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CARLA 0.9.10 (development)
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@bernatx bernatx released this 26 Sep 02:28
· 1598 commits to master since this release
0.9.10
c7b2076

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
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