Changelog

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

[2020.06] - 2020-08-31#

Added#

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] - 2020-06-02#

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] - 2020-04-03#

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

[2020.01] - 2020-01-31#

Added#

  • 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

Changed#

  • Added SanFrancisco map as a default map option
  • Allow null texture bundles without an error
  • Pedestrian mass reduced to 70kg
  • Fixed lagging of 2D Ground Truth boxes (in visualization and data)
  • ComfortSensor included with Simulator binary
  • TrafficCone included with Simulator binary
  • Fixed exported HD map lane relations
  • Fixed ROS2 GPS

[2019.12] - 2020-01-21#

Added#

  • Custom callback for Python API, useful in sensor plugins.
  • Ability to specify count and types of NPCs to spawn on the map.

Changed#

  • 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.

[2019.11] - 2019-11-19#

Added#

  • 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.

Changed#

  • 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.

[2019.10] - 2019-10-28#

Added#

  • 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.

Changed#

  • 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.

[2019.09] - 2019-09-06#

Added#

  • Sensor visualization UI
  • HD map export to OpenDrive 1.4 format
  • ROS service support for ROS bridge
  • Python API to support more robust waypoints for NPC vehicles
  • Python API with ability to control traffic lights on map
  • Hyundai Nexo vehicle

Changed#

  • Improved NPC movement and right turns on red traffic light
  • Fixed NPC vehicle despawning logic so they don't get stuck in intersections
  • Change NPC vehicles colliders from box to mesh to improves collision precision
  • Updated generated protobuf message classes for latest Apollo 5.0
  • Fixed 3D Ground Truth message type for ROS
  • Fixed 3D and 2D Ground Truth bounding box locations

[2019.07] - 2019-08-09#

Added#

  • 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

Changed#

  • User interface - use web UI for main user interaction
  • Render pipeline - Unity High Definition Render Pipeline
  • Significantly improved LiDAR simulation performance using multithreading
  • Improved map annotation for easier use in Editor
  • Improved point cloud generation from 3D environment in Editor

Removed#

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

[2019.05 and older]#

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