carla-simulator/carla 0.9.10

CARLA 0.9.10 (development)

on GitHub

Release 0.9.10

• [Ubuntu 18.04] CARLA_0.9.10.tar.gz
• [Ubuntu 18.04] AdditionalMaps_0.9.10.tar.gz
• [Ubuntu 18.04] CARLA_0.9.10_RSS.tar.gz
• [Windows] CARLA_0.9.10.zip
• [Windows] AdditionalMaps_0.9.10.zip

Highlights

• Added retrieval of bounding boxes for all the elements of the level
• Added deterministic mode for Traffic Manager
• Added support in Traffic Manager for dead-end roads
• Upgraded CARLA Docker image to Ubuntu 18.04
• Upgraded to AD RSS v4.1.0 supporting unstructured scenes and pedestrians, and fixed spdlog to v1.7.0
• Changed frozen behavior for traffic lights. It now affects to all traffic lights at the same time
• Added new pedestrian models
• API changes:
  • Renamed actor.set_velocity() to actor.set_target_velocity()
  • Renamed actor.set_angular_velocity() to actor.set_target_velocity()
  • RGB cameras exposure_mode is now set to histogram by default
• API extensions:
  • Added carla.Osm2Odr.convert() function and carla.Osm2OdrSettings class to support Open Street Maps to OpenDRIVE conversion
  • Added world.freeze_all_traffic_lights() and traffic_light.reset_group()
  • Added client.stop_replayer() to stop the replayer
  • Added world.get_vehicles_light_states() to get all the car light states at once
  • Added constant velocity mode (actor.enable_constant_velocity() / actor.disable_constant_velocity())
  • Added function actor.add_angular_impulse() to add angular impulse to any actor
  • Added actor.add_force() and actor.add_torque()
  • Added functions transform.get_right_vector() and transform.get_up_vector()
  • Added command to set multiple car light states at once
  • Added 4-matrix form of transformations
• Added new semantic segmentation tags: RailTrack, GuardRail, TrafficLight, Static, Dynamic, Water and Terrain
• Added fixed ids for street and building lights
• Added vehicle light and street light data to the recorder
• Improved the colliders and physics for all vehicles
• All sensors are now multi-stream, the same sensor can be listened from different clients
• New semantic LiDAR sensor (lidar.ray_cast_semantic)
• Added open3D_lidar.py, a more friendly LiDAR visualizer
• Added make command to download contributions as plugins (make plugins)
• Added a warning when using SpringArm exactly in the 'z' axis of the attached actor
• Improved performance of raycast-based sensors through parallelization
• Added an approximation of the intensity of each point of the cloud in the LiDAR sensor
• Added Dynamic Vision Sensor (DVS) camera based on ESIM simulation http://rpg.ifi.uzh.ch/esim.html
• Improved LiDAR and radar to better match the shape of the vehicles
• Added support for additional TraCI clients in Sumo co-simulation
• Added script example to synchronize the gathering of sensor data in client
• Added default values and a warning message for lanes missing the width parameter in OpenDRIVE
• Added parameter to enable/disable pedestrian navigation in standalone mode
• Improved mesh partition in standalone mode
• Added Renderdoc plugin to the Unreal project
• Added configurable noise to LiDAR sensor
• Replace deprecated platform.dist() with recommended distro.linux_distribution()
• Improved the performance of capture sensors

Fixes

• Fixed the center of mass for vehicles
• Fixed a number of OpenDRIVE parsing bugs
• Fixed vehicles' bounding boxes, now they are automatic
• Fixed a map change error when Traffic Manager is in synchronous mode
• Fixes add entry issue for applying parameters more than once in Traffic Manager
• Fixes std::numeric_limits::epsilon error in Traffic Manager
• Fixed memory leak on manual_control.py scripts (sensor listening was not stopped before destroying)
• Fixed a bug in spawn_npc_sumo.py script computing not allowed routes for a given vehicle class
• Fixed a bug where get_traffic_light() would always return None
• Fixed recorder determinism problems
• Fixed several untagged and mistagged objects
• Fixed rain drop spawn issues when spawning camera sensors
• Fixed semantic tags in the asset import pipeline
• Fixed Update.sh from failing when the root folder contains a space on it
• Fixed dynamic meshes not moving to the initial position when replaying
• Fixed colors of lane markings when importing a map, they were reversed (white and yellow)
• Fixed missing include directive in file WheelPhysicsControl.h
• Fixed gravity measurement bug from IMU sensor
• Fixed LiDAR’s point cloud reference frame
• Fixed light intensity and camera parameters to match
• Fixed and improved auto-exposure camera (histogram exposure mode)
• Fixed delay in the TCP communication from server to the client in synchronous mode for Linux
• Fixed large RAM usage when loading polynomial geometry from OpenDRIVE
• Fixed collision issues when debug.draw_line() is called
• Fixed gyroscope sensor to properly give angular velocity readings in the local frame
• Fixed minor typo in the introduction section of the documentation
• Fixed a bug at the local planner when changing the route, causing it to maintain the first part of the previous one. This was only relevant when using very large buffer sizes