Merge branch 'dev' into overhaul-agent-parameters

Author: Daraan

CHANGELOG.md

@@ -8,8 +8,12 @@
  * Added functions to get actor' bones and components names
  * Added functions to get actor' sockets transforms
  * make PythonAPI Windows: Fixed incompatibility issue with Anaconda due `py` command.
+ * Added function to get actor' sockets names
  * Fixed bug in python agents when vehicle list was empty causing a check on all vehicles (BasicAgent.py) and detected pedestrians as vehicles if no pedestrains are present (BehaviourAgent.py) 
+ * Extended debug drawing functions to allow drawing primitives on HUD layer
  * Added possibility to change gravity variable in imui sensor for the accelerometer
+ * Fixed ROS2 native extension build error when ROS2 is installed in the system.
+ * ROS2Native: Force fast-dds dependencies download to avoid build crash when boost_asio and tinyxml2 are not installed in Linux.
  * Unified the settings of the Python agents to use a dictionary structure for most of their parameters which further allows more dynamic changes.
 
 ## CARLA 0.9.15
@@ -39,6 +43,8 @@
   * Fixed bug causing the `FPixelReader::SavePixelsToDisk(PixelData, FilePath)` function to crash due to pixel array not set correctly.
   * Fixed segfaults in Python API due to incorrect GIL locking under Python 3.10.
   * Fixed the import script, where could use any other TilesInfo.txt if the destination folder has many
+  * Fixed PythonAPI not installing on Debian due to deprecated function of distro in setup.py. Less ambiguous error for other posix platforms.
+
 
 ## CARLA 0.9.14
 

Co-Simulation/Sumo/sumo_integration/sumo_simulation.py

@@ -301,7 +301,7 @@ def _get_sumo_net(cfg_file):
     net_file = os.path.join(os.path.dirname(cfg_file), tag.get('value'))
     logging.debug('Reading net file: %s', net_file)
 
-    sumo_net = traci.sumolib.net.readNet(net_file)
+    sumo_net = sumolib.net.readNet(net_file)
     return sumo_net
 
 class SumoSimulation(object):

Docs/python_api.md

@@ -64,6 +64,10 @@ namespace client {
     return GetEpisode().Lock()->GetActorSocketRelativeTransforms(*this);
   }
 
+  std::vector<std::string> Actor::GetSocketNames() const {
+    return GetEpisode().Lock()->GetActorSocketNames(*this);
+  }  
+
   void Actor::SetLocation(const geom::Location &location) {
     GetEpisode().Lock()->SetActorLocation(*this, location);
   }

LibCarla/source/carla/client/Actor.cpp

@@ -76,6 +76,8 @@ namespace client {
 
     std::vector<geom::Transform> GetSocketRelativeTransforms() const;
 
+    std::vector<std::string> GetSocketNames() const;     
+
     /// Teleport the actor to @a location.
     void SetLocation(const geom::Location &location);
 

LibCarla/source/carla/client/Actor.h

@@ -35,6 +35,16 @@ namespace client {
     DrawShape(_episode, point, color, life_time, persistent_lines);
   }
 
+  void DebugHelper::DrawHUDPoint(
+      const geom::Location &location,
+      float size,
+      sensor::data::Color color,
+      float life_time,
+      bool persistent_lines) {
+    Shape::HUDPoint point{location, size};
+    DrawShape(_episode, point, color, life_time, persistent_lines);
+  }
+
   void DebugHelper::DrawLine(
       const geom::Location &begin,
       const geom::Location &end,
@@ -46,6 +56,17 @@ namespace client {
     DrawShape(_episode, line, color, life_time, persistent_lines);
   }
 
+  void DebugHelper::DrawHUDLine(
+      const geom::Location &begin,
+      const geom::Location &end,
+      float thickness,
+      Color color,
+      float life_time,
+      bool persistent_lines) {
+    Shape::HUDLine line{begin, end, thickness};
+    DrawShape(_episode, line, color, life_time, persistent_lines);
+  }
+
   void DebugHelper::DrawArrow(
       const geom::Location &begin,
       const geom::Location &end,
@@ -59,6 +80,19 @@ namespace client {
     DrawShape(_episode, arrow, color, life_time, persistent_lines);
   }
 
+  void DebugHelper::DrawHUDArrow(
+      const geom::Location &begin,
+      const geom::Location &end,
+      float thickness,
+      float arrow_size,
+      sensor::data::Color color,
+      float life_time,
+      bool persistent_lines) {
+    Shape::HUDLine line{begin, end, thickness};
+    Shape::HUDArrow arrow{line, arrow_size};
+    DrawShape(_episode, arrow, color, life_time, persistent_lines);
+  }
+
   void DebugHelper::DrawBox(
       const geom::BoundingBox &box,
       const geom::Rotation &rotation,
@@ -70,6 +104,17 @@ namespace client {
     DrawShape(_episode, the_box, color, life_time, persistent_lines);
   }
 
+  void DebugHelper::DrawHUDBox(
+      const geom::BoundingBox &box,
+      const geom::Rotation &rotation,
+      float thickness,
+      sensor::data::Color color,
+      float life_time,
+      bool persistent_lines) {
+    Shape::HUDBox the_box{box, rotation, thickness};
+    DrawShape(_episode, the_box, color, life_time, persistent_lines);
+  }
+
   void DebugHelper::DrawString(
       const geom::Location &location,
       const std::string &text,

LibCarla/source/carla/client/DebugHelper.cpp

@@ -30,6 +30,13 @@ namespace client {
         float life_time = -1.0f,
         bool persistent_lines = true);
 
+    void DrawHUDPoint(
+        const geom::Location &location,
+        float size = 0.1f,
+        Color color = Color{255u, 0u, 0u},
+        float life_time = -1.0f,
+        bool persistent_lines = true);
+
     void DrawLine(
         const geom::Location &begin,
         const geom::Location &end,
@@ -38,6 +45,14 @@ namespace client {
         float life_time = -1.0f,
         bool persistent_lines = true);
 
+    void DrawHUDLine(
+        const geom::Location &begin,
+        const geom::Location &end,
+        float thickness = 1.0f,
+        Color color = Color{225u, 0u, 0u},
+        float life_time = -1.0f,
+        bool presistent_lines = true);
+
     void DrawArrow(
         const geom::Location &begin,
         const geom::Location &end,
@@ -47,6 +62,15 @@ namespace client {
         float life_time = -1.0f,
         bool persistent_lines = true);
 
+    void DrawHUDArrow(
+        const geom::Location &begin,
+        const geom::Location &end,
+        float thickness = 0.1f,
+        float arrow_size = 0.1f,
+        Color color = Color{255u, 0u, 0u},
+        float life_time = -1.0f,
+        bool persistent_lines = true);
+
     void DrawBox(
         const geom::BoundingBox &box,
         const geom::Rotation &rotation,
@@ -55,6 +79,14 @@ namespace client {
         float life_time = -1.0f,
         bool persistent_lines = true);
 
+    void DrawHUDBox(
+        const geom::BoundingBox &box,
+        const geom::Rotation &rotation,
+        float thickness = 0.1f,
+        Color color = Color{255u, 0u, 0u},
+        float life_time = -1.0f,
+        bool persistent_lines = true);
+
     void DrawString(
         const geom::Location &location,
         const std::string &text,

LibCarla/source/carla/client/DebugHelper.h

@@ -12,6 +12,7 @@
 #include <iostream>
 #include <string>
 #include <sys/stat.h>
+#include <cstdint>
 
 namespace carla {
 namespace client {

LibCarla/source/carla/client/FileTransfer.h

@@ -144,6 +144,10 @@ namespace client {
         BaseJSONPath);
   }
 
+  void Vehicle::RestorePhysXPhysics() {
+    GetEpisode().Lock()->RestorePhysXPhysics(*this);
+  }
+
   rpc::VehicleFailureState Vehicle::GetFailureState() const {
     return GetEpisode().Lock()->GetActorSnapshot(*this).state.vehicle_data.failure_state;
   }

LibCarla/source/carla/client/Vehicle.cpp

@@ -137,6 +137,8 @@ namespace client {
         std::string TireJSON = "",
         std::string BaseJSONPath = "");
 
+    void RestorePhysXPhysics();
+
     /// Returns the failure state of the vehicle
     rpc::VehicleFailureState GetFailureState() const;