carla 标签 - Gitee.com

0.9.16

294096e

2025-09-16 17:24

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0.10.0

ada75f9

2024-12-18 22:07

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ue5devStable0.1

298d44b

2024-05-16 21:03

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0.9.15.2

60bd026

2024-03-04 19:34

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0.9.15-dev

* CARLA 0.9.15

* 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 'ego_vehicle' or 'hero' are present. Added the `spectator_as_ego` to the `carla.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

25623bf

2023-11-10 19:14

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0.9.15

* CARLA 0.9.15

* 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 'ego_vehicle' or 'hero' are present. Added the `spectator_as_ego` to the `carla.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

d7b45c1

2023-11-10 19:25

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0.9.14

CARLA 0.9.14

* 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 *has_dynamic_doors*, 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

580ae28

2022-12-24 01:39

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0.9.14-dev

55deece

2022-12-24 01:38

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0.9.13

* 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 **set_percentage_random_left_lanechange** and **set_percentage_random_right_lanechange**.
  * 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 **keep_right_rule** parameter.

a1b37f7

2021-11-16 00:15

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0.9.12

d23f3dc

2021-08-03 00:06

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0.9.11

* 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_objects`call to get all the placed objects in the level     - Added `enable_environment_objects`call 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

78e7ea1

2020-12-23 06:54

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0.9.10.1

0c97e9a

2020-10-01 02:22

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0.9.10

* 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   * 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<float>::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

c7b2076

2020-09-26 03:24

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0.9.9.4

baf43b0

2020-06-18 21:48

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0.9.9.3

f114dc0

2020-06-15 16:53

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0.9.9.2

4dc4cb8

2020-05-21 17:27

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0.9.9.1

09ec923

2020-05-14 16:05

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0.9.9

* Introduced hybrid mode for Traffic Manager
  * Upgraded to Unreal Engine 4.24
  * Fixed autonomous agents' incorrect detection of red traffic lights affecting them
  * Improved manual_control by adding realistic throttle and brake
  * Added walkable pedestrian crosswalks in OpenDRIVE standalone mode
  * Improved mesh generation with a chunk system for better performance and bigger maps in the future
  * Added security features to the standalone OpenDRIVE mode aiming to prevent cars from falling down from the road
  * Added junction smoothing algorithm to prevent roads from blocking other roads with level differences
  * Added new Behavior agent
  * Added automatic generation of traffic lights, stop signal and yield signal from OpenDRIVE file
  * Upgraded to AD RSS v3.0.0 supporting complex road layouts and i.e. intersections
  * Added examples of sumo co-simulation for Town01, Town04 and Town05
  * Added ptv vissim and carla co-simulation
  * Fixed `GetLeftLaneMarking()` from a possible runtime error
  * API extensions:
    - Added new methods to `Map`: `get_all_landmarks`, `get_all_landmarks_from_id` and `get_all_landmarks_of_type`
  * Added synchronization of traffic lights in sumo co-simulation
  * Added light manager to control the lights of the map.

1a2c2ea

2020-04-23 21:52

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0.9.8

e9dd27f

2020-03-09 23:36

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0.9.7

* Upgraded parameters of Unreal/CarlaUE4/Config/DefaultInput.ini to prevent mouse freeze
  * Add build variant with AD RSS library integration with RSS sensor and result visualisation
  * 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, tonemapper, 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
  * API changes:
    - Lidar: `range` is now set in meters, not in centimeters
    - Lidar: `horizontal_angle` is now received in radians, not in degrees
    - GNSS: `carla.GnssEvent` renamed to `carla.GnssMeasurement`
  * API extensions:
    - Added `carla.IMUMeasurement`
    - Added `carla.RadarMeasurement` and `carla.RadarDetection`
    - GNSS data can now be obtained with noise
    - IMU data can now be obtained with noise
  * 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
  * Updated `manual_control.py` with a lens disortion effect example
  * Updated `manual_control.py` with IMU and Radar realtime visualization
  * Fixed pylint for python3 in travis
  * Fixed PointCloudIO `cout` that interfiered with other python modules
  * Better steering in manual control
  * Added Doxygen documentation online with automatic updates through Jenkins pipeline
  * Fixed an error in `automatic_control.py` failing because the `Num Lock` key
  * Fixed client_bounding_boxes.py example script
  * Fixed materials and semantic segmentation issues regarding importing assets
  * Fixed ObstacleSensor to return HitDistance instead of HitRadius

b9fbbf7

2019-12-21 11:59

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