carla/CHANGELOG.md

Latest

• Add access to vehicle transmission details
• Add access to vehicle physics brake values
• The simulator is now compiled in "Shipping" mode, faster but it accepts less command-line arguments
• Enabled texture streaming for scene captures
  • Enabled texture streaming in the Unreal project settings
  • Changed the scene capture to register its camera with Unreal's texture streamer every tick to enable texture streaming
• Bugfix about recorder query system
• Fixed problem when vehicles enable autopilot after a replayer, now it works better.
  • When a recorded session finish replaying, all vehicles will continue in autopilot, and all pedestrians will stop.
• Added pedestrian support:
  • We can spawn pedestrians that will walk over sidewalks at random points continually.
  • The script 'spawn_npc.py' now can spawn pedestrians with the flag '-w' and the number of pedestrians.
• Vulkan support: Changed project settings to make vulkan default on linux and updated make script to allow user to select opengl
• Add ability to set motion blur settings for rgb camera in sensor python blueprint
• Improved visual quality of the screen capture for the rgb sensor
  • Enabled Temporal AA for screen captures with no post-processing to prevent jaggies during motion
  • Reduced the target gamma of render target to 1.4 to minimize brightness differences with main camera
• Upgraded to Unreal Engine 4.22
• Recorder fixes:
  • 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, making some fast sliding effect during 1 frame.
  • 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.
• API extension: add attachment type "SpringArm" for cinematic cameras
• API extension: waypoint's junction_id that returns de OpenDrive identifier of the current junction
• API extension: add gamma value as attribute to RGB camera
• API extension: add world.get_actor(id) to find a single actor by id
• API extension: add carla.WeatherParameters.Default for a default (tailor-made for each town) weather profile
• API extension: added WorldSnapshot that contains a list of ActorSnapshot, allows capturings a "still image" of the world at a single frame
• API extension: world.tick() now synchronizes with the simulator and returns the id of the newly started frame
• API extension: world.apply_settings(settings) now synchronizes with the simulator and returns the id of the frame when the settings took effect
• API extension: added world.remove_on_tick(id) to allow removing on tick callbacks
• API extension: allow setting fixed frame-rate from client-side, now is part of carla.WorldSettings
• API change: Rename frame_count and frame_number as frame, old members are kept as deprecated
• API change: world.wait_for_tick() now returns a carla.WorldSnapshot
• API change: the callback of world.on_tick(callback) now receives a carla.WorldSnapshot
• API change: deprecated waypoint's is_intersection, now is is_junction
• API update: solve the problem of RuntimeError: std::bad_cast described here: #1125 (comment)
• Removed deprecated code and content
• New recorder features:
  • Recorded system is documented, and binary file system is described.
  • Added optional parameter to show more details about a recorder file (related to show_recorder_file_info.py)
  • Added playback speed (slow/fast motion) for the replayer
  • We can use an absolute path for the recorded files (to choose where to 'write to' or 'read from')
  • New data recorded to replay animations:
    • Wheels of vehicles are animated (steering, throttle, handbrake), also bikes and cycles
    • Walkers animation is simulated in playback (through speed of walker), so they walk properly.
• Fixed Lidar effectiveness bug in manual_control.py
• Fixed dead-lock when loading a new map in synchronous mode
• Fixed get_actors may produce actors without parent
• Added C++ client example using LibCarla
• Updated OpenDriveActor to use the new Waypoint API
• Fixed wrong units in VehiclePhysicsControl's center of mass
• Several optimizations to the RPC server, now supports a bigger load of async messages
• Corrected Latitude in WGS84 reprojection code such that Latitudes increase as one move north in Carla worlds
• Register user props in fbx format, make them available in Carla Blueprint Library and spawnable.
• Exposed 'is_invincible' for pedestrians
• Exposed waypoints and OpenDrive map to UE4 Blueprints
• 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
• Physics:
  • Added Friction Trigger Boxes for simulating, for example, slippery surfaces in any region of the map defined by users.
• New High Quality Pedestrian - Female, girl and boy. Improve the meshes and textures.
• Improve walk animations, the animations go at the same speed as the game.
• Variations of colors and texture for each pedestrian.
• New Vehicle Audi Etron. With 25.000 Tris and their Lods.
• New material for Mustang. New material that will allow us to improve all the materials of the cars.
• New custom weather for each map
• Improve weather - Tweak values
• Change the weight of cars. All cars have been compared with the real to have a feedback more real.
• Add Navigations maps for pedestrian
• Fixed invisible wall
• Fixed Vehicle bounds
• Fixed Tesla Wheels to Kinematic
• Fixed Tesla's Material
• Fixed Semantic segmentation on bikers
• Fixed Change Pedestrians Nomenclature
• Fixed Change the sidewalk in Town06
• Fixed Tesla mesh and LODS
• Fixed Inconsistency StreetLights on Town03

CARLA 0.9.5

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

CARLA 0.9.4

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

CARLA 0.9.3

• Upgraded to Unreal Engine 4.21
• Upgraded Boost to 1.69.0
• New Town04 (biggest so far), includes a freeway, new bridge and road barrier, a nicer landscape based on height-map, and new street props
• New Town05, adding more variety of intersections for the scenario runner
• Redesigned pedestrian models and animations (walk and idle) for male and female characters
• Added sensor for detecting obstacles (ray-cast based)
• Added sensor GNSS (GPS)
• Basic agent integrated with global router
• Added a few methods to manage an actor:
  • set_velocity: for setting the linear velocity
  • set_angular_velocity: for setting the angular velocity
  • get_angular_velocity: for getting the angular velocity
  • add_impulse: for applying an impulse (in world axis)
• Renamed vehicle.get_vehicle_control() to vehicle.get_control() to be consistent with walkers
• Added new mesh for traffic lights
• Added new pine tree assets, with their LODs finely tuned for performance
• Added point transformation functionality for LibCarla and PythonAPI
• Added "sensor_tick" attribute to sensors (cameras and lidars) to specify the capture rate in seconds
• Added Export/Import map tools
• Added "get_forward_vector()" to rotation and transform, retrieves the unit vector on the rotation's X-axis
• Added support for Deepin in PythonAPI's setup.py
• Added support for spawning and controlling walkers (pedestrians)
• Updated BasicAgent to allow setting target_speed and handle US-style traffic lights properly
• OpenDriveActor has been rewritten using the Waypoint API, this has fixed some bugs
• Remove crash reporter from packaged build
• Improved simulator fatal error handling, now uses UE4 fatal error system
• LibCarla server pipeline now compiles with exceptions disabled for better performance and compatibility with UE4
• Fixed TCP accept error, too many open files while creating and destroying a lot of sensors
• Fixed lost error messages in client-side, now when a request fails it reports the reason
• Fixed global route planner to handle round about turns and made the code consistent with local planner
• Fixed local planner to avoid premature route pruning at path overlaps
• Fixed autopilot direction not properly initialized that interfered with the initial raycast direction
• Fixed crash when an actor was destroyed but not de-registered, e.g. falling out of world bounds

CARLA 0.9.2

• Updated ROS bridge for CARLA 0.9.X (moved to its own repository)
• Added Python API "agents" extension, includes
  • Global route planner based on the Waypoints API (compatible with OpenDrive)
  • BasicAgent: new client agent that can drive to a given coordinate of the map using the waypoint API and PID controllers, attending to other vehicles and traffic lights
  • RoamingAgent: new client agent that can drive at different speeds following waypoints based on PID controllers, attending to other vehicles and traffic lights
  • LocalPlanner functionality to navigate waypoints using PID controllers
  • LateralControl and LongitudinalControl PIDs
• Added support for manual gear shifting
• Added "role_name" attribute to actors to easily identify the "hero" vehicle
• Changed traffic lights in Town03 to American style
• Added new junction types with only stop signs
• Updates to documentation and tutorials
• Simulator now starts by default in windowed mode
• CMake version required downgraded to 3.5 for better compatibility
• Fixed waypoints height were all placed at zero height
• Fixed actors in world.get_actors() missing parent actor
• Fixed some vehicles losing their wheels after calling set_simulate_physics
• Fixed bounding box of Lincoln MkZ
• Several fixes and improvements to OpenDriveActor

CARLA 0.9.1

• New town: Town03
  • Created with Vector Zero's RoadRunner (including OpenDrive information of the road layout)
  • Bigger and more diverse
  • More road variety: multiple lanes and lane markings, curves at different angles, roundabout, elevation, tunnel
• Lots of improvements to the Python API
  • Support for Python 3
  • Support for retrieving and changing lighting and weather conditions
  • Migrated Lidar sensor
  • Migrated image converter methods: Depth, LogarithmicDepth, and CityScapesPalette
  • Migrated IO methods for sensor data, "save_to_disk" available for PNG, JPEG, TIFF, and PLY
  • Added support for requesting the list of all the actors alive in the current world, world.get_actors()
  • world.get_actors() returns an ActorList object with filter functionality and lazy initialization of actors
  • Added collision event sensor, "sensor.other.collision", that triggers a callback on each collision to the actor it is attached to
  • Added lane detector sensor, "sensor.other.lane_detector", that detects lane invasion events
  • Added carla.Map and carla.Waypoint classes for querying info about the road layout
    • Added methods for converting and saving the map as OpenDrive format
    • Added map.get_spawn_points() to retrieve the recommended spawn points for vehicles
    • Added map.get_waypoint(location) to query the nearest waypoint
    • Added map.generate_waypoints(distance) to generate waypoints all over the map at an approximated distance
    • Added map.get_topology() for getting a list the tuples of waypoints that define the edges of the road graph
    • Added waypoint.next(distance) to retrieve the list of the waypoints at a distance that can be driven from this waypoint
  • Added parent attributes to actors, not None if the actor is attached to another actor
  • Added semantic_tags to actors containing the list of tags of all of its components
  • Added methods for retrieving velocity and acceleration of actors
  • Added function to enable/disable simulating physics on an actor, actor.set_simulate_physics(enabled=True)
  • Added bounding boxes to vehicles, vehicle.bounding_box property
  • Exposed last control applied to vehicles, vehicle.get_vehicle_control()
  • Added a "tick" message containing info of all the actors in the scene
    • Executed in the background and cached
    • Added world.wait_for_tick() for blocking the current thread until a "tick" message is received
    • Added world.on_tick(callback) for executing a callback asynchronously each time a "tick" message is received
    • These methods return/pass a carla.Timestamp object containing, frame count, delta time of last tick, global simulation time, and OS timestamp
    • Methods retrieving actor's info, e.g. actor.get_transform(), don't need to connect with the simulator, which makes these calls quite cheap
  • Allow drawing debug shapes from Python: points, lines, arrows, boxes, and strings (world.debug.draw_*)
  • Added id (id of current episode) and map name to carla.World
  • Exposed traffic lights and signs as actors. Traffic lights have a specialized actor class that has the traffic light state (red, green, yellow) as property
  • Added methods for accessing and modifying individual items in carla.Image (pixels) and carla.LidarMeasurement (locations)
  • Added carla.Vector3D for (x, y, z) objects that are not a carla.Location
  • Removed client.ping(), client.get_server_version() accomplishes the same
  • Renamed contains_X() methods to has_X()
  • Changed client.set_timeout(seconds) to use seconds (float) instead of milliseconds
  • Allow iterating attributes of an Actor's Blueprint
  • Fixed wildcard filtering issues, now "vehicle.*" or "bmw" patterns work too
  • Fixed actor.set_transform() broken for attached actors
• More Python example scripts and improved the present ones
  • Now all the scripts use the list of recommended spawn points for each map
  • Renamed "example.py" to "tutorial.py", and updated it with latest changes in API
  • Added timeout to the examples
  • "manual_control.py" performance has been improved while having more measurements
  • "manual_control.py" now has options to change camera type and position
  • "manual_control.py" now has options to iterate weather presets
  • "manual_control.py" now has a fancier HUD with lots of info, and F1 key binding to remove it
  • Added "dynamic_weather.py" to change the weather in real-time (the one used in the video)
  • Added "spawn_npc.py" to quickly add a lot of NPC vehicles to the simulator
  • Added "spawn_npc.py --safe" to only add non-problematic vehicles
  • "vehicle_gallery.py" also got some small fixes
• Asset and content improvements
  • New vehicle: Lincoln MKZ 2017
  • Refactored weather system, parametrized to make it easier to use
  • Improved control of bikes and motorbikes, still not perfect but causes less accidents
  • Added building block generator system
  • Misc city assets: New building, tunnel columns, rail-road bridges, new textures, new urban props
  • Adjusted vehicle physics and center of mass
  • Adjusted the maximum distance culling for foliage
  • Adjusted pedestrian animations and scale issues (not yet available with new API though)
  • Improved map building blueprints, spline based asset repeaters, and wall building tools
  • Replaced uses of Unreal's Foliage system with standard static meshes to work around a visual bug in Linux systems
  • Fixed filenames too long when packing the project on Windows
  • Fixed "SplineMeshRepeater" loses its collider mesh from time to time
  • Standardized asset nomenclature
• New system for road information based on OpenDrive format
  • Added new map classes for querying info about the road layout and topology
  • Added methods for finding closest point on the road
  • Added methods for generating and iterating waypoints based on the road layout
  • Added OpenDrive parser to convert OpenDrive files to our map data structures
• Other miscellaneous improvements and fixes
  • Fixed single channel Lidar crash (by @cwecht)
  • Fixed command-line argument -carla-settings fails to load absolute paths (by @harlowja)
  • Added an option to command-line to change quality level when launching the simulator, -quality-level=Low
  • Added ROS bridge odometry message (by @ShepelIlya)
  • New lens distortion shader, sadly not yet integrated with our cameras :(
  • New Docker tutorial
  • Disabled texture streaming to avoid issue of textures not loading in scene captures
  • Adjusted scene capture camera gamma to 2.4
  • Fixed leaking objects in simulation when despawning a vehicle. Now Pawn's controller is destroyed too if necessary when destroying an Actor
  • Fixed overflow on platform time-stamp, now it uses double
  • Upgraded @rpclib to fix crash when client exits too fast (rpclib/PR#167)
  • Moved "PythonClient" inside deprecated folder to avoid confusion
  • Refactored sensor related code
    • New plugin system for sensors that simplifies adding sensors, mini-tutorial at #830
    • Compile-time dispatcher for sensors and serializers
• Improvements to the streaming library
  • Added multi-streams for streaming simultaneously to multiple clients (used by the "tick" message)
  • Messages re-use allocated memory when possible
  • Allows unsubscribing from a stream
  • Fixed client receives interleaved sensor messages, some messages can be discarded if connection is too slow though
  • Fixed streaming client fails to connect in Windows
  • Fixed streaming client keeps trying to reconnect after destroying a sensor
• Refactored client C++ API
  • Python GIL is released whenever possible to avoid blocking
  • Fixed deadlock when closing the simulator while a client is connected
  • Fixed crash on simulator shutdown if a client has connected at some point
  • Set methods are now sent async which greatly improves performance in the client-side
  • Vehicle control is cached and not sent if haven't changed
  • Suppressed exceptions in destructors
• Other development improvements
  • Improved Linux Makefile, fine-grained targets to reduce compilation times in development
  • Workaround for "setup.py" to link against "libcarla_client.a" again (Linux only)
  • Added support for ".gtest" file, each line of this file is passed to GTest executables as arguments when running make check targets
  • Python eggs are also archived on Jenkins to easily get them without downloading the full package
  • Added uncrustify config file for formatting UE4 C++ code

CARLA 0.9.0

• Upgraded to Unreal Engine 4.19
• Redesign of the networking architecture
  • Allows any number of clients to connect simultaneously
  • Now is possible to add and remove at any time any vehicle or camera
  • Now is possible to control any vehicle or camera
  • Now is possible to place cameras anywhere
  • Reduced to two ports instead of three
  • First port uses an RPC protocol based on rpclib
  • Second port is for the streaming of the sensor data
• Redesign of the Python API
  • Actors and sensors are now exposed in the API and can be independently controlled
  • The Python module is built in C++, with significant performance gain in some operations
  • Many functionality haven't been ported yet, so expect a lot of things missing
• Redesign of the build system to accommodate the changes in dependencies
  • Everything can be done now with the Makefile
  • For the moment only Linux is supported, sorry
• Massive clean up of all unused assets
• Some aesthetic fixes to the vehicles

CARLA 0.8.4

• Community contribution: ROS bridge by @laurent-george
• New vehicle: Tesla Model 3
• Added an option to "CarlaSettings.ini" to disable bikes and motorbikes
• Fixed missing collision of vehicles introduced in 0.8.3
• Improved stability of bikes and motorbikes
• Improved autopilot turning behaviour at intersections, now using front wheels positions as reference
• Temporarily removed Kawasaki Ninja motorbikes because the model was having some stability issues

CARLA 0.8.3

• Added two-wheeled vehicles, 3 bicycles and 4 motorbikes
• Several art optimizations (CARLA is now about 10% faster)
  • Improved the performance of vegetation assets, adjusted LOD and culling distance, set billboards where possible
  • Drastically reduced the number of polygons of the landscape while keeping the original shape
  • Removed some high-cost unnecessary assets
  • Remodelled Mustang and NissanMicra, now with less polygons and materials, better textures and LOD
  • Remodelled building SM_TerracedHouse_01, now with more polygons but less materials and better textures
• CARLA releases include now a Dockerfile for building docker images
• Change in HUD: replace "FPS" by "Simulation Step"
• The current map name is now included in the scene description message sent to the client
• Adapted "manual_control.py" and "view_start_positions.py" to use the map name sent by the simulator
• Improved the vehicle spawning algorithm, now it tries to spawn as much cars as possible even if there are not enough spawn points
• "Setup.sh" is now faster and accepts an argument to run multiple jobs in parallel
• Fixed foliage distance culling using wrong distance in "Low Mode"
• Fixed NissanMicra slightly turning left when driving straight

CARLA 0.8.2

• Revamped driving benchmark
  • Changed name from benchmark to driving benchmark
  • Fully Redesigned the architecture of the module
  • Added a lot more documentation
  • Now you can stop and resume the benchmarks you run
• Rolled back vehicle's location to the pivot of the mesh instead of the center of the bounding box
• Added relative transform of the vehicle's bounding box to the measurements, player and non-players
• Added "frame number" to each sensor measurement so it is possible to sync all the measurements based on the frame they are produced
• Improved vehicle spawner to better handle spawning failures
• Walkers use now a closer angle to detect vehicles, so they don't stop moving if a car passes nearby
• Fixed lighting artefact causing the road to change its brightness depending on the distance to the camera
• Fixed captured images overexposed in Low mode
• Fixed illegal character in asset name
• Fixed editing sun azimuth angle in CarlaWeadther.ini had no effect
• Fixed crash when using a non-standard image size in DirectX (Windows)
• Fixed issue with using multiple "SceneCaptureToDiskCamera"

CARLA 0.8.1

• New Python example for visualizing the player start positions
• Fixed box extent of non-player agents was sent in centimeters instead of meters
• Fixed speed limits were sent in km/h instead of m/s
• Fixed issue in Volkswagen T2 wheels causing it to overturn

CARLA 0.8.0

• Upgraded to Unreal Engine 4.18
• Created our own pedestrian 3D models free to use and distribute
• Removed Epic's Automotive Materials dependencies
• 360 Lidars support (similar to Velodyne HDL-32E or VLP-16) thanks to Anton Pechenko (Yandex)
  • Ray-cast based
  • Configurable settings
  • Added methods to save points to disk as PLY file
• Added quality level settings
  • Low: low quality graphics, about 3 times faster with one camera
  • Epic: best quality (as before)
• Measurements now use SI units
  • Locations: m
  • Speed: m/s
  • Acceleration: m/s^2
  • Collisions: kg*m/s
  • Angles: degrees
• Added API methods to convert depth images to a point cloud
  • New method "image_converter.depth_to_local_point_cloud"
  • A supplementary image can be passed to attach colors to the points
  • New client example generates a point cloud in world coordinates
  • Added Transform class to Python API
• Performance optimizations
  • Significant speed improvements in both Epic and Low modes
  • Fixed materials and improved shaders for roads, architecture, sidewalks, foliage, landscapes, cars, walkers, reflections, water
  • Execution of a set of Project and Engine parameters to improve performance (quality, vsync, AO, occlusion)
  • Generation of the road pieces using static meshes and actors instead of a single actor with instanced meshes
    • Improved performance since now is able to apply occlusion and draw distance
  • Images are captured asynchronously in the render thread
    • In asynchronous mode, images may arrive up to two frames later
    • In synchronous mode, game thread is blocked until images are ready
  • Blueprint code optimizations for vehicles, walkers, and splines
  • Added a way to configure different quality levels with culling distance and materials configuration
• Refactored sensor related code to ease adding new sensors in the future
• Added vehicle box extent to player measurements
• Removed the player from the list of non-player agents
• Adjusted bounding boxes to vehicles' height
• Changed vehicles' center to match bounding box
• Added autopilot mode to manual_control.py
• Added quality level options to manual_control.py and client_example.py
• Replaced background landscape and trees by a matte painting
• Fixed road map generated some meshes twice
• Small improvements to Windows support
  • Fixed issues with the Makefile
  • Fixed asset names too long or containing special characters

CARLA 0.7.1

• New Python API module: Benchmark
  • Defines a set of tasks and conditions to test a certain agent
  • Contains a starting benchmark, CoRL2017
  • Contains Agent Class: Interface for benchmarking AIs
• New Python API module: Basic Planner (Temporary Hack)
  • Provide routes for the agent
  • Contains AStar module to find the shortest route
• Other Python API improvements
  • Converter class to convert between Unreal world and map units
  • Metrics module to summarize benchmark results
• Send vehicle's roll, pitch, and yaw to client (orientation is now deprecated)
• New RoutePlanner class for assigning fixed routes to autopilot (IntersectionEntrance has been removed)
• Create a random engine for each vehicle, which greatly improves repeatability
• Add option to skip content download in Setup.sh
• Few small fixes to the city assets

CARLA 0.7.0

• New Python client API
  • Cleaner and more robust
  • Compatible with Python 2 and 3
  • Improved exception handling
  • Improved examples
  • Included methods for parsing the images
  • Better documentation
  • Protocol: renamed "ai_control" to "autopilot_control"
  • Merged testing client
  • Added the maps for both cities, the client can now access the car position within the lane
• Make CARLA start without client by default
• Added wind effect to some trees and plants
• Improvements to the existing weather presets
• Build script: skip content download if up-to-date

CARLA 0.6.0

• Included Unreal project and reorganised folders
• Enabled semantic segmentation by default
• Added Felipe's Python client
• New build system (Linux only)
• Few fixes to city assets

CARLA 0.5.4

• Added command-line parameter -carla-no-hud
• Remove override gamma from weather settings
• Fixed issue road map generation hangs cooking command
• Organise Python client and make sample script
• Rename maps
  • CARLA_ORIGIN_0 --> Town02
  • CARLA_ORIGIN_1 --> Town01
• Fixed Carla-Cola machine falling at begin play

CARLA 0.5.3

• Fixed issues with weather
• Fixed missing building

CARLA 0.5.2

• Autopilot mode has been removed, now server sends AI control together with measurements every frame
• State and position of traffic lights and signs are now included in the measurements too
• Added a python console client
• Fixed crash when client sends an invalid player start
• Fixed some issues with the dynamic weather not looking as it used to do
• Fixed some collision boxes missing

CARLA 0.5.1

• Fixed issue server was destroyed on every reset, closing the connection
• Fixed issue agent servers connect too late
• Improvements to the python client
• Added python client test suite for testing the release
• Added image converter
• Fixed missing floor on CARLA_ORIGIN_0
• Changed sidewalk texture
• Improvements on the physics of some vehicles
• More props and decals added to the cities

CARLA 0.5.0

• Upgraded to Unreal Engine 4.17
  • Fixes memory leaks
  • Fixes crashes with C++ std classes
• Redesigned CarlaServer
  • Faster, avoids unnecessary copies
  • Sends images as raw data (no compression)
  • Supports synchronous and asynchronous mode
  • Networking operation have a time-out
  • Synchronous methods have a time-out
  • Pure C interface for better compatibility
  • Unit tests with GoogleTest
• New server-client protocol
  • Upgraded to proto3
  • Supports repeated fields
  • Optionally send information about all dynamic agents in the scene
  • Now sends transforms instead of locations only
  • Autopilot mode added to control
• New build system to avoid linkage issues
• Added autopilot mode
• Added an on-board camera to the car
• Added traffic lights and speed limit to player state
• Added player pawn selection to config file
• Improved blueprint interface of the C++ classes
• Some performance improvements to vehicle controllers
• Fix issues with depth material in Windows
• Fix issues with random engine not being available for vehicles
• Fixed issue that compiling a release hang when saving the road map
• Added more content; 7 vehicles, 30 pedestrians, many decals and props
• Randomized pedestrian clothing
• Many improvements and fixes to the city levels and assets
• Added sub-surface scattering to vegetation
• Added key binding to change weather during play
• Added key binding to toggle autopilot mode
• Added a second camera to the player

CARLA 0.4.6

• Add weather presets specific for each level
• Some map fixes, adjust weather presets specific for each level
• Fixed regression that some walkers may go at extremely slow and fast speeds

CARLA 0.4.5

• Add random seeds to config file
• Improve logging
• Removed rotation of map CARLA_ORIGIN_1

CARLA 0.4.4

• Fixed regression walkers despawning when stopping after seeing a car
• Changed, collision is only registered if player moves faster than 1 km/h
• Fixed issue walkers resume movement after sensing nothing, but the car is still there sometimes
• Few improvements to the city assets

CARLA 0.4.3

• Fixed issue with reward, intersect other lane wasn't sent to the client
• Improvements to the AI of other vehicles, and how they detect pedestrians
• Improvements to the AI of the pedestrians, trying to avoid slightly better the cars
• Made roads collision channel WorldStatic
• Tune several vehicles' physics and engine
• Fixed issue with vehicles bouncing back after hitting a pedestrian
• Add bigger box to pedestrians to avoid accidents
• Make vehicles spawn in order instead of randomly

CARLA 0.4.2

• Fixed issues with the server-client protocol
• More improvements to the AI of other vehicles, now they barely crash
• Improved the physics of some vehicles
• Tweak the city for better AI of other vehicles

CARLA 0.4.1

• Improved AI of other vehicles, still needs some adjustment, but now they crash much less
• Fixed wrong semantic segmentation label of the poles of traffic lights and signs
• Added randomized vehicle license plates
• Few improvements to the city assets

CARLA 0.4.0

• Made vehicle input more realistic, now reverse and brake use different input
• Changed server-client protocol
  • CarlaSettings.ini is sent for every new episode
  • Control is extended with brake, reverse and handbrake
• Set a clearer hierarchy for loading settings files
• Made camera post-process settings able to change depending on the weather
• Added basic functionality for NPC vehicles
• Some improvements to the walker spawner
• Generate road map metadata on save
• Added command-line switch -carla-no-networking
• Improved verbosity control of CarlaServer
• Fixed issue with server that two threads used 100% CPU
• Fixed issue with the attachment of the main camera to the player
• Fixed issues with CarlaServer interface with Unreal, does not use STL containers anymore
• Fixed issue with server not running below 30 fps at fixed frame rate, added physics sub-stepping
• Fixed issues with some weather settings
• Added randomized pedestrians with their AI and animations
• Added other vehicles with their AI and physics
• Added traffic lights and signs
• Tweaked capture image to look similar to main camera
• Changed car input to match settings in plugin
• General improvements to levels and assets

CARLA 0.3.0

• Added basic dynamic weather functionality
  • Weather and sun light can be changed during game
  • Presets stored in config file CarlaWeather.ini
  • Added some presets for dynamic weather
• Add basic functionality to spawn pedestrians
• Split road meshes for intersections and turns for better precission of the road map
• Better debug for road map
• Implemented collision count for other cars and pedestrians
• Command line argument -carla-settings now accepts relative paths
• Improved performance when semantic segmentation is disabled
• Improved tagger system
• Implemented nav-mesh and spawn points for pedestrians
• Added new cars
• Added dynamic street lights
• General improvements to levels and assets
• Make the car jump

CARLA 0.2.4

• Fixed serialization of road map resulting in a huge map size
• Some optimizations in the vegetation
• Implemented more LODS

CARLA 0.2.3

• Fixed rounding errors in HUD (100% was shown as 99%, 30 FPS as 29 FPS)
• Fixed crash when player goes out of road map
• Fixed several issues related to the transform of the road map (wasn't working in CARLA_ORIGIN_1)
• Make custom depth pass disable by default (semantic segmentation won't work by default)
• Fixed road width in T-intersections
• Implement road LOD
• Fixed missing assets

CARLA 0.2.2

• Implemented signals for off-road and opposite lane invasion
• Fixed linking issues (use Unreal's libpng)
• Fixed memory leak in PNG compression
• Added boundaries to the map
• Several fixes in the map content

CARLA 0.2.1

• Fixed the memory leak related to protobuf issues
• Fixed color shift in semantic segmentation and depth
• Added in-game timestamp (now sending both OS and in-game)

CARLA 0.2.0

• Fixed Depth issues
• Fixed random crash due to an invalid player start position
• Added semantic segmentation
• Changed codification to PNG
• Camera configuration through config INI file

CARLA 0.1.1

• Added build system for Windows and Linux
• Added more content

CARLA 0.1.0

• Added basic functionality