Release Date

2021/07/02 18:00 PM (GMT +9)

Simulator

MORAI SIM Standard

Version

v4.3.210702.1

Major Updates

  • Rendering pipeline optimization

    • Versions before the v4.2 update experienced frame drops and performance issues when loading larger maps or simulating scenes with a large number of agents.

    • The 3D graphics rendering pipeline has been optimized for greater performance and will have resolved most previous issues.

  • Support for TF2 ROS messages

    • MORAI SIM can now transmit TF messages for the vehicle and each added sensor module. This feature only works for ROS implementations.

  • Sensor noise models enabled

    • Added new functionality and UI that adds different types of sensor noise to the Lidar, IMU, and GPS sensor models.

  • (BETA) Fisheye Lens

    • Added a Fisheye Lens option to the camera sensor models.

    • FOV can be configured for value ranges of [180° : 360°], and supports ground truth data outputs (both semantic and instance-based ground truths)

  • (BETA) Support for Baidu’s Apollo Auto Platform

    • Beta features have been added to support interfaces with Apollo-based autonomous driving software stacks.

  • NPC Ghost Mode

    • Added functions that allow NPC vehicles to receive location and pose information from an external data source to provide finer control over NPC vehicle trajectories.

  • (BETA) MGeo Viewer

    • A map data visualization tool has been released for use with MORAI SIM.

  • Added a ROS service message for gear changes

  • 2D lidar model changes

    • 2D lidar models now output data across [-pi : pi].

  • UI improvements

    • Unified all button placements such that Delete buttons are placed on the left, and Load buttons are placed on the right.

    • All delete commands now ask for confirmation before execution (minimize accidental deletions!)

Bug Fixes

  • Fixed an issue where clicking on a vehicle in the scene would not select the vehicle.

  • Fixed a bug that prevented specific objects from being saved into the object list.

  • Fixed a number of bugs that were produced as a side effect of optimizing the rendering pipeline.

  • Fixed a number of very minor bugs.