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, see documentation
• 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 (including previously available Jaguar XE)
• LiDAR outputs intensity value based on reflectivity of material (instead of color)
• Support for Apollo 5.0
• Support for running Autoware 1.12 without any modifications to AD stack
• 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 performance 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

对于中国的用户，您可以从百度网盘（提取码: 6k91）下载使用我们的仿真器。

Check official release notes here: https://github.com/lgsvl/simulator/releases/tag/2019.07

Improvements

• Added Python script that uses API to generate training data in KITTI format.
• Added examples to showing how to create and test various scenarios using Python API.
• Added Shalun map annotations, fixed missing collider.
• Improved traffic junction annotations for San Francisco, Shalun and SimpleMap.
• Speedbump annotation and export for Apollo hdmap.

Bugfixes

• Changed protobuf serialization library to protobuf-net. This fixes issue where Apollo 3.5 sometimes lost control of vehicle due to mismatch in protobuf serialization.
• Publishing IMU message in more uniform interval, fixes #138
• Fixed memory leak that happened for every get bounding_box Python API call.
• Fixed NPC vehicle speed when making NPC follow waypoints with Python API.
• Fixed segmentation camera when used from Python API, it was not initialized correctly.

对于中国的用户，您可以从百度网盘（提取码: 6k91）下载使用我们的仿真器。

Check official release notes here: https://github.com/lgsvl/simulator/releases/tag/2019.05

New features:

• Full Cyber RT support for communicating with Apollo 3.5, see apollo-3.5 repository
• New Apollo 3.5 vehicle for connecting with Cyber RT
• Python API for creating scenarios, or collecting sensor data
• New map based on Taiwan CAR Lab Shalun test facility in Taiwan
• Experimental NPC movement based on more accurate physics simulation

Improvements:

• NPC changing lanes to avoiding obstacles
• Updated SimpleMap annotation and lighting settings
• Added better physics to Tugbot hook, LiDAR visualization, improved movement logic
• Unified how origin for map is specified in Unity scene
• Send gear, throttle, and braking information to Apollo in CAN bus message, fixes #128

Bugfixes:

• Fix gravity direction in IMU sensor for acceleration, fixes #109
• Fix IMU sensor coordinate-system for Apollo vehicle, fixes #114

对于中国的用户，您可以从百度网盘（提取码: 6k91）下载使用我们的仿真器。

Check the official release notes here: https://github.com/lgsvl/simulator/releases/tag/2019.04

Example use case - implementing end-to-end lane following for ROS2: https://github.com/lgsvl/lanefollowing

New features:

• Reworked NPC system to use existing HDMap for navigation, removed old/custom NPC annotaions
• New NPC movement physics simulation - allows NPC vehicles to have more realistic motion
• Added new simple room map with Tugbot from http://mov.ai/ - supports full ROS integration for control and * services, single-beam LiDARs, three cameras
• Added cruise control for vehicle, allows vehicle to drive at constant speed for capturing data
• Added ROS1 IMU and odometry for Autoware

Improvements:

• Easier way to add new maps - Unity scene needs to have fewer objects in scene for it to work
• Improved object annotation for segmentation camera - objects are classified based on Unity tags
• Visualizing vehicles detected by radar sensor outside of Unity Editor
• Publishing timestamp from ground truth messages
• Improved bridge to support custom ROS services
• Improved LiDAR/camera performance on Linux - latency of retrieving data is reduced to 1 frame instead of 2 frames

Fixed issues:

• Fix memory issue Async in Linux after resizing main window
• LiDAR visualization was not correctly working when there are multiple EGO vehicles in scene
• Multiple fixes to improve HDMap annotation on SanFrancisco map
• Wrong positions were published for vehicle positions detected by Apollo radar
• Wrong IMU coordinate frame was published for Apollo
• LiDAR point cloud and camera image could stop working after window is resized

Check the official release notes here: https://github.com/lgsvl/simulator/releases/tag/2019.03

Check the official release here: https://github.com/lgsvl/simulator/releases/tag/2019.03

New Features:

• 2D and 3D ground truth publishing & bounding box visualization for vehicles and pedestrians.
• Documented map annotation system: https://www.lgsvlsimulator.com/docs/map-annotation/
• Added LGSVL car prefab for use with end-to-end training & control
• Static configuration file for parameterizing executable at runtime

Improvements:

• Fixed truck collider & bouncing issue.
• Fixed segmentation camera for pedestrians & some traffic light poles.
• Improved SanFrancisco map stop lines to have more realistic position, updated vector/HD maps.
• Fixed SanFrancisco map lane orientation & wrong NPC behavior on intersections.
• GPU lidar uses alpha channel to ignore transparent/cutout parts (#52)
• Fixed ROS Time type serialization for rosbridge (#73)
• Controlling simulator with steering wheel buttons - weather, NPC respawning, car headlights, etc.

Known Issues:

• NPC vehicles stop on intersections too late at the stop line.