Added Release 0.9.15

carla-simulator · Nov 16, 2023 · c39aa59 · c39aa59
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diff --git a/Docs/CHANGELOG.md b/Docs/CHANGELOG.md
@@ -1,5 +1,5 @@
 ## Table of Contents
-* [Latest Changes](#latest-changes)
+* [CARLA ScenarioRunner 0.9.15](#carla-scenariorunner-0915)
 * [CARLA ScenarioRunner 0.9.13](#carla-scenariorunner-0913)
 * [CARLA ScenarioRunner 0.9.12](#carla-scenariorunner-0912)
 * [CARLA ScenarioRunner 0.9.11](#carla-scenariorunner-0911)
@@ -12,7 +12,7 @@
 * [CARLA ScenarioRunner 0.9.5](#carla-scenariorunner-095)
 * [CARLA ScenarioRunner 0.9.2](#carla-scenariorunner-092)
 
-## Latest changes
+## CARLA ScenarioRunner 0.9.15
 ### :rocket: New Features
 * Add waypoint reached threshold so that the precision of the actor reaching to waypoints can be adjusted based on object types.
 * OpenSCENARIO support:

diff --git a/README.md b/README.md
@@ -21,6 +21,7 @@ branch contains the latest fixes and features, and may be required to use the la
 
 It is important to also consider the release version that has to match the CARLA version.
 
+* [Version 0.9.15](https://github.com/carla-simulator/scenario_runner/releases/tag/v0.9.15) and the 0.9.15 Branch: Compatible with [CARLA 0.9.15](https://github.com/carla-simulator/carla/releases/tag/0.9.15)
 * [Version 0.9.13](https://github.com/carla-simulator/scenario_runner/releases/tag/v0.9.13) and the 0.9.13 Branch: Compatible with [CARLA 0.9.13](https://github.com/carla-simulator/carla/releases/tag/0.9.13)
 * [Version 0.9.12](https://github.com/carla-simulator/scenario_runner/releases/tag/v0.9.12) and the 0.9.12 Branch: Compatible with [CARLA 0.9.12](https://github.com/carla-simulator/carla/releases/tag/0.9.12)
 * [Version 0.9.11](https://github.com/carla-simulator/scenario_runner/releases/tag/v0.9.11) and the 0.9.11 Branch: Compatible with [CARLA 0.9.11](https://github.com/carla-simulator/carla/releases/tag/0.9.11)

diff --git a/scenario_runner.py b/scenario_runner.py
@@ -93,8 +93,8 @@ def __init__(self, args):
         self.client = carla.Client(args.host, int(args.port))
         self.client.set_timeout(self.client_timeout)
         dist = pkg_resources.get_distribution("carla")
-        if LooseVersion(dist.version) < LooseVersion('0.9.12'):
-            raise ImportError("CARLA version 0.9.12 or newer required. CARLA version found: {}".format(dist))
+        if LooseVersion(dist.version) < LooseVersion('0.9.15'):
+            raise ImportError("CARLA version 0.9.15 or newer required. CARLA version found: {}".format(dist))
 
         # Load agent if requested via command line args
         # If something goes wrong an exception will be thrown by importlib (ok here)

diff --git a/srunner/scenarios/control_loss.py b/srunner/scenarios/control_loss.py
@@ -125,7 +125,8 @@ def _create_behavior(self):
 
         noise_1 = self._get_noise_parameters()
         noise_behavior_1 = py_trees.composites.Parallel("Add Noise 1", py_trees.common.ParallelPolicy.SUCCESS_ON_ONE)
-        noise_behavior_1.add_child(AddNoiseToRouteEgo(self.ego_vehicles[0], *noise_1))
+        if self.route_mode:
+            noise_behavior_1.add_child(AddNoiseToRouteEgo(self.ego_vehicles[0], *noise_1))
         noise_behavior_1.add_child(InTriggerDistanceToLocation(
             self.ego_vehicles[0], self.first_transform.location, self._trigger_dist, operator.gt))
         sequence.add_child(noise_behavior_1)
@@ -136,7 +137,8 @@ def _create_behavior(self):
 
         noise_2 = self._get_noise_parameters()
         noise_behavior_2 = py_trees.composites.Parallel("Add Noise 2", py_trees.common.ParallelPolicy.SUCCESS_ON_ONE)
-        noise_behavior_2.add_child(AddNoiseToRouteEgo(self.ego_vehicles[0], *noise_2))
+        if self.route_mode:
+            noise_behavior_2.add_child(AddNoiseToRouteEgo(self.ego_vehicles[0], *noise_2))
         noise_behavior_2.add_child(InTriggerDistanceToLocation(
             self.ego_vehicles[0], self.second_transform.location, self._trigger_dist, operator.gt))
         sequence.add_child(noise_behavior_2)
@@ -147,7 +149,8 @@ def _create_behavior(self):
 
         noise_3 = self._get_noise_parameters()
         noise_behavior_3 = py_trees.composites.Parallel("Add Noise 3", py_trees.common.ParallelPolicy.SUCCESS_ON_ONE)
-        noise_behavior_3.add_child(AddNoiseToRouteEgo(self.ego_vehicles[0], *noise_3))
+        if self.route_mode:
+            noise_behavior_3.add_child(AddNoiseToRouteEgo(self.ego_vehicles[0], *noise_3))
         noise_behavior_3.add_child(InTriggerDistanceToLocation(
             self.ego_vehicles[0], self.third_transform.location, self._trigger_dist, operator.gt))
         sequence.add_child(noise_behavior_3)