carla-simulator/carla 0.9.16 on GitHub

CHANGELOG

Added NVIDIA Cosmos Transfer1 integration
Added NVIDIA Neural Reconstruction Engine (NuRec) integration
Added the SimReady OpenUSD and MDL Converters to provide export and import support for SimReady OpenUSD stages and MDL materials.
Added support for left-handed traffic maps
Renamed Ubuntu 18-based Dockerfile to CarlaLegacy for clarity
Created documentation for using devcontainers
Ensured CARLA scripts consistently use python3
Replaced wget with curl for FBX SDK downloads
Enabled mounting of UE4 from the host when running CARLA inside a container
Added support for GUI inside containers with Ubuntu 22 image
Fixed waypoint.next and .previous causing loops when two opposite-direction lanes follow each other in the map.
Fixed a bug that caused navigation information not to be loaded when switching maps
Prevent from segfault on failing SignalReference identification when loading OpenDrive files
Added vehicle doors to the recorder
Added functions to get actor' components transform
Added posibility to Digital Twins to work with local files (osm and xodr)
Enable proper material merging for Building in Digital Twins
Added functions to get actor' bones transforms
Added functions to get actor' bones and components names
Added functions to get actor' sockets transforms
make PythonAPI Windows: Fixed incompatibility issue with Anaconda due py command.
Added function to get actor' sockets names
Fixed bug in python agents when vehicle list was empty causing a check on all vehicles (BasicAgent.py) and detected pedestrians as vehicles if no pedestrains are present (BehaviourAgent.py)
Extended debug drawing functions to allow drawing primitives on HUD layer
Added possibility to change gravity variable in imui sensor for the accelerometer
Fixed ROS2 native extension build error when ROS2 is installed in the system.
ROS2Native: Force fast-dds dependencies download to avoid build crash when boost_asio and tinyxml2 are not installed in Linux.
Added API function get_telemetry_data to the vehicle actor.
PythonAPI Sensor.is_listening was defined twice (property and method), cleaned and clarified it as a method.
Added V2X sensors for cooperative awareness message and custom user-defined messages to support vehicle-to-vehicle communication
Added named tuples for BasicAgent.py's detection result to allow for type-hints and better semantics.
Added type-hint support for the PythonAPI
Added type-hints to GlobalRoutePlanner and use carla.Vector3D code instead of pre 0.9.13 numpy code.
If available, use ActorIDs instead of Unreal Engine IDs for instance segmentation
Synchronized actor BoundingBox between server and client
Add actor_id to bounding boxes
Fixed invisible terrain in instance segmentation
Importing from carla.command is now possible
carla.ad subpackages are now directly importable and are not directly importable anymore (e.g. import ad)
Fixed segfault in traffic manager when trying to access not available vehicles
Fixed invalid comparission in python examples/rss
Updated inverted traffic PythonAPI example script, added support for waypoint-guided Inverted AI cars.
Fixed invisible spline meshes in instance segmentation
Set to default Visual Studio 2022 in Windows
Added env CARLA_CACHE_DIR to be able to set CARLA CACHE location
Support of masked materials in instance segmentation, resulting in fine-grained annotations on e.g. leaves or fences (as in semantic segmentation)
Added API function world.set_annotations_traverse_translucency and implemented functionality to configure, whether depth and semantic + instance segmentation traverse translucent materials or not.
Fixed frame, timestamp and transform of SensorData not matching to the actually sent image for camera sensors.
Added "geolocation_to_transform" function to the Map object in the PythonAPI
Add support for NVIDIA NuRec 25.07 (CARLA-NuRec 0.2)
Added set_wheel_pitch_angle() to change the bone pitch angle of each wheel of a vehicle
Added get_wheel_pitch_angle() to get the rotation (pitch) angle of a vehicle wheel