Merge branch 'dev'

carla-simulator · Sep 25, 2020 · c7b2076 · c7b2076
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diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md
@@ -5,10 +5,10 @@ view the contribution guidelines, then fill out the blanks below.
 
 Checklist:
 
-  - [ ] Your branch is up-to-date with the `master` branch and tested with latest changes
+  - [ ] Your branch is up-to-date with the `dev` branch and tested with latest changes
   - [ ] Extended the README / documentation, if necessary
   - [ ] Code compiles correctly
-  - [ ] All tests passing with `make check`
+  - [ ] All tests passing with `make check` (only Linux)
   - [ ] If relevant, update CHANGELOG.md with your changes
 
 -->

diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,51 +1,76 @@
 ## CARLA 0.9.10
 
-  * Added PythonAPI `carla.Osm2Odr.convert()` function and `calra.Osm2OdrSettings` class to support Open Street Maps to OpenDRIVE conversions
-  * Upgraded to AD RSS v4.0.1 supporting unstructured scenes and pedestrians, and fixed spdlog to v1.7.0
-  * Fixed a bug in `spawn_npc_sumo` script computing not allowed routes for a given vehicle class
-  * Fixed a bug where `get_traffic_light` would always return `None`
+  * 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 API function `freeze_all_traffic_lights` and `reset_group`
-  * Fixed recorder determinism problems
-  * Added function to stop the replayer
-  * Added Light ids
-  * Added vehicle light and street light data to recorder
-  * Added API function `add_angular_impulse()` to add angular impulse to any actor
-  * Fixed rain drop spawn issues when spawning camera sensors
-  * Fixed assets import pipeline
-  * Fixed Update.sh from failing when the root folder contains a space on it
-  * 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
-  * All sensors are now multi-stream, that means that the same sensor can be listened from different clients
-  * Fixed point cloud of LiDAR. Now the points are given correctly in the sensor's coordinate system
-  * Fixed light intensity and camera parameters to match
-  * New Lidar sensor ('lidar.ray_cast_semantic') that returns the point cloud with information regarding to the object that have collided: incident angle, idx of collided actor and it semantic tag
-  * Added `opend3D.py`, a more friendly LiDAR visualizer
-  * Exposed matrix form of transformation to the client and Python API
+  * 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 PythonAPI command to set multiple car light states at once
-  * Added PythonAPI `carla.world.get_vehicles_light_states` to get all the car light states at once
-  * OpenDRIVE ingestion bugfixes
-  * Added a warning if the user tries to use the SpringArm exactly in the 'z' axis of the attached actor
-  * Improved the LiDAR and Radar sensors with a parallel implentation of the raycasting
+  * 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 syncronize the gathering of sensor data in client
-  * Added API functions `get_right_vector` and `get_up_vector`
+  * 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 split in standalone mode
-  * Fixed delay in the tcp communication from server to client, improving performance in synchronous mode in linux systems
-  * Fixed large RAM usage when loading polinomial geometry from OpenDRIVE
-  * Fixed collision issues when debug draw(debug.draw_line) is called
-  * Fixed Gyroscope sensor to properly give angular velocity readings in local frame
+  * Improved mesh partition in standalone mode
   * Added Renderdoc plugin to the Unreal project
-  * Added configurable noise to Lidar sensor
-  * Replace deprectated `platform.dist()` with recommended `distro.linux_distribution()`
-  * Improved the performance on capture sensors.
+  * 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
 
 ## CARLA 0.9.9
 

diff --git a/Co-Simulation/PTV-Vissim/vissim_integration/carla_simulation.py b/Co-Simulation/PTV-Vissim/vissim_integration/carla_simulation.py
@@ -94,7 +94,7 @@ def synchronize_vehicle(self, vehicle_id, transform, velocity, lights=None):
 
         vehicle.set_transform(transform)
         if velocity is not None:
-            vehicle.set_velocity(velocity)
+            vehicle.set_target_velocity(velocity)
 
         if lights is not None:
             vehicle.set_light_state(carla.VehicleLightState(lights))

diff --git a/Co-Simulation/Sumo/run_synchronization.py b/Co-Simulation/Sumo/run_synchronization.py
@@ -276,7 +276,7 @@ def synchronization_loop(args):
                            metavar='P',
                            default=None,
                            type=int,
-                           help='TCP port to liston to (default: 8813)')
+                           help='TCP port to listen to (default: 8813)')
     argparser.add_argument('--sumo-gui', action='store_true', help='run the gui version of sumo')
     argparser.add_argument('--step-length',
                            default=0.05,

diff --git a/Co-Simulation/Sumo/spawn_npc_sumo.py b/Co-Simulation/Sumo/spawn_npc_sumo.py
@@ -116,8 +116,8 @@ def main(args):
     sumo_net = sumolib.net.readNet(net_file)
     sumo_simulation = SumoSimulation(cfg_file,
                                      args.step_length,
-                                     host=None,
-                                     port=None,
+                                     host=args.sumo_host,
+                                     port=args.sumo_port,
                                      sumo_gui=args.sumo_gui,
                                      client_order=args.client_order)
 
@@ -218,6 +218,13 @@ def main(args):
                            default=2000,
                            type=int,
                            help='TCP port to listen to (default: 2000)')
+    argparser.add_argument('--sumo-host',
+                           default=None,
+                           help='IP of the sumo host server (default: None)')
+    argparser.add_argument('--sumo-port',
+                           default=None,
+                           type=int,
+                           help='TCP port to listen to (default: None)')
     argparser.add_argument('-n',
                            '--number-of-vehicles',
                            metavar='N',

diff --git a/Docs/adv_ptv.md b/Docs/adv_ptv.md
@@ -4,8 +4,8 @@ CARLA has developed a co-simulation feature with PTV-Vissim. This allows to dist
 
 *   [__Requisites__](#requisites)  
 *   [__Run a co-simulation__](#run-the-co-simulation)  
-	*   [Create a new network](#create-a-new-network)
-	
+	*   [Create a new network](#create-a-new-network)  
+
 ---
 ## Requisites
 

diff --git a/Docs/adv_recorder.md b/Docs/adv_recorder.md
@@ -2,14 +2,14 @@
 
 This feature allows to record and reenact a previous simulation. All the events happened are registered in the [recorder file](ref_recorder_binary_file_format.md). There are some high-level queries to trace and study those events.  
 
-* [__Recording__](#recording)  
-* [__Simulation playback__](#simulation-playback)  
-	* [Setting a time factor](#setting-a-time-factor)  
-* [__Recorded file__](#recorded-file)  
-* [__Queries__](#queries)  
-	* [Collisions](#collisions)  
-	* [Blocked actors](#blocked-actors)  
-* [__Sample Python scripts__](#sample-python-scripts)  
+*   [__Recording__](#recording)  
+*   [__Simulation playback__](#simulation-playback)  
+	*   [Setting a time factor](#setting-a-time-factor)  
+*   [__Recorded file__](#recorded-file)  
+*   [__Queries__](#queries)  
+	*   [Collisions](#collisions)  
+	*   [Blocked actors](#blocked-actors)  
+*   [__Sample Python scripts__](#sample-python-scripts)  
 
 ---
 ## Recording

diff --git a/Docs/adv_rendering_options.md b/Docs/adv_rendering_options.md
@@ -2,15 +2,15 @@
 
 There are few details to take into account at the time of configuring a simulation. This page covers the more important ones.
 
-* [__Graphics quality__](#graphics-quality)  
-	* Vulkan vs OpenGL  
-	* Quality levels  
-* [__No-rendering mode__](#no-rendering-mode)  
-* [__Off-screen mode__](#off-screen-mode)  
-	* Off-screen Vs no-rendering  
-* [__Running off-screen using a preferred GPU__](#running-off-screen-using-a-preferred-gpu)  
-	* Docker: recommended approach  
-	* Deprecated: emulate the virtual display  
+*   [__Graphics quality__](#graphics-quality)  
+	*   [Vulkan vs OpenGL](#vulkan-vs-opengl)  
+	*   [Quality levels](#quality-levels)  
+*   [__No-rendering mode__](#no-rendering-mode)  
+*   [__Off-screen mode__](#off-screen-mode)  
+	*   [Off-screen Vs no-rendering](#off-screen-vs-no-rendering)  
+*   [__Running off-screen using a preferred GPU__](#running-off-screen-using-a-preferred-gpu)  
+	*   [Docker - recommended approach](#docker-recommended-approach)  
+	*   [Deprecated - emulate the virtual display](#deprecated-emulate-the-virtual-display)  
 
 
 !!! Important
@@ -76,15 +76,15 @@ world.apply_settings(settings)
 ```
 And here is an example on how to disable and then enable rendering using the `config.py`. 
 ```sh
-cd PythonAPI/util && ./config.py --no-rendering
+cd PythonAPI/util && python3 config.py --no-rendering
 ```
 ```sh
-cd PythonAPI/util && ./config.py --rendering
+cd PythonAPI/util && python3 config.py --rendering
 ```
 
 The script `PythonAPI/examples/no_rendering_mode.py` will enable no-rendering mode, and use __Pygame__ to create an aerial view using simple graphics. 
 ```sh
-cd PythonAPI/examples && ./no_rendering_mode.py
+cd PythonAPI/examples && python3 no_rendering_mode.py
 ```
 
 !!! Warning
@@ -117,16 +117,19 @@ DISPLAY= ./CarlaUE4.sh -opengl
 ---
 ## Running off-screen using a preferred GPU  
 
-### Docker: recommended approach 
+### Docker - recommended approach 
 
 The best way to run a headless CARLA and select the GPU is to [__run CARLA in a Docker__](build_docker.md).  
 
 This section contains an alternative tutorial, but this method is deprecated and performance is much worse. It is here only for those who Docker is not an option. 
 
+
+### Deprecated - emulate the virtual display
+
   <details>
-    <summary><h4 style="display:inline">
-    Deprecated: emulate the virtual display
-    </h4></summary>
+    <summary>
+    Show deprecated tutorial on how to emulate the virtual display
+    </summary>
 
 !!! Warning
     This tutorial is deprecated. To run headless CARLA, please [__run CARLA in a Docker__](build_docker.md).