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carla/CHANGELOG.md

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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