Release Notes v.4.2

Major Updates

• Added new pedestrian VRU models.

• Added new vehicle models.

• Updated the internal controller for the NIRO EV vehicle added last update.

• Added an ego-vehicle cruise mode.

• Added an MGeo viewer feature.

• Added NPC vehicle offset path tracking features.

• Added dummy models for Euro NCAP tests.

• Added new options for spawn points.

• Added a sensor capture mode

• Updated the ROS message repository for MORAI SIM

• (BETA) Support for custom-built lidar sensor models

• Default scenarios are now provided with each default map.

Bug Fixes

• Fixed an issue where the minimum distance parameter of lidar sensors was not taken into account

• Resolved certain issues with simulator performance that occur when a large number of agents (vehicles/pedestrians/objects) are loaded into a single scene.