ARLA 0.9.6
* 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)
* New high quality pedestrians: female, girl and boy; improved meshes and textures
* More color and texture variations for each pedestrian
* New vehicle Audi Etron: 25.000 tris and LODs
* New material for Mustang, new system that will allow us to improve all the vehicle materials
* Improved vehicle Tesla
* New high-quality "Default" weather tailor-made for each map
* Improved the rest of weather profiles too
* RGB camera improvements:
- Enabled temporal antialiasing and motion blur
- Added gamma value and motion blur as a blueprint attributes
- Enabled texture streaming for scene captures
* API changes:
- Renamed `frame_count` and `frame_number` as `frame`, old members are kept as deprecated
- `world.wait_for_tick()` now returns a `carla.WorldSnapshot`
- The callback of `world.on_tick(callback)` now receives a `carla.WorldSnapshot`
- Deprecated waypoint's `is_intersection`, use `is_junction` instead
* API extensions:
- Added attachment type "SpringArm" for cinematic cameras
- Added waypoint's `junction_id` that returns de OpenDrive identifier of the current junction
- Added `world.get_actor(id)` to find a single actor by id
- Added `carla.WeatherParameters.Default` for the default (tailor-made for each town) weather profile
- Added `WorldSnapshot` that contains a list of `ActorSnapshot`, allows capturings a "still image" of the world at a single frame
- Added `world.tick()` now synchronizes with the simulator and returns the id of the newly started frame
- Added `world.apply_settings(settings)` now synchronizes with the simulator and returns the id of the frame when the settings took effect
- Added `world.remove_on_tick(id)` to allow removing on tick callbacks
- Added allow setting fixed frame-rate from client-side, now is part of `carla.WorldSettings`
- Added `is_invincible` to walkers
* Several optimizations to the RPC server, now supports a bigger load of async messages
* Updated DebugHelper to render on Shipping packages, it has also better performance
* Updated OpenDriveActor to use the new Waypoint API
* Removed deprecated code and content
* Exposed waypoints and OpenDrive map to UE4 Blueprints
* Change the weight of cars. All cars have been compared with the real to have a feedback more real
* Recorder fixes:
- When a recorded session finish replaying, all vehicles will continue in autopilot, and all pedestrians will stop
- Fixed a possible crash if an actor is respawned before the episode is ready when a new map is loaded automatically
- Actors at start of playback could interpolate positions from its current position instead than the recorded position
- Camera following in playback was not working if a new map was needed to load
- API function 'show_recorder_file_info' was showing the wrong parent id
- Script 'start_recording.py' now properly saves destruction of actors at stop
- Problem when vehicles enable autopilot after a replayer, now it works better
* Fixed dead-lock when loading a new map in synchronous mode
* Fixed get_actors may produce actors without parent
* Fixed std::bad_cast when importing other libraries, like tensorflow, before carla
* Fixed latitude in WGS84 reprojection code such that Latitudes increase as one move north in CARLA worlds
* Fixed walking animations, the animations now go at the same speed as the game
* Fixed loading and reloading world not using the timeout
* Fixed XODR files can be found now anywhere in content
* Fixed bug related with Pygame error of surface too large, added sidewalks and improved lane markings in `no_rendering_mode.py`
* Fixed Lidar effectiveness bug in manual_control.py
* Fixed wrong units in VehiclePhysicsControl's center of mass
* Fixed semantic segmentation of bike riders
* Fixed inconsistent streetlights in Town03
* Fixed incorrect vehicle bounds