.ch/esim.html
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* Improved LiDAR and radar to better match the shape of the vehicles
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* Added support for additional TraCI clients in Sumo co-simulation
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* Added script example to synchronize the gathering of sensor data in client
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* Added default values and a warning message for lanes missing the width parameter in OpenDRIVE
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* Added parameter to enable/disable pedestrian navigation in standalone mode
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* Improved mesh partition in standalone mode
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* Added Renderdoc plugin to the Unreal project
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* Added configurable noise to LiDAR sensor
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* Replace deprecated `platform.dist()` with recommended `distro.linux_distribution()`
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* Improved the performance of capture sensors
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* Fixed the center of mass for vehicles
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* Fixed a number of OpenDRIVE parsing bugs
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* Fixed vehicles' bounding boxes, now they are automatic
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* Fixed a map change error when Traffic Manager is in synchronous mode
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* Fixes add entry issue for applying parameters more than once in Traffic Manager
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* Fixes std::numeric_limits<float>::epsilon error in Traffic Manager
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* Fixed memory leak on `manual_control.py` scripts (sensor listening was not stopped before destroying)
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* Fixed a bug in `spawn_npc_sumo.py` script computing not allowed routes for a given vehicle class
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* Fixed a bug where `get_traffic_light()` would always return `None`
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* Fixed recorder determinism problems
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* Fixed several untagged and mistagged objects
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* Fixed rain drop spawn issues when spawning camera sensors
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* Fixed semantic tags in the asset import pipeline
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* Fixed `Update.sh` from failing when the root folder contains a space on it
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* Fixed dynamic meshes not moving to the initial position when replaying
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* Fixed colors of lane markings when importing a map, they were reversed (white and yellow)
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* Fixed missing include directive in file `WheelPhysicsControl.h`
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* Fixed gravity measurement bug from IMU sensor
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* Fixed LiDAR’s point cloud reference frame
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* Fixed light intensity and camera parameters to match
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* Fixed and improved auto-exposure camera (`histogram` exposure mode)
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* Fixed delay in the TCP communication from server to the client in synchronous mode for Linux
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* Fixed large RAM usage when loading polynomial geometry from OpenDRIVE
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* Fixed collision issues when `debug.draw_line()` is called
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* Fixed gyroscope sensor to properly give angular velocity readings in the local frame
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* Fixed minor typo in the introduction section of the documentation
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* 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
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## CARLA 0.9.9
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* Introduced hybrid mode for Traffic Manager
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* Upgraded to Unreal Engine 4.24
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* Fixed autonomous agents' incorrect detection of red traffic lights affecting them
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* Improved manual_control by adding realistic throttle and brake
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* Added walkable pedestrian crosswalks in OpenDRIVE standalone mode
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* Improved mesh generation with a chunk system for better performance and bigger maps in the future
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* Added security features to the standalone OpenDRIVE mode aiming to prevent cars from falling down from the road
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* Added junction smoothing algorithm to prevent roads from blocking other roads with level differences
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* Added new Behavior agent
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* Added automatic generation of traffic lights, stop signal and yield signal from OpenDRIVE file
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* Upgraded to AD RSS v3.0.0 supporting complex road layouts and i.e. intersections
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* Added examples of sumo co-simulation for Town01, Town04 and Town05
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* Added ptv vissim and carla co-simulation
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* Fixed `GetLeftLaneMarking()` from a possible runtime error
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* API extensions:
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- Added new methods to `Map`: `get_all_landmarks`, `get_all_landmarks_from_id` and `get_all_landmarks_of_type`
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* Added synchronization of traffic lights in sumo co-simulation
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* Added light manager to control the lights of the map
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## CARLA 0.9.8
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* Added beta version sumo-carla co-simulation
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* Traffic Manager:
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- Added benchmark
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- Added synchronous mode
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- Fixed change map error
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- Added multiclient architecture
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- Added multi Traffic Manager architecture
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- Fixed linkage between waypoints
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- Implemented intersection anticipation
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- Implemented vehicle destruction when stuck
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- Implemented tunable parameters
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- Revamped lane changes
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* Added landmark class for signal-related queries
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* Added support to parse OpenDRIVE signals
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* Added junction class as queryable object from waypoint
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* Added timeout to World Tick
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* Added simple physical map generation from standalone OpenDRIVE data
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* Added support for generating walker navigation on server-side
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* Added support for new geometry: `spiral`, `poly3`, and `paramPoly3`
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* Improved `get_waypoint(location)` performance
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* New weather system: night time, fog, rain ripples, and now wind affects vegetation and rain (not car physics)
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* Fixed Low/Epic quality settings transition
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* Enabled Mesh distance fields
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* API extensions:
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- Added new methods to `BoundingBox`: `contains()`, `get_local_vertices()` and `get_world_vertices(transform)`
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- Added new function to get a waypoint specifying parameters from the OpenDRIVE: `map.get_waypoint_xodr(road_id, lane_id, s)`
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- Added 3 new parameters for the `carla.Weather`: `fog_density`, `fog_distance`, and (ground) `wetness`
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- Added `carla.client.generate_opendrive_world(opendrive)` that loads a map with custom OpenDRIVE basic physical topology
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* New python clients:
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- `weather.py`: allows weather changes using the new weather parameters
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* Fixed docker build of `.BIN` for pedestrian navigation
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* Fixed `local_planner.py`: agent will now stop when it reaches the desired destination
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* Fixed crash when missing elevation profile and lane offset in OpenDRIVE
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* Fixed typos
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* Fixed agent failures due to API changes in `is_within_distance_ahead()`
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* Fixed assertion bug when using LibCarla
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* Fixed incorrect doppler velocity for RADAR sensor
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* Fixed documentation links
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* Upgraded Boost to 1.72.0
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* Recorder feature:
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- Added an option `-i` to `start_replaying.py` to replay a session ignoreing the hero vehicles
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* Fixed import pipeline bugs:
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- Crash when no pedestrian navmesh is present
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- Automatically imported static meshes not properly tagged
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* Fixed PID controller's sensitivity to time discretization
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## CARLA 0.9.7
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* Upgraded parameters of Unreal/CarlaUE4/Config/DefaultInput.ini to prevent mouse freeze
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* Add build variant with AD RSS library integration with RSS sensor and result visualisation
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* Support for OpenGL and Vulkan in docker + headless mode
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* Added new sensor: Inertial measurement unit (IMU)
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* Added new sensor: Radar
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* Exposed rgb camera attributes: exposure, depth of field, tonemapper, color correction, and chromatic aberration
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* Now all the camera-based sensors are provided with an additional parametrized lens distortion shader
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* Added Traffic Manager to replace autopilot in managing the NPC vehicles
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* Improved pedestrians navigation
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* API changes:
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- Lidar: `range` is now set in meters, not in centimeters
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- Lidar: `horizontal_angle` is now received in radians, not in degrees
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- GNSS: `carla.GnssEvent` renamed to `carla.GnssMeasurement`
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* API extensions:
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- Added `carla.IMUMeasurement`
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- Added `carla.RadarMeasurement` and `carla.RadarDetection`
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- GNSS data can now be obtained with noise
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- 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](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
|