Release Notes#
Warning
This release note does not record any update differences since version 1.0.0. If you would like to check for update differences since version 1.0.0, please refer to this page.
Difference between the latest release and master#
Major Changes 
| Feature | Brief summary | Category | Pull request | Contributor |
|---|---|---|---|---|
| Extend matching length. | Enable consider tread when calculating matching length of EgoEntity. | traffic_simulator |
#1181 | hakuturu583 |
Bug Fixes
| Feature | Brief summary | Category | Pull request | Contributor |
|---|---|---|---|---|
| Revert #1096 | Revert incomplete fix for de-spawned entity. | traffic_simulator |
#1159 | HansRobo |
| Fix problems in route planning | Fixed a bug in a function related to Entity's route selection. | traffic_simulator |
#1126 | hakuturu583 |
Minor Tweaks 
| Feature | Brief summary | Category | Pull request | Contributor |
|---|---|---|---|---|
Version 0.9.0#
Major Changes
| Feature | Brief summary | Category | Pull request | Contributor |
|---|---|---|---|---|
| Traffic Light Simulation | Start supporting to traffic light messages in autoware_perception_msgs. |
openscenario_interpreter, traffic_simulator, simple_sensor_simulator |
#1027 | HansRobo |
| Detailed control of permissions for autonomous decisions | Add featureIdentifiersRequiringExternalPermissionForAutonomousDecisions property for ObjectController. scenario_simulator_v2 controls auto_mode of Autoware planning modules by settings in the property. |
openscenario_interpreter, concealer |
#1092 | HansRobo |
OpenSCENARIO Controller.Properties.Property |
Support the property allowGoalModification to turn on the Autoware feature allow_goal_modification. |
openscenario_interpreter, concealer |
#997 | yamacir-kit |
OpenSCENARIO 1.2 UserDefinedAction.CustomCommandAction |
Add PseudoTrafficSignalDetectorConfidenceSetAction@v1, a CustomCommandAction to control confidences in traffic light topic. |
openscenario_interpreter, traffic_simulator |
#1111 | HansRobo |
| Ego Vehicle Simulation | Update ego vehicle models ( Import simple_planning_simulator changes except autowarefoundation/autoware.universe#4941 ) |
simple_sensor_simulator |
#1144 | HansRobo |
Add API::getLaneletLength() and API::getMapPoseFromRelativePose() |
Add API::getLaneletLength()to get a length of target lanelet, and API::getMapPoseFromRelativePose() to transform relative pose to map pose. |
traffic_simulator |
#1145 | hakuturu583 |
| Start supporting ego entity in C++ scenario | Enable spawn ego entity in C++ scenarios in cpp_mock_scenarios package. | cpp_mock_scenarios |
#1145 | hakuturu583 |
| Visualize context in rviz display | Enable visualize openscenario_interpreter_msgs/msg/Context messages in rviz display |
openscenario_visualization |
#1033 | kyoichi-sugahara |
Bug Fixes
| Feature | Brief summary | Category | Pull request | Contributor |
|---|---|---|---|---|
| Deleted entity management | Fix crash caused by DeleteEntityAction by handling deleted entity explicitly. |
traffic_simulator |
#1096 | f0reachARR |
OpenSCENARIO RelativeDistanceCondition |
Restore the behavior of the existing distance measurement mode of RelativeDistanceCondition that was changed in #1095. | openscenario_interpreter |
#1121 | yamacir-kit |
| Suppression of duplicate node names | Fix an issue where nodes with the same name were being created. (especially with temporary nodes for UserDefinedAction.CustomCommandAction) |
scenario_test_runner, openscenario_interpreter |
#1126 | lchojnack |
| Fix bugs in geometry library. | Fix some problems about geometry calculation. It includes breaking changes. Please also read pull request | geometry |
#1126 | TauTheLepton |
Minor Tweaks
| Feature | Brief summary | Category | Pull request | Contributor |
|---|---|---|---|---|
| Additional V2I traffic light publisher | Add V2I traffic light publisher to cover the default value of AWF Autoware's external traffic lights topic. | traffic_simulator |
#1149 | piotr-zyskowski-rai |
Version 0.8.0#
Major Changes
| Feature | Brief summary | Category | Pull request | Contributor |
|---|---|---|---|---|
| Ground truth topic for perception detected objects | Add ground truth topic for detected objects in simple_sensor_simulator. The delay of the topic can be set by detectedObjectGroundTruthPublishingDelay in scenario. |
simple_sensor_simulator, openscenario_interpreter |
#1024 | HansRobo |
Bug Fixes
| Feature | Brief summary | Category | Pull request | Contributor |
|---|---|---|---|---|
OpenSCENARIO 1.2 UserDefinedAction.CustomCommandAction |
Add history filter to avoid send same RTC commands in RequestToCooperateCommandAction@v1. |
concealer |
#1106 | HansRobo |
Minor Tweaks
| Feature | Brief summary | Category | Pull request | Contributor |
|---|---|---|---|---|
Version 0.7.0#
Note
In version 0.8.x, we will drop ROS 2 Galactic Geochelone support. We recommend to use version 0.7.0 for Galactic Geochelone user.
Major Changes
| Feature | Brief summary | Category | Pull request | Contributor |
|---|---|---|---|---|
OpenSCENARIO 1.2 UserDefinedAction.CustomCommandAction |
Added FaultInjectionAction@v2, a CustomCommandAction for raising a fault injection event with specified error level. |
openscenario_interpreter |
#1002 | yamacir-kit |
OpenSCENARIO 1.2 UserDefinedAction.CustomCommandAction |
Added V2ITrafficSignalStateAction, an implementation of TrafficSignalState for V2I traffic signals. |
openscenario_interpreter, traffic_simulator |
#1004 | HansRobo |
| do noting behavior plugin | Add do nothing behavior for driving the simulator from Autoware rosbag data. | do_nothing_plugin,traffic_simulator |
#1001 | hakuturu583 |
OpenSCENARIO 1.2 UserDefinedAction.CustomCommandAction |
Added RequestToCooperateCommandAction@v1, a CustomCommandAction to simulate an operation by humans or external applications for a request to cooperate. |
openscenario_interpreter, concealer |
#1013 | HansRobo |
OpenSCENARIO 1.2 FollowTrajectoryAction |
Support FollowTrajectoryAction only for vehicle entities directly controlled by the simulator. |
openscenario_interpreter, traffic_simulator |
#906 | yamacir-kit |
Bug Fixes
| Feature | Brief summary | Category | Pull request | Contributor |
|---|---|---|---|---|
Minor Tweaks
| Feature | Brief summary | Category | Pull request | Contributor |
|---|---|---|---|---|
Version 0.6.8#
Major Changes
| Feature | Brief summary | Category | Pull request | Contributor |
|---|---|---|---|---|
| Jerk simulation and planning | Start supporting jerk simulation and enable limit jerk while effecting API::requestSpeedChange function. |
traffic_simulator |
#909 | hakuturu583 |
OpenSCENARIO 1.2 SpeedProfileAction |
OpenSCENARIO 1.2 SpeedProfileAction is now officially supported. |
openscenario_interpreter |
#928 | yamacir-kit |
| Randomization of the positions of detected objects | By setting detectedObjectPositionStandardDeviation to Controller.Properties.Property, it is now possible to add noise to the position of other entities that Autoware recognizes. |
openscenario_interpreter |
#937 | yamacir-kit |
traffic_simulator's API getLateralDistance |
Enable getting lateral distance via API class. |
traffic_simulator |
#945 | hakuturu583 |
OpenSCENARIO 1.2 DistanceCondition and RelativeDistanceCondition |
DistanceCondition and RelativeDistanceCondition now support distance measurement on the lateral axis of the lane coordinate system. |
openscenario_interpreter |
#962 | yamacir-kit |
OpenSCENARIO 1.2 Controller.Properties.Property |
By setting detectedObjectMissingProbability to Controller.Properties.Property, it is now possible to lost object recognition data with a specified probability. |
openscenario_interpreter |
#973 | yamacir-kit |
UserDefinedValueCondition RelativeHeadingCondition |
Added one-argument version to RelativeHeadingCondition. This version of RelativeHeadingCondition returns the lane coordinate system heading of the entity with the name given in the first argument. |
openscenario_interpreter |
#978 | yamacir-kit |
OpenSCENARIO 1.2 Controller.Properties.Property |
Added support for delaying the publication of object detection data by setting the value detectedObjectPublishingDelay (in seconds) to Controller.Properties.Property. |
openscenario_interpreter |
#986 | yamacir-kit |
OpenSCENARIO 1.2 EnvironmentAction |
The parsing of EnvironmentAction is now supported |
openscenario_interpreter |
#980 | f0reachARR |
Bug Fixes
| Feature | Brief summary | Category | Pull request | Contributor |
|---|---|---|---|---|
| Behavior "stop" | Update NPC behavior and avoid overrun. | traffic_simulator, behavior_tree_plugin |
#946 | hakuturu583 |
vehicle_model |
Import bug fixes from simple_planning_simulator in Autoware.Universe for vehicle_model. |
traffic_simulator |
#936 | HansRobo |
| Next/previous lanelet | Enable get next/previous lanelet with road_shoulder subtype. |
traffic_simulator |
#963 | hakuturu583 |
Minor Tweaks
| Feature | Brief summary | Category | Pull request | Contributor |
|---|---|---|---|---|
topic_status_checker |
Delete topic_status_checker package. |
common | #921 | HansRobo |
| Health check | Supported a function to monitor whether the running simulator has become unresponsive. | common | #932 | yamacir-kit |
OpenSCENARIO UserDefinedValueCondition |
Remove the message type package openscenario_msgs and moved its contents to an external repository tier4_autoware_msgs. |
openscenario_interpreter |
#874 | yamacir-kit |
| Legacy parameter distribution | Fix openscenario_utility.convert to not to generate too long filename. |
openscenario_utility |
#972 | yamacir-kit |
OpenSCENARIO UserDefinedValueCondition |
Support ADAPI interface for minimum-risk-maneuver state with backward compatibility for legacy emergency state | openscenario_interpreter, concealer |
#975 | HansRobo |
| Port management | Change communication between traffic_simulator and simple_sensor_simulator from multi-port to single-port. |
simulation_interface |
#981 | dmoszynski |
OpenSCENARIO model3d in entity object |
Add model3d attribute parsing in entity objects. |
openscenario_interpreter |
#977 | f0reachARR |
Version 0.6.7#
Major Changes
| Feature | Brief summary | Category | Pull request | Contributor |
|---|---|---|---|---|
| Engagement | Changed time management to send engage as soon as autoware state transitions to WAITING_FOR_ENGAGE and start simulation as soon as it transitions to DRIVING. |
traffic_simulator, concealer, openscenario_interpreter |
#823 | hakuturu583, yamacir-kit |
| Publication of Acceleration | Updated concealer to publish acceleration information for Autoware. | concealer |
#875 | yamacir-kit |
OpenSCENARIO 1.2 SpeedProfileAction |
Added experimental support for some features of SpeedProfileAction. |
openscenario_interpreter |
#898 | yamacir-kit |
requestSpeedChange with time constraint |
Start supporting API::requestSpeedChange function with time constraint. this feature only supports continuous = false. |
traffic_simulator |
#901 | hakuturu583 |
OpenSCENARIO 1.2 DynamicConstraints |
Added message type DynamicConstraints corresponding to OpenSCENARIO 1.2 DynamicConstraints to traffic_simulator_msg. |
traffic_simulator |
#900 | yamacir-kit |
Bug Fixes
| Feature | Brief summary | Category | Pull request | Contributor |
|---|---|---|---|---|
| Interpreter state transition | Fixed a problem with error handling and state transition when an error occurred in the activation phase of simulation. | openscenario_interpreter |
#881 | yamacir-kit |
| Bounding box position | Fixed bounding box shifting on Rviz | simple_sensor_simulator |
#888 | shouth |
Minor Tweaks
| Feature | Brief summary | Category | Pull request | Contributor |
|---|---|---|---|---|
lanelet2_extension_psim |
Remove external/lanelet2_extension_psim and add dependency to lanelet2_extension in autoware_common. |
external |
#863 | HansRobo |
OccupancyGridSensor |
Improve performance of occupancy grid generation by changing internal data structure. | simple_sensor_simulator |
#866 | shouth |
traffic_simulator's API spawn |
Changed the spawn API to require the initial coordinates of the entity. |
traffic_simulator |
#896 | yamacir-kit |
traffic_simulator's distance calculation |
Update the traffic_simulator distance measurement API to remove the default range limit of 100m maximum. |
traffic_simulator |
#908 | yamacir-kit |
topic_status_checker |
Add topic_status_checker package to check node state from outside via topic status |
common |
#912 | HansRobo |
Version 0.6.6#
Major Changes
| Feature | Brief summary | Category | Pull request | Contributor |
|---|---|---|---|---|
API::getRelativePose() argument for function |
Add API::getRelativePose() argument for getting relative distance between lanelet pose and entity. |
traffic_simulator |
#809 | hakuturu583 |
| RTC (Request to Cooperate) | Experimental support for automatic approval of requests to cooperate from Autoware.Universe. | concealer |
#818 | yamacir-kit |
Experimental UserDefinedValueCondition RelativeHeadingCondition |
Update UserDefinedValueCondition to support new experimental condition RelativeHeadingCondition. |
openscenario_interpreter |
#830 | yamacir-kit |
OpenSCENARIO ValueConstraint, ValueConstraintGroup |
Add support for ValueConstraint and ValueConstraintGroup. |
openscenario_interpreter |
#847 | HansRobo |
API::getTraveledDistance() |
Add API::getTraveledDistance() to obtain how far an entity traveled, and remove TraveledDistanceMetric. |
traffic_simulator |
#858 | hakuturu583, shouth |
| Ego lane matching logic improvement | Retry matching to lanelet without using route information from Autoware. | traffic_simulator |
#864 | hakuturu583 |
Bug Fixes
| Feature | Brief summary | Category | Pull request | Contributor |
|---|---|---|---|---|
| Change the stop position of the vehicle entity. | Change the stop position of the vehicle entity at the stop line and traffic light. | traffic_simulator |
#822 | hakuturu583 |
| Fix trajectory point. | Fix trajectory point at the end of the trajectory. | traffic_simulator |
#836 | hakuturu583 |
| Fix problems in getting right of way lane. | Remove self lanelet id from right of way lanelet id. | traffic_simulator |
#834 | hakuturu583 |
| RTC (Request to Cooperate) | Changed to execute the service call in an independent thread to fix the problem that the main thread is stopped for about 1 second due to the query to the RTC service. | concealer |
#841 | yamacir-kit |
Minor Tweaks
| Feature | Brief summary | Category | Pull request | Contributor | |
|---|---|---|---|---|---|
| OpenSCENARIO simulator core | Changed to treat traffic_simulator as "Simulator Core" based on OpenSCENARIO standard Basic architecture components. |
openscenario_interpreter |
#783 | yamacir-kit | |
Option --record |
Exclude a too large topic /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection from bag recording. |
openscenario_interpreter |
#829 | yamacir-kit | |
| Move to github docker registry | Move from dockerhub to github docker registry. | docker |
#843, #844 | hakuturu583, kenji-miyake | |
Update lanelet2_extension |
Copy lanelet2_extension of Autoware.Universe 0.3.7 as lanelet2_extension_psim. |
lanelet2_extension |
#850 | yamacir-kit | |
| Remove trivial metrics | Remove StandstillMetric and CollisionMetric. |
traffic_simulator |
#854 | shouth |
Version 0.6.5#
Major Changes
| Feature | Brief summary | Category | Pull request | Contributor |
|---|---|---|---|---|
OpenSCENARIO UserDefinedValueCondition |
Add condition to determine the state of the turn indicators. (unique to Autoware.Universe) | openscenario_interpreter |
#777 | HansRobo |
OpenSCENARIO UserDefinedValueCondition |
Add condition to determine the emergency state of the Autoware.Universe. | openscenario_interpreter |
#760 | HansRobo |
OpenSCENARIO Storyboard |
The state transition of StoryboardElement no longer consumes simulation time. | openscenario_interpreter |
#758 | yamacir-kit |
EgoEntity's Simulation model |
Fixed EgoEntity's simulation model to properly set gear information. | traffic_simulator |
#792 | yamacir-kit |
OpenSCENARIO Event |
Allows the omission of Event.StartTrigger. if it is omitted, interpreter uses one which always returns True. | openscenario_interpreter |
#774 | HansRobo |
Add OccupancyGridSensor |
Add OccupancyGridSensor for publishing nav_msgs/msg/OccupancyGrid to the Autoware. |
simple_sensor_simulator |
#795 | hakuturu583 |
Add API::getDistanceToLaneBound() function |
Add API::getDistanceToLaneBound() function for getting distance from entity polygon to lane boundary. |
traffic_simulator |
#795 | hakuturu583 |
| Support Humble distribution | Support new ROS 2 LTS distribution, Humble Hawksbill. | #792 | wep21 |
Bug Fixes
| Feature | Brief summary | Category | Pull request | Contributor |
|---|---|---|---|---|
| Fix termination processing | Properly terminate the interpreter when the Autoware process exits abnormally | openscenario_interpreter |
#750 | kyabe2718 |
Fix collision2D function in HermiteCurve |
Previous algorithm was failed to check collision when the line is almost parallel to the x and y axis | traffic_simulator |
#795 | hakuturu583 |
Minor Tweaks
| Feature | Brief summary | Category | Pull request | Contributor |
|---|---|---|---|---|
Accessor to the class Autoware |
A new member function asAutoware has been added to access the class Autoware, and instead the member functions specific to EgoEntity have been removed from EntityBase. |
traffic_simulator |
#796 | yamacir-kit |
| Autoware API | Changed the engagement service to Autoware from /api/autoware/set/engage to /api/external/set/engage. |
concealer |
#804 | yn-mrse and yamacir-kit |
Version 0.6.4#
Major Changes
| Feature | Brief summary | Category | Pull request | Contributor |
|---|---|---|---|---|
| Entity label publisher | Enable specify and publish NPC semantic information such as MOTORCYCLE, TRUCK, BUS. |
traffic_simulator |
#726 | hakuturu583 |
| ROS 2 Launch XML-like substitution syntax | Add new substitution syntax $(ros2 <argument>...). |
openscenario_interpreter |
#727 | yamacir-kit |
Filter by range option |
Add filter by range option for detection sensor. If false, simulate detection result by lidar detection. If true, simulate detection result by range. |
traffic_simulator |
#729 | hakuturu583 |
| Optimization of the trajectory calculation | Hermite curve optimization, entities' trajectories calculated only when route changes | traffic_simulator, behavior_tree_plugin |
#708 | danielm1405 |
OpenSCENARIO Controller.Properties.Property |
Support new controller property isClairvoyant. |
openscenario_interpreter |
#735 | yamacir-kit |
| Lane matching improvement for EgoEntity | Subscribe route information from Autoware (topic : /planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id) and try matching to on route lanelet. |
traffic_simulator |
#733 | hakuturu583 |
| ZMQ client can connect through the network | Add "simulator_host" argument to define the address of the simulator host that ZMQ tries to connect to |
simulation_interface, traffic_simulator, random_test_runner |
#690 | danielm1405 |
| Traffic signals | Support for multiple simultaneous lights at traffic signals and addition of color information to arrow signals. | openscenario_interpreter, traffic_simulator |
#740 | yamacir-kit |
| Reset acceleration after speed was changed | reset acceleration and deceleration only while speed change was enabled. | traffic_simulator |
#752 | hakuturu583 |
| Traffic signals | Thereafter, a Lanelet ID that can be interpreted as either a relation ID or a way ID is treated as a relation ID. | traffic_simulator |
#759 | yamacir-kit |
| Optimization of the trajectory calculation | Calculate a segment of trajectory spline instead of recalculating it from scratch | traffic_simulator, behavior_tree_plugin |
#710 | danielm1405 |
Bug Fixes
| Feature | Brief summary | Category | Pull request | Contributor |
|---|---|---|---|---|
OpenSCENARIO Storyboard.Init.Actions |
Fix Init.Actions.GlobalAction and Init.Actions.UserDefinedAction to work. |
openscenario_interpreter |
#734 | yamacir-kit |
| Fix waypoint height | Height of the NPC waypoint was 0. Get waypoint height from center point of lanelet. | traffic_simulator |
#718 | hakuturu583 |
| Fix calculateStopDistance function | While calculating stop distance, deceleration was always 5. | behavior_tree_plugin |
#747 | hakuturu583 |
Minor Tweaks
| Feature | Brief summary | Category | Pull request | Contributor |
|---|---|---|---|---|
OpenSCENARIO Storyboard |
Update interpreter's main loop to not to stop even if Storyboard was completed. |
openscenario_interpreter |
#720 | yamacir-kit |
Version 0.6.3#
- Speed up metrics manger class in order to reduce frame-rate dropping problem. (pull request)
- Fix problem in warping NPCs spawned in world coordinate. (pull request)
- End of support for ROS 2 Foxy and Autoware.Auto (pull request).
- Fix problem in ideal steer acc geared dynamics model. Vehicle was pulled back very slowly even if the vehicle is stopped. (pull request)
- Fix problem in getFrontEntityName function, consider yaw difference while stopping at crossing entity. (pull request)
- Fix problem in delay steer acc geared dynamics model. Vehicle was pulled back very slowly even if the vehicle is stopped. (pull request)
- Start considering offset in collision detection in crossing entity. (pull request)
- Fix waypoint height, the height of each waypoint was zero. (pull request)
Version 0.6.2#
- Start supporting linear trajectory shape while changing lane. (pull request)
- Fix context panel to display simulation time. (Contribution by Utaro-M).
- Support new vehicle_model_type
DELAY_STEER_VEL(pull request). - Add lateral velocity and time constraint. (pull request).
- Update syntax
SpeedActionto useAPI::requestSpeedChange(pull request). - Enable control multiple traffic lights by relation ID from lanelet2 map. (pull request).
- Start supporting requestSpeedChange API in pedestrian. (pull request).
- Update syntax
LaneChangeActionto useAPI::requestLaneChange(pull request). - Fix logic in calculating lane change trajectory shape. (pull request).
Version 0.6.1#
- Add API::requestSpeedChange function. (link)
- Fix syntax
Controllerto not to overwritetraffic_simulator'sDriverModel(pull request). - Update simulation models (pull request).
- Enable request relative speed change. (link)
Version 0.6.0#
- Start supporting Autoware.Universe. (link)
Version 0.5.8#
- Remove newton methods in getSValue function. (link)
- Set withLaneChange parameter as false. (link)
- Change traffic light topic name to "/perception/traffic_light_recognition/traffic_light_states" (link)
- Remove hard coded parameters in behavior tree plugin and use acceleration and deceleration value in traffic_simulator_msgs/msg/DriverModel. (link)
- Enable build with foxy latest version of behavior_tree_cpp_v3. (link)
- Add API::getDriverModel function. (link)
- Add Random test runner. Link (Contribution by Robotec.ai).
- Support new Autoware architecture
Universe(pull request).
Version 0.5.7#
- Fix problem in getNormalVector function. (Contribution by Utaro-M).
Version 0.5.6#
- Fix context panel to display conditions' status. (Contribution by Utaro-M).
- Add NPC Behavior Plugin and Behavior-Tree Plugin for Vehicle and Pedestrian. (link)
- Rename package
openscenario_msgstotraffic_simulator_msgs - Start supporting galactic environment with Docker. (link)
- Update
UserDefinedValueConditionto subscribe ROS 2 topic if path-like name given (pull request). - Add new package
openscenario_msgs(pull request). - Add getNearbyLaneletIds and filterLaneletIds function in HdMapUtils class. (pull request)
- Fix calculating way of longitudinal distance. If forward distance and backward distance was calculated, choose smaller one. (pull request)
Version 0.5.5#
- Fix syntax
ReachPositionConditionto not to useAPI::reachPosition(pull request).
Version 0.5.4#
- Revert PR #544 (link)
- Add context panel to display conditions' status. (Contribution by Utaro-M).
- Add TIER IV extension
conditionEdge="sticky"toOpenSCENARIO-1.1.xsd(pull request). - Add new Controller's Property
maxSpeedto set explicitly upper bound speed to Autoware (pull request).
Version 0.5.3#
- Fix setStatus function in EgoEntity class. (link)
Version 0.5.2#
- Remove entity status which is empty. (link).
- Update syntaxes of
openscenario_interpreterto be compiled separately (link).
Version 0.5.1#
- Support OpenSCENARIO 1.1
AddEntityAction(link). - Add StandStillMetric. Link
- Add CollisionMetric. Link
- Support OpenSCENARIO 1.1
RelativeDistanceCondition(link). - Fixed Action to not cause side effects during
startTransition(link). - Fixed log directory cleaning behavior, cleaning all files and directories under log directory without deleting itself. (link).
- Support new
CustomCommandActiontypeFaultInjectionActionfor ArchitectureProposal (link) - Enable run cpp_mock_test with colcon test (with -DWITH_INTEGRATION_TEST=ON) (link)
- Support OpenSCENARIO 1.1
DistanceCondition(link). - Fix problems in getLongitudinalDistance function when the target entity does not match to the lane. (link).
Version 0.5.0#
- Add arrow markers to visualize goal poses of entities. (Contribution by Utaro-M).
- Fix problems in setting entity names in proto message. Link (Contribution by Robotec.ai).
- Fix problems in never hit line. Link (Contribution by Robotec.ai).
- Start support getting longitudinal distance to the behind entity in API::getLongitudinalDistance function. Link
- Fix problems in update/getPhaseDuration function in traffic light class. Link
- Update dependency for message types of Autoware to reference
AutowareArchitectureProposal_msgsinstead ofAutowareArchitectureProposal.iv. - Add to the AutowareArchitectureProposal_api_msgs to the .repos file. Link
- Fix rotation calculation in toMapPose function. Link
- Simplify logics in bool API::spawn(const bool is_ego, const std::string & name, const openscenario_msgs::msg::VehicleParameters & params) Link (Contribution by Robotec.ai).
- Fix lane coordinate calculation logic for pedestrian in walk straight action. Link
Version 0.4.5#
- Release Page on GitHub
- Add
move_backwardscenario. Link - Fix problems in
CppScenarioNode::start()function,onInitialize()function was called before starting simulation (Contribution by Robotec.ai). - Fix problems in initializing
current_timevalue in entity manager class (Contribution by Robotec.ai). - Supports the option (--architecture-type) to select between AutowareArchitectureProposal and Autoware.Auto (Contribution by Robotec.ai).
- Fix problems in HdMap::toMapPose function, offset distance was calculated from tangent vector. Link
- Support new options
initialize_duration:=<int>,launch_autoware:=<boolean>andrecord:=<boolean>.
Version 0.4.4#
- Release Page on GitHub
- Add a new metrics module which detects vel, acc and jerk out of range (Contribution by kyabe2718).
- Fix phase control feature in traffic light manager class. Link
- Fix problems in crossing entity on crosswalk. link
Version 0.4.3#
- Release Page on GitHub
- Checking collision between crosswalk and waypoints in lane coordinate.
- Remove division in checking collision function in order to avoid zero-division.
- Enables vehicle entity yield to merging entity. See also this video.
- Simplify the contents of the scenario test result file
result.junit.xml.
Version 0.4.2#
- Release Page on GitHub
- Fix problems in coordinate conversion from world to lane in pedestrian entity.
- Adding
include_crosswalkoption to the HdMapUtils::getClosestLaneletId() and HdMapUtils::toLaneletPose()
Version 0.4.1#
- Release Page on GitHub
- Fix problem in follow front entity action, velocity planner was ignored requested target speed.
Version 0.4.0#
- Release Page on GitHub
- Support OpenSCENARIO 1.0 TrafficSignal features (RoadNetwork.TrafficSignalController, Action and Condition).
- Update AcquirePositionAction to support WorldPosition as destination.
- Update syntax 'RoadNetwork.LogicFile' to allow user to specify the directory that contains
lanelet2_map.osm. - Check boost::none in TargetSpeedPlanner class.
- Add ROS 2 galactic support.
- Update EgoEntity to publish self-position as PoseWithCovarianceStamped.
Version 0.3.0#
- Release Page on GitHub
- Enable spawn MiscObjectEntity by using API class.
- Integrate with AutowareAuto (Autoware type is chosen at build time using
AUTOWARE_ARCHITECTURE_PROPOSALorAUTOWARE_AUTOflag). (Contribution by Robotec.ai). - Update WorldPosition to be convertible with
openscenario_msgs::msg::LaneletPose. - Fix problems when the whole route is empty in route planner class.
- Support OpenSCENARIO 1.0 MiscObject.
Version 0.2.0#
- Release Page on GitHub
- Enhance
/simulation/contexttopic information. (adding TriggeringEntitiesRule, TriggeringEntities, CollisionCondition, TimeHeadwayCondition, AccelerationCondition, StandStillCondition, SpeedCondition, ReachPositionCondition, DistanceCondition, RelativeDistanceCondition, ParameterCondition, StoryboardElementStateCondition). - NPC becomes unable to change lanes behind of them.
Version 0.1.1#
- Release Page on GitHub
- Add support for RelativeTargetSpeed, the syntax of OpenSCENARIO.
- Add feature to publish context information during scenario execution to topic
/simulation/contextas a JSON string. - Enable send warnings semantic error when you call setEntityStatus or setTargetSpeed function which targets to the ego vehicle after starting scenario.
Version 0.1.0#
- Release Page on GitHub
- Synchronize ROS time between
traffic_simulatorandsensor_simulator. openscenario_interpreternow stores recorded rosbags for each simulation inoutput_directory(argument ofscenario_test_runner).- Add AutowareError, SemanticError, SimulationError, SpecificationViolation, SyntaxError and use these errors in
traffic_simulatorandopenscenario_interpreterpackage. - Remove old errors in
traffic_simulatorpackages. - Change Header ID of the lidar/detection sensor. (before : name of the entity -> after :
base_link) - Fix problems in publishing detection result. Before this change, the value of the pose was always (x, y, z, roll, pitch, yaw) = (0, 0, 0, 0, 0, 0).
- Remove unused packages (
joy_to_vehicle_cmd,scenario_runner_mock). - Fix problems when simulator running in 30 FPS and with 10 FPS sensors.
- Enable caching routing result, and center points and it' spline, lanelet length in hdmap_utils class.
- Update interpreter to access TrafficSignals from Action / Condition.
- Update EgoEntity to use precise simulation model parameters.
- Add getVehicleCommand function to the API class.
Version 0.0.1#
- Release Page on GitHub
- Partially support OpenSCENARIO 1.0.0 format.
- Support TIER IV Scenario Format v2.
Last update:
May 1, 2024