Releases: lgsvl/simulator
Releases · lgsvl/simulator
2021.3
Added
- Content creation:
- Annotation size support
- Map preview option can be set by user
- SDF importer and STL fixes and improvements
- Lighting for indoor environments
- Rain colliders for indoor environments
- New indoor environments with costmaps: Warehouse, WarehouseDT
- Add map support for NavOrigin
- Sensors:
- Sensors support multiple data feeds, e.g. RealSenseSensor
- Async GPU readback support for Lidar, DirectionalLidar, VelodyneLidar for performance boost
- LaserScan support for Lidar2D
- 2D/3D Ground Truth sensor accuracy improvements
- New sensors: Lidar2DSensor, DestinationSensor, IntelRealSense
- Agents:
- NPCManager extension for creating complex NPC behaviors like Parking
- NPC support customized rigidbody and wheel collider settings: F1Tenth
- New pedestrian models: See VRU/Walkers: Jun, Yun
- General:
- Loaded Assets main menu option for assets in memory
- Docker support for enabling scenario runners on windows
- Console for Docker logs
- Graphics setting menu
- Main Menu simulator/unity/webUrl display for debugging
- Added TargetGear for Autoware Auto reverse driving
- Visual scenario editor:
- Ego Lane Following feature for VSE playback
- Support for the BezierSpline paths in the waypoints
- Support for the NavOrigin
- Added acceleration support for agents' waypoints
- Python API:
- Add Python API commands for Destination sensor
- API function to set/get NavOrigin in/from scene
- API versioning support
- Web user interface:
- Local Automation support
- Local automation API token access token creation, listing, and deletion in User Profile page
- Added preservation of the order of sensors in a sensor configuration
- Added 'Add to Library' modal preview
- Added preview images for private asset links in Skype, Facebook, LinkedIn, etc.
- Added preview images for Simulation links in Skype, Facebook, LinkedIn, etc.
- Implemented accurate trending algorithm
- 'Draft' feature for Simulation creation page
- Improved Simulations gallery loading performance
Changed
- Moved simulator input actions to sensor bundles
- Visual scenario editor:
- Smoother agent rotation while in playback mode
- Fix for editing controllables policy and resetting map signals policies
- Miscellaneous Github issue fixes:
- API connection fixes
- Bridge connection fixes
- Custom Bridge fixes
- Point Cloud renderer fixes
- Add checks for pedestrian and traffic annotation for api random agents
- Development Settings fixes and improvements. Supports cloud assets
- Import HDMap tool fixes
- BaseLink fixes
- Radar velocity fix
- Build asset fixes
- NPC segmentation id issues in API
- Fixed OpenDrive MapOrigin export logic
- Fix export point cloud feature in simulator editor. Requires latest Lidar Sensor
- OpenDrive, Apollo Lane, Sign and Signal IDs import & export
- Refresh cached sims on deleted asset
- NPC/Pedestrian pool no longer removes existing agents
- Fixed NPC controller stopping all coroutines on the initialization
- Fix for Input package error on lost focus
- Correct name of Cyber bridge asmdef file
- Fixed initializing spawns manager if there are no active agents
- Bridge client watchdog coroutine
- Fix lighting on API agent spawn
- Removed NavSystem from pedestrian waypoint behavior
- Fixed invariant float and double parameters in NMEA
- Fixed SF, Shalun, Highway101 map origin rotation issues
- Package updates:
- Update WebSocketSharp
- Added more debugging logs for FBX2glTF
- Remove old input unity work arounds for Linux
- Extracted Pedestrians' behaviours from the PedestrianController
- Remove Apollo 3.0 support
- Adding detail map and albedo tint to environment shader
- Web user interface changes:
- Updated
User Content Licenseto User General Content License - User Premium Content license introduction and sort order change
- Improved asset update progress indicator
- Improved asset upload error message displays and language
- Fixed Sharing window issue and Test Report snapshot issue with APIOnly simulations
- Fixed version compatibility validation when simulation does not have cluster assigned
- Plugin preview image improvement
- Fixed simulation assets dropdown when there are more than 30 assets in Library
- Fixed asset previews in Skype and Facebook
- Removed markdown markup language from descriptions in link previews
- Increased size restriction for asset bundle
- Fixed critical bug related to vehicle asset not being found when sensor configuration's plugin was deleted
- Fixed critical bug related to asset deletion
- Updated
2021.2.2
Added
- Support for indoor robotics and Nav2 navigation stack
- Sample indoor environment for robots: LGSeocho
- Sample two-wheel drive robot model: LGCLOi
- DifferentialDriveControl sensor to control two-wheel drive robots in ROS/ROS 2
- Support for Unity's ArticulationBody for ego vehicles (robot models)
Changed
- Fixed error reporting for bridge connection
- Fixed baselink offset in sensor visualizer for sensor configurations
- Added Development as version for custom builds or when running in Developer Mode
- Fixed NPC vehicle and pedestrian spawn position issue
2021.2.1
Changed
- Reduce duplicate bridge messages by only loading one bridge in Developer Mode
- Add log about which assembly a sensor was loaded from to help debug bridges
- Create folder when user defined data directory path points to absent folder (not recursively)
- Update default data folder name to “SVLSimulator-<version>”
- Fix empty version issue by providing fallback simulator version
- Fix to allow different versions of simulator to connect to cloud
- Support bridge type attribute in manifest
- Remove error when disconnecting from cloud (WebException: task was cancelled)
2021.2
Note: If you are cloning our repository to work with the source code for this release, please make sure to clone the release-2021.2 branch and NOT master.
Added
- External Pedestrians and NPC (other traffic vehicles) Support
- New NPCs and Pedestrians like Scooters, Bicyclists and Animals
- External Bridge Support
- Multiple simulator asset bundle versions support
- Rain Collision effect
- Support for simulations without EGO (Spectator Ego)
- New “Driver view” camera state
- New API to set simulator camera state
- Annotation tool to set accurate values (position, rotation and scale) for MapOrigin
- New “clear cache” option
- Ability to use proxy server for cloud_url in config.yml
- New enhanced web user interface:
- Improved visual sensor editor
- Ability to clone Sensors in sensor configuration
- User warning messages for privilege based restriction
- Markdown support for Asset description
Changed
- Unity Upgrade to 2020.3.3f1
- Revert FBX package to 3.2.1-preview.2
- Remove overdraw with HDRP flare
- Improved NPC handling:
- Fixed rotating NPC wheels when using NPCWaypointBehaviour
- Pedestrian ground truth from bounds
- Improvements and bug fixes around Distributed Simulation with multi-ego support:
- Fixed API mode for distributed simulation on a single machine
- Fixed pedestrian animations on client machine
- Improved distributing VehicleActions
- Support for the ArticulationBody in distributed simulations
- Improved load balancing of the sensors
- Updated Sensor support:
- Fix TF visual and sensor hierarchy
- update input for g920 wheel for windows
- Publish camera intrinsic parameters to ROS and ROS2
- Rework lidar to use cubemap
- Improved lighting and rain:
- Fix brown lighting
- Rotate sun and moon to match map rotation
- Rain collision improvements and fixes
- Fix overlapping rain chunks
- Enhanced Visual Scenario Editor support:
- Minor UX fixes
- Fixed changing agents' variants
- Fix issue with agent dropdown not refreshing on click
- Loading pedestrians from config
- Improvements around HD Map Mesh Generator:
- Improve data handling in HD map mesh builder
- Erosion and re-leveling for point cloud mesh
- Work in progress improvements on Developer mode:
- Rework developer settings
- Bundle version uptick and unity editor check on developer debug mode for bridges
- Sensor debug developer loading
- More enhanced and user friendly web user interface:
- Password Sensitivity improvements
- GLTF editor bug fixes and improvements
- HD map preview improvements
- Simulation invalid items management
- WCAG accessibility UI compatibility
- Live Test Results view in Simulation Profile
- Updated algorithm for Trending assets view
- Simulation form auto-save
- Misc Improvements:
- Support default light layers in point cloud renderer
- Loads assembly with the ego name from asset bundle
- Added public driver view transform to be set in the Inspector
- Asmdef added, loader fixed to deal with bundle/WISE name mismatch
- Loader: improve the error message about BundleFormat
- Make sure Simulator.Editor.Build.Run exits on any exception
- Trimming last slash in the cloud url if needed.
- get full path from data path provided
2021.1.1
Note: If you are cloning our repository to work with the source code for this release, please make sure to clone the release-2021.1 branch and NOT master.
Added
- 3D Visualizer to help create sensor configuration on a vehicle
- HD map visualizer on map profile pages
- Ability to share test reports with other users
- "Supported Simulator versions" value on asset profile page
- Improved sharing feature for private assets and simulations
- Save and Exit button on sensor configuration page
- Tutorials to help new users on how to interact with the web user interface pages
- Email confirmation upon sensor plugin sharing
Changed
- Improved quick filters on Store and Library pages
- Redirect to existing asset profile page when uploading an already uploaded asset
- Request access button on private plugin pages
- Require adding a vehicle sensor configuration when creating a simulation
- Fixed issues with multi-vehicle simulation using same vehicle and sensor configuration
- Improvements to cluster page user experience
- Show proper names for missing sensors on invalid simulations
- Proper error messages for wrong information on registration page
- Proper error messages when maximum allowed cluster limit is reached
2021.1
Added
- New cloud-based web user interface including:
- Asset Store for downloading assets, uploading and sharing assets publicly
- user account password management
- user assets management library
- support for private assets
- private assets/simulations sharing with registered users
- cluster/Simulation status handling
- SVL Simulator content from this release will be available in the Asset Store
- New and updated runtime templates for simulations with automatic bringup and execution:
- Random Traffic
- Visual Scenario Editor
- Python API
- API Only
- Visual Scenario Editor for creating scenarios including support for:
- traffic vehicle and pedestrian waypoints
- previews
- copy/paste/undo feature
- ability to specify ego vehicle target destination
- support for controllables with ability to edit default policy
- color selection for actors
- waypoint positions snapped to HD map lanes
- support for distance, time, and time-to-collision triggers
- traffic lights control
- Automatically generated test case reports of simulations including:
- success/failure scenario evaluation
- simulation statistics
- analytics data per sensor
- video recording of simulation
- multiple violation event detection: collision, stopline, stopsign, ego-stuck, sudden jerk/brake/turn, speed-limit, etc.
- PythonAPI: many improvements including:
- added cloudiness and road damage to weather parameters
- ability to specify date in environment configuration
- added Dreamview API as sub-module
- added callback agents_traversed_waypoints
- added ability to set speed at WalkWaypoints
- added waypoint trigger system
- ability to set simulator camera free-state position and rotation
- sample Python API scripts based on NHTSA-defined scenarios for end-to-end testing
- additional Python API test samples: random-traffic mode, cut-in, sudden-braking, etc.
- Environment configuration improvements:
- moon position in nighttime environment configurations
- Improved environment road wetness layer
- UI for FPS and SIM time
- Improved rain particles
- Increased types of traffic lights, model improvements
- Improvements in Developer Mode:
- developer settings to use ego vehicle within Developer Mode
- ability to select and add actors to simulation in Developer Settings
- added sensor debug mode
- added tool to rotate Editor scene view to -X north
- Features for traffic agents in simulation:
- support for bicyclist traffic agents
- support for custom traffic vehicle behavior plugins
- pedestrian crosswalk support with yield for traffic vehicles (SanFrancisco map)
- added direction for pedestrian crosswalk annotation tool
- spawning NPCs now raycasts target bounds from egos' positions
- New map/environment creation improvements:
- default ego destination points for LG-provided maps
- HD map road network environment generation tool
- test maps for NHTSA-like test cases: Straight1LanePedestrianCrosswalk, Straight1LaneSame, etc.
- General simulation improvements:
- ability to create and run a Distributed Simulation from web user interface
- offline mode for running saved simulation configurations
- improved cache control for downloaded assets
- Sensors improvements:
- new sensors: StopLine, HUDKeyboardControl, AutowareAIControl, LGSVLControl, etc.
- improved LiDAR simulation performance
- sun-flare, raindrops, greyscale, and video artifacts effects for sensors
- support for sensor post-distortion effects
- Default values for simple and complex sensor parameter types
- Enabled sensors to load texture assets
- Improvements around support for AD stacks:
- Optimized ROS2 interface and bridge
- Support for Apollo 6.0 and master
Changed
- Product branding changed from "LGSVL Simulator" to "SVL Simulator"
- Old local web user interface is now deprecated. Users need to migrate to new web user interface
- Old content website will be deprecated
- All content now managed on cloud - downloaded as needed by simulation configuration
- Unity update to 2019.4.18f1
- All sensors are now sensor plugins - default sensors are part of user plugin library
- Sensor plugins no longer bundled with simulator executable
- Distributed simulation: fixed pedestrian movement animation bug
- Distributed simulation: video artifact fix
- Fixed wrong timestamp error in clock and IMU sensors
- Fix acceleration/angular velocity in Apollo imu/corrected_imu
- Fixed way of handling failed downloads
- Fixed bugs and issues in OpenDrive HD map importer and exporter
- Point cloud rendering: added alternative method for removing obscured points (reduces flickering, requires depth prepass)
- Point cloud rendering: Fill scarce depth map holes through neighborhood sampling
- Point Cloud Rendering: Fix skybox blending in unlit point cloud
- Improved traffic lights in environments
- Rain/clouds/lights improvements
- NPC spawn logic improvements
- Fix old NPC models and prefab
- Adjust camera distance from ego bounds
- HD map import: Fix keyError in lanelet2 and improve grouping lanes at intersections
- HD map import: Fix map origin update during OpenDrive map import
2020.06
If you are cloning our repository to work with the source code for this release, please make sure to clone the release-2020.06 branch and NOT master.
Added
- Support modular testing of planning with Apollo 5.0
- Bridge plugin system with example (LoggingBridge)
- Added default ultrasonic distance sensor
- Sensor TF visualizer in sensor visualizations
- Added button in map annotation tool to add synthetic lane boundary lines automatically
- Python API: added callback agents_traversed_waypoints
- Python API: added ability to set speed at WalkWaypoints
- Python API: Added waypoint trigger system
Changed
- Fixed 90 degree orientation offset in GPS odometry sensor
- Replaced default ROS2 bridge to improved custom ROS2 bridge instead of ros2-web-bridge
- Unity update to 2019.3.15f1
- Fixed timestamps in GPS, IMU
- Added timestamp to default LiDAR sensor PointCloud message
- Fixed bugs in OpenDrive map importer to correctly compute reference lines and lane widths for edge cases
- Improved OpenDrive map exporter to export parametric cubic curves instead of simple lines for each reference line segment
2020.05
If you are cloning our repository to work with the source code for this release, please make sure to clone the release-2020.05 branch and NOT master.
Added
- Support for custom traffic vehicle behavior plugins
- Support for Apollo 5.5 (latest master)
- Support for distributed simulation
- Velodyne VLS-128 support
- Python API function to spawn random non-ego vehicles and pedestrians
- Unlit shadows support for point cloud environment rendering
- AD system-agnostic message definitions to "lgsvl_msgs" for vehicle control, CAN bus and status data, etc.
Changed
- Refactored traffic agent Waypoint Mode with fixes for idle and trigger waypoints
- Changed gnss_odom message coordinate system to right-handed coordinate system
- Fixed "ignore map origin" option for gnss_odom message
- Fixed acceleration values in IMU sensor
- Fix sky flickering issue during point cloud rendering
- Fixed LiDAR readback error
- Removed and replaced documentation source files from main repository to separate Documentation repository
2020.03
If you are cloning our repository to work with the source code for this release, please make sure to clone the release-2020.03 branch and NOT master.
Added
- Velodyne VLP-16 and VLP-32C support through custom LiDAR sensor plugin
- Support for LiDAR sensor plugin with direct UDP socket interface
- Support for point cloud environment rendering
- Extensible vehicle dynamics
- Functional Mockup Interface 2.0 (FMI 2.0) interface for vehicle dynamics
- Support for fisheye camera lens distortion
- Support for sensor_msgs/NavSatFix message type for GPS messages in ROS2
- Vehicle Odometry sensor for reporting steering angles and velocity in ROS2
Changed
- Upgraded to Unity 2019.3.3f1
- Fixed black artifacts in Linux bug
- Fixed display issues in Unity Editor bug
- Fixed camera sensor invalid data bug
- 3D Ground Truth sensor now generates different ID for vehicle after each respawn
- Fixed orientation misalignment and missing fields in IMU messages
2020.03-rc1
Check official release notes here: https://github.com/lgsvl/simulator/releases/tag/2020.03