Merge 0.9.4 into mac-build-0.9 branch

.gitignore

@@ -5,6 +5,9 @@ Deprecated/PythonClient/dist
 Util/Build
 Install
 
+/ExportedMaps
+/RoadRunnerFiles/*/
+
 *.VC.db
 *.VC.opendb
 *.a
@@ -30,6 +33,7 @@ Install
 .gtest
 .tags*
 .vs
+.vscode
 __pycache__
 _benchmarks_results
 _images*

CHANGELOG.md

@@ -1,7 +1,46 @@
-## Latest Changes
-
-  * Fixed `manual_control.py` and `no_rendering_mode.py` to prevent crashes when used in "no rendering mode"
+## CARLA 0.9.4
+
+  * 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)
+  * Added movable props present in the map (e.g. chairs and tables) as actors so they can be controlled from Python
+  * Added recording and playback bindings to `manual_control.py` script
+  * Removed `world.map_name` from API, use `world.get_map().name` instead
   * Refactored `no_rendering_mode.py` to improve performance and interface
+  * Several improvements to the build system for Windows
+  * Expose traffic sign's trigger volumes on Python API
+  * Improved export/import map tools
+  * Simplify Dockerfile halving Carla Docker image size
+  * Episodes have now a random unique id to avoid collisions between runs
+  * Reduced overhead of many RPC calls by sending only actor IDs (instead of serializing all the actor attributes every time)
+  * Added priority system for vehicle control input (internal, not exposed in API)
+  * Removed "Example.CarlaSettings.ini", you can still use it, but it's no longer necessary
+  * Improved time-out related error messages
+  * Fixed Town01 placed 38 meters above the zero
+  * Fixed parsing of OpenDrive geo-reference exported by RoadRunner
+  * Fixed issue of retrieving an empty list when calling `world.get_actors()` right after creating the world
+  * Fixed a few synchronization issues related to changing the world at runtime
+  * Fixed traffic light when it gets illuminated by the hero vehicle in `no_rendering_mode.py`
+  * Fixed `manual_control.py` and `no_rendering_mode.py` to prevent crashes when used in "no rendering mode"
+  * Fixed traffic signs having the trigger box rotated
+  * Fixed female walk animation
+  * Fixed BP_MultipleFloor, tweaked offset in BaseFloor to adjust meshes between them
+  * Fixed static objects present in the map were marked as "movable"
 
 ## CARLA 0.9.3
 

Docs/download.md

@@ -6,8 +6,9 @@
 > features. Keep in mind that the API and features in this channel can (and
 > probably will) change.
 
-- [CARLA 0.9.3](https://github.com/carla-simulator/carla/releases/tag/0.9.3) -
-- [CARLA 0.9.2](https://github.com/carla-simulator/carla/releases/tag/0.9.2) -
+- [CARLA 0.9.4](https://github.com/carla-simulator/carla/releases/tag/0.9.4)
+- [CARLA 0.9.3](https://github.com/carla-simulator/carla/releases/tag/0.9.3)
+- [CARLA 0.9.2](https://github.com/carla-simulator/carla/releases/tag/0.9.2)
 - [CARLA 0.9.1](https://github.com/carla-simulator/carla/releases/tag/0.9.1) -
   [[Blog post](http://carla.org/2018/11/16/release-0.9.1/)] - _Vehicle navigation, new waypoint-based API, maps creation, and more_
 - [CARLA 0.9.0](https://github.com/carla-simulator/carla/releases/tag/0.9.0) -

Docs/export_import_dist.md

@@ -10,14 +10,19 @@ them with yet another script from the editor.
 
 <h4>How to export a map</h4>
 The current script only work for content placed into the
-"CarlaRoot/Unreal/CarlaUE4/Content/Carla/ExportedMaps" folder, inside the unreal's project
-structure. Once all the changes are saved in the editor and the maps to export
-are located in that folder, running
+"CarlaRoot/Unreal/CarlaUE4/Content/Carla/ExportedMaps" folder (this can be overriden with
+--map flag), inside the unreal's project structure. Once all the changes are saved in the
+editor and the maps to export are located in that folder, by the name of the map or the
+name provided with the --file flag, so, running
 
 ```sh
-make export-maps
+make export-maps ARGS="--map=/Path/To/Awesome/Map --file=AwesomeMap"
 ```
 
+!!! important
+    The path specified in <b>--map</b> flag has to be in Unreal's way.
+    For example:<br><i><b>/Game/Carla/Maps/AwesomeTownMap</b></i>
+
 will clean, cook and pack the necessary assets with the maps. Please, note that
 there is no way of knowing what assets are on the project-to-import-to, so the
 final package will usually contain assets needed for the current project to work

Docs/generate_map_from_fbx.md

@@ -0,0 +1,71 @@
+<h1>Automatically generate a map from RoadRunner</h1>
+
+!!! important
+    The given scripts only works if the files are kept in the folders
+    detailed below.
+
+This script is aimed to reduce the time needed to setup a map inside Carla's project.
+Also, in combination of the [import / export scripts](export_import_dist.md) will allow
+the user to generate a simple map without opening Unreal Engine.
+
+!!! important
+    The script does heavy use of Unreal's capabilities, so it is needed to be installed
+    and setup, as the import fbx action is done directly over the code project, not a
+    distribution build.
+
+
+<h4>How to import a fbx</h4>
+The current script only work for files placed with the follow structure (RoadRunnerFiles is
+located in the root folder):
+
+```sh
+RoadRunnerFiles/
+├── MapToImport01
+│   ├── Asphalt1_Diff.png
+│   ├── Asphalt1_Norm.png
+│   ├── Asphalt1_Spec.png
+│   ├── Grass1_Diff.png
+│   ├── Grass1_Norm.png
+│   ├── Grass1_Spec.png
+│   ├── LaneMarking1_Diff.png
+│   ├── LaneMarking1_Norm.png
+│   ├── LaneMarking1_Spec.png
+│   ├── MapToImport01.fbx
+│   └── MapToImport01.xodr
+└── MapToImport02
+    ├── Asphalt1_Diff.png
+    ├── Asphalt1_Norm.png
+    ├── Asphalt1_Spec.png
+    ├── Concrete1_Diff.png
+    ├── Concrete1_Norm.png
+    ├── Concrete1_Spec.png
+    ├── Grass1_Diff.png
+    ├── Grass1_Norm.png
+    ├── Grass1_Spec.png
+    ├── LaneMarking1_Diff.png
+    ├── LaneMarking1_Norm.png
+    ├── LaneMarking1_Spec.png
+    ├── MapToImport02.fbx
+    └── MapToImport02.xodr
+```
+
+Under <i>RoadRunnerFiles</i> folder located at the Carla Root, place each "Export"
+folder obtained from RoadRunner and rename it with the name of the map to be imported.
+It have to match the <b>.fbx</b>
+and <b>.xodr</b> files.
+
+Now, simply go into the PythonAPI/util folder and run <b>generate_map.py</b>
+
+!!! important
+    The script, by default, checks the <i>/Unreal/CarlaUE4/Content/Carla/ExportedMaps</i> for matching names.
+    If a map with the same name as a to-be-imported map is found, it will notify the user and won't do anything.
+    To override this, <b>generate_map.py</b> can be invoked with the <b>--force</b> flag.
+
+After the script finishes, all a map with the same name of the folder and files will be located under
+<i>/Unreal/CarlaUE4/Content/Carla/Maps</i> with all the static meshes and placed, textures, waypoints and routes
+generated.
+
+!!! important
+    There is a bug in RoadRunner that generates wrong materials automatically and they get broken inside Unreal.
+    By adding the flag <b>--usecarlamats</b> the meshes will use the materials provided by Carla's project,
+    that will also <b>react to the weather</b>.

Docs/how_to_build_on_windows.md

@@ -52,8 +52,7 @@ Once you have downloaded the repo and extract the Carla contents you can start w
 | Command | Description |
 | --- | --- |
 | `make help` | Print all available commands |
-| `make launch`| Builds and launches Carla |
-| `make launch-editor` | Launches Carla Editor |
+| `make launch` | Launches Carla Editor |
 | `make package` | Builds CARLA and creates a packaged version for distribution |
 | `make clean` | Deletes all the binaries and temporals generated by the build system |
 | `make rebuild` | Rebuilds Carla project, dependencies not build |
@@ -64,10 +63,8 @@ If you build Carla for the first time or after you clean the project it will pro
 Example of building Carla 0.9.0 for first time:
 ```cmd
 1) git clone https://github.com/carla-simulator/carla.git
-
 2) Download https://drive.google.com/uc?id=1FtC00CrDb7Kz5StBAwb6vqOGbzZtpROx&export=download
 3) Extract to Unreal/CarlaUE4/Content/Carla
-
 4) make launch
 ```
 

Docs/index.md

@@ -26,6 +26,7 @@
   * [Running in a Docker](carla_docker.md)
   * [How to make a new map with RoadRunner](how_to_make_a_new_map.md)
   * [How to link Epic's Automotive Materials](epic_automotive_materials.md)
+  * [How to automatically generate a map from RoadRunner](generate_map_from_fbx.md)
   * [How to export and import maps to distribution builds](export_import_dist.md)
 
 <h3>Contributing</h3>

Docs/python_api.md

@@ -12,22 +12,40 @@
 - `get_client_version()`
 - `get_server_version()`
 - `get_world()`
+- `get_available_maps()`
+- `reload_world()`
+- `load_world(map_name)`
+- `start_recorder(string filename)`
+- `replay_file(string filename, float start, float duration, int camera_follow_id)`
+- `show_recorder_file_info(string filename)`
+- `show_recorder_collisions(string filename, char category1, char category2)`
+- `show_recorder_actors_blocked(string filename, float min_time, float min_distance)`
+- `apply_batch(commands, do_tick=False)`
 
 ## `carla.World`
 
 - `id`
-- `map_name`
 - `debug`
 - `get_blueprint_library()`
 - `get_map()`
 - `get_spectator()`
+- `get_settings()`
+- `apply_settings(world_settings)`
 - `get_weather()`
 - `set_weather(weather_parameters)`
 - `get_actors()`
 - `spawn_actor(blueprint, transform, attach_to=None)`
 - `try_spawn_actor(blueprint, transform, attach_to=None)`
 - `wait_for_tick(seconds=1.0)`
 - `on_tick(callback)`
+- `tick()`
+
+## `carla.WorldSettings`
+
+- `synchronous_mode`
+- `no_rendering_mode`
+- `__eq__(other)`
+- `__ne__(other)`
 
 ## `carla.DebugHelper`
 
@@ -108,6 +126,8 @@
 - `apply_control(vehicle_control)`
 - `get_control()`
 - `set_autopilot(enabled=True)`
+- `get_physics_control()`
+- `apply_physics_control(vehicle_physics_control)`
 - `get_speed_limit()`
 - `get_traffic_light_state()`
 - `is_at_traffic_light()`
@@ -127,6 +147,8 @@
 - `get_elapsed_time()`
 - `freeze(True)`
 - `is_frozen()`
+- `get_pole_index()`
+- `get_group_traffic_lights()`
 
 ## `carla.Sensor(carla.Actor)`
 
@@ -197,6 +219,34 @@
 - `__eq__(other)`
 - `__ne__(other)`
 
+
+## `carla.WheelsPhysicsControl`
+- `tire_friction`
+- `damping_rate`
+- `steer_angle`
+- `disable_steering`
+- `__eq__(other)`
+- `__ne__(other)`
+
+## `carla.VehiclePhysicsControl`
+
+- `torque_curve`
+- `max_rpm`
+- `moi`
+- `damping_rate_full_throttle`
+- `damping_rate_zero_throttle_clutch_engaged`
+- `damping_rate_zero_throttle_clutch_disengaged`
+- `use_gear_autobox`
+- `gear_switch_time`
+- `clutch_strength`
+- `mass`
+- `drag_coefficient`
+- `center_of_mass`
+- `steering_curve`
+- `wheels`
+- `__eq__(other)`
+- `__ne__(other)`
+
 ## `carla.Map`
 
 - `name`
@@ -214,7 +264,17 @@
 - `lane_width`
 - `road_id`
 - `lane_id`
+- `lane_change`
+- `lane_type`
 - `next(distance)`
+- `get_right_lane()`
+- `get_left_lane()`
+
+## `carla.LaneChange`
+- `None`
+- `Right`
+- `Left`
+- `Both`
 
 ## `carla.WeatherParameters`
 
@@ -335,3 +395,50 @@ Static presets
 - `Other`
 - `Broken`
 - `Solid`
+
+# module `carla.command`
+
+## `carla.command.DestroyActor`
+
+- `actor_id`
+
+## `carla.command.ApplyVehicleControl`
+
+- `actor_id`
+- `control`
+
+## `carla.command.ApplyWalkerControl`
+
+- `actor_id`
+- `control`
+
+## `carla.command.ApplyTransform`
+
+- `actor_id`
+- `transform`
+
+## `carla.command.ApplyVelocity`
+
+- `actor_id`
+- `velocity`
+
+## `carla.command.ApplyAngularVelocity`
+
+- `actor_id`
+- `angular_velocity`
+
+
+## `carla.command.ApplyImpulse`
+
+- `actor_id`
+- `impulse`
+
+## `carla.command.SetSimulatePhysics`
+
+- `actor_id`
+- `enabled`
+
+## `carla.command.SetAutopilot`
+
+- `actor_id`
+- `enabled`