Changelog

Version 0.7.0

Code Update: Updated the code with the latest BeamNGpy 1.31 and BeamNG.tech 0.34.
Port Update: Fixed Lidar sensor publisher
documentations: Created differented documentation website that supports versioning.

Code Update: Updated the code with the latest BeamNGpy 1.31 and BeamNG.tech 0.34.
Port Update: The used port with BeamNG is now 25252 instead of 64256.
Fixed some sensor issues.

Support for new sensors : GPS, Roads sensor, Radar sensor, Ideal radar sensor, Mesh sensor, and Powertrain sensor.
New scenarios.
in-code documentations

LIDAR Modes: This automated LiDAR sensor operates in three modes: Full 360 Degrees Mode for comprehensive, rapid updates around an ‘up’ vector; LFO Mode for low-frequency, directional readings; and Static Mode for fixed, angle-specific readings, with 360 mode and other settings customizable via flags.
BeamNGpy API Update: Updated connection API in BeamNGpy:
- Added -gfx to <game_client>.open, to choose the renderer i.e., dx11 for DirectX11, and vk for Vulkan.
Removed the imu sensor: the classic vehicle-attachable imu sensor is removed.
Support for Advanced IMU: Added an automated Advanced IMU to ROS support.
Support for AI driving node: AI mode is added to beamng_agent.

Note: use the following code to upgrade your imu to advanceIMU from:

imu_pos = IMU(pos=(0.73, 0.51, 0.8), debug=True)
vehicle.sensors.attach('imu_pos', imu_pos)
readings = vehicle.sensors.poll()['imu_pos']

to:

imu_pos = AdvancedIMU(...)
readings = imu_pos.poll()

LIDAR Orientation: Corrected the orientation of the LIDAR sensor.
Electrics Sensors: Fixed attributes of the Electrics sensors.
Ultrasonic Sensor API: Fixed the Ultrasonic sensor API.
Ultrasonic Sensor Message Type: Changed the message type of the Ultrasonic sensor.
BeamNGpy API Update: Updated connection API in BeamNGpy:
- Removed the remote parameter from <bngpy>.BeamNGpy.
- Added listen_ip=’*’ to <game_client>.open.
Release Updates: Updated release numbers from 0.1.2 and 0.1.3 to 0.2 and 0.2.1, respectively.
Launch Configuration: Removed bridge.launch and now depend only on example.launch. Minimized the arguments by removing ns group.

Automation Sensors: Fixed the API for the automation sensors (Camera, LIDAR, and Ultrasonic).
Static Transform: Added a static transform function for the automation sensors.
Sensor Categories: Added two categories for sensors: automation sensors and classical sensors.
Time Synchronization: Added time synchronization between ROS-bridge and transforms in RViz.
LIDAR Visualization: Added LIDAR signals to the RViz visualizer.
Acknowledgment: Thanks to @podgorki <https://github.com/podgorki> for the contribution.

Code Update: Updated the code with the latest BeamNGpy 1.26 and BeamNG.Tech 0.28.
Bug Fix: Fixed the issue with handbrake and throttle.

Keyboard Control: Added beamng_teleop_keyboard for keyboard control of the vehicle (from ROS).
New Topic: Added /cmd_vel topic.
Handbrake Control: Added handbrake (parking brake) control.

Basic Bridge: Basic bridge with BeamNG.Tech.
ROS Packages: Three ROS packages are released:
- beamng_control: To establish communication and load scenarios that can choose the vehicle and the equipped sensors.
- beamng_agent: To give the ability to control the vehicle from ROS using simple commands (move, stop, release - to allow the user to control the vehicle from BeamNG.Tech).
- beamng_msgs: A converter package to adapt BeamNGpy messages with ROS.