Release Notes v.4.3
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.