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CARLA Scenario Runner 0.9.7
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@fabianoboril fabianoboril released this 27 Feb 07:22
· 238 commits to master since this release
v0.9.7
65328ae

Highlights

🚀 New Features

  • Challenge routes can be directly executed with the ScenarioRunner using the --route option
  • Agents can be used with the ScenarioRunner (currently only for route-based scenarios)
  • New scenarios:
    • Added example scenario for lane change
    • Added cut-in example scenario
  • Scenario updates:
    • Scenarios 7 to 10 are now visible when running routes (instead of being triggered in the background). Their
      methodology has remained unchanged
  • Scenario atomics:
    • Added new OutsideRouteLanesTest atomic criter that encompasses both SidewalkTest and WrongLaneTest, returning
      the percentage of route that has been traveled outside the lane.
    • InRouteTest is now more forgiving. The max distance has been increased, but staying above the previous one will eventually
      also cause failure
    • Changed SidewalkTest atomic criteria to also track other type of out of lane conditions
    • SidewalkTest and WrongLaneTest atomic criterias now track the amount of meters traversed
    • CollisionTest atomic criteria now correctly ignores multiple micro-collisions with the same object
    • Added LaneChange and TrafficLightSateSetter behavior atomics
    • Added AccelerateToCatchUp behavior atomic
    • Added get_transform() method for CarlaDataProvider
    • Added support for weather conditions
    • Added basic version check to ensure usage of correct CARLA version
    • WaypointFollower atomic can handle pedestrians
    • Extensions in WaypointFollower atomic for consecutive WaypointFollowers (one WF cancels the previous one)
  • Extended OpenScenario support:
    • Added support for UserDefinedActions (e.g. to run additional scripts)
    • Added init speed behavior for vehicles
    • Added support for relative velocities
    • Extended convert_position_to_transform with RelativeWorld, RelativeObject and RelativeLane osc_positions
    • Added new trigger atomics InTriggerDistanceToOSCPosition and InTimeToArrivalToOSCPosition to support relative osc_positions
    • Added new atomic behaviour ActorTransformSetterToOSCPosition
    • Workaround for relative osc_positions: World is started earlier to support relative osc_positions in story init
    • Added delay condition support in convert_condition_to_atomic
    • Added support for pedestrians
    • Full support for SimulationTime condition
    • Added weather support
    • Updated implementation to be closer to upcoming OpenSCENARIO standard
    • AfterTermination, AtStart conditions are supported
    • Added initial support for lateral action: LaneChange
    • Added initial support for OSCGlobalAction to set state of traffic signal
    • FollowRoute action is supported for vehicles and pedestrians, for global world positions.
    • Added support for RoadCondition: Friction
    • Redundant rolename object property is no longer required
    • Added support for global parameters
    • Fixed coordinate system to use right-hand as default. Left-hand CARLA system can be used by adding "CARLA:" at the start of the description in the FileHeader.
    • Added support to change actor color
    • Added support for a default actor model, in case the stated model is not available
    • Added support for MiscObjects (besides vehicles and pedestrians)
    • Reworked traffic signal handling: The name has to start now either with "id=" or "pos=" depending on whether the position or id is used as unique identifier
    • Actor physics can now be set via Object Properties ()

👻 Maintenance

  • Compatible with CARLA 0.9.7
  • Increased speed of actor initialization by using CARLA batch mode and buffering CARLA blueprint library
  • Split of behaviors into behaviors and conditions
  • Moved atomics into new submodule scenarioatomics
  • Updated documentation for all behaviors, conditions and test criteria
  • Extended WaypointFollower atomic behavior to be able to use the current actor speed
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