simulator

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