872 lines
49 KiB
Markdown
872 lines
49 KiB
Markdown
## Latest
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* Upgraded to AD RSS v4.0.1 supporting unstructured scenes and pedestrians, and fixed spdlog to v1.7.0
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* Fixed a bug where `get_traffic_light` would always return `None`
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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 API function `freeze_all_traffic_lights` and `reset_group`
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* Fixed recorder determinism problems
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* Added Light ids
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* Added vehicle light and street light data to recorder
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* Added API function `add_angular_impulse()` to add angular impulse to any actor
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* Fixed rain drop spawn issues when spawning camera sensors
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* Fixed assets 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 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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* All sensors are now multi-stream, that means that the same sensor can be listened from different clients
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* Fixed point cloud of LiDAR. Now the points are given correctly in the sensor's coordinate system.
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* Exposed matrix form of transformation to the client and Python API.
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* Added make command to download contributions as plugins (`make plugins`)
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* Added PythonAPI command to set multiple car light states at once
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* Added PythonAPI `carla.world.get_vehicles_light_states` to get all the car light states at once
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* OpenDRIVE ingestion bugfixes
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* Added a warning if the user tries to use the SpringArm exactly in the 'z' axis of the attached actor
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* Improved the LiDAR and Radar sensors with a parallel implentation of the raycasting
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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 API functions `get_right_vector` and `get_up_vector`
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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 split in standalone mode
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* Fixed delay in the tcp communication from server to client, improving performance in synchronous mode in linux systems
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* Fixed large RAM usage when loading polinomial geometry from OpenDRIVE
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* Fixed collision issues when debug draw(debug.draw_line) is called
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* Fixed Gyroscope sensor to properly give angular velocity readings in local frame
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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 deprectated `platform.dist()` with recommended `distro.linux_distribution()`
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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
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* Moved GNSS sensor from client to server side
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* Added exporter plugin for UE4 to allow export meshes ready for Recast calculation
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* The 'make import' process now rename the assets accordingly and set complex collision as simple
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* New Python API function added (map.get_crosswalks()) that returns a list with all points that define the crosswalk zones from OpenDRIVE file
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* Updated `manual_control.py` with a lens disortion effect example
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* Updated `manual_control.py` with IMU and Radar realtime visualization
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* Fixed pylint for python3 in travis
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* Fixed PointCloudIO `cout` that interfiered with other python modules
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* Better steering in manual control
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* Added Doxygen documentation online with automatic updates through Jenkins pipeline
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* Fixed an error in `automatic_control.py` failing because the `Num Lock` key
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* Fixed client_bounding_boxes.py example script
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* Fixed materials and semantic segmentation issues regarding importing assets
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* Fixed ObstacleSensor to return HitDistance instead of HitRadius
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## CARLA 0.9.6
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* Upgraded to Unreal Engine 4.22
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* Added Vulkan support, if installed, CARLA will use Vulkan, use `-opengl` flag to launch with OpenGL
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* The simulator is now compiled in "Shipping" mode, faster but it accepts less command-line arguments
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* Pedestrians are back:
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- Spawn pedestrians that will roam randomly on sidewalks
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- The script 'spawn_npc.py' spawns now pedestrians, adjust the number with the flag `-w`
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- Added navigation meshes for each maps for pedestrian navigation
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* Allow adding custom props (FBX) to CARLA Blueprint library so they are spawnable
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* Simplified pipeline for importing and packaging maps and custom props
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* Vehicle physics:
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- Added access to vehicle transmission details
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- Added access to vehicle physics brake values
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- Added tire friction trigger boxes for simulating slippery surfaces
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* Added camera gamma correction as command-line argument to manual_control.py
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* Added ability to set motion blur settings for RGB camera in sensor python blueprint
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* Added C++ client example using LibCarla
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* Added PythonAPI documentation generator, we documented in detail all the Python reference
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* Added a new Python script config.py that allows the user to configure the simulator from the command-line
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* New recorder features:
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- Documented recorded system and binary file
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- Added optional parameter to show more details about a recorder file (related to `show_recorder_file_info.py`)
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- Added playback speed (slow/fast motion) to the replayer
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- Allow custom paths for saving the recorded files
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- More data is now recorded to replay animations:
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+ Wheels of vehicles are animated (steering, throttle, handbrake), also bikes and motorbikes
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+ Walker animations are simulated (through speed of walker)
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* New high quality pedestrians: female, girl and boy; improved meshes and textures
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* More color and texture variations for each pedestrian
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* New vehicle Audi Etron: 25.000 tris and LODs
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* New material for Mustang, new system that will allow us to improve all the vehicle materials
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* Improved vehicle Tesla
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* New high-quality "Default" weather tailor-made for each map
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* Improved the rest of weather profiles too
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* RGB camera improvements:
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- Enabled temporal antialiasing and motion blur
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- Added gamma value and motion blur as a blueprint attributes
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- Enabled texture streaming for scene captures
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* API changes:
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- Renamed `frame_count` and `frame_number` as `frame`, old members are kept as deprecated
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- `world.wait_for_tick()` now returns a `carla.WorldSnapshot`
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- The callback of `world.on_tick(callback)` now receives a `carla.WorldSnapshot`
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- Deprecated waypoint's `is_intersection`, use `is_junction` instead
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* API extensions:
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- Added attachment type "SpringArm" for cinematic cameras
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- Added waypoint's `junction_id` that returns de OpenDrive identifier of the current junction
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- Added `world.get_actor(id)` to find a single actor by id
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- Added `carla.WeatherParameters.Default` for the default (tailor-made for each town) weather profile
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- Added `WorldSnapshot` that contains a list of `ActorSnapshot`, allows capturings a "still image" of the world at a single frame
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- Added `world.tick()` now synchronizes with the simulator and returns the id of the newly started frame
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- Added `world.apply_settings(settings)` now synchronizes with the simulator and returns the id of the frame when the settings took effect
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- Added `world.remove_on_tick(id)` to allow removing on tick callbacks
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- Added allow setting fixed frame-rate from client-side, now is part of `carla.WorldSettings`
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- Added `is_invincible` to walkers
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* Several optimizations to the RPC server, now supports a bigger load of async messages
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* Updated DebugHelper to render on Shipping packages, it has also better performance
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* Updated OpenDriveActor to use the new Waypoint API
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* Removed deprecated code and content
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* Exposed waypoints and OpenDrive map to UE4 Blueprints
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* Change the weight of cars. All cars have been compared with the real to have a feedback more real
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* Recorder fixes:
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- When a recorded session finish replaying, all vehicles will continue in autopilot, and all pedestrians will stop
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- Fixed a possible crash if an actor is respawned before the episode is ready when a new map is loaded automatically
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- Actors at start of playback could interpolate positions from its current position instead than the recorded position
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- Camera following in playback was not working if a new map was needed to load
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- API function 'show_recorder_file_info' was showing the wrong parent id
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- Script 'start_recording.py' now properly saves destruction of actors at stop
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- Problem when vehicles enable autopilot after a replayer, now it works better
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* Fixed dead-lock when loading a new map in synchronous mode
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* Fixed get_actors may produce actors without parent
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* Fixed std::bad_cast when importing other libraries, like tensorflow, before carla
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* Fixed latitude in WGS84 reprojection code such that Latitudes increase as one move north in CARLA worlds
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* Fixed walking animations, the animations now go at the same speed as the game
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* Fixed loading and reloading world not using the timeout
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* Fixed XODR files can be found now anywhere in content
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* Fixed bug related with Pygame error of surface too large, added sidewalks and improved lane markings in `no_rendering_mode.py`
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* Fixed Lidar effectiveness bug in manual_control.py
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* Fixed wrong units in VehiclePhysicsControl's center of mass
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* Fixed semantic segmentation of bike riders
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* Fixed inconsistent streetlights in Town03
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* Fixed incorrect vehicle bounds
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## CARLA 0.9.5
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* Added `client_bounding_boxes.py` to show bounding boxes client-side
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* New Town07, rural environment with narrow roads
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* Reworked OpenDRIVE parser and waypoints API
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- Fixed several situations in which the XODR was incorrectly parsed
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- Exposed more information: lane marking, lane type, lane section id, s
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- API change: waypoint's `lane_type` is now an enum, `carla.LaneType`
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- API change: `carla.LaneMarking` is not an enum anymore, extended with color, type, lane change, and width
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- API extension: `map.get_waypoint` accepts an extra optional flag argument `lane_type` for filtering lane types
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- API extension: `carla.Map` can be constructed off-line out of XODR files, `carla.Map(town_name, xodr_content)`
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- API extension: `id` property to waypoints, uniquely identifying waypoints up to half centimetre precision
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* API change: Renamed "lane_invasion" to "lane_detector", added too its server-side sensor to be visible to other clients
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* API extension: new carla.command.SpawnActor to spawn actors in batch
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* API extension: `map.transform_to_geolocation` to transform Location to GNSS GeoLocation
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* API extension: added timestamp (elapsed simulation seconds) to SensorData
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* API extension: method `client.apply_batch_sync` that sends commands in batch and waits for server response
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* API extension: optional argument "actor_ids" to world.get_actors to request only the actors with the ids provided
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* Migrated Content to AWS
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* Updated `spawn_npc.py` to spawn vehicles in batch
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* Added --rolename to "manual_control.py"
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* Added options to "no_rendering_mode.py" to draw extra road information
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* Added "scene_layout.py" to retrieve the whole information in the scene as Python dict
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* Basic agent integrated with global router
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* Allow usage of hostname for carla::Client and resolve them to IP addresses
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* Added new pack of assets
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- Windmill, different farm houses, silo
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- Plants corn, dandelion, poppy, and grass
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- Yield traffic sign
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* Added modular buildings New York style
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* Added marking lanes in Town03
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* Added command-line arguments to simulator to disable rendering and set the server timeout
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* Improved performance in Town01 and Town02
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* Changed yellow marking lane from Town01 and Town02 to dashed yellow marking lane
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* Improved lane cross detection to use the new Waypoint API
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* Enhanced stop triggers options
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* Fixed semantic segmentation tags in Town04, Town05, Town06
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* Fixed tree collision in Town01
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* Fixed VehicleSpawnPoint out of the road in Town01
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* Fixed geo-reference of Town01 and Town07
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* Fixed floating pillars in Town04
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* Fixed floating building in Town03
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* Fixed vehicles missing the route if autopilot enabled too late
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* Fixed division by zero in is_within_distance_ahead()
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* Fixed local planner to avoid premature route pruning at path overlaps
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* Fixed global router behavior to be consistent with new Waypoint API
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* Fixed clean up of local_planner when used by other modules
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* Fixed python client DLL error on Windows
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* Fixed wrong type returned by `ActorList.Filter(...)`
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* Fixed wheel's tire friction affecting all vehicles from physics control parameters
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* Fixed obstacle detector not working
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* Fixed small float bug in misc.py
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## CARLA 0.9.4
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* Added recording and playback functionality
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* Added synchronous mode, simulator waits until a client sends a "tick" cue, `client.tick()`
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* Allow changing map from client-side, added `client.load_world(name)`, `client.reload_world()`, and `client.get_available_maps()`
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* Added scripts and tools to import maps directly from .fbx and .xodr files into the simulator
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* Exposed minimum physics control parameters for vehicles' engine and wheels
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* Allow controlling multiple actors in "batch mode"
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* New Town06, featuring a "Michigan left" intersection including:
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- Connection ramp between two highways
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- Incorporation to a highway requiring changing several lanes to take another exit
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- Junctions supporting different scenarios
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* New traffic signs assets: one-way, no-turn, more speed limits, do not enter, arrow floors, Michigan left, and lane end
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* New pedestrian texture to add more variations
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* New road PBR material
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* Extended the waypoint API with `lane_change`, `lane_type`, `get_right_lane()` and `get_left_lane()`
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* Added world settings for changing no-rendering mode and synchronous mode at run-time
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* Added methods to acquire a traffic light's pole index and all traffic lights in it's group
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* Added performance benchmark script to measure the simulator's rendering performance
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* Added `manual_control_steeringwheel.py` to control agents using Logitech G29 steering wheels (and maybe others)
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* Added movable props present in the map (e.g. chairs and tables) as actors so they can be controlled from Python
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* Added recording and playback bindings to `manual_control.py` script
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* Removed `world.map_name` from API, use `world.get_map().name` instead
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* Refactored `no_rendering_mode.py` to improve performance and interface
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* Several improvements to the build system for Windows
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* Expose traffic sign's trigger volumes on Python API
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* Improved export/import map tools
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* Simplify Dockerfile halving Carla Docker image size
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* Episodes have now a random unique id to avoid collisions between runs
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* Reduced overhead of many RPC calls by sending only actor IDs (instead of serializing all the actor attributes every time)
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* Added priority system for vehicle control input (internal, not exposed in API)
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* Removed "Example.CarlaSettings.ini", you can still use it, but it's no longer necessary
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* Improved time-out related error messages
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* Fixed Town01 placed 38 meters above the zero
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* Fixed parsing of OpenDrive geo-reference exported by RoadRunner
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* Fixed issue of retrieving an empty list when calling `world.get_actors()` right after creating the world
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* Fixed a few synchronization issues related to changing the world at runtime
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* Fixed traffic light when it gets illuminated by the hero vehicle in `no_rendering_mode.py`
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* Fixed `manual_control.py` and `no_rendering_mode.py` to prevent crashes when used in "no rendering mode"
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* Fixed traffic signs having the trigger box rotated
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* Fixed female walk animation
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* Fixed BP_MultipleFloor, tweaked offset in BaseFloor to adjust meshes between them
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* Fixed static objects present in the map were marked as "movable"
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## CARLA 0.9.3
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* Upgraded to Unreal Engine 4.21
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* Upgraded Boost to 1.69.0
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* New Town04 (biggest so far), includes a freeway, new bridge and road barrier, a nicer landscape based on height-map, and new street props
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* New Town05, adding more variety of intersections for the scenario runner
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* Redesigned pedestrian models and animations (walk and idle) for male and female characters
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* Added sensor for detecting obstacles (ray-cast based)
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* Added sensor GNSS (GPS)
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* Basic agent integrated with global router
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* Added a few methods to manage an actor:
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- set_velocity: for setting the linear velocity
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- set_angular_velocity: for setting the angular velocity
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- get_angular_velocity: for getting the angular velocity
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- add_impulse: for applying an impulse (in world axis)
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* Renamed vehicle.get_vehicle_control() to vehicle.get_control() to be consistent with walkers
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* Added new mesh for traffic lights
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* Added new pine tree assets, with their LODs finely tuned for performance
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* Added point transformation functionality for LibCarla and PythonAPI
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* Added "sensor_tick" attribute to sensors (cameras and lidars) to specify the capture rate in seconds
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* Added Export/Import map tools
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* Added "get_forward_vector()" to rotation and transform, retrieves the unit vector on the rotation's X-axis
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* Added support for Deepin in PythonAPI's setup.py
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* Added support for spawning and controlling walkers (pedestrians)
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* Updated BasicAgent to allow setting target_speed and handle US-style traffic lights properly
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* OpenDriveActor has been rewritten using the Waypoint API, this has fixed some bugs
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* Remove crash reporter from packaged build
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* Improved simulator fatal error handling, now uses UE4 fatal error system
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* LibCarla server pipeline now compiles with exceptions disabled for better performance and compatibility with UE4
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* Fixed TCP accept error, too many open files while creating and destroying a lot of sensors
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* Fixed lost error messages in client-side, now when a request fails it reports the reason
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* Fixed global route planner to handle round about turns and made the code consistent with local planner
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* Fixed local planner to avoid premature route pruning at path overlaps
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* Fixed autopilot direction not properly initialized that interfered with the initial raycast direction
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* Fixed crash when an actor was destroyed but not de-registered, e.g. falling out of world bounds
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## CARLA 0.9.2
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* Updated ROS bridge for CARLA 0.9.X (moved to its own repository)
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* Added Python API "agents" extension, includes
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- Global route planner based on the Waypoints API (compatible with OpenDrive)
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- 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
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- RoamingAgent: new client agent that can drive at different speeds following waypoints based on PID controllers, attending to other vehicles and traffic lights
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- LocalPlanner functionality to navigate waypoints using PID controllers
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|
- 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
|