🚀 New Features

• OpenSCENARIO support:
  • Support for OpenSCENARIO 1.0 (a converter for old scenarios is available)
  • Added support for position with Lane information (roadId and laneId)
  • Added support to use a non-CARLA OpenDRIVE map (instead of CARLA towns)
  • Added support for TimeOfDay tag
  • Added support for scenarios with no actors
• Scenario updates:
  • Scenarios that are part of RouteScenario have had their triggering condition modified. This will only activate when a certain parameter is set, and if not, the old trigger condition will still be applied.
• Atomics:
  • ChangeAutopilot now calls a TM instance, and allows to change its parameters
  • Added WaitUntilInFront behavior and InTimeToArrivalToVehicleSideLane trigger condition, useful for cut ins
  • Added new trigger condition, AtRightestLane, which checks if the actor is at the rightmost driving lane
  • Added new criteria, ActorSpeedAboveThresholdTest, useful to check if the ego vehicle has been standing still for long periods of time.
• Setting up actors in batch now also randomizes their colors
• When running routes, the weather parameters of each route can now be changed at will. Check the first route at srunner/data/routes_training.xml to see the correct format to do so. By default the weather is now a sunny midday.
• Important All challenge related content has been removed. This functionality has been improved and is now part of the Leaderboard. As a consequence:
  • The path to the autoagents has changed from .../challenge/autoagents to .../autoagents
  • The path to the route and scenario descriptions has changed from .../challenge to .../data

🐛 Bug Fixes

• Fixed spawning bugs for scenario DynamicObjectCrossing when it is part of a route
• Fixed spawning bugs for scenarios VehicleTurningRight, VehicleTurningLeft when they are part of a route
• Fixed bug causing the GPS coordinates given to the agents to be wrongly calculated
• Fixed bug when setting up actors in batch causing to ignore the spawn points given.
• Fixed bug where CollisionTest was counting as multiple hits collisions that displaced the actor for a long distance.
• Fixed bug causing the simulation to end after running in synchronous mode
• Fixed bug when using the WaypointFollower atomic to create new LocalPlanners for on-the-fly created actors (#502)
• Fixed bug causing the scenarios to run faster than real time.

👻 Maintenance

• Removed perform_carla_tick() function at CarlaDataProvider, which was a workaround for world.tick()