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CHANGELOG.md

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LATEST Changes

  • Added fisheye camera sensors (sensor.camera.rgb_fisheye, sensor.camera.depth_fisheye, sensor.camera.semantic_segmentation_fisheye, sensor.camera.instance_segmentation_fisheye) using the Kannala-Brandt projection model. Each variant captures up to 6 cubemap face render targets (the back face is skipped unless the FOV or equirectangular mode requires it) and composites them through a custom HLSL shader (Plugins/Carla/Shaders/WideAngleLens.usf) using configurable distortion coefficients. See PythonAPI/examples/manual_control_fisheye.py for an interactive demo. Ported from ue4-dev.
  • Added a Hybrid Solid-State LiDAR sensor (sensor.lidar.hss_lidar) modelled on the Hesai AT128, with configurable channels, horizontal/vertical FOV, and horizontal resolution. Reuses the rotating LiDAR's intensity, drop-off, and noise model.
  • Documented left-hand traffic (LHT) support in Docs/core_map.md, covering the OpenDRIVE rule="LHT" road attribute, the RHT default, and the impact on traffic signs and signals.
  • Fixed three latent bugs in the FPixelReader GPU pixel-readback path: an inverted validity guard in SendPixelsInRenderThread that discarded every valid sensor's frame, the readback-wait task being scheduled onto a render-pipeline thread (deadlocking game/render/RHI threads), and FRHIGPUTextureReadback::Lock truncating the payload to a single row by aliasing its row-pitch out-parameter.
  • Fixed ServerSession::CloseNow double-invocation on ue5-dev by guarding with std::atomic_bool _is_closed so the close path runs exactly once, preventing a dropped client from evicting a still-alive subscriber (port of ue4-dev fix #9740)
  • Added NumPy 2 compatibility to the PythonAPI by upgrading Boost to 1.90.0, which ships the upstream NumPy 2 C ABI fix. LibCarla networking migrated from boost::asio::deadline_timer to boost::asio::steady_timer, and the deprecated io_service, address::from_string, resolver::query, buffer_cast, and io_context::work APIs replaced across LibCarla and the CarlaTools plugin.
  • Added Vehicle.get_telemetry_data() returning VehicleTelemetryData with last-applied control, forward speed, engine RPM, current gear, and per-wheel lateral slip, longitudinal slip, and angular velocity sourced from the Chaos vehicle physics state.
  • Added a GeoProjection engine that parses the OpenDRIVE geoReference PROJ string into a typed cartographic projection (Transverse Mercator, UTM, Web Mercator, or Lambert Conformal Conic) and exposes it via Map.get_geoprojection. Map.transform_to_geolocation and Map.geolocation_to_transform now accept an optional projection argument together with the new carla.GeoProjectionTM/GeoProjectionUTM/GeoProjectionWebMerc/GeoProjectionLCC2SP and carla.GeoEllipsoid types, replacing the previous fixed Mercator conversion.
  • Added support for parsing offsets from OpenDRIVE using optional offset transforms.
  • Added World.get_imu_sensor_gravity and World.set_imu_sensor_gravity Python APIs to read and configure the gravity constant used by the IMU sensor's accelerometer.
  • Fixed recorder crashes during actor cleanup and replayer spawning incorrect actor blueprints
  • Fixed walker bounding box being centred on the actor pivot instead of the skeletal mesh: the box reported by actor.bounding_box now reflects the mesh component's offset from the character root, so pedestrian boxes line up with the visible mesh.
  • Added Actor.get_component_world_transform, Actor.get_component_relative_transform, Actor.get_bone_world_transforms, Actor.get_bone_relative_transforms, Actor.get_component_names, Actor.get_bone_names, Actor.get_socket_world_transforms, Actor.get_socket_relative_transforms, and Actor.get_socket_names Python APIs for introspecting an actor's scene components, skeletal bones, and sockets by name.
  • Added World.debug.clear_debug_shape and World.debug.clear_debug_string Python APIs to flush persistent debug shapes and HUD strings drawn from the client.
  • Added Map.geolocation_to_transform Python API that maps a GeoLocation back to a world-space Location, the inverse of Map.transform_to_geolocation.
  • Reworked the sensor render pipeline and quality tiers by pooling GPU readbacks, gating GBuffer capture on listeners, adding a per-camera ray-tracing toggle, and introducing four server launch tiers (Low, Medium, High, Epic) selectable via -quality-level=<Tier> (case-sensitive, Epic by default). Each tier applies a coherent CVar configuration at engine init that persists across runs without manual GameUserSettings.ini cleanup.
  • Added weather recording and replay, simultaneous record-and-replay, stop_replayer flag on start_recorder, map_override and follow-offset arguments on replay_file, and traffic-sign follow targets in the replayer (ported from ue4-dev)
  • Hardened UObject ownership in the Carla plugin by migrating UPROPERTY raw pointers to TObjectPtr<>, adding mesh caches, enabling async heightmap streaming, and converting catalog assets to soft references.
  • Corrected the Semantic Segmentation camera class table in Docs/ref_sensors.md to match the actual 29-class taxonomy defined in ObjectLabel.h and CityScapesPalette.h. The previous table reflected the legacy 0.8.x CityScapes taxonomy (22 classes), which caused mismatches between documentation and engine output. This update aligns the documentation with the true engine enum values and RGB palette, preventing ground-truth mapping errors when building perception pipelines.
  • Fixed several legacy UE4-era bugs across LibCarla and the Carla plugin affecting lidar memory reset, DVS validation, camera profiling, image reads, sensor materials, and Python sensor teardown.
  • Improved Traffic Manager handling of large vehicles at junctions, including wide-turn behaviour and a smoothed lateral offset profile
  • Made the Traffic Manager large-vehicle wide turn safer by scaling the lateral offset to the vehicle's length, limiting the inboard cut-in that pushed long vehicles into the inside shoulder, suppressing the swing when the side it moves into is occupied, and adding traffic_manager.vehicle_large_vehicle_wide_turn and traffic_manager.global_large_vehicle_wide_turn toggles
  • Improved Traffic Manager PID controller using a direct angle to the target waypoint and smoother waypoint interpolation
  • Removed Traffic Manager internal mutex and condition variables; synchronous mode now executes inline
  • Avoid actor aliasing on replay caused by reusing actors with the same id
  • Fixed segfault in traffic manager when trying to access not available vehicles
  • Enabled the LibCarla GoogleTest suite (server + client) on ue5-dev and gated both in CI.
  • Fixed Digital Twin Tool crashes on dense metropolitan OSM data, vegetation spawning inside driving lanes on rural maps, and one-way streets being silently excluded from generation (#9565, #9678)
  • Added Ubuntu 24.04 support alongside Ubuntu 22.04
  • Added NVIDIA RTX 50 series (Blackwell) support with driver 570+ and CDI-based Docker instructions
  • Fixed compiler warnings across 20 LibCarla files including signed/unsigned conversions, pessimizing moves, deep copies in range-for loops, and C-style casts (ported from ue4-dev)
  • Fixed camera fx calculation in ROS2 CameraInfo, large map actor tagging, pedestrian bounding box using skeletal mesh bounds, and camera frame/timestamp consistency (ported from ue4-dev)
  • Fixed RPC server deadlock on shutdown, overly strict Vector3D assert, OpenDrive lane width for center lanes, busy-wait yield() calls, and strict RELEASE_ASSERTs in road Map (ported from ue4-dev)
  • Fix typos in README.md
  • Added actor description as Actor TAGs
  • Create class with functions to import points and polylines from satellite segmentation (#8946, #8949 #8950)
  • Added Visual C++ Redistributable prerequisite and troubleshooting note to Windows quickstart guide (#9560)
  • Added Docker-based development environment for CARLA UE5
  • Fixed potential segfault in LaneCrossingCalculator by adding a nullptr guard for missing lane marking records
  • Fixed traffic sign bounding box returned through the Python API to use the first valid trigger volume and preserve its rotation, with a guard against null trigger volumes

CARLA 0.10.0

  • Unreal Engine migration from version 4.26 to version 5.5
    • Nanite enabled for entire Town 10
    • Lumen powers new realistic illumination
    • Improved lighting with new post-process configuration
    • Physics migrated from PhysX to Chaos
  • Remodeled Town 10:
    • New buildings
    • Road topology includes uneven surface, potholes, speed bumps
  • Remodeled 13 vehicles with more detail:
    • Nissan Patrol
    • Dodge Charger
    • Dodge Charger Police
    • Ford Crown Taxi
    • Lincoln MKZ
    • Mini Cooper
    • Firetruck
    • CarlaCola
    • Ambulance
    • Mercedes Sprinter
    • Mitsubishi Fusorosa bus
    • Mining earth mover (provided by Synkrotron)
  • Rework of build system to use cmake
  • Native server support for ROS2 (without CARLA-ROS bridge)
  • Refactor of semantic segmentation and instance segmentation sensors
    • Semantic segmentation can now be visualized in UE editor for debugging
    • Only supports meshes with Nanite enabled
  • Included support to data-driven realistic traffic generation powered by InvertedAI
  • Updated Python API scripts with extra examples in the PythonAPI folder:
    • examples/invertedai_traffic.py
    • examples/interpolate_camera.py
    • examples/vehicle_doors_demo.py
    • examples/vehicle_lights_demo.py
    • examples/visualize_radar.py
    • examples/ros2_native.py
    • util/tools/generate_video_from_frames.py
    • util/apply_texture.py
    • util/change_map_layer.py
    • util/manage_environment_objects.py
    • util/manage_traffic_light.py
    • util/recorder_comparer.py
    • util/show_crosswalks.py
    • util/show_junctions.py
    • util/show_topology.py
    • util/spectator_transform.py
  • Motion blur disabled below 1080p resolution to avoid artefacts
  • Python API now supports Python 3.8, 3.9, 3.10, 3.11 and 3.12
  • Python API support dropped for Python versions 3.7 and lower
  • Added support for Scenic 3.0
  • RSS functionality removed from docs
  • Removed Light Manager from API and docs
  • Added Mine01 off-road mining map from Synkrotron