Changelog

All notable changes and release notes for LGSVL Simulator will be documented in this file.

[2020.03] - 2020-04-03#

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

Controllable Object plugin support, dynamically add and control Controllables with the Python API
Ability to create LIDAR sensor with non-uniform beam distribution
Ability to add distortion effects to Camera sensors
Support for Autoware.Auto messages (ROS2)
Ability to create custom message types for sensor plugins
TransformSensor which can act as a parent for other sensors
VehicleStateSensor which is needed by Autoware.Auto

Optimized texture usage in maps - significantly reduces size on disk and GPU memory used.
Allow boundary type to be optional for Apollo HD map import.
Fix Python API to be able load maps & vehicles that are shared between multiple users.
Separated bundle file format version for map and vehicle bundles.
Improved headlights for EGO vehicles.
Improved HD map annotation icons.
Fixed Sedan NPC mesh.

OpenDrive 1.4 HD map import.
Rain drops on ground when it is raining.
Separated Apollo HD map export between version 3.0 and 5.0 to support 5.0 specific features.
Cache vehicle prefabs when loading same vehicle multiple times into simulation.
Ability to login to account via command-line.
Ability for vehicle to have multiple interior lights. Fixes #474.
Allow Color, Depth and Semantic cameras to have higher capture & publish rate.
Building & loading custom sensors as plugins.

Fixed traffic lights signal colors on Shalun map.
Fixed exceptions when NPCs are despawned while still in intersection.
Fixed errors when adding pedestrian to map without NavMesh.
Fixed Lanelet2 boundary import and export.
Multiple fixes for OpenDrive import and export.
Fixed wrong raycast layers in 2D Ground Truth sensor to detect if NPC is visible.
Fixed missing timestamp when publishing ROS/Cyber messages from 2D Ground Truth sensor.
Limit number of spawned NPCs and vehicles for large maps.

Apollo HD map import
Accurate sun position in sky based of map location. Including time of sunrise and sunset.
Control calibration sensor to help calibrating AD stack control.
Ported Shalun map from previous non-HDRP simulator version.
Ground Truth sensor for traffic light.
Python API method to get controllable object by position.
Python API method to convert multiple map coordinates in single call.
Python API method to perform multiple ray-casts in single call.
Sensor for controlling vehicle with steering wheel (Logitech G920).
Platform independent asset bundles (Windows and Linux).
Allow to set custom data path for database and downloaded bundles.
Visualize data values for non-image senors (GPS, IMU, etc).
Populate scene with required objects when new scene is created in Unity Editor.

Fixed exceptions in ROS Bridge where if it receives message on topic that it has not subscribed.
Fixed 3D Ground Truth sensor to report correct NPC orientation angles.
Fixed Radar sensor to visualize pedestrians.
Fixed Color camera to render mountains in BorregaAve.
Fixed EGO vehicle collision callback to Python API.
Fixed WebUI redirect loop that happens if you are logged out.
Fixed reported NPC vehicle speed. Fixes #347 and #317.
Fixed gear shifting for EGO vehicle control. Fixes #389.
Fixed NPC waypoint following where NPCs stopped if assigned speed is too low.
Fixed semantic segmentation for vehicles and pedestrians added with Python API.
Fixed ROS2 message publishing (seq field was missing in Header). Fixes #413.
Fixed issue with database on some non-English locales. Fixes #381.
Fixed point cloud generation in Unity Editor.
Fixed browser loosing cookie when session ends in WebUI.
Fixed slowness in Python API when running without access to Internet.
Fixed issue when multiple users could not use same map url.
Improved error messages when simulation fails to start.

Separate Asset Bundles for environments and vehicles
Fully deterministic physics simulation
Faster-than-real-time capability with Python API
Lanelet2 HD map format import/export
Ability to edit sensor configuration dynamically
Multi-user support - account login allows different users to login to one machine running simulator
BorregasAve 3D environment as a default provided map
AutonomouStuff 3D environment as a default provided map of parking lot
SingleLaneRoad 3D environment as a default provided map
CubeTown 3D environment as a default provided map
Lexus RX and Lincoln MKZ vehicle support
LiDAR outputs intensity value based on reflectivity of material (instead of color)
Support for Apollo 5.0
Support for Autoware 1.12
Light reflections on road from wetness
Better sky rendering, including clouds
Ability to import point cloud files for visualization

Support for Duckiebot, EP_rigged, SF_rigged, Tugbot vehicles
Support for SimpleLoop, SimpleMap, SimpleRoom, Duckietown, DuckieDownTown, SanFrancisco, Shalun maps

Please see release notes for previous versions on our Github releases page.