CARLA 0.9.7 (development)

Compiled version

• [Ubuntu] CARLA_0.9.7.4.tar.gz
• [Ubuntu] AdditionalMaps_0.9.7.4.tar.gz

Patch 0.9.7.4

• Fixed the position of a tree in Town02 that was misplaced in the middle of the road

Patch 0.9.7.3

• Fixed #2386: agent crashes due to API changes in is_within_distance_ahead

Patch 0.9.7.2

• Fixed values for spectator camera to work with last patch 0.9.7.1

Patch 0.9.7.1

• Fixed bug that made the image too bright when setting quality-level Low
• Fixed bug that kept quality-level Low instead of applying the desired quality-level Epic

Highlights

• Add build variant with AD RSS library integration with RSS sensor and result visualization
• 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, tone mapper, 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
• 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
• Better steering in manual control
• Added Doxygen documentation online with automatic updates through Jenkins pipeline

See full CHANGELOG.

CARLA 0.9.6 (development)

Compiled version

• [Ubuntu] CARLA_0.9.6.tar.gz
• [Ubuntu] Town06_0.9.6.tar.gz
• [Ubuntu] Town07_0.9.6.tar.gz

Highlights

• 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)

See full CHANGELOG.

CARLA 0.9.5 (development)

Compiled version

• [Ubuntu] CARLA_0.9.5.tar.gz

• [Ubuntu] Town06_0.9.5.tar.gz

• [Ubuntu] Town07_0.9.5.tar.gz

• [Windows] CARLA_0.9.5.zip (Experimental)

Highlights

• New Town07, rural environment with narrow roads
• Reworked OpenDRIVE parser and waypoints API
  • Fixed several situations in which the XODR was incorrectly parsed
  • Exposed more information: lane marking, lane type, lane section id, s
  • API change: waypoint's lane_type is now an enum, carla.LaneType
  • API change: carla.LaneMarking is not an enum anymore, extended with color, type, lane change, and width
  • API extension: map.get_waypoint accepts an extra optional flag argument lane_type for filtering lane types
  • API extension: carla.Map can be constructed off-line out of XODR files, carla.Map(town_name, xodr_content)
  • API extension: id property to waypoints, uniquely identifying waypoints up to half centimetre precision
• API change: Renamed "lane_invasion" to "lane_detector", added too its server-side sensor to be visible to other clients
• API extension: new carla.command.SpawnActor to spawn actors in batch
• API extension: map.transform_to_geolocation to transform Location to GNSS GeoLocation
• API extension: added timestamp (elapsed simulation seconds) to SensorData
• API extension: method client.apply_batch_sync that sends commands in batch and waits for server response
• API extension: optional argument "actor_ids" to world.get_actors to request only the actors with the ids provided

See full CHANGELOG.

CARLA 0.9.4 (development)

Compiled version

• [Linux] CARLA_0.9.4.tar.gz
• [Linux] Town06_0.9.4.tar.gz
• [Windows] CARLA_0.9.4.zip (Experimental)

Highlights

• 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)

See full CHANGELOG.

CARLA 0.9.3 (development)

Compiled version

• [Linux] CARLA_0.9.3.tar.gz
• [Windows] CARLA_0.9.3.zip (Experimental)

Highlights

• New Town04 (biggest so far), includes a freeway, new bridge and road barrier, a nicer landscape based on height-map, and new street props
• New Town05, adding more variety of intersections for the scenario runner
• Redesigned pedestrian models and animations (walk and idle) for male and female characters
• Added sensor for detecting obstacles (ray-cast based)
• Added sensor GNSS (GPS)
• Basic agent integrated with global router
• Added a few methods to manage an actor:
  • set_velocity: for setting the linear velocity
  • set_angular_velocity: for setting the angular velocity
  • get_angular_velocity: for getting the angular velocity
  • add_impulse: for applying an impulse (in world axis)
• Renamed vehicle.get_vehicle_control() to vehicle.get_control() to be consistent with walkers

See full CHANGELOG.

CARLA 0.9.2 (development)

Compiled version

• [Linux] CARLA_0.9.2.tar.gz

Highlights

• Updated ROS bridge for CARLA 0.9.X (moved to its own repository)
• Added Python API "agents" extension, includes
  • Global route planner based on the Waypoints API (compatible with OpenDrive)
  • BasicAgent: new client agent that can drive to a given coordinate of the map using the waypoint API and PID controllers, attending to other vehicles and traffic lights
  • RoamingAgent: new client agent that can drive at different speeds following waypoints based on PID controllers, attending to other vehicles and traffic lights
  • LocalPlanner functionality to navigate waypoints using PID controllers
  • LateralControl and LongitudinalControl PIDs
• Added support for manual gear shifting
• Added "role_name" attribute to actors to easily identify the "hero" vehicle
• Changed traffic lights in Town03 to American style
• Added new junction types with only stop signs

See full CHANGELOG.

CARLA 0.9.1 (development)

Compiled version

• [Linux] CARLA_0.9.1.tar.gz

Links

• Blog Post

Highlights

• New Town03 with more road variety, multiple lanes, roudabout and more.
• Lots of additions to the Python API, more info available and more control over actors.
• Our map now include road layout info based on OpenDrive with an API for querying waypoints.
• Migrated Lidar.
• Migrated image handling methods.
• Improved performance of client-side.
• New weather system.
• And lots of improvements and fixes! See full CHANGELOG.

CARLA 0.9.0 (development)

Important

This is a development release that introduces major changes in the API.
Please read our blog post.

Compiled version

• [Linux] CARLA_0.9.0.tar.gz

Links

• Blog Post

New Features / Fixes

• Upgraded to Unreal Engine 4.19
• Redesign of the networking architecture
  • Allows any number of clients to connect simultaneously
  • Now is possible to add and remove at any time any vehicle or camera
  • Now is possible to control any vehicle or camera
  • Now is possible to place cameras anywhere
  • Reduced to two ports instead of three
  • First port uses an RPC protocol based on rpclib
  • Second port is for the streaming of the sensor data
• Redesign of the Python API
  • Actors and sensors are now exposed in the API and can be independently controlled
  • The Python module is built in C++, with significant performance gain in some operations
  • Many functionality haven't been ported yet, so expect a lot of things missing
• Redesign of the build system to accommodate the changes in dependencies
  • Everything can be done now with the Makefile
  • For the moment only Linux is supported, sorry
• Massive clean up of all unused assets
• Some aesthetic fixes to the vehicles

CARLA 0.8.4 (development)

Known issues

• If you observe random crashes in Linux, see #513 to disable two-wheeled vehicles.

Compiled version

• [Linux] CARLA_0.8.4.tar.gz
• [Windows] CARLA_0.8.4.zip (Experimental)

New Features / Fixes

• 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

CARLA 0.8.3 (development)

Important known issues

• Collisions are not annotated for the default player vehicle #491
• Bikes and motorbikes often cause traffic disruptions and cannot be disabled

Compiled version

• [Linux] CARLA_0.8.3.tar.gz

Links

• Blog Post

New Features / Fixes

• 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