- Community contribution: ROS bridge by @laurent-george
- New vehicle: Tesla Model 3
- Added an option to "CarlaSettings.ini" to disable bikes and motorbikes
- Fixed missing collision of vehicles introduced in 0.8.3
- Improved stability of bikes and motorbikes
- Improved autopilot turning behaviour at intersections, now using front wheels positions as reference
- Temporarily removed Kawasaki Ninja motorbikes because the model was having some stability issues
- Added two-wheeled vehicles, 3 bicycles and 4 motorbikes
- Several art optimizations (CARLA is now about 10% faster)
- Improved the performance of vegetation assets, adjusted LOD and culling distance, set billboards where possible
- Drastically reduced the number of polygons of the landscape while keeping the original shape
- Removed some high-cost unnecessary assets
- Remodelled Mustang and NissanMicra, now with less polygons and materials, better textures and LOD
- Remodelled building SM_TerracedHouse_01, now with more polygons but less materials and better textures
- CARLA releases include now a Dockerfile for building docker images
- Change in HUD: replace "FPS" by "Simulation Step"
- The current map name is now included in the scene description message sent to the client
- Adapted "manual_control.py" and "view_start_positions.py" to use the map name sent by the simulator
- Improved the vehicle spawning algorithm, now it tries to spawn as much cars as possible even if there are not enough spawn points
- "Setup.sh" is now faster and accepts an argument to run multiple jobs in parallel
- Fixed foliage distance culling using wrong distance in "Low Mode"
- Fixed NissanMicra slightly turning left when driving straight
- Revamped driving benchmark
- Changed name from benchmark to driving benchmark
- Fully Redesigned the architecture of the module
- Added a lot more documentation
- Now you can stop and resume the benchmarks you run
- Rolled back vehicle's location to the pivot of the mesh instead of the center of the bounding box
- Added relative transform of the vehicle's bounding box to the measurements, player and non-players
- Added "frame number" to each sensor measurement so it is possible to sync all the measurements based on the frame they are produced
- Improved vehicle spawner to better handle spawning failures
- Walkers use now a closer angle to detect vehicles, so they don't stop moving if a car passes nearby
- Fixed lighting artefact causing the road to change its brightness depending on the distance to the camera
- Fixed captured images overexposed in Low mode
- Fixed illegal character in asset name
- Fixed editing sun azimuth angle in CarlaWeadther.ini had no effect
- Fixed crash when using a non-standard image size in DirectX (Windows)
- Fixed issue with using multiple "SceneCaptureToDiskCamera"
- New Python example for visualizing the player start positions
- Fixed box extent of non-player agents was sent in centimeters instead of meters
- Fixed speed limits were sent in km/h instead of m/s
- Fixed issue in Volkswagen T2 wheels causing it to overturn
- Upgraded to Unreal Engine 4.18
- Created our own pedestrian 3D models free to use and distribute
- Removed Epic's Automotive Materials dependencies
- 360 Lidars support (similar to Velodyne HDL-32E or VLP-16) thanks to Anton Pechenko (Yandex)
- Ray-cast based
- Configurable settings
- Added methods to save points to disk as PLY file
- Added quality level settings
- Low: low quality graphics, about 3 times faster with one camera
- Epic: best quality (as before)
- Measurements now use SI units
- Locations: m
- Speed: m/s
- Acceleration: m/s^2
- Collisions: kg*m/s
- Angles: degrees
- Added API methods to convert depth images to a point cloud
- New method "image_converter.depth_to_local_point_cloud"
- A supplementary image can be passed to attach colors to the points
- New client example generates a point cloud in world coordinates
- Added Transform class to Python API
- Performance optimizations
- Significant speed improvements in both Epic and Low modes
- Fixed materials and improved shaders for roads, architecture, sidewalks, foliage, landscapes, cars, walkers, reflections, water
- Execution of a set of Project and Engine parameters to improve performance (quality, vsync, AO, occlusion)
- Generation of the road pieces using static meshes and actors instead of a single actor with instanced meshes
- Improved performance since now is able to apply occlusion and draw distance
- Images are captured asynchronously in the render thread
- In asynchronous mode, images may arrive up to two frames later
- In synchronous mode, game thread is blocked until images are ready
- Blueprint code optimizations for vehicles, walkers, and splines
- Added a way to configure different quality levels with culling distance and materials configuration
- Refactored sensor related code to ease adding new sensors in the future
- Added vehicle box extent to player measurements
- Removed the player from the list of non-player agents
- Adjusted bounding boxes to vehicles' height
- Changed vehicles' center to match bounding box
- Added autopilot mode to manual_control.py
- Added quality level options to manual_control.py and client_example.py
- Replaced background landscape and trees by a matte painting
- Fixed road map generated some meshes twice
- Small improvements to Windows support
- Fixed issues with the Makefile
- Fixed asset names too long or containing special characters
- New Python API module: Benchmark
- Defines a set of tasks and conditions to test a certain agent
- Contains a starting benchmark, CoRL2017
- Contains Agent Class: Interface for benchmarking AIs
- New Python API module: Basic Planner (Temporary Hack)
- Provide routes for the agent
- Contains AStar module to find the shortest route
- Other Python API improvements
- Converter class to convert between Unreal world and map units
- Metrics module to summarize benchmark results
- Send vehicle's roll, pitch, and yaw to client (orientation is now deprecated)
- New RoutePlanner class for assigning fixed routes to autopilot (IntersectionEntrance has been removed)
- Create a random engine for each vehicle, which greatly improves repeatability
- Add option to skip content download in Setup.sh
- Few small fixes to the city assets
- New Python client API
- Cleaner and more robust
- Compatible with Python 2 and 3
- Improved exception handling
- Improved examples
- Included methods for parsing the images
- Better documentation
- Protocol: renamed "ai_control" to "autopilot_control"
- Merged testing client
- Added the maps for both cities, the client can now access the car position within the lane
- Make CARLA start without client by default
- Added wind effect to some trees and plants
- Improvements to the existing weather presets
- Build script: skip content download if up-to-date
- Included Unreal project and reorganised folders
- Enabled semantic segmentation by default
- Added Felipe's Python client
- New build system (Linux only)
- Few fixes to city assets
- Added command-line parameter -carla-no-hud
- Remove override gamma from weather settings
- Fixed issue road map generation hangs cooking command
- Organise Python client and make sample script
- Rename maps
- CARLA_ORIGIN_0 --> Town02
- CARLA_ORIGIN_1 --> Town01
- Fixed Carla-Cola machine falling at begin play
- Fixed issues with weather
- Fixed missing building
- Autopilot mode has been removed, now server sends AI control together with measurements every frame
- State and position of traffic lights and signs are now included in the measurements too
- Added a python console client
- Fixed crash when client sends an invalid player start
- Fixed some issues with the dynamic weather not looking as it used to do
- Fixed some collision boxes missing
- Fixed issue server was destroyed on every reset, closing the connection
- Fixed issue agent servers connect too late
- Improvements to the python client
- Added python client test suite for testing the release
- Added image converter
- Fixed missing floor on CARLA_ORIGIN_0
- Changed sidewalk texture
- Improvements on the physics of some vehicles
- More props and decals added to the cities
- Upgraded to Unreal Engine 4.17
- Fixes memory leaks
- Fixes crashes with C++ std classes
- Redesigned CarlaServer
- Faster, avoids unnecessary copies
- Sends images as raw data (no compression)
- Supports synchronous and asynchronous mode
- Networking operation have a time-out
- Synchronous methods have a time-out
- Pure C interface for better compatibility
- Unit tests with GoogleTest
- New server-client protocol
- Upgraded to proto3
- Supports repeated fields
- Optionally send information about all dynamic agents in the scene
- Now sends transforms instead of locations only
- Autopilot mode added to control
- New build system to avoid linkage issues
- Added autopilot mode
- Added an on-board camera to the car
- Added traffic lights and speed limit to player state
- Added player pawn selection to config file
- Improved blueprint interface of the C++ classes
- Some performance improvements to vehicle controllers
- Fix issues with depth material in Windows
- Fix issues with random engine not being available for vehicles
- Fixed issue that compiling a release hang when saving the road map
- Added more content; 7 vehicles, 30 pedestrians, many decals and props
- Randomized pedestrian clothing
- Many improvements and fixes to the city levels and assets
- Added sub-surface scattering to vegetation
- Added key binding to change weather during play
- Added key binding to toggle autopilot mode
- Added a second camera to the player
- Add weather presets specific for each level
- Some map fixes, adjust weather presets specific for each level
- Fixed regression that some walkers may go at extremely slow and fast speeds
- Add random seeds to config file
- Improve logging
- Removed rotation of map CARLA_ORIGIN_1
- Fixed regression walkers despawning when stopping after seeing a car
- Changed, collision is only registered if player moves faster than 1 km/h
- Fixed issue walkers resume movement after sensing nothing, but the car is still there sometimes
- Few improvements to the city assets
- Fixed issue with reward, intersect other lane wasn't sent to the client
- Improvements to the AI of other vehicles, and how they detect pedestrians
- Improvements to the AI of the pedestrians, trying to avoid slightly better the cars
- Made roads collision channel WorldStatic
- Tune several vehicles' physics and engine
- Fixed issue with vehicles bouncing back after hitting a pedestrian
- Add bigger box to pedestrians to avoid accidents
- Make vehicles spawn in order instead of randomly
- Fixed issues with the server-client protocol
- More improvements to the AI of other vehicles, now they barely crash
- Improved the physics of some vehicles
- Tweak the city for better AI of other vehicles
- Improved AI of other vehicles, still needs some adjustment, but now they crash much less
- Fixed wrong semantic segmentation label of the poles of traffic lights and signs
- Added randomized vehicle license plates
- Few improvements to the city assets
- Made vehicle input more realistic, now reverse and brake use different input
- Changed server-client protocol
- CarlaSettings.ini is sent for every new episode
- Control is extended with brake, reverse and handbrake
- Set a clearer hierarchy for loading settings files
- Made camera post-process settings able to change depending on the weather
- Added basic functionality for NPC vehicles
- Some improvements to the walker spawner
- Generate road map metadata on save
- Added command-line switch -carla-no-networking
- Improved verbosity control of CarlaServer
- Fixed issue with server that two threads used 100% CPU
- Fixed issue with the attachment of the main camera to the player
- Fixed issues with CarlaServer interface with Unreal, does not use STL containers anymore
- Fixed issue with server not running below 30 fps at fixed frame rate, added physics sub-stepping
- Fixed issues with some weather settings
- Added randomized pedestrians with their AI and animations
- Added other vehicles with their AI and physics
- Added traffic lights and signs
- Tweaked capture image to look similar to main camera
- Changed car input to match settings in plugin
- General improvements to levels and assets
- Added basic dynamic weather functionality
- Weather and sun light can be changed during game
- Presets stored in config file CarlaWeather.ini
- Added some presets for dynamic weather
- Add basic functionality to spawn pedestrians
- Split road meshes for intersections and turns for better precission of the road map
- Better debug for road map
- Implemented collision count for other cars and pedestrians
- Command line argument -carla-settings now accepts relative paths
- Improved performance when semantic segmentation is disabled
- Improved tagger system
- Implemented nav-mesh and spawn points for pedestrians
- Added new cars
- Added dynamic street lights
- General improvements to levels and assets
- Make the car jump
- Fixed serialization of road map resulting in a huge map size
- Some optimizations in the vegetation
- Implemented more LODS
- Fixed rounding errors in HUD (100% was shown as 99%, 30 FPS as 29 FPS)
- Fixed crash when player goes out of road map
- Fixed several issues related to the transform of the road map (wasn't working in CARLA_ORIGIN_1)
- Make custom depth pass disable by default (semantic segmentation won't work by default)
- Fixed road width in T-intersections
- Implement road LOD
- Fixed missing assets
- Implemented signals for off-road and opposite lane invasion
- Fixed linking issues (use Unreal's libpng)
- Fixed memory leak in PNG compression
- Added boundaries to the map
- Several fixes in the map content
- Fixed the memory leak related to protobuf issues
- Fixed color shift in semantic segmentation and depth
- Added in-game timestamp (now sending both OS and in-game)
- Fixed Depth issues
- Fixed random crash due to an invalid player start position
- Added semantic segmentation
- Changed codification to PNG
- Camera configuration through config INI file
- Added build system for Windows and Linux
- Added more content
- Added basic functionality