Cleanup and harmonize Carla build

.github/pull_request_template.md

@@ -2,13 +2,15 @@
 
 Thanks for sending a pull request! Please make sure you click the link above to
 view the contribution guidelines, then fill out the blanks below.
+Please, make sure if your contribution is for UE4 version of CARLA you merge against ue4-dev branch. 
+if it is for UE5 version of CARLA you merge agaisnt ue5-dev branch
 
 Checklist:
 
-  - [ ] Your branch is up-to-date with the `dev` branch and tested with latest changes
+  - [ ] Your branch is up-to-date with the `ue4-dev/ue5-dev` branch and tested with latest changes
   - [ ] Extended the README / documentation, if necessary
   - [ ] Code compiles correctly
-  - [ ] All tests passing with `make check` (only Linux)
+  - [ ] All tests passing with `make check` (only Linux and ue4-dev)
   - [ ] If relevant, update CHANGELOG.md with your changes
 
 -->

.github/stale.yml

@@ -1,10 +1,11 @@
 # Number of days of inactivity before an issue becomes stale
 daysUntilStale: 60
 # Number of days of inactivity before a stale issue is closed
-daysUntilClose: 7
+daysUntilClose: 700000
 # Issues with these labels will never be considered stale
 exemptLabels:
   - backlog
+  - TeamTask
 # Label to use when marking an issue as stale
 staleLabel: stale
 # Comment to post when marking an issue as stale. Set to `false` to disable

CHANGELOG.md

@@ -1,4 +1,6 @@
 ## Latest Changes
+ * Fixed waypoint.next and .previous causing loops when two opposite-direction lanes follow each other in the map.
+ * Fixed a bug that caused navigation information not to be loaded when switching maps
  * Prevent from segfault on failing SignalReference identification when loading OpenDrive files
  * Added vehicle doors to the recorder
  * Added functions to get actor' components transform
@@ -12,13 +14,16 @@
  * Fixed bug in python agents when vehicle list was empty causing a check on all vehicles (BasicAgent.py) and detected pedestrians as vehicles if no pedestrains are present (BehaviourAgent.py) 
  * Extended debug drawing functions to allow drawing primitives on HUD layer
  * Added possibility to change gravity variable in imui sensor for the accelerometer
- * Fixed ROS2 native extension build error when ROS2 is installed in the system.
- * ROS2Native: Force fast-dds dependencies download to avoid build crash when boost_asio and tinyxml2 are not installed in Linux.
  * Added API function `get_telemetry_data` to the vehicle actor.
  * PythonAPI `Sensor.is_listening` was defined twice (property and method), cleaned and clarified it as a method.
  * Added V2X sensors for cooperative awareness message and custom user-defined messages to support vehicle-to-vehicle communication
  * Added named tuples for BasicAgent.py's detection result to allow for type-hints and better semantics.
-
+ * Cleaned up the client/server build and respective naming
+ * Added type-hint support for the PythonAPI
+ * Added type-hints to GlobalRoutePlanner and use carla.Vector3D code instead of pre 0.9.13 numpy code.
+ * If available, use ActorIDs instead of Unreal Engine IDs for instance segmentation
+ * Synchronized actor BoundingBox between server and client
+ * Add actor_id to bounding boxes
 
 ## CARLA 0.9.15
 

Docs/3rd_party_integrations.md

@@ -10,7 +10,6 @@ CARLA has been developed to integrate with several 3rd party applications in ord
 -   [__Chrono__](tuto_G_chrono.md)
 -   [__ASAM OpenDRIVE__](adv_opendrive.md) 
 -   [__PTV Vissim__](adv_ptv.md)
--   [__RSS__](adv_rss.md) 
 -   [__AWS and RLlib__](tuto_G_rllib_integration.md)
 
 ---
@@ -63,10 +62,6 @@ Learn how to use CARLA alongside CarSIM [here](tuto_G_carsim_integration.md).
 
 [__ASAM OpenDRIVE__](https://www.asam.net/standards/detail/opendrive/) is an open format specification used to describe the logic of a road network intended to standardise the discription of road networks in digital format and allow different applications to exchange data on road networks. Please refer to the full documentation [__here__](adv_opendrive.md)
 
-## RSS - Responsibility Sensitive Safety
-
-CARLA integrates the [C++ Library for Responsibility Sensitive Safety](https://github.com/intel/ad-rss-lib) in the client library. This feature allows users to investigate behaviours of RSS without having to implement anything. CARLA will take care of providing the input, and applying the output to the AD systems on the fly. Refer to the full documentation [__here__](adv_rss.md)
-
 ## AWS and RLlib integration
 
 The RLlib integration brings support between the Ray/RLlib library and CARLA, allowing the easy use of the CARLA environment for training and inference purposes. Ray is an open source framework that provides a simple, universal API for building distributed applications. Ray is packaged with RLlib, a scalable reinforcement learning library, and Tune, a scalable hyperparameter tuning library. Read more about operating CARLA on AWS and RLlib [__here__](tuto_G_rllib_integration.md).

Docs/adv_benchmarking.md

@@ -156,7 +156,7 @@ python3 performance_benchmark.py --show_scenarios
 
 >> * Show what scenarios will run when configurations are applied without actually executing them:
 ```shell
-python3 performance_benchmark.py --sensors 2 5 --maps Town03 Town05 --weather 0 1 --show_scenarios`
+python3 performance_benchmark.py --sensors 2 5 --maps Town03 Town05 --weather 0 1 --show_scenarios
 ```
 
 >> * Execute the performance benchmark for those scenarios:

Docs/adv_cpp_client.md

@@ -138,5 +138,3 @@ TOOLCHAIN=$(CURDIR)/ToolChain.cmake
 
 
 
-
-

Docs/adv_digital_twin.md

@@ -15,6 +15,8 @@
 
 The __Digital Twin Tool__ enables procedural generation of unique 3D environments based on road networks derived from the [OpenStreetMap](https://www.openstreetmap.org) (OSM) service. Through the Digital Twin Tool interface in CARLA's Unreal Engine editor a user can select a region of map from OSM and download the road network as the basis for a new CARLA map. The tool then fills the spaces between the roads with procedurally generated 3D buildings that adjust to the layout of the road, creating a realistic 3D road environment with high variability.
 
+<iframe width="100%" height="400px" src="https://www.youtube.com/embed/gTutXdS2UkQ?si=hssM3YRCAjSIzdXM" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" referrerpolicy="strict-origin-when-cross-origin" allowfullscreen></iframe>
+
 ## Building the OSM renderer
 
 If you are using Linux, you have the option of using the OSM renderer in the CARLA interface to navigate a large OSM map region that you have downloaded. You first need to build the OSM renderer before proceeding to build CARLA. Run `make osmrenderer` inside the CARLA root directory. You may need to upgrade your version of CMake to v3.2 or above in order for this to work. This will create two folders in your build directory called `libosmcout-source` and `libosmcout-build`. Before proceeding to build CARLA, you need to then edit the `Build.sh` file in the directory `$CARLA_ROOT/Build/libosmcout-source/maps` like so, to ensure the executable is found:
@@ -103,4 +105,3 @@ The generation step will take around 10 minutes for a 2x2 km<sup>2</sup> region,
 ## Save the map
 
 If you are satisfied with the generated map then you can press *Save Map* button to save the map. __This step will take a significant amount of time__, it may take over an hour and could take several. You should prepare to leave your computer running for several hours while this step is completed. Once this step is completed, the map will be available through the Unreal Engine editor or through the CARLA API, the same as any other map. 
-

Docs/bp_library.md

@@ -255,9 +255,6 @@ Check out the [introduction to blueprints](core_actors.md).
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
         - `sensor_tick` (_Float_) <sub>_- Modifiable_</sub>
         - `vertical_fov` (_Float_) <sub>_- Modifiable_</sub>
-- **<font color="#498efc">sensor.other.rss</font>**  
-    - **Attributes:**
-        - `role_name` (_String_) <sub>_- Modifiable_</sub>
 
 ### static
 - **<font color="#498efc">static.prop.advertisement</font>**  

Docs/build_carla.md

@@ -11,8 +11,7 @@ Build instructions are available for Linux and Windows. You can also build CARLA
 * [__Updating CARLA__](build_update.md)  
 * [__Build system__](build_system.md)  
 
-* [__Linux build with Unreal Engine 5.3__](build_linux_ue5.md)  
-* [__Windows build with Unreal Engine 5.3__](build_windows_ue5.md)  
-
-* [__FAQ__](build_faq.md)  
+* [__FAQ__](build_faq.md) 
 
+!!! note
+    These build instructions are for the **Unreal Engine 4.26 version of CARLA**, if you are looking for build instructions for the Unreal Engine 5.5 version of CARLA, please visit [the correct build instructions for that version](https://carla-ue5.readthedocs.io/en/latest/build_carla/).

Docs/build_linux.md

@@ -40,7 +40,7 @@ CARLA requires many different kinds of software to run. Some are built during th
 sudo apt-get update &&
 sudo apt-get install wget software-properties-common &&
 sudo add-apt-repository ppa:ubuntu-toolchain-r/test &&
-wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key|sudo apt-key add
+sudo apt-get update
 ```
 
 !!! Warning
@@ -50,53 +50,37 @@ To avoid compatibility issues between Unreal Engine and the CARLA dependencies,
 
 __Ubuntu 22.04__.
 ```sh
-sudo apt-add-repository "deb http://archive.ubuntu.com/ubuntu focal main universe"
-sudo apt-get update
-sudo apt-get install build-essential clang-10 lld-10 g++-7 cmake ninja-build libvulkan1 python python3 python3-dev python3-pip libpng-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git git-lfs
-sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-10/bin/clang++ 180 &&
-sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-10/bin/clang 180 &&
-sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-7 180
+sudo apt-get install build-essential g++-13 cmake ninja-build libvulkan1 python3 python3-dev python3-pip libpng-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git git-lfs
+sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-13 180
 ```
 
 __Ubuntu 20.04__.
 ```sh
-sudo apt-add-repository "deb http://apt.llvm.org/focal/ llvm-toolchain-focal main"
-sudo apt-get update
-sudo apt-get install build-essential clang-10 lld-10 g++-7 cmake ninja-build libvulkan1 python python-dev python3-dev python3-pip libpng-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
-sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-10/bin/clang++ 180 &&
-sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-10/bin/clang 180
+sudo apt-get install build-essential g++-13 cmake ninja-build libvulkan1 python python-dev python3-dev python3-pip libpng-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
+sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-13 180
 ```
 
 __Ubuntu 18.04__.
 
 ```sh
-sudo apt-add-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic main"
-sudo apt-get update
-sudo apt-get install build-essential clang-8 lld-8 g++-7 cmake ninja-build libvulkan1 python python-pip python-dev python3-dev python3-pip libpng-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
-sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-8/bin/clang++ 180 &&
-sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-8/bin/clang 180
+sudo apt-get install build-essential g++-13 cmake ninja-build libvulkan1 python python-pip python-dev python3-dev python3-pip libpng-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
+sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-13 180
 ```
 
 __Ubuntu 16.04__.
 
 ```sh
-sudo apt-add-repository "deb http://apt.llvm.org/xenial/ llvm-toolchain-xenial-8 main" &&
-sudo apt-get update
-sudo apt-get install build-essential clang-8 lld-8 g++-7 cmake ninja-build libvulkan1 python python-pip python-dev python3-dev python3-pip libpng16-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
-sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-8/bin/clang++ 180 &&
-sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-8/bin/clang 180
+sudo apt-get install build-essential g++-13 cmake ninja-build libvulkan1 python python-pip python-dev python3-dev python3-pip libpng16-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
+sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-13 180
 ```
 
 __Previous Ubuntu versions__.
 
 We strongly advise using Ubuntu 18.04 or later to build CARLA. However, you may attempt to build CARLA on older versions of Ubuntu with the following commands:
 
 ```sh
-sudo apt-add-repository "deb http://apt.llvm.org/<code_name>/ llvm-toolchain-<code_name>-8 main" &&
-sudo apt-get update
-sudo apt-get install build-essential clang-8 lld-8 g++-7 cmake ninja-build libvulkan1 python python-pip python-dev python3-dev python3-pip libpng16-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
-sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-8/bin/clang++ 180 &&
-sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-8/bin/clang 180
+sudo apt-get install build-essential g++-13 cmake ninja-build libvulkan1 python python-pip python-dev python3-dev python3-pip libpng16-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
+sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-13 180
 ```
 
 __All Ubuntu systems__.