carla-simulator/carla 0.9.14 on GitHub

Release 0.9.14

Changes

Fixed bug in FrictionTrigger causing sometimes server segfault
Added attachment type "SpringArmGhost" for cinematic cameras but without doing the collision test.
Improved algorithm to move signals out of the road by computing the desired displacement direction.
Added TrafficManager.vehicle_lane_offset(actor, offset) and TrafficManager.global_lane_offset(offset) methods.
Some of the warnings shown when building a map will now only be showing when debugging.
The ids for semantic segmentation has been modified to be the same as cityscapes (labels, ids and colors)
Fixed bug causing traffic signals at the end points of a road to sometimes create malformed waypoints.
Fixed pedestrian skeleton frame, where sometimes it was draw displaced from the body
Fixed decals when importing maps. It was using other .json files found in other packages.
In multi-GPU mode some sensors now are forced to be created on the primary server always (ex. collision sensor)
Added the speed limits for 100, 110 and 120 Km/h.
Fixing sensor destruction, now the stream and socket is succesfully destroyed.
Fixed bug at Vehicle.get_traffic_light_state() and Vehicle.is_at_traffic_light() causing vehicles to temporarily not lose the information of a traffic light if they moved away from it before it turned green.
Changed the height of the automatic spawn points, from 3m to only 0.5m
Added pedestrian skeleton to the recorder, as additional data. They will replay with the exact pose.
Added multi-GPU feature. Now several servers (with dedicated GPU) can render sensors for the same simulation.
Fixed bug causing the Vehicle.get_traffic_light_state() function not notify about the green to yellow and yellow to red light state changes.
Fixed bug causing the Vehicle.is_at_traffic_light() function to return false if the traffic light was green.
Fixed bug causing the scene lights to return an incorrect location at large maps.
Fixed bug causing the world.ground_projection() function to return an incorrect location at large maps.
Added failure state to vehicles, which can be retrieved by using Vehicle.get_failure_state(). Only Rollover failure state is currently supported.
Fixed bug causing the TM to block the simulation when a vehicle with no physics was teleported.
Fixed bug causing the TM to block the simulation when travelling through a short roads that looped on themselves.
Improved the TM's handling of non signalized junctions, resulting in a more fluid overall behavior.
Added check to avoid adding procedural trigger boxes inside intersections.
Python agents now accept a carla.Map and GlobalRoutePlanner instances as inputs, avoiding the need to recompute them.
Python agents now have a function to lane change.
Python agents now detect vehicle in adjacent lanes if invaded due to the offset.
Fixed bug causing the python agents to sometimes not detect a blocking actor if there were severral actors around it.
Improved Python agents performance for large maps.
Fix a bug at Map.get_topology(), causing lanes with no successors to not be part of it.
Added new ConstantVelocityAgent
Added new parameter to the TrafficManager, set_desired_speed, to set a vehicle's speed.
Added 4 new attributes to all vehicles:
- base_type can be use as a vehicle classification. The possible values are car, truck, van, motorcycle and bycicle.
- special_type provides more information about the vehicle. It is currently restricted to electric, emergency and taxi, and not all vehicles have this attribute filled.
- has_dynamics_doors can either be true or false depending on whether or not the vehicle has doors that can be opened using the API.
- has_lights works in the same way as has_dynamic_doors, but differentiates between vehicles with lights, and those that don't.
Added native ackermann controller:
- apply_ackermann_control: to apply an ackermann control command to a vehicle
- get_ackermann_controller_settings: to get the last ackermann controller settings applied
- apply_ackermann_controller_settings: to apply new ackermann controller settings
Fixed bug causing the Traffic Manager to not be deterministic when using hybrid mode
Added NormalsSensor, a new sensor with normals information
Added support for N wheeled vehicles
Added support for new batch commands ConsoleCommand, ApplyLocation (to actor), SetTrafficLightState
Added new API function: set_day_night_cycle at the LightManager, to (de)activate the automatic switch of the lights when the simulation changes from day to night mode, and viceversa.
Switch to boost::variant2 for rpc::Command as that allows more than 20 RPC commands
Added post process effects for rainy and dusty weathers.
Switched data type of the dust storm weather parameter from bool to float.
Check for the version of the installed Clang compiler during build.
Added API function to get direct access to the GBuffer textures of a sensor:
- listen_to_gbuffer: to set a callback for a specific GBuffer texture