Skip to content

CARLA 0.9.10 (development)
Compare
Choose a tag to compare
@bernatx bernatx released this 26 Sep 02:28
· 1597 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
Assets 2