AWSIM v2.0.0 introduces a major refactoring and new architecture with the aim of improving scalability in AWSIM development.

Changes

• Support URP and HDRP in a single project. See also here
  • Allowing users to choose whether rendering quality or computing performance is more important.
  • Sample scenes of both are delivered (HDRP : AWSIM-Demo.zip, URP : AWSIM-Demo-Lightweight.zip). It can be downloaded here.
• Implement new architecture. See also here
  • Create new coding standards. All source code has been reviewed in accordance with the new architecture and coding standards.
  • Adopt a layered architecture in AWSIM and clarify dependencies at the namespace level.
  • Improved directory structure.
  • Allows entry points and main loops to be created for each scene in C# coding. Also avoids exploding references between Components in the UnityEditor's Inspector.
  • Remove Awake(), Start(), Update(), FixedUpdate(), etc. from each of AWSIM's MonoBehaviour components to allow explicit C# coding to control execution order without having to rely on Script Execution Order.
  • Deleting tags and layers in UnityEditor.
• Upgrade unity version
  • From 2021.1.7f1 to 6000.0.34f1.
• New UI system. See also here
  • Supports highly expandable UI systems. UI creation maintains consistency while eliminating restrictions as much as possible.
  • Enable Scaling UI, Enable drag UI windows, Reset position.
• AwsimRvizPuligns. See also here
  • Teleportation of ego vehicles is possible in Rviz.
  • NPCs (vehicles, pedestrians) can be spawned in Rviz.
• Documentation
  • Delete obsolete documents and update with the latest.
  • Adopting a more visually appealing theme.
  • Added details page for demo simulation. here
  • Addition of coding standard page. here
  • Addition of recommended rules when forking or copying. here
• License. See also here
  • Prohibits public hosting of /docs content outside of the official AWSIM documentation site.
  • There are no other changes. As before, code is licensed under Apache 2.0, and assets are licensed under CC-BY NC.

TODO

• Writing more document.
• Implement a new architecture in the LiDAR library.

What's Changed

• Fix MinRange, MaxRange in LiDAR prefabs by @dmoszynski in #361
• Add note about Unity Raycaster and RGL comparison by @msz-rai in #364
• Release v1.3.1 by @mackierx111 in #368

Full Changelog: v1.3.0...v1.3.1

Starting with v1.3.0, autoware msg is supported. Also, autoware now specifies the main branch build. (⚠️not awsim-stable-branch)

What's Changed

• feat: NavSatFix publisher for GNSS simulation by @Autumn60 in #340
• Reflecting Autoware steering angle to Logitech G29 and Simulation of override input by @mackierx111 in #341
• Fix(prefab): Lexus top velodyne orientation and frame naming by @kielczykowski-rai in #339
• Fix VehicleRos2Input causing SilentError in binary AWSIM by @kielczykowski-rai in #342
• Update Ros2ForUnity asset and add service hanling by @kielczykowski-rai in #343
• Added Sensor (Lidar and Imu) Test by @szylis in #321
• Add GPU skinning in RGL by @msz-rai in #345
• fix(NPCVehicleCognitionStep): add isCloseEachOther check by @dmoszynski in #337
• Remove pedestrian duplicates from Autoware scene by @msz-rai in #344
• Sync LiDAR's timer on enable to achieve the best performance by @msz-rai in #349
• Add multi-return for snow simulation by @PawelLiberadzki in #348
• fix GeoCoordinate parameter accessibility from inspector by @Autumn60 in #350
• fix: do not spawn NPC Vehicle when is closer than X to EGO by @lchojnack in #355
• fix(lidar): change point cloud format from PointXYZIRCEADT to PointXYZIRCAEDT by @lchojnack in #357
• Make adjustments to rain simulation. by @PawelLiberadzki in #358
• Add GPU skinning and update multi-return modes by @PawelLiberadzki in #353
• Support multi-return modes in UDP publishing by @msz-rai in #356
• Add rain and fog simulation features by @PiotrMrozik in #359
• feat: migrate autoware_auto_msgs to autoware_msgs by @lchojnack in #313
• Release/v1.3.0 by @mackierx111 in #363

New Contributors

• @Autumn60 made their first contribution in #340

Full Changelog: v1.2.3...v1.3.0

What's Changed

• Feature/rgl restrict output by @PiotrMrozik in #298
• Feature/rgl regression restriction by @PiotrMrozik in #309
• Multi Return feature by @prybicki in #314
• update missing sc by @PiotrMrozik in #315
• Update documentation on radar ROS 2 messages. by @PawelLiberadzki in #316
• Add LiDAR output restriction and LiDAR multi-return features by @PawelLiberadzki in #317
• fix: update missing prefab in TrafficTest by @lchojnack in #328
• Add radar raw output by @msz-rai in #327
• AWSIM headless by @pijaro in #323
• Support Logitech g29 input by @mackierx111 in #332
• Added Traffic Manager Tests by @szylis in #320
• Added Lanelet Import Tests by @szylis in #318
• Improved tests description by @szylis in #333
• Add PointXYZIRCEADT point cloud format (used by Autoware) by @msz-rai in #334
• update docs and version for v1.2.3 by @mackierx111 in #335

New Contributors

• @PawelLiberadzki made their first contribution in #316

Full Changelog: v1.2.2...v1.2.3

What's Changed

• release v1.2.1 by @mackierx111 in #289
• Improve RGL radar sensor by @msz-rai in #286
• Integrate energy loss feature to lidar snow by @msz-rai in #283
• Regression tests with Unity Test Framework by @pijaro in #278
• Add raw packets support for Hesai Pandar XT32 by @msz-rai in #291
• Updated description of time sources by @szylis in #296
• Fix LiDAR models to match the manuals by @msz-rai in #292
• Add option to validate LiDAR configuration on startup by @msz-rai in #294
• fix: add warning if way id and relation id may be incorrectly assigned by @lchojnack in #297
• fix: fix assemblies by @lchojnack in #301
• Update prefabs of the LiDARs after configuration interface changes by @msz-rai in #303
• Add C1 C2 prefabs, and camera featues by @lchojnack in #280
• Regression tests for LiDAR and Radar by @msz-rai in #304
• Feature/vehicle override input ros by @mackierx111 in #307
• Dynamic ZMQ buffer size; ss2 scene update + docs by @piotr-zyskowski-rai in #300
• fix: ScenarioSimulatorConnector prefab by @lchojnack in #311
• Override input for vehicle by @mackierx111 in #308
• Performance Improvements: Objects and NPCs with occlusion culling by @pijaro in #148
• Release/v1.2.2 by @mackierx111 in #326

Full Changelog: v1.2.1...v1.2.2

Note

Added support for occlusion culling in AutowareSimulation.unity scenes. The newly released Nishishinjuku unitypackage is required (Japan_Tokyo_Nishishinjuku_v2.unitypackage).

What's Changed

• Doc/update for windows environment by @hosokawa-ikuto in #239
• AWSIM <-> ss2 connection traffic lights support by @piotr-zyskowski-rai in #230
• RGL radar integration by @msz-rai in #237
• Add GNSS NavSat Sensor by @jediofgever in #208
• Feature/scalabe time source by @pijaro in #236
• docs: add information about disabling Graphic Jobs when standalone throws by @kielczykowski-rai in #240
• Update PointCloudMapper docs by @msz-rai in #246
• feat(RandomTraffic): improve yielding rules to avoid deadlocks by @dmoszynski in #243
• Made clock published independently from time scale by @szylis in #248
• Move RGL snow integration from private repo by @msz-rai in #241
• Feature: Main Camera Rotate Around by @szylis in #247
• feat(gitignore): ignore UserSettings and Recordings folders by @xmfcx in #235
• add hotkey list document by @mackierx111 in #255
• Added documentation for FollowCamera feature. by @szylis in #256
• Clock publisher works in dedeciated thread by @szylis in #253
• Improved camera rotate around feature by @szylis in #258
• Real time factor in ss2 support by @piotr-zyskowski-rai in #259
• Added LightOn Shader Properties to Traffic Light by @szylis in #263
• Customize vehicle slip due to road surfaces by @mackierx111 in #269
• Add LiDARs: Hesai QT128 & Hesai Pandar128E4X by @msz-rai in #257
• fix(camera): improve camera topic hz by @lchojnack in #262
• Feature/timesource options by @szylis in #266
• Doc/clock publisher by @szylis in #267
• Add raw packets support for Hesai QT128 & Hesai Pandar128E4X by @msz-rai in #268
• Improve demo scene UI by @mackierx111 in #288

Full Changelog: v1.2.0...v1.2.1

What's Changed

• Add documentation for RGL Debugger by @msz-rai in #70
• R2FU humble libs for windows by @pijaro in #74
• docs: update ubuntu version by @shmpwk in #72
• docs: fix to use awsim-stable branch by @shmpwk in #78
• feature: update contribution guideline by @shmpwk in #83
• docs: apply navigation.footer by @hayato-m126 in #84
• Diagnostics topic display by @pijaro in #75
• feature: add issue template by @shmpwk in #82
• Separate color settings in PointCloudVisualization by @msz-rai in #85
• added link to troubleshooting section by @WJaworskiRobotec in #89
• Always animate pedestrians by @msz-rai in #90
• Feature/version by @TGW795 in #94
• added configurable lateral offset to the camera position by @WJaworskiRobotec in #95
• RGL with ROS2 integration by @msz-rai in #79
• Random traffic slightly improve by @dmoszynski in #97
• Update Nvidia Driver requirements by @prybicki in #101
• Feature/npc lod by @mackierx111 in #104
• Disable lidars when RGL has unrecoverable error by @msz-rai in #106
• Improve the yellow traffic light recognition by @lchojnack in #60
• Improve ImuSensor.cs by @TGW795 in #110
• docs: update readme by @shmpwk in #112
• Copy versioned r2fu libraries when building AWSIM by @msz-rai in #111
• Re-implement Gaussian noise in RGL by @msz-rai in #88
• Fix the calculation of the gravity term in ImuSensor.cs by @TGW795 in #115
• Feature/ground truth pose sensor by @mackierx111 in #118
• [Fix] Adjust mesh2pcd to RGL v13 by @msz-rai in #116
• Add a bool value to change enable or disabe gravity by @TGW795 in #121
• Feature/time scale by @TGW795 in #120
• Fix broken link in SetupUnityProject by @prybicki in #122
• Add a description related to geometory_msgs/PoseStamped by @TGW795 in #124
• doc: add examples of parameter adjustment for PointCloudMapper Document by @HayatoTier4 in #123
• Add V2I feature by @lchojnack in #109
• fix(random_traffic): fix spawn issue - distance_to_stop by @dmoszynski in #127
• Positive and negative correction of acceleration in reverse gear (R g… by @mackierx111 in #131
• Improve lidar configuration by @msz-rai in #130
• feat: add lanelet bounds loader by @HayatoTier4 in #128
• Route traffic simulator by @pijaro in #125
• fix: ll2 at build by @taikitanaka3 in #133
• docs: add LaneletBoundsVisualizer document by @HayatoTier4 in #134
• Fix horizontal steps calculation from the horizontal resolution by @msz-rai in #137
• Feature/collision ros2 publisher by @mackierx111 in #140
• Fix broken link to OpenSSL by @maxime-clem in #143
• Implement AutowareSimulation.cs by @mackierx111 in #146
• Add Camera FOV Visualization by @pijaro in #117
• Corrent VLP16 model - reversed vertical linear offset signs of the lasers by @msz-rai in #138
• Fix laser poses to be generated in the LiDAR origin by @msz-rai in #141
• feat: smoke simulator by @HayatoTier4 in #135
• Implement material information reading for lidar by @PiotrMrozik in #147
• Add instance segmentation for lidar by @msz-rai in #132
• Add udp publishing by @msz-rai in #156
• Update README.md by @mackierx111 in #159
• Update RGL to v14 with read material, instance segmentation and UDP by @msz-rai in #157
• Performance Improvements: New pedestrian models by @pijaro in #158
• Performance Improvements: Garbage collection and Lambdas by @pijaro in #150
• Performance Improvements: Physics step and layer by @pijaro in #151
• feat(ros2_entity_controller): provide spawn, pose update, despawn by @dmoszynski in #160
• Performance increase for RGLUnityPlugin by reducing garbage collection by @Jakub-Krakowiak in #161
• Fix for missing attribute error when loading the lanelet file by @pijaro in #167
• Lanelet negative IDs support by @pijaro in #166
• Fix/lanelet2 by @mackierx111 in #172
• Add ego initial position and rotation from json config by @lchojnack in #169
• Performance Improvements: Camera sensor rendering by @pijaro in #149
• feat(odometry_sensor): add ground truth odometry to Unity scene by @taikitanaka3 in #178
• Add udp publishing support for velodyne VLP32C and VLS128 by @msz-rai in #179
• Add V2I feature to Shinjuku sample scene by @lchojnack in #175
• update documentation by @mackierx111 in #183
• Added terrain heightmap and trees to RGL by @Jakub-Krakowiak in #173
• Optimize PointCloudVisualization by reducing usage of GetComponent by @msz-rai in #184
• chore: disable startup hdrp pop up in editor by @xmfcx in #194
• chore(.gitignore): add /.idea/ by @xmfcx in #193
• Wrap RGLObject into try-catch to avoid processing the same objects endlessly by @msz-rai in #200
• Change frame_id of gnss sensor to map by @mackierx111 in #206
• Update RGL to v15 with simple velocity distortion and new LiDAR HesaiAT128 by @msz-rai in #202
• Fixed broken links and several minor errors by @TGW795 in #207
• feat(object_sensor): add ground truth detected object sensor by @taikitanaka3 in #186
• Fix RGL scene synchronization when FixedUpdate is called more frequently than Update by @msz-rai in #189
• Add V2I documentation by @lchojnack in #205
• Changed channel indexes for lidars: VLS128 and VLP16 by @szylis in #209
• Flexible clock (FixedUpdate independent) by @pijaro in #212
• Add LiDAR: Hesai XT32 by @msz-rai in #211
• Add support for Hesai 40P and QT LiDAR packets by @msz-rai in #216
• Add workaround to Hesai packets axis orientation by @msz-rai in #220
• Upgrade RGL to v16 by @msz-rai in #218
• ROS 2 sourcing policy in documentation by @pijaro in #222
• Warn user if running RGLUnityPlugin with sourced ROS2 by @msz-rai in #203
• ROS 2 docs - configuration policies by @pijaro in #223
• AWSIM <-> scenario_simualtor_v2 connection by @piotr-zyskowski-rai in #219
• Added IP address validation for source IP of LidarUdpPublisher by @hosokawa-ikuto in #226
• RGL timestamp fix for working with changing timesource by @piotr-zyskowski-rai in #228
• Time documentation updates by @pijaro in #224
• Release/v1.2.0 by @mackierx111 in #229

New Contributors

• @pijaro made their first contribution in #74
• @WJaworskiRobotec made their first contribution in #89
• @dmoszynski made their first contribution in #97
• @HayatoTier4 made their first contribution in #123
• @taikitanaka3 made their first contribution in #133
• @maxime-clem made their first contribution in #143
• @Jakub-Krakowiak made their first contribution in #161
• @xmfcx made their first contribution in #194
• @szylis made their first contribution in https://github.com/tier4/AWSIM/pu...

✅ Features

• Support ROS2 humble (ubuntu only)
  • Discontinued support for galactic
• Distribution of vector maps suitable for Lexus

⚠️ Known issues

• Not support ROS humble on windows
  • Support in the near future.

✅ Features

• Adding new LiDAR sensors. Ouster OS1-64, VLP-32C
• Minor bug fixes
  • Random traffic collisions
  • Sleep conditions for vehicle physics
  • pointcloud visualization (isometric)
• Support Mesh2Pcd on Windows

• Improved vehicle dynamics sleep
• Improved wheel pitch animation
• Pedestrian minor bug fixes
• How to Contributions

What's Changed

• Fix broken link by @HansRobo in #1
• Fix broken link by @HansRobo in #3
• Update README.md by @22Raj in #4
• docs: update quick start demo and trouble shooting by @shmpwk in #5
• Add link checking workflow for document by @HansRobo in #2

New Contributors

• @HansRobo made their first contribution in #1
• @22Raj made their first contribution in #4
• @shmpwk made their first contribution in #5

Full Changelog: v1.0.0...v1.0.1