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Recent Releases of https://github.com/carla-simulator/carla

https://github.com/carla-simulator/carla - 0.10.0

Release 0.10.0

For further information, please check our blog post.

Changes

  • Unreal Engine migration from version 4.26 to version 5.5
    • Nanite enabled for entire Town 10
    • Lumen powers new realistic illumination
    • Improved lighting with new post-process configuration
    • Physics migrated from PhysX to Chaos
  • Remodeled Town 10:
    • New buildings
    • Road topology includes uneven surface, potholes, speed bumps
  • Remodeled 13 vehicles with more detail:
    • Nissan Patrol
    • Dodge Charger
    • Dodge Charger Police
    • Ford Crown Taxi
    • Lincoln MKZ
    • Mini Cooper
    • Firetruck
    • CarlaCola
    • Ambulance
    • Mercedes Sprinter
    • Mitsubishi Fusorosa bus
    • Mining earth mover (provided by Synkrotron)
  • Rework of build system to use cmake
  • Native server support for ROS2 (without CARLA-ROS bridge)
  • Refactor of semantic segmentation and instance segmentation sensors
    • Semantic segmentation can now be visualized in UE editor for debugging
    • Only supports meshes with Nanite enabled
  • Included support to data-driven realistic traffic generation powered by InvertedAI
  • Updated Python API scripts with extra examples in the PythonAPI folder:
    • examples/invertedai_traffic.py
    • examples/interpolate_camera.py
    • examples/vehicledoorsdemo.py
    • examples/vehiclelightsdemo.py
    • examples/visualize_radar.py
    • examples/ros2_native.py
    • util/tools/generatevideofrom_frames.py
    • util/apply_texture.py
    • util/changemaplayer.py
    • util/manageenvironmentobjects.py
    • util/managetrafficlight.py
    • util/recorder_comparer.py
    • util/show_crosswalks.py
    • util/show_junctions.py
    • util/show_topology.py
    • util/spectator_transform.py
  • Motion blur disabled below 1080p resolution to avoid artefacts
  • Python API now supports Python 3.8, 3.9, 3.10, 3.11 and 3.12
  • Python API support dropped for Python versions 3.7 and lower
  • Added support for Scenic 3.0
  • RSS functionality removed from docs
  • Removed Light Manager from API and docs
  • Added Mine01 off-road mining map from Synkrotron

- C++
Published by Blyron about 1 year ago

https://github.com/carla-simulator/carla - 0.9.15

Release 0.9.15

Changes

  • Added Digital Twins feature version 0.1. Now you can create your own map based on OpenStreetMaps
  • Added compatibility with SymReady Assets, using NVIDIA Omniverse
  • Added new maps: Town13 (is a large map) and Town15
  • The spectator will be used to load tiles and actor in Large Maps when no other actors with the rolename 'egovehicle' or 'hero' are present. Added the `spectatoras_egoto thecarla.WorldSettings()` to allow users to disable this behavior.
  • Add keyword arguments for carla.TrafficManager Python API functions
  • Added build support for VS2022 and Ninja for LibCarla and osm2odr on Windows
  • Added empty actor
  • Restored gamma value to 2.2 instead of 2.4
  • CarlaExporter tool now exports the box collider and convex collider of the object if it has one, otherwise the mesh
  • Pedestrians with AI or in replayer are now faster around 10x. They have collisions disabled until they hit a vehicle.
  • Added API function to avoid replaying the spectator
    • Client.set_replayer_ignore_spectator(bool)
    • start_replaying.py using flag --move-spectator
  • Surface non-unity build mode by passing ARGS=--no-unity to make; allows IWYU-type errors to be unmasked and fixed.
  • Added maps, vehicles, pedestrians and props catalogues to the documentation
  • Collisions detected by the CollisionSensor no longer generate more than one event per frame.
  • Added API function to load a map only if it is different from the current one.
  • Fixed a bug in the TrafficManager causing vehicles that reached an ending lane to have abnormal behavior while lane changing.
  • Fixed bug causing the TM's unstuck logic to incorrectly remove the vehicles in some situations.
  • Fixed the extra data in Directx textures, so we need to copy row by row on Windows to remove extra bytes on images
  • Fixed vertices of big meshes (more than 65k vertices) in CarlaExporter
  • Fixed sensors to check for the stream to be ready (race condition)
  • Fixed bug causing the FPixelReader::SavePixelsToDisk(PixelData, FilePath) function to crash due to pixel array not set correctly.
  • Fixed segfaults in Python API due to incorrect GIL locking under Python 3.10.
  • Fixed the import script, where could use any other TilesInfo.txt if the destination folder has many

- C++
Published by bernatx over 2 years ago

https://github.com/carla-simulator/carla - 0.9.14

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 hasdynamicdoors, 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

- C++
Published by bernatx about 3 years ago

https://github.com/carla-simulator/carla - CARLA 0.9.13

Release 0.9.13

Changes

  • Added new instance aware semantic segmentation sensor sensor.camera.instance_segmentation
  • Added new API classes: MaterialParameter, TextureColor and TextureFloatColor to encode texture data and field (normal map, diffuse, etc)
  • Added new API functions: apply_color_texture_to_object, apply_float_color_texture_to_object and apply_textures_to_object to paint objects in runtime
  • Added the option for users to set a route using RoadOption elements to a vehicle controlled by the Traffic Manager.
  • Cache now has an extra folder with current version of CARLA (so different cache per version)
  • Added setpercentagerandomleftlanechange and setpercentagerandomrightlanechange.
  • Improved handling of collisions in Traffic Manager when driving at very high speeds.
  • Added physical simulation to vehicle doors, capable of opening and closing
  • Added open/close doors feature for vehicles.
  • Added API functions to 3D vectors: squared_length, length, make_unit_vector, dot, dot_2d, distance, distance_2d, distance_squared, distance_squared_2d, get_vector_angle
  • Added API functions to 2D vectors: squared_length, length, make_unit_vector
  • Added a seed for better reproducibility of pedestrians
    • New API function set_pedestrians_seed
    • New parameter --seedw in generate_traffic.py script
  • Added missing dependency libomp5 to Release.Dockerfile
  • Added API functions to interact with pedestrian bones:
    • get_bones / set_bones: to get/set the bones of a pedestrian
    • blend_pose: to blend a custom pose with current animation
    • show_pose / hide_pose: to show or hide the custom pose
    • get_pose_from_animation: to set the custom pose with the animation current frame
  • Added a new script in PythonAPI/examples/draw_skeleton.py to draw the bones of a pedestrian from client side
  • Improved collision detection of the Python agents
  • Added the new VehicleLightStage to the Traffic Manager to dynamically update the vehicle lights.
  • Added two new examples to PythonAPI/util: Conversion of OpenStreetMaps to OpenDRIVE maps osm_to_xodr.py and Extraction of map spawn points extract_spawn_points.py
  • Fixed the import of props without any map
  • Fixed global route planner crash when being used at maps without lane markings
  • Fixed bug causing the server to sigsegv when a vehicle collides an environment object in recording mode.
  • Fixed RSSSensor: made client side calculations threaded
  • Fixed keeprightrule parameter.

- C++
Published by bernatx over 4 years ago

https://github.com/carla-simulator/carla - CARLA 0.9.12

Release 0.9.12

Changes

  • Upgrading to Unreal Engine 4.26
  • CARLA now is built with Visual Studio 2019 in Windows
  • Added Optical Flow camera
  • Changed the resolution of the cached map in Traffic Manager from 0.1 to 5 meters
  • Added generation attribute to vehicles and pedestrians
  • Added Lincoln 2020 vehicle dimensions for CarSim integration
  • Enabling the no_delay option to RPC and stream sockets
  • CARLA is compatible with the last RoadRunner nomenclature for road assets
  • The special nomenclature to define roads (ROADROAD), sidewalks (ROADSIDEWALK)... can be at any position of the asset name
  • Improved performance benchmark script: sync, map and sensor selection, ...
  • Improved performance, destroyed PhysX state for vehicles when physics are disabled
  • Improved parallelism of raycast sensors in system with large number of cores
  • Improved manual_control: now cameras position are set in relation with car size
  • Added 'visualizemultiplesensors' example
  • Added 'checklidarbb' util script
  • Added optional flag to client.replay_file() replay_sensors to enable or disable the replaying the sensors
  • Client required files are sent from the server to a local cache (OpenDRIVE, Traffic Manager...)
  • Extended make import process for applying road painter materials (carla art tool)
  • Added creation of custom JSON file for applying decals to imported roads
  • Added CHRONO library for vehicle dynamics simulation (https://projectchrono.org/)
    • Supported JSON vehicle definition
    • Unsupported collision dynamics
  • Added Large Map feature to CARLA, alowing to import large maps divided in square tiles (at most 2kmx2km per tile). Only section of a Large Map can be loaded at a time which introduces a sleep state for actors that are far away from the hero vehicle
  • Added performance benchmarking section to documentation
  • Added ApplyVehiclePhysicsControl to commands
  • Added flush in the sublevel loading to increase carla's determinism in Opt maps
  • Fixed import sumo_integration module from other scripts
  • Fixed bug causing the RoadOptions at the BehaviorAgent to not work as intended
  • Fixed a bug when importing a FBX map with some _ in the FBX name
  • Fix bug in carla.Transform.getupvector()
  • Fix bug in lidar channel point count
  • Fix imu: some weird cases were given nan values
  • Fix bugs in applyphysicscontrol and friction trigger
  • Exposed tire parameters for longitudinal and lateral stiffness in the PhysicsControl.
  • When setting a global plan at the LocalPlanner, it is now optional to stop the automatic fill of the waypoint buffer
  • Improved agent's vehicle detection to also take into account the actor bounding boxes
  • API extensions:
    • Added functions to traffic light actor get_effect_waypoints(), get_light_boxes() and get_opendrive_id()
    • Added functions to world get_traffic_lights_from_waypoint(), get_traffic_lights_in_junction and get_traffic_light_from_opendrive_id
    • Added parameters to WorldSettings: tile_stream_distance and actor_active_distance
    • Added parameters and functions to Osm2OdrSettings: proj_string, center_map, generate_traffic_lights, all_junctions_with_traffic_lights, set_osm_way_types, and set_traffic_light_excluded_way_types
    • Added function to enable car telemetry
    • Added set_wheel_steer_direction() function to change the bone angle of each wheel of a vehicle
    • Added get_wheel_steer_angle() function to get the steer angle of a vehicle wheel
    • Added scattering_intensity , mie_scattering_scale , rayleigh_scattering_scale to PythonAPI for changing weather attributes
    • Improved the python agents API. Old behaviors have been improved and new ones have also been added, improving the functionalities of the agents. Several bugs have also been fixed

- C++
Published by bernatx over 4 years ago

https://github.com/carla-simulator/carla - CARLA 0.9.11

Release 0.9.11

Changes

  • Improved the documentation for use with pandoc tool by converting html tags to their markdown equivalent
  • Refactored FAQ section of docs to use minimal html and fix broken layout
  • Extended the local planner with a lateral offset
  • Upgraded to DirectX 12 on Windows
  • Added the new core pipeline for the simulator
  • Added parameter to carla settings to control culling
  • Added fully deterministic option for Traffic Manager, sorting vehicles by ID and avoiding race conditions
  • Added the option to sweep the wheel shape for collision. This requires to patch the engine
  • Added the possibility of changing physics substepping options from client
  • Added 'noise_seed' to sensors to initialize the random generators
  • API extensions:
    • Added actor.set_enable_gravity() function to enable/disable the gravity affecting the actor
    • Added load_map_layer and unload_map_layer to control map layers on new maps that support subleveling
    • Added get_environment_objectscall to get all the placed objects in the level
    • Added enable_environment_objectscall to enable/disable objects of the level
    • Added horizontal_fov parameter to lidar sensor to allow for restriction of its field of view
    • Added WorldSettings.deterministic_ragdolls to enable deterministic or physically based ragdolls
  • Fixed RSSSensor python3 build and import of open drive maps by updating to ad-rss v4.2.0 and ad-map-access v2.3.0.
  • Python import of dependent 'ad' python modules reflects now the namespaces of the C++ interface and follow doxygen documentation
  • Fixed sensor transformations and sensor data transformations mismatch in IMU and camera-based sensors
  • Fixed random dead-lock on synchronous mode at high frame rate
  • Fixed bug on Windows causing sun reflection artifacts
  • Fixed bug in waypoint.get_landmarks() causing some landmarks to be missed when s = 0
  • Fixed the actor.set_simulate_physics() for pedestrians and vehicles
  • Fixed bug causing camera-based sensors to stop sending data
  • Fixed the lack of determinism on the output of raycast sensors
  • Fixed missing laneChange record in converted OSM maps
  • Fixed bug in the actor's id returned by the semantic lidar
  • Fixed error when using --config parameter in make package
  • Fixed dependency of library Xerces-c on package
  • Fixed minor typo in the simulation data section of the documentation
  • Fixed the config.py to read the .osm files in proper utf-8 encoding

- C++
Published by bernatx about 5 years ago

https://github.com/carla-simulator/carla - CARLA 0.9.10.1 (development)

Patch Release 0.9.10.1

Changes

  • API extensions:
    • Added actor.set_enable_gravity() function to enable/disable the gravity affecting the actor
  • Upgraded to DirectX 12 on Windows
  • Fixed bug on Windows causing sun reflection artifacts
  • Fixed the actor.set_simulate_physics() for pedestrians and vehicles
  • Fixed bug causing camera-based sensors to stop sending data
  • Fixed dependency of library Xerces-c on package

- C++
Published by marcgpuig over 5 years ago

https://github.com/carla-simulator/carla - CARLA 0.9.10 (development)

Release 0.9.10

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

- C++
Published by bernatx over 5 years ago

https://github.com/carla-simulator/carla - CARLA 0.9.9 (development)

Patch Release 0.9.9.4

Fixes

  • Improved performance (around 3x) in synchronous mode on Ubuntu, by disabling the delay of packets on the network interface (Nagle's algorithm).
  • Improved the LiDAR and Radar sensors with a parallel implentation of the raycasting
  • Added default values and a warning message for lanes missing the width parameter in OpenDRIVE

Patch Release 0.9.9.3

Fixes

  • Fixed loading a new map with an official patch for Unreal Engine 4.24 (only for Ubuntu)
  • Fixed large RAM usage when loading polinomial geometry from OpenDRIVE
  • Fixed collision issues when debug draw(debug.draw_line) is called

Highlights

  • Added API functions get_right_vector and get_up_vector
  • Added parameter to enable/disable pedestrian navigation in standalone mode
  • Improved mesh split in standalone mode
  • Added PythonAPI command to set multiple car light states at once
  • Added PythonAPI carla.world.get_vehicles_light_states to get all the car light states at once
  • Added support for additional TraCI clients in Sumo co-simulation

### Patch Release 0.9.9.2

Fixes

  • Fixed the loading of a new map through Python API for windows.

Patch Release 0.9.9.1

Highlights

  • Added API function add_angular_impulse() to add angular impulse to any actor
  • Fixed rain drop spawn issues when spawning camera sensors
  • Fixed Update.sh from failing when the root folder contains a space on it
  • 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
  • OpenDRIVE ingestion bugfixes
  • Added Dynamic Vision Sensor (DVS) camera based on ESIM simulation http://rpg.ifi.uzh.ch/esim.html

Compiled version

Highlights

  • Introduced hybrid mode for Traffic Manager
  • Upgraded to Unreal Engine 4.24
  • Exposed the world lights to the client so they can be changed on the fly
  • Added examples of sumo co-simulation for Town01, Town04, and Town05
  • Added ptv vissim and carla co-simulation
  • Upgraded to AD RSS v3.0.0 supporting complex road layouts and i.e. intersections
  • Added junction smoothing algorithm to prevent roads from blocking other roads with level differences
  • Added automatic generation of traffic lights, stop signal and yield signal from OpenDRIVE file
  • Bug fixes

For further information keep reading here and see the full CHANGELOG.

- C++
Published by marcgpuig almost 6 years ago

https://github.com/carla-simulator/carla - CARLA 0.9.8 (development)

Compiled version

Highlights

  • DEB repositories for CARLA release and ROS bridge
  • Added support for SUMO co-simulation
  • Documentation has been heavily updated and improved
  • Added OpenDRIVE standalone mode that allows physical map generation from OpenDRIVE data
  • Traffic Manager
    • Several bug fixes and improvements
    • Multi-Client and Multi-TrafficManager
    • Support for synchronous mode
  • Highlighted API extensions:
    • New carla.Junction as queryable object from waypoint
    • New supported OpenDRIVE geometries: spirals and cubic polynomial
  • Improved spatial query performance on waypoints
  • New weather system: night time, fog, rain ripples, and now wind affects vegetation and rain (not car physics)
  • Added night mode, with city lights available in nightfall
  • Added car light support to some cars, some motorcycles and all bikes
  • New assets: Cybertruck
  • Improved visual quality

For further information keep reading here and see the full CHANGELOG.

- C++
Published by marcgpuig almost 6 years ago

https://github.com/carla-simulator/carla - CARLA 0.9.7 (development)

Compiled version

Patch 0.9.7.4

  • Fixed the position of a tree in Town02 that was misplaced in the middle of the road

Patch 0.9.7.3

  • Fixed #2386: agent crashes due to API changes in iswithindistance_ahead

Patch 0.9.7.2

  • Fixed values for spectator camera to work with last patch 0.9.7.1

Patch 0.9.7.1

  • Fixed bug that made the image too bright when setting quality-level Low
  • Fixed bug that kept quality-level Low instead of applying the desired quality-level Epic

Highlights

  • Add build variant with AD RSS library integration with RSS sensor and result visualization
  • Support for OpenGL and Vulkan in docker + headless mode
  • Added new sensor: Inertial measurement unit (IMU)
  • Added new sensor: Radar
  • Exposed RGB camera attributes: exposure, depth of field, tone mapper, color correction, and chromatic aberration
  • Now all the camera-based sensors are provided with an additional parametrized lens distortion shader
  • Added TrafficManager to replace autopilot in managing the NPC vehicles
  • Improved pedestrians navigation
  • Moved GNSS sensor from client to server-side
  • Added exporter plugin for UE4 to allow export meshes ready for Recast calculation
  • The 'make import' process now rename the assets accordingly and set complex collision as simple
  • New Python API function added (map.get_crosswalks()) that returns a list with all points that define the crosswalk zones from OpenDRIVE file
  • Better steering in manual control
  • Added Doxygen documentation online with automatic updates through Jenkins pipeline

See full CHANGELOG.

- C++
Published by marcgpuig about 6 years ago

https://github.com/carla-simulator/carla - CARLA 0.9.6 (development)

Compiled version

Highlights

  • Upgraded to Unreal Engine 4.22
  • Added Vulkan support, if installed, CARLA will use Vulkan, use -opengl flag to launch with OpenGL
  • The simulator is now compiled in "Shipping" mode, faster but it accepts less command-line arguments
  • Pedestrians are back:
    • Spawn pedestrians that will roam randomly on sidewalks
    • The script 'spawn_npc.py' spawns now pedestrians, adjust the number with the flag -w
    • Added navigation meshes for each maps for pedestrian navigation
  • Allow adding custom props (FBX) to CARLA Blueprint library so they are spawnable
  • Simplified pipeline for importing and packaging maps and custom props
  • Vehicle physics:
    • Added access to vehicle transmission details
    • Added access to vehicle physics brake values
    • Added tire friction trigger boxes for simulating slippery surfaces
  • Added camera gamma correction as command-line argument to manual_control.py
  • Added ability to set motion blur settings for RGB camera in sensor python blueprint
  • Added C++ client example using LibCarla
  • Added PythonAPI documentation generator, we documented in detail all the Python reference
  • Added a new Python script config.py that allows the user to configure the simulator from the command-line
  • New recorder features:
    • Documented recorded system and binary file
    • Added optional parameter to show more details about a recorder file (related to show_recorder_file_info.py)
    • Added playback speed (slow/fast motion) to the replayer
    • Allow custom paths for saving the recorded files
    • More data is now recorded to replay animations:
      • Wheels of vehicles are animated (steering, throttle, handbrake), also bikes and motorbikes
      • Walker animations are simulated (through speed of walker)

See full CHANGELOG.

- C++
Published by nsubiron over 6 years ago

https://github.com/carla-simulator/carla - CARLA 0.9.5 (development)

Compiled version

Highlights

  • 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 "laneinvasion" to "lanedetector", 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 "actorids" to world.getactors to request only the actors with the ids provided

See full CHANGELOG.

- C++
Published by nsubiron almost 7 years ago

https://github.com/carla-simulator/carla - CARLA 0.9.4 (development)

Compiled version

Highlights

  • 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_map(name), client.reload_map(), 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)

See full CHANGELOG.

- C++
Published by nsubiron almost 7 years ago

https://github.com/carla-simulator/carla - CARLA 0.9.3 (development)

Compiled version

Highlights

  • 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
    • setangularvelocity: for setting the angular velocity
    • getangularvelocity: for getting the angular velocity
    • add_impulse: for applying an impulse (in world axis)
  • Renamed vehicle.getvehiclecontrol() to vehicle.get_control() to be consistent with walkers

See full CHANGELOG.

- C++
Published by nsubiron about 7 years ago

https://github.com/carla-simulator/carla - CARLA 0.9.2 (development)

Compiled version

Highlights

  • 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

See full CHANGELOG.

- C++
Published by nsubiron about 7 years ago

https://github.com/carla-simulator/carla - CARLA 0.9.1 (development)

Compiled version

Links

Highlights

  • New Town03 with more road variety, multiple lanes, roudabout and more.
  • Lots of additions to the Python API, more info available and more control over actors.
  • Our map now include road layout info based on OpenDrive with an API for querying waypoints.
  • Migrated Lidar.
  • Migrated image handling methods.
  • Improved performance of client-side.
  • New weather system.
  • And lots of improvements and fixes! See full CHANGELOG.

- C++
Published by nsubiron over 7 years ago

https://github.com/carla-simulator/carla - CARLA 0.9.0 (development)

Important

This is a development release that introduces major changes in the API. Please read our blog post.

Compiled version

Links

New Features / Fixes

  • 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

- C++
Published by nsubiron over 7 years ago

https://github.com/carla-simulator/carla - CARLA 0.8.4 (development)

Known issues

  • If you observe random crashes in Linux, see #513 to disable two-wheeled vehicles.

Compiled version

New Features / Fixes

  • 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

- C++
Published by nsubiron over 7 years ago

https://github.com/carla-simulator/carla - CARLA 0.8.3 (development)

Important known issues

  • Collisions are not annotated for the default player vehicle #491
  • Bikes and motorbikes often cause traffic disruptions and cannot be disabled

Compiled version

Links

New Features / Fixes

  • 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 SMTerracedHouse01, 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 "manualcontrol.py" and "viewstart_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

- C++
Published by nsubiron over 7 years ago

https://github.com/carla-simulator/carla - CARLA 0.8.2 (stable)

Compiled version

Links

New Features / Fixes

  • 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"

- C++
Published by nsubiron almost 8 years ago

https://github.com/carla-simulator/carla - CARLA 0.8.1

Compiled version

New Features / Fixes

  • 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 van's wheels causing it to overturn.

- C++
Published by nsubiron almost 8 years ago

https://github.com/carla-simulator/carla - CARLA 0.8.0

Compiled version

Links

Highlights

  • Upgraded to Unreal Engine 4.18.
  • Created our own pedestrian 3D models free to use and distribute.
  • Removed Epic's Automotive Materials dependencies.
  • 360 Ray-cast Lidar thanks to Anton Pechenko (Yandex).
  • Added quality level settings Epic and Low.
  • Measurements now use SI units.
  • Added API methods to convert depth images to a point cloud.
  • A lot of performance optimizations.

- C++
Published by nsubiron almost 8 years ago

https://github.com/carla-simulator/carla - CARLA 0.7.1

Compiled version

Highlights

  • New Python API module: Benchmark
    • Defines an interface for benchmarking AI agents under different tasks and conditions.
    • Includes the CoRL2017 benchmark.
  • New Python API module: Basic Planner
    • This module provides basic functionality to find routes for the agent, this is a temporary solution until we upgrade our map generation.
  • Vehicle’s roll, pitch, and yaw are now sent to the client, which provides more info than the orientation used until now.
  • Improved simulation repeatability, vehicles now follow fixed routes based on a random seed.

- C++
Published by nsubiron about 8 years ago

https://github.com/carla-simulator/carla - CARLA 0.7.0

Compiled version

Highlights

Warning: Python API is not compatible with previous versions.

  • Cleaner and more robust Python client API.
  • CARLA server mode is now disabled by default (enable it with command-line argument -carla-server).
  • Added wind effect to some trees and plants.

- C++
Published by nsubiron about 8 years ago

https://github.com/carla-simulator/carla - CARLA 0.6.0

Compiled version

- C++
Published by nsubiron over 8 years ago

https://github.com/carla-simulator/carla - CARLA 0.5.4

Compiled version

- C++
Published by carla-admin over 8 years ago