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:

• SanFrancisco map has light poles on corners of intersections that car can drive through.
• NPC vehicles stop on intersections too late at the stop line.

Initial release candidate of LGSVL Simulator

This is the first binary build of the LGSVL Simulator. Available Windows and Linux versions for downloading.

Supported features:

• Integration with Autoware v1.10
• Integration with Apollo 3.0
• GPU Accelerated LiDAR
• Weather effects
• and more...

In case of questions or problems, please file an issue on GitHub: https://github.com/lgsvl/simulator/issues