2026 R1 SP01 Changelog

Framework (Core Simulation Backbone)

Runtime

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Fixes

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Improvements

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Activities

GTGen Simulator Activity groundtruth_generator_activity

Updated GtGen Simulator: Version upgraded from v21.5.0 to v22.1.0

New Features

Traffic Light Exclusion from Ground Truth: Traffic light objects are now excluded from OSI ground truth output by default

• proj_frame_offset Populated in OSI GroundTruth: The GroundTruth::proj_frame_offset field is now populated from the map's coordinate reference system, enabling georeferenced coordinate transformations in downstream consumers
• FollowingMode Support in Traffic Actions: OpenSCENARIO FollowingMode is now parsed and propagated to OSI traffic action representations
• Configurable IncludeTrafficLights Map Parameter: Whether traffic light objects are imported during map conversion can now be controlled via the include_traffic_lights setting
• Elastic/Plastic Collision Dynamics: New selectable collision response models (elastic and plastic/inelastic) allow per-entity collision behavior to be configured independently
• Initial Acceleration for Entities: OpenSCENARIO Init actions can now specify a starting longitudinal acceleration for entities
• GeoPosition Height Attribute Support: The height attribute from OpenSCENARIO GeoPosition elements is now read and applied
• Uniform Integer Distribution in Stochastic Parameters: OpenSCENARIO stochastic distributions now support UniformIntDistribution
• MUTCD Traffic Sign Support: US MUTCD traffic signs are now parsed and mapped in addition to German StVO signs
• OpenDRIVE Source Reference for Traffic Lights: Traffic light objects now carry an OpenDRIVE source reference in OSI output

Improvements

• Multi-LaneSection TrafficAreaAction Support: Roads with multiple <laneSection> elements are now fully covered when computing traffic area targets
• Road Markings Exposed as OSI Objects: OpenDRIVE road markings are now correctly converted and reported as OSI road marking objects
• driving Lane Subtype Mapping: Lanes with driving subtype are now correctly mapped to kNormal, consistent with the normal subtype

Fixes

• Controller Route Selection: Fixed incorrect route selection that caused controllers to take suboptimal paths
• Controller Synchronisation on Mid-Simulation Activation: Activating a controller after simulation start now correctly synchronises entity state
• Host Entity ID Assignment: The host_id field is now correctly assigned in multi-entity scenarios
• Spawned Entity Orientation: Newly spawned entities now have the correct initial orientation aligned with road geometry
• OSI Timestamp Conversion: Incorrect nanosecond conversion in OSI timestamps resolved
• Obstacle Spawning: Fixed a constructor parameter error that caused entity spawning failures
• LanePosition with Omitted s Attribute: Scenarios using LanePosition without an explicit s attribute are now handled correctly
• ExternalObjectReference Crash: Null pointer dereference when resolving external entity references resolved
• TrafficSignalControllerAction Crash: Segmentation fault during traffic signal controller action processing resolved
• Traffic Light Type IDs: Incorrect type identifier assignment for traffic lights in map parsing corrected
• Lane ID Range Validation: Out-of-range lane IDs in OpenDRIVE maps now produce a proper error instead of undefined behavior
• 3D Polyline Decimation: Decimation of 3D reference lines now produces geometrically correct results

Esmini Activity esmini_activity

Updated Esmini: Version upgraded from v2.56.2 to v2.60.0

New Features

• Speed-Only Control Mode: Added SPEED_ONLY_CONTROL control mode enabling direct speed control of scenario objects via ObjectSpeedInputMsg messages published on ObjectSpeedInputTopic. Calls esmini's SE_ReportObjectSpeed API to set the longitudinal speed without full position or vehicle model control
• GroundTruth Cropping (crop_gt_radius): Added configurable radius-based cropping of the published osi3::GroundTruth. Objects (moving objects, stationary objects, traffic signs, traffic lights, road markings), lanes, and lane boundaries beyond the specified radius from the host vehicle are removed before publishing. A value of 0.0 (default) disables cropping. Smart lane preservation ensures the host vehicle's current lanes and their adjacent neighbours are always retained regardless of radius.
• AngleCondition Support (OpenSCENARIO): Evaluate heading angle of an entity relative to a coordinate system; lane type aligns with driving direction; trajectory type supports heading attribute
• OpenDRIVE Lane Height: Elevated lane surfaces (e.g. raised sidewalks) are now parsed and applied to road geometry
• Global OSI IDs: All OSI elements (Lane, StationaryObject, MovingObject, TrafficLight, TrafficSign) now use globally unique IDs; internal scenario ID tracked via OSI source reference
• OSI Source Reference: Implemented for Lane, StationaryObject, MovingObject, TrafficLight and TrafficSign — enables traceability from OSI output back to scenario objects
• Stationary MiscObjects on OSI GroundTruth: Objects added via AddEntity/AddObject are now reported in OSI output
• 2D Shape Outline on OSI: Vehicle, pedestrian and misc object outlines included in GroundTruth as OSI properties
• SE_GetRoadInfoAlongRoute(): New API for lookahead information that follows the entity's planned route, not just the current road segment

Improvements

• host_vehicle_id Populated in OSI GroundTruth: GroundTruth::host_vehicle_id is now set by esmini to the entity whose <Private> action block appears first in the OpenSCENARIO <Init> block. This may differ from the declaration order in <Entities>. Ensure the intended ego/host vehicle has its <Private> action listed first in <Init>.
• OSI Version Propagated to SensorView: osi_version is now copied from GroundTruth into SensorView
• OpenDRIVE Session Isolation: Previous road data is always cleared between SE_Init calls — prevents state bleed across back-to-back scenarios
• Repeated SE_Init Without SE_Close: Now accepted without error; previous session is cleaned up automatically
• Lane Width Calculation with Non-Contiguous Lane IDs: Accumulated width no longer fails on gaps in lane ID sequences (e.g. -4, -3, -1, 0)
• Entity Pitch from Road Superelevation: Entity pitch is now affected by lateral distance from road centre for non-constant banking
• Trajectory Z-Alignment: Relative Z values in trajectory waypoints are accepted; omitted Z still snaps entity to road surface
• Trailer Alignment: Trailers are correctly aligned on AddEntity action and can follow any Z value for airborne trajectories
• EnvironmentAction dateTime Parsing: Handles leading zeros, all timezone offset formats, and missing milliseconds

Fixes

• Trajectory Time Offset Not Applied to End-of-Action (#773): Time offset is now included when computing action end time
• RelativeWorldPosition Heading Offset: Fixed erroneous heading contribution to relative world position
• esminiRMLib Segfault on Missing Road ID (#774): Null pointer checks added for road lookups
• Negative Roadmark sOffset Freeze (#766): Negative values truncated to zero — prevents scenario freeze on malformed map data
• Missing Global Actions in Scenario Execution: Indentation bug causing global actions to be skipped intermittently is fixed
• SPEED_ONLY_CONTROL Mode Broken by Global OSI IDs: The introduction of globally unique OSI IDs in v2.60.0 caused esmini_activity to fail when resolving the host vehicle — the adapter was assuming the ego always had OSI ID 0. Fixed by reading GroundTruth::host_vehicle_id directly, which esmini now populates. Integration test speed_only_control_integration_test updated accordingly.
• ApplyTrafficUpdate Broken by Global OSI IDs: TrafficUpdate entries carry global OSI object IDs since esmini v2.60.0, but SE_GetObjectState and related esmini C API calls require a 0-based scenario entity index. The adapter now translates global OSI IDs to scenario indices using the mapping built during GetSensorView(). Passing an unknown ID throws std::runtime_error.
• ApplyVehicleControlInput Broken by Global OSI IDs: Same root cause as ApplyTrafficUpdate — VehicleControlInputMsg::object_id is a global OSI ID since v2.60.0. All esmini C API calls (SE_GetObjectState, SE_ReportObjectPosXYH, SE_ReportObjectWheelStatus, SE_ReportObjectSpeed) now translate the OSI ID to a scenario index via the mapping built in GetSensorView(). Passing an unknown ID throws std::runtime_error.
• GroundTruth Crop Test Assumed Ego OSI ID is Zero: The GivenCropGtEnabled_WhenStepped_ThenDistantObjectsAndLanesRemoved test was asserting moving_object(0).id() == 0. With globally unique OSI IDs the ego no longer has ID 0. The assertion is now moving_object(0).id() == host_vehicle_id(), which is stable across esmini versions.
• Esmini Log File Disabled, Console Logging Enabled: This prevents esmini from writing a log.txt file to disk and redirects its internal log output to the console.

Ideal Sensors and Fusion Activities

Ideal Sensor/Fusion: Reference activities for FoV-based sensing and simple by-object-id fusion.

New Features

• Ideal sensor activity: generic_sensor_activity configured as "camera" or "radar" via sensor_parameters (activity name is arbitrary). The activity performs FoV filtering in sensor frame plus lane/lane-boundary interpolation, and then runs post-processing.
• FoV-based interpolation behavior: automatically interpolates/resamples lane geometry for sparse polylines and clips interpolation to in-FoV portions of polyline segments to avoid unnecessary point generation for mostly-out-of-FoV segments.
• Post-processing steps:
  • merge_host_lane_context_by_junction_depth: merges lane context across junctions to keep the host-related topology consistent.
  • sort_lane_boundaries_in_order: sorts lane boundaries left-to-right relative to the host lane using lane-boundary topology grouping.
• Ideal fusion activity: osi_sensor_data_fusion_activity with fusion_logic: "by_object_id". Fusion merges the latest SensorData inputs, de-duplicates objects by ground truth ID, and transforms fused geometry into the Host frame. If input timestamps are misaligned, the fusion activity emits warnings.
• White-box packaging + examples: the FoV/sensor/fusion implementation and example sensor configs are exposed for inspection by users (not just black-box behavior).

Cross-Cutting Changes

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Breaking Changes

• Vehicle Control Input Message Renamed: The vehicle Control input message has been renamed from VehicleControlInput to VehicleControlInputMsg. Any code using the previous message name from 2026R1 or earlier will fail to compile and must be updated to use the new message name.

• ObjectSpeedInputMsg.object_id Must Use Global OSI ID: Due to esmini v2.60.0 introducing globally unique OSI IDs, the object_id field in ObjectSpeedInputMsg must now be set to the global OSI ID of the target object, not a scenario-index-based ID (e.g. 0 for ego). Obtain the correct ID from GroundTruth::host_vehicle_id (for the ego) or from GroundTruth::moving_object[i].id() for other entities.

• Apply* Methods Require Global OSI IDs and a Prior GetSensorView() Call: Due to esmini v2.60.0 introducing globally unique OSI IDs, all apply methods now require object IDs to be global OSI IDs (not scenario indices), and GetSensorView() must be called first to build the mapping. Passing an unknown ID throws std::runtime_error.

  • ObjectSpeedInputMsg::object_id — use GroundTruth::host_vehicle_id (ego) or GroundTruth::moving_object[i].id()
  • VehicleControlInputMsg::object_id — use SensorView::host_vehicle_id() returned by GetSensorView()
  • osi3::TrafficUpdate entry id() — use GroundTruth::moving_object[i].id()

API Changes

Added

ObjectSpeedInputMsg

// autonomy/communication/messages/object_speed_input_msg/object_speed_input_msg.h
class ObjectSpeedInputMsg : public AutonomyMsg {
  uint64_t object_id;  // Global OSI ID of the controlled object (read from GroundTruth)
  double speed;        // Desired speed in m/s (must be >= 0)
};

• Impact: Enables direct speed control of esmini scenario objects via SPEED_ONLY_CONTROL mode
• Action Required: Optional - use with ObjectSpeedInputTopic when only longitudinal speed control is needed. Set object_id to the value obtained from GroundTruth::host_vehicle_id (ego) or GroundTruth::moving_object[i].id() — not a hardcoded scenario index.

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Modified

VehicleControlInputMsg (Renamed from VehicleControlInput)

// autonomy/communication/messages/vehicle_control_input_msg/vehicle_control_input_msg.h
class VehicleControlInputMsg : public AutonomyMsg {
    // No fields has been changed in the new message
};

• Impact: The message previously named VehicleControlInput has been renamed to VehicleControlInputMsg. Any code using the old name or structure will fail to compile and must be updated.
• Action Required: Update all references from VehicleControlInput to VehicleControlInputMsg as needed.

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Deprecated

No APIs deprecated in this release.

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Known Issues

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