0.10.0

Release 0.10.0

• [Ubuntu 22] CARLA_0.10.0.tar.gz
• [Windows 11] CARLA_0.10.0.zip

For further information, please check our blog post.

Changes

• Unreal Engine migration from version 4.26 to version 5.5
  • Nanite enabled for entire Town 10
  • Lumen powers new realistic illumination
  • Improved lighting with new post-process configuration
  • Physics migrated from PhysX to Chaos
• Remodeled Town 10:
  • New buildings
  • Road topology includes uneven surface, potholes, speed bumps
• Remodeled 13 vehicles with more detail:
  • Nissan Patrol
  • Dodge Charger
  • Dodge Charger Police
  • Ford Crown Taxi
  • Lincoln MKZ
  • Mini Cooper
  • Firetruck
  • CarlaCola
  • Ambulance
  • Mercedes Sprinter
  • Mitsubishi Fusorosa bus
  • Mining earth mover (provided by Synkrotron)
• Rework of build system to use cmake
• Native server support for ROS2 (without CARLA-ROS bridge)
• Refactor of semantic segmentation and instance segmentation sensors
  • Semantic segmentation can now be visualized in UE editor for debugging
  • Only supports meshes with Nanite enabled
• Included support to data-driven realistic traffic generation powered by InvertedAI
• Updated Python API scripts with extra examples in the PythonAPI folder:
  • examples/invertedai_traffic.py
  • examples/interpolate_camera.py
  • examples/vehicle_doors_demo.py
  • examples/vehicle_lights_demo.py
  • examples/visualize_radar.py
  • examples/ros2_native.py
  • util/tools/generate_video_from_frames.py
  • util/apply_texture.py
  • util/change_map_layer.py
  • util/manage_environment_objects.py
  • util/manage_traffic_light.py
  • util/recorder_comparer.py
  • util/show_crosswalks.py
  • util/show_junctions.py
  • util/show_topology.py
  • util/spectator_transform.py
• Motion blur disabled below 1080p resolution to avoid artefacts
• Python API now supports Python 3.8, 3.9, 3.10, 3.11 and 3.12
• Python API support dropped for Python versions 3.7 and lower
• Added support for Scenic 3.0
• RSS functionality removed from docs
• Removed Light Manager from API and docs
• Added Mine01 off-road mining map from Synkrotron

0.9.15

Release 0.9.15

• [Ubuntu] CARLA_0.9.15.tar.gz
• [Ubuntu] AdditionalMaps_0.9.15.tar.gz
• [Windows] CARLA_0.9.15.zip
• [Windows] AdditionalMaps_0.9.15.zip

Changes

• 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

0.9.14

Release 0.9.14

• [Ubuntu] CARLA_0.9.14.tar.gz
• [Windows] CARLA_0.9.14.zip
• [Ubuntu] CARLA_0.9.14_RSS.tar.gz
• [Ubuntu] AdditionalMaps_0.9.14.tar.gz
• [Windows] AdditionalMaps_0.9.14.zip

Changes

• 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

CARLA 0.9.13

Release 0.9.13

• [Ubuntu] CARLA_0.9.13.tar.gz
• [Windows] CARLA_0.9.13.zip
• [Ubuntu] CARLA_0.9.13_RSS.tar.gz
• [Ubuntu] AdditionalMaps_0.9.13.tar.gz
• [Windows] AdditionalMaps_0.9.13.zip

Changes

• 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.

CARLA 0.9.12

Release 0.9.12

• [Ubuntu] CARLA_0.9.12.tar.gz
• [Windows] CARLA_0.9.12.zip
• [Ubuntu] CARLA_0.9.12_RSS.tar.gz
• [Ubuntu] AdditionalMaps_0.9.12.tar.gz
• [Windows] AdditionalMaps_0.9.12.zip

Changes

• Upgrading to Unreal Engine 4.26
• CARLA now is built with Visual Studio 2019 in Windows
• Added Optical Flow camera
• Changed the resolution of the cached map in Traffic Manager from 0.1 to 5 meters
• Added generation attribute to vehicles and pedestrians
• Added Lincoln 2020 vehicle dimensions for CarSim integration
• Enabling the no_delay option to RPC and stream sockets
• CARLA is compatible with the last RoadRunner nomenclature for road assets
• The special nomenclature to define roads (ROAD_ROAD), sidewalks (ROAD_SIDEWALK)... can be at any position of the asset name
• Improved performance benchmark script: sync, map and sensor selection, ...
• Improved performance, destroyed PhysX state for vehicles when physics are disabled
• Improved parallelism of raycast sensors in system with large number of cores
• Improved manual_control: now cameras position are set in relation with car size
• Added 'visualize_multiple_sensors' example
• Added 'check_lidar_bb' util script
• Added optional flag to client.replay_file() replay_sensors to enable or disable the replaying the sensors
• Client required files are sent from the server to a local cache (OpenDRIVE, Traffic Manager...)
• Extended make import process for applying road painter materials (carla art tool)
• Added creation of custom JSON file for applying decals to imported roads
• Added CHRONO library for vehicle dynamics simulation (https://projectchrono.org/)
  • Supported JSON vehicle definition
  • Unsupported collision dynamics
• Added Large Map feature to CARLA, alowing to import large maps divided in square tiles (at most 2kmx2km per tile). Only section of a Large Map can be loaded at a time which introduces a sleep state for actors that are far away from the hero vehicle
• Added performance benchmarking section to documentation
• Added ApplyVehiclePhysicsControl to commands
• Added flush in the sublevel loading to increase carla's determinism in Opt maps
• Fixed import sumo_integration module from other scripts
• Fixed bug causing the RoadOptions at the BehaviorAgent to not work as intended
• Fixed a bug when importing a FBX map with some _ in the FBX name
• Fix bug in carla.Transform.get_up_vector()
• Fix bug in lidar channel point count
• Fix imu: some weird cases were given nan values
• Fix bugs in apply_physics_control and friction trigger
• Exposed tire parameters for longitudinal and lateral stiffness in the PhysicsControl.
• When setting a global plan at the LocalPlanner, it is now optional to stop the automatic fill of the waypoint buffer
• Improved agent's vehicle detection to also take into account the actor bounding boxes
• API extensions:
  • Added functions to traffic light actor get_effect_waypoints(), get_light_boxes() and get_opendrive_id()
  • Added functions to world get_traffic_lights_from_waypoint(), get_traffic_lights_in_junction and get_traffic_light_from_opendrive_id
  • Added parameters to WorldSettings: tile_stream_distance and actor_active_distance
  • Added parameters and functions to Osm2OdrSettings: proj_string, center_map, generate_traffic_lights, all_junctions_with_traffic_lights, set_osm_way_types, and set_traffic_light_excluded_way_types
  • Added function to enable car telemetry
  • Added set_wheel_steer_direction() function to change the bone angle of each wheel of a vehicle
  • Added get_wheel_steer_angle() function to get the steer angle of a vehicle wheel
  • Added scattering_intensity , mie_scattering_scale , rayleigh_scattering_scale to PythonAPI for changing weather attributes
  • Improved the python agents API. Old behaviors have been improved and new ones have also been added, improving the functionalities of the agents. Several bugs have also been fixed

CARLA 0.9.11

Release 0.9.11

• [Ubuntu] CARLA_0.9.11.tar.gz
• [Windows] CARLA_0.9.11.zip
• [Ubuntu] CARLA_0.9.11_RSS.tar.gz
• [Ubuntu] AdditionalMaps_0.9.11.tar.gz
• [Windows] AdditionalMaps_0.9.11.zip

Changes

• 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_objectscall to get all the placed objects in the level
  • Added enable_environment_objectscall 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

CARLA 0.9.10.1 (development)

Patch Release 0.9.10.1

• [Ubuntu] CARLA_0.9.10.1.tar.gz
• [Windows] CARLA_0.9.10.1.zip
• [Ubuntu] CARLA_0.9.10.1_RSS.tar.gz
• [Ubuntu] AdditionalMaps_0.9.10.1.tar.gz
• [Windows] AdditionalMaps_0.9.10.1.zip

Changes

• API extensions:
  • Added actor.set_enable_gravity() function to enable/disable the gravity affecting the actor
• Upgraded to DirectX 12 on Windows
• Fixed bug on Windows causing sun reflection artifacts
• Fixed the actor.set_simulate_physics() for pedestrians and vehicles
• Fixed bug causing camera-based sensors to stop sending data
• Fixed dependency of library Xerces-c on package

CARLA 0.9.10 (development)

Release 0.9.10

• [Ubuntu] CARLA_0.9.10.tar.gz
• [Windows] CARLA_0.9.10.zip
• [Ubuntu] CARLA_0.9.10_RSS.tar.gz
• [Ubuntu] AdditionalMaps_0.9.10.tar.gz
• [Windows] AdditionalMaps_0.9.10.zip

Highlights

• 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

Fixes

• 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::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 (development)

Patch Release 0.9.9.4

• [Ubuntu] CARLA_0.9.9.4.tar.gz
• [Windows] CARLA_0.9.9.4.zip
• [Ubuntu] CARLA_0.9.9.4_RSS.tar.gz
• [Ubuntu] AdditionalMaps_0.9.9.4.tar.gz
• [Windows] AdditionalMaps_0.9.9.4.zip

Fixes

• Improved performance (around 3x) in synchronous mode on Ubuntu, by disabling the delay of packets on the network interface (Nagle's algorithm).
• Improved the LiDAR and Radar sensors with a parallel implentation of the raycasting
• Added default values and a warning message for lanes missing the width parameter in OpenDRIVE

Patch Release 0.9.9.3

• [Ubuntu] CARLA_0.9.9.3.tar.gz
• [Windows] CARLA_0.9.9.3.zip
• [Ubuntu] CARLA_0.9.9.3_RSS.tar.gz
• [Ubuntu] AdditionalMaps_0.9.9.3.tar.gz
• [Windows] AdditionalMaps_0.9.9.3.zip

Fixes

• Fixed loading a new map with an official patch for Unreal Engine 4.24 (only for Ubuntu)
• Fixed large RAM usage when loading polinomial geometry from OpenDRIVE
• Fixed collision issues when debug draw(debug.draw_line) is called

Highlights

• Added API functions get_right_vector and get_up_vector
• Added parameter to enable/disable pedestrian navigation in standalone mode
• Improved mesh split in standalone mode
• 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
• Added support for additional TraCI clients in Sumo co-simulation

Patch Release 0.9.9.2

• [Ubuntu] CARLA_0.9.9.2.tar.gz
• [Windows] CARLA_0.9.9.2.zip
• [Ubuntu] CARLA_0.9.9.2_RSS.tar.gz
• [Ubuntu] AdditionalMaps_0.9.9.2.tar.gz
• [Windows] AdditionalMaps_0.9.9.2.zip

Fixes

• Fixed the loading of a new map through Python API for windows.

Patch Release 0.9.9.1

• [Ubuntu] CARLA_0.9.9.1.tar.gz
• [Windows] CARLA_0.9.9.1.zip
• [Ubuntu] CARLA_0.9.9.1_RSS.tar.gz
• [Ubuntu] AdditionalMaps_0.9.9.1.tar.gz
• [Windows] AdditionalMaps_0.9.9.1.zip

Highlights

• Added API function add_angular_impulse() to add angular impulse to any actor
• Fixed rain drop spawn issues when spawning camera sensors
• 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
• OpenDRIVE ingestion bugfixes
• Added Dynamic Vision Sensor (DVS) camera based on ESIM simulation http://rpg.ifi.uzh.ch/esim.html

Compiled version

• [Ubuntu] CARLA_0.9.9.tar.gz
• [Windows] CARLA_0.9.9.zip
• [Ubuntu] AdditionalMaps_0.9.9.tar.gz
• [Windows] AdditionalMaps_0.9.9.zip

Highlights

• Introduced hybrid mode for Traffic Manager
• Upgraded to Unreal Engine 4.24
• Exposed the world lights to the client so they can be changed on the fly
• Added examples of sumo co-simulation for Town01, Town04, and Town05
• Added ptv vissim and carla co-simulation
• Upgraded to AD RSS v3.0.0 supporting complex road layouts and i.e. intersections
• Added junction smoothing algorithm to prevent roads from blocking other roads with level differences
• Added automatic generation of traffic lights, stop signal and yield signal from OpenDRIVE file
• Bug fixes

For further information keep reading here and see the full CHANGELOG.

CARLA 0.9.8 (development)

Compiled version

• [Ubuntu] CARLA_0.9.8.tar.gz
• [Windows] CARLA_0.9.8.zip
• [Ubuntu] AdditionalMaps_0.9.8.tar.gz
• [Windows] AdditionalMaps_0.9.8.zip

Highlights

• DEB repositories for CARLA release and ROS bridge
• Added support for SUMO co-simulation
• Documentation has been heavily updated and improved
• Added OpenDRIVE standalone mode that allows physical map generation from OpenDRIVE data
• Traffic Manager
  • Several bug fixes and improvements
  • Multi-Client and Multi-TrafficManager
  • Support for synchronous mode
• Highlighted API extensions:
  • New carla.Junction as queryable object from waypoint
  • New supported OpenDRIVE geometries: spirals and cubic polynomial
• Improved spatial query performance on waypoints
• New weather system: night time, fog, rain ripples, and now wind affects vegetation and rain (not car physics)
• Added night mode, with city lights available in nightfall
• Added car light support to some cars, some motorcycles and all bikes
• New assets: Cybertruck
• Improved visual quality

For further information keep reading here and see the full CHANGELOG.