Merge branch 'dev'

.github/issue_template.md

@@ -2,9 +2,17 @@
 
 Thanks for contributing to CARLA!
 
+If you are reporting an issue, please use the following outline:
+
+CARLA version:
+Platform/OS:
+Problem you have experienced:
+What you expected to happen:
+Steps to reproduce:
+Other information (documentation you consulted, workarounds you tried):
+
 If you are asking a question please make sure your question was not asked before
-by searching among the existing issues. Also make sure you have read our
-documentation and FAQ at http://carla.readthedocs.io.
+by searching among the existing issues and checking the CARLA forum https://github.com/carla-simulator/carla/discussions. Also make sure you have read ourdocumentation and FAQ at http://carla.readthedocs.io. 
 
 If your question is about creating content (assets, levels) you'll most likely
 have all the info you need in the Unreal Engine's documentation
@@ -13,7 +21,4 @@ https://docs.unrealengine.com
 Please, keep the threads focused and single-themed. Make them easy to find
 for everyone.
 
-If you are reporting an issue, please provide the CARLA version number you are
-using and your Platform/OS.
-
--->
+-->

CHANGELOG.md

@@ -1,3 +1,52 @@
+## CARLA 0.9.12
+
+  * Changed the resolution of the cached map in Traffic Manager from 0.1 to 5 meters
+  * Fixed import sumo_integration module from other scripts
+  * CARLA now is built with Visual Studio 2019 in Windows
+  * Fixed bug causing the RoadOptions at the BehaviorAgent to not work as intended
+  * Upgrading to Unreal Engine 4.26
+  * 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
+  * The special nomenclature to define roads (ROAD_ROAD), sidewalks (ROAD_SIDEWALK)... can be at any position of the asset name
+  * Improved performance bencharmark script: sync, map and sensor selection, ...
+  * Improved performance, destroyed PhysX state for vehicles when physics are disable
+  * Improved parallelism of raycast sensors in system with large number of cores
+  * 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
+  * Improved manual_control: now cameras are set in relation with car size
+  * Client required files are sent from the server to a local cache (OpenDRIVE, Traffic Manager...)
+  * Added CHRONO library for vehicle dynamics simulation (https://projectchrono.org/)
+    - Supported JSON vehicle definition
+    - Unsupported collision dynamics
+  * Added performance benchmarking section to documentation
+  * Added API functions to traffic light actor `get_effect_waypoints()`, `get_light_boxes()` and `get_opendrive_id()`
+  * Added API functions to world `get_traffic_lights_from_waypoint()`, `get_traffic_lights_in_junction` and `get_traffic_light_from_opendrive_id`
+  * Added API parameters to `WorldSettings`: `tile_stream_distance` and `actor_active_distance`
+  * Added API 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 API function to enable car telemetry
+  * CARLA is compatible with the last RoadRunner nomenclature for road assets
+  * Fixed a bug when importing a FBX map with some **_** in the FBX name
+  * Extended make import process for applying road painter materials (carla art tool)
+  * 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 creation of custom JSON file for applying decals to imported roads
+  * Added ApplyVehiclePhysicsControl to commands
+  * Added flush in the sublevel loading to increase carla's determinism in Opt maps
+  * 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
+  * Added Optical Flow camera
+  * API extensions:
+  - 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
 
   * Improved the documentation for use with pandoc tool by converting html tags to their markdown equivalent

Co-Simulation/Carsim/Lincoln2020/Vehicles/Sprung_Mass/Lincoln2020.par

@@ -0,0 +1,49 @@
+PARSFILE
+#FullDataName Vehicle: Sprung Mass`Lincoln 2020`CARLA
+#VehCode Rigid sprung mass
+#RingCtrl0 0
+#CheckBox2 0    
+X_LENGTH 2860
+Y_LENGTH 1500
+iaxle 2
+iside 1
+LX_AXLE 2860
+LX_CG_SU 1471
+M_SU 2404
+IXX_SU 536.6
+IYY_SU 1536.7
+IZZ_SU 1536.7
+IXZ_SU 0
+*RX 0.472
+*RY 0.800
+*RZ 0.800
+Y_CG_SU 0
+H_CG_SU 359
+IXY_SU 0
+IYZ_SU 0
+Z_LENGTH 1300
+Y_LENGTH 1800
+*HWC_LF 359
+*HWC_RF 359
+*HWC_LR 359
+*HWC_RR 359
+H_WC 359
+iside 2
+H_WC 359
+iaxle 1
+iside 1
+H_WC 359
+iside 2
+H_WC 359
+iaxle 2
+iside 1
+
+LOG_ENTRY Used Dataset: Vehicle: Sprung Mass; { CARLA } Lincoln 2020
+#Library : Vehicle: Sprung Mass
+#DataSet : Lincoln 2020
+#Category: CARLA
+#FileID  : SprMass_d80b7dcb-e4b1-4456-9d41-6fc41b8cd79a
+#Product : CarSim 2020.0
+#VehCode Rigid sprung mass
+
+END

Co-Simulation/PTV-Vissim/data/vtypes.json

@@ -5,10 +5,10 @@
         "vehicle.bmw.grandtourer",
         "vehicle.citroen.c3",
         "vehicle.jeep.wrangler_rubicon",
-        "vehicle.lincoln.mkz2017",
-        "vehicle.mercedes-benz.coupe",
-        "vehicle.mini.cooperst",
-        "vehicle.mustang.mustang",
+        "vehicle.lincoln.mkz_2017",
+        "vehicle.mercedes.coupe",
+        "vehicle.mini.cooper_s",
+        "vehicle.ford.mustang",
         "vehicle.nissan.micra",
         "vehicle.nissan.patrol",
         "vehicle.seat.leon",

Co-Simulation/Sumo/data/vtypes.json

@@ -24,16 +24,16 @@
         "vehicle.jeep.wrangler_rubicon": {
             "vClass": "passenger"
         },
-        "vehicle.lincoln.mkz2017": {
+        "vehicle.lincoln.mkz_2017": {
             "vClass": "passenger"
         },
-        "vehicle.mercedes-benz.coupe": {
+        "vehicle.mercedes.coupe": {
             "vClass": "passenger"
         },
-        "vehicle.mini.cooperst": {
+        "vehicle.mini.cooper_s": {
             "vClass": "passenger"
         },
-        "vehicle.mustang.mustang": {
+        "vehicle.ford.mustang": {
             "vClass": "passenger"
         },
         "vehicle.nissan.micra": {
@@ -49,11 +49,11 @@
             "vClass": "passenger",
             "guiShape": "passenger/van"
         },
-        "vehicle.dodge_charger.police": {
+        "vehicle.dodge.charger_police": {
             "vClass": "authority",
             "guiShape": "police"
         },
-        "vehicle.bmw.isetta": {
+        "vehicle.micro.microlino": {
             "vClass": "evehicle"
         },
         "vehicle.toyota.prius": {

Co-Simulation/Sumo/examples/carlavtypes.rou.xml

@@ -4,17 +4,17 @@
   <vType id="vehicle.audi.a2" length="3.7186214923858643" width="1.7924479246139526" height="1.5354934930801392" vClass="passenger"/>
   <vType id="vehicle.audi.tt" length="4.147226333618164" width="2.0032031536102295" height="1.382421851158142" vClass="passenger"/>
   <vType id="vehicle.carlamotors.carlacola" length="5.1992292404174805" width="2.6150190830230713" height="2.4768505096435547" vClass="truck" guiShape="truck"/>
-  <vType id="vehicle.dodge_charger.police" length="5.010976314544678" width="2.054335832595825" height="1.5807031393051147" vClass="authority" guiShape="police"/>
+  <vType id="vehicle.dodge.charger_police" length="5.010976314544678" width="2.054335832595825" height="1.5807031393051147" vClass="authority" guiShape="police"/>
   <vType id="vehicle.jeep.wrangler_rubicon" length="3.8681068420410156" width="1.906570553779602" height="1.8799999952316284" vClass="passenger"/>
   <vType id="vehicle.chevrolet.impala" length="5.369193077087402" width="2.052736520767212" height="1.4150995016098022" vClass="passenger"/>
-  <vType id="vehicle.mini.cooperst" length="3.8021926879882812" width="1.9740344285964966" height="1.4750006198883057" vClass="passenger"/>
-  <vType id="vehicle.bmw.isetta" length="2.2024967670440674" width="1.4853248596191406" height="1.3464953899383545" vClass="evehicle"/>
+  <vType id="vehicle.mini.cooper_s" length="3.8021926879882812" width="1.9740344285964966" height="1.4750006198883057" vClass="passenger"/>
+  <vType id="vehicle.micro.microlino" length="2.2024967670440674" width="1.4853248596191406" height="1.3464953899383545" vClass="evehicle"/>
   <vType id="vehicle.audi.etron" length="4.892005443572998" width="2.08632230758667" height="1.6511509418487549" vClass="evehicle"/>
-  <vType id="vehicle.mercedes-benz.coupe" length="5.043785095214844" width="2.1629974842071533" height="1.640134572982788" vClass="passenger"/>
+  <vType id="vehicle.mercedes.coupe" length="5.043785095214844" width="2.1629974842071533" height="1.640134572982788" vClass="passenger"/>
   <vType id="vehicle.bmw.grandtourer" length="4.639087677001953" width="2.259321928024292" height="1.6781779527664185" vClass="passenger"/>
   <vType id="vehicle.toyota.prius" length="4.538333415985107" width="2.0011305809020996" height="1.5373616218566895" vClass="evehicle"/>
   <vType id="vehicle.citroen.c3" length="3.9753477573394775" width="1.862074851989746" height="1.6257729530334473" vClass="passenger"/>
-  <vType id="vehicle.mustang.mustang" length="4.904701232910156" width="2.0606582164764404" height="1.478397011756897" vClass="passenger"/>
+  <vType id="vehicle.ford.mustang" length="4.904701232910156" width="2.0606582164764404" height="1.478397011756897" vClass="passenger"/>
   <vType id="vehicle.tesla.model3" length="4.808821678161621" width="2.1695058345794678" height="1.5231821537017822" vClass="evehicle"/>
   <vType id="vehicle.diamondback.century" length="1.6562436819076538" width="0.42141881585121155" height="1.49351167678833" vClass="bicycle"/>
   <vType id="vehicle.gazelle.omafiets" length="1.843441367149353" width="0.4674844741821289" height="1.590073823928833" vClass="bicycle"/>
@@ -23,7 +23,7 @@
   <vType id="vehicle.tesla.cybertruck" length="6.364232063293457" width="2.3934903144836426" height="2.1439828872680664" vClass="evehicle"/>
   <vType id="vehicle.volkswagen.t2" length="4.473711013793945" width="1.8112499713897705" height="2.0543651580810547" vClass="passenger" guiShape="passenger/van"/>
   <vType id="vehicle.kawasaki.ninja" length="2.043684244155884" width="0.7969123125076294" height="1.374603033065796" vClass="motorcycle"/>
-  <vType id="vehicle.lincoln.mkz2017" length="4.904701232910156" width="2.0606582164764404" height="1.478397011756897" vClass="passenger"/>
+  <vType id="vehicle.lincoln.mkz_2017" length="4.904701232910156" width="2.0606582164764404" height="1.478397011756897" vClass="passenger"/>
   <vType id="vehicle.seat.leon" length="4.207873821258545" width="1.8198652267456055" height="1.4694602489471436" vClass="passenger"/>
   <vType id="vehicle.yamaha.yzf" length="2.1907684803009033" width="0.7662330269813538" height="1.6345058679580688" vClass="motorcycle"/>
   <vType id="vehicle.nissan.patrol" length="4.519999980926514" width="1.9199999570846558" height="1.8871309757232666" vClass="passenger"/>