v3.8.0-prerc1 - ASAM OSI "Krisp Kobayashi" Pre-Release Candidate 1

Pole P(OSI)tion!

This is a release candidate of OSI, not an official release. If no final changes are needed, it might be promoted to an official release upon confirmation by the ASAM TSC.

Purpose

This minor release contains a number of incremental enhancements and improvements:

• The core OSI protobuf definitions and the language-specific bindings and modules have been split out to separate repositories, allowing easier maintenance and evolution of language-specific features.
• New multi-channel trace file format based on MCAP for easier data storage and interchange
• Adopted the ASAM OpenX harmonized vehicle types
• Added tail light to vehicle classification/light state
• Added model_reference attribute to RoadMarking
• Added road type to logical lanes
• Improved python bindings via pyi_out option of protoc
• Various improvements to OSI rule definitions for new qc-osi-trace checker bundle
• Improved specification of BaseMoving reference system
• Added documentation of Tait-Bryan convention and quaternion formula

Beyond that, many clarifications, improvements in definitions and documentation, enhanced installation information and enhanced Python support, including provisioning of Python packages on PyPI are key improvements in this release.

Content/Changes

• 832 consolidate hosted osi documentation sources by @philipwindecker in #837
• Issue #836: Added missing pages and linked them in navigation. by @philipwindecker in #838
• Fix open_simulation_interface-config.cmake.in by @doganulus in #852
• Add tail light to vehicle classification/light state by @jdsika in #845
• Add pyi_out option to protoc command in the setup.py by @ClemensLinnhoff in #821
• Initial multi channel trace file format specification by @pmai in #841
• Add Tait-Bryan convention and quaternion formula to documentation by @thomassedlmayer in #850
• Add bibliography reference for MCAP by @pmai in #867
• Adapt vehicle types from openx harmonization by @thomassedlmayer in #863
• Fix incorrect reference system documentation for detected objects in BaseMoving by @thomassedlmayer in #866
• Fix multiple rule bugs by @thomassedlmayer in #868
• Fix orientation3d formatting bug by @thomassedlmayer in #869
• Add new allowable rules minimum/maximum_length by @pmai in #877
• Fix detection object reference rule by @thomassedlmayer in #879
• Update refers_to rule regex by @thomassedlmayer in #881
• Clarify protobuf version descriptions in documentation by @pmai in #883
• Repository Split by @pmai in #870
• Add model_reference attribute to RoadMarking (#874) by @arauschert in #886
• explain c++ and python repo split in documentation by @TimmRuppert in #889
• Logical lanes: add road type by @dmataCap in #707

New Contributors

• @doganulus made their first contribution in #852
• @arauschert made their first contribution in #886
• @TimmRuppert made their first contribution in #889
• @dmataCap made their first contribution in #707

Full Changelog: v3.7.0...v3.8.0-prerc.1

v3.7.0 - ASAM OSI "Jolly Jones"

Ambr(OSI)al Features!

Purpose

This minor release contains a number of incremental enhancements and improvements:

• Sub-bounding boxes can be provided for ground truth objects to model e.g. concave non-rectangular objects in more realistic ways without resorting to full 3D models.
• Logical lanes can contain effective speed limit information to avoid the need to process traffic signs for speed selection.
• Routing information can be transmitted as part of HostVehicleData.
• Orientation rates can be transmitted as part of pedestrian skeleton information.
• A virtual detection area can be supplied in SensorData to visualize or indicate the currently active nominal detection area of a sensor.
• The system time of a source of SensorData can be supplied in addition to the simulation measurement timestamp to aid timing simulation and measurement use cases.
• An offset has been introduced that is to be added to the cartesian global ground truth coordinate system prior to mapping into a geodetic coordinate system with the proj.4 string. This harmonizes OSI with OpenDRIVE and allows the easier provision of false easting/northing in the coordinate transformation.
• The set of car types has been reduced to better harmonize with other OpenX standards as part of overall harmonization efforts.

Beyond that, many clarifications, improvements in definitions and documentation, enhanced installation information and enhanced Python support, including provisioning of Python packages on PyPI are key improvements in this release.

Content/Changes

• Add beam ID to LidarDetection by @ClemensLinnhoff in #739
• Update release.yml by @philipwindecker in #736
• Add osi_trafficcommandupdate.proto to CMakeLists by @ClemensLinnhoff in #744
• Make CMAKE_CXX_STANDARD overridable (fix #741) by @pmai in #742
• Update build workflow for modular protobuf version support by @pmai in #758
• Workflow: Update Python and Actions + Black formatting Python files by @jdsika in #756
• feat: New OSI message osi_route by @FabianPfeufferCAP in #705
• Add orientation rate to PedestrianAttributes::Bone by @ClemensLinnhoff in #769
• Define mandatory field with checker rules by @ClemensLinnhoff in #778
• Removal of the historical .txt trace file format and related scripts by @PhRosenberger in #777
• Fix typos in proto files by @ClemensLinnhoff in #774
• Add new message for sub-bounding boxes by @pmai in #732
• Update github actions for release workflow by @pmai in #759
• Add check that all proto files are included in build by @pmai in #746
• feat: Add virtual detection area by @jruebsam in #781
• Modernize python build setup, protoc dependency by @pmai in #783
• Remove OSC todo comment from source_reference by @thomassedlmayer in #788
• Fix documentation on FeatureData messages by @thomassedlmayer in #792
• Feature/proj offset by @thomassedlmayer in #794
• Add system time to sensor data by @thomassedlmayer in #789
• Add pyspelling html filter by @thomassedlmayer in #795
• Deprecate various car types in favor of new alias TYPE_CAR by @pmai in #787
• Fix streaming principle image reference by @thomassedlmayer in #767
• Logical Traffic Rules and Speed Limit by @lemmer-fzi in #753
• Add initial TestPyPI package publishing by @pmai in #799
• Bump black from 23.12.1 to 24.3.0 by @dependabot in #793
• Fix osi trace robustness by @pmai in #801
• Improve omit_static_information field description by @FabianPfeuffer in #790
• Update and harmonize python installation instructions by @pmai in #800
• Fix outdated documentation on formatting scripts by @thomassedlmayer in #803
• Add rules according to notes in the documentation by @ClemensLinnhoff in #806
• Add full release publication of python packages by @pmai in #802
• Clarify handling of purely technical IDs by @pmai in #813
• Added hvd as a trace file type for HostVehicleData by @thempen in #810
• Adjust minimum protobuf requirement (fix #807) by @pmai in #814
• Add more top-level messages to OSITrace by @ClemensLinnhoff in #818

New Contributors

• @jruebsam made their first contribution in #781
• @dependabot made their first contribution in #793
• @FabianPfeuffer made their first contribution in #790
• @thempen made their first contribution in #810

Full Changelog: v3.6.0...v3.7.0

v3.7.0-rc2 - ASAM OSI "Jolly Jones" Release Candidate 2

Ambr(OSI)al Features!

This is a release candidate of OSI, not an official release. If no final changes are needed, it might be promoted to an official release upon confirmation by the ASAM TSC.

Purpose

This minor release contains a number of incremental enhancements and improvements:

• Sub-bounding boxes can be provided for ground truth objects to model e.g. concave non-rectangular objects in more realistic ways without resorting to full 3D models.
• Logical lanes can contain effective speed limit information to avoid the need to process traffic signs for speed selection.
• Routing information can be transmitted as part of HostVehicleData.
• Orientation rates can be transmitted as part of pedestrian skeleton information.
• A virtual detection area can be supplied in SensorData to visualize or indicate the currently active nominal detection area of a sensor.
• The system time of a source of SensorData can be supplied in addition to the simulation measurement timestamp to aid timing simulation and measurement use cases.
• An offset has been introduced that is to be added to the cartesian global ground truth coordinate system prior to mapping into a geodetic coordinate system with the proj.4 string. This harmonizes OSI with OpenDRIVE and allows the easier provision of false easting/northing in the coordinate transformation.
• The set of car types has been reduced to better harmonize with other OpenX standards as part of overall harmonization efforts.

Beyond that, many clarifications, improvements in definitions and documentation, enhanced installation information and enhanced Python support, including provisioning of Python packages on PyPI are key improvements in this release.

Content/Changes

• Add beam ID to LidarDetection by @ClemensLinnhoff in #739
• Update release.yml by @philipwindecker in #736
• Add osi_trafficcommandupdate.proto to CMakeLists by @ClemensLinnhoff in #744
• Make CMAKE_CXX_STANDARD overridable (fix #741) by @pmai in #742
• Update build workflow for modular protobuf version support by @pmai in #758
• Workflow: Update Python and Actions + Black formatting Python files by @jdsika in #756
• feat: New OSI message osi_route by @FabianPfeufferCAP in #705
• Add orientation rate to PedestrianAttributes::Bone by @ClemensLinnhoff in #769
• Define mandatory field with checker rules by @ClemensLinnhoff in #778
• Removal of the historical .txt trace file format and related scripts by @PhRosenberger in #777
• Fix typos in proto files by @ClemensLinnhoff in #774
• Add new message for sub-bounding boxes by @pmai in #732
• Update github actions for release workflow by @pmai in #759
• Add check that all proto files are included in build by @pmai in #746
• feat: Add virtual detection area by @jruebsam in #781
• Modernize python build setup, protoc dependency by @pmai in #783
• Remove OSC todo comment from source_reference by @thomassedlmayer in #788
• Fix documentation on FeatureData messages by @thomassedlmayer in #792
• Feature/proj offset by @thomassedlmayer in #794
• Add system time to sensor data by @thomassedlmayer in #789
• Add pyspelling html filter by @thomassedlmayer in #795
• Deprecate various car types in favor of new alias TYPE_CAR by @pmai in #787
• Fix streaming principle image reference by @thomassedlmayer in #767
• Logical Traffic Rules and Speed Limit by @lemmer-fzi in #753
• Add initial TestPyPI package publishing by @pmai in #799
• Bump black from 23.12.1 to 24.3.0 by @dependabot in #793
• Fix osi trace robustness by @pmai in #801
• Improve omit_static_information field description by @FabianPfeuffer in #790
• Update and harmonize python installation instructions by @pmai in #800
• Fix outdated documentation on formatting scripts by @thomassedlmayer in #803
• Add rules according to notes in the documentation by @ClemensLinnhoff in #806
• Add full release publication of python packages by @pmai in #802
• Clarify handling of purely technical IDs by @pmai in #813
• Added hvd as a trace file type for HostVehicleData by @thempen in #810
• Adjust minimum protobuf requirement (fix #807) by @pmai in #814
• Add more top-level messages to OSITrace by @ClemensLinnhoff in #818

New Contributors

• @jruebsam made their first contribution in #781
• @dependabot made their first contribution in #793
• @FabianPfeuffer made their first contribution in #790
• @thempen made their first contribution in #810

Full Changelog: v3.6.0...v3.7.0-rc2

v3.7.0-rc1 - ASAM OSI "Jolly Jones" Release Candidate 1

Ambr(OSI)al Features!

This is a release candidate of OSI, not an official release. If no final changes are needed, it might be promoted to an official release upon confirmation by the ASAM TSC.

Purpose

This minor release contains a number of incremental enhancements and improvements:

• Sub-bounding boxes can be provided for ground truth objects to model e.g. concave non-rectangular objects in more realistic ways without resorting to full 3D models.
• Logical lanes can contain effective speed limit information to avoid the need to process traffic signs for speed selection.
• Routing information can be transmitted as part of HostVehicleData.
• Orientation rates can be transmitted as part of pedestrian skeleton information.
• A virtual detection area can be supplied in SensorData to visualize or indicate the currently active nominal detection area of a sensor.
• The system time of a source of SensorData can be supplied in addition to the simulation measurement timestamp to aid timing simulation and measurement use cases.
• An offset has been introduced that is to be added to the cartesian global ground truth coordinate system prior to mapping into a geodetic coordinate system with the proj.4 string. This harmonizes OSI with OpenDRIVE and allows the easier provision of false easting/northing in the coordinate transformation.
• The set of car types has been reduced to better harmonize with other OpenX standards as part of overall harmonization efforts.

Beyond that, many clarifications, improvements in definitions and documentation, enhanced installation information and enhanced Python support, including provisioning of Python packages on PyPI are key improvements in this release.

Content/Changes

• Add beam ID to LidarDetection by @ClemensLinnhoff in #739
• Update release.yml by @philipwindecker in #736
• Add osi_trafficcommandupdate.proto to CMakeLists by @ClemensLinnhoff in #744
• Make CMAKE_CXX_STANDARD overridable (fix #741) by @pmai in #742
• Update build workflow for modular protobuf version support by @pmai in #758
• Workflow: Update Python and Actions + Black formatting Python files by @jdsika in #756
• feat: New OSI message osi_route by @FabianPfeufferCAP in #705
• Add orientation rate to PedestrianAttributes::Bone by @ClemensLinnhoff in #769
• Define mandatory field with checker rules by @ClemensLinnhoff in #778
• Removal of the historical .txt trace file format and related scripts by @PhRosenberger in #777
• Fix typos in proto files by @ClemensLinnhoff in #774
• Add new message for sub-bounding boxes by @pmai in #732
• Update github actions for release workflow by @pmai in #759
• Add check that all proto files are included in build by @pmai in #746
• feat: Add virtual detection area by @jruebsam in #781
• Modernize python build setup, protoc dependency by @pmai in #783
• Remove OSC todo comment from source_reference by @thomassedlmayer in #788
• Fix documentation on FeatureData messages by @thomassedlmayer in #792
• Feature/proj offset by @thomassedlmayer in #794
• Add system time to sensor data by @thomassedlmayer in #789
• Add pyspelling html filter by @thomassedlmayer in #795
• Deprecate various car types in favor of new alias TYPE_CAR by @pmai in #787
• Fix streaming principle image reference by @thomassedlmayer in #767
• Logical Traffic Rules and Speed Limit by @lemmer-fzi & @thempen in #753

New Contributors

• @jruebsam made their first contribution in #781

Full Changelog: v3.6.0...v3.7.0-rc1

v3.6.0 - ASAM OSI "Inspiring Irvine"

Limitless P(OSI)bilities!

Purpose

In this minor release, a new streaming update interface message has been added for low-latency applications, as well as a HAD function output interface message.

The additions of detailed pedestrian skeleton information, host vehicle kinematics, lane road name information, an enhanced lane reference line ST definition, enhanced traffic sign variability information, added radial velocity and echo pulse width information in sensor detection data, and pixel_order information for camera sensor view data are further enhancements of this release.

Beyond that, many clarifications, improvements in definitions and documentation, enhanced installation information and enhanced/fixed flatbuffer support are key improvements in this release.

Content/Changes

• Build: Create base Antora setup by @philipwindecker in #666
• Fix path to asciidoc-resources by @philipwindecker in #669
• Added one more missing step by @philipwindecker in #670
• Build/master branch naming by @philipwindecker in #672
• Never trigger antora builds for PRs from forks by @pmai in #686
• Fix traffic sign variability attribute description by @thomassedlmayer in #671
• Fixing title of Fig. 10 with coordinate systems by @PhRosenberger in #696
• Add new traffic sign variability types by @thomassedlmayer in #683
• Add new enum Type in vehicle classification for stand-up scooters by @schmidtlorenz in #676
• Adapt ReferenceLine ST definition to avoid transformation ambiguity and discontinuities by @ReinhardBiegelIntech in #651
• Add DAY to TrafficSign-Value-Unit and change DAY to WEEKDAY by @FlorianMueller87 in #662
• Update host vehicle data with kinematics data by @MaikolDrechsler in #679
• Adding the missing field for echo pulse width to logical detections by @PhRosenberger in #590
• Logical lanes: add street name by @tbleher in #701
• Add sensor-specific data to detected stationary objects by @pmai in #702
• Feature/tp/had output by @lemmer-fzi in #452
• Build: Create a release pipeline that replaces the manual creation of a deliverable package by @philipwindecker in #678
• (feat SensorModelling) add pixel_order field by @RIFJo in #698
• Links in README and example moved to docu by @PhRosenberger in #720
• Fix sensordata reference frame definitions by @thomassedlmayer in #721
• Fix documentation on coordinate systems and transformations by @thomassedlmayer in #723
• Clean README and enhanced install instructions for protobuf in Docu by @PhRosenberger in #715
• Move missing vcpkg information to prerequisites by @pmai in #731
• Fix flatbuffer builds for upcoming release by @pmai in #730
• Added radial_velocity to LidarDetection by @ClemensLinnhoff in #729
• Streaming Interface by @ThomasNaderBMW in #718
• Add detailed pedestrian description to MovingObject by @Peintnerer in #710

New Contributors

• @philipwindecker made their first contribution in #666
• @schmidtlorenz made their first contribution in #676
• @ReinhardBiegelIntech made their first contribution in #651
• @FlorianMueller87 made their first contribution in #662
• @MaikolDrechsler made their first contribution in #679
• @lemmer-fzi made their first contribution in #452
• @RIFJo made their first contribution in #698
• @ClemensLinnhoff made their first contribution in #729
• @Peintnerer made their first contribution in #710

Full Changelog: v3.5.0...v3.6.0

v3.6.0-rc1 - ASAM OSI "Inspiring Irvine" Release Candidate 1

Limitless P(OSI)bilities!

This is a release candidate of OSI, not an official release. If no final changes are needed, it might be promoted to an official release upon confirmation by the ASAM TSC.

Purpose

In this minor release, a new streaming update interface message has been added for low-latency applications, as well as a HAD function output interface message.

The additions of detailed pedestrian skeleton information, host vehicle kinematics, lane road name information, an enhanced lane reference line ST definition, enhanced traffic sign variability information, added radial velocity and echo pulse width information in sensor detection data, and pixel_order information for camera sensor view data are further enhancements of this release.

Beyond that, many clarifications, improvements in definitions and documentation, enhanced installation information and enhanced/fixed flatbuffer support are key improvements in this release.

Content/Changes

• Build: Create base Antora setup by @philipwindecker in #666
• Fix path to asciidoc-resources by @philipwindecker in #669
• Added one more missing step by @philipwindecker in #670
• Build/master branch naming by @philipwindecker in #672
• Never trigger antora builds for PRs from forks by @pmai in #686
• Fix traffic sign variability attribute description by @thomassedlmayer in #671
• Fixing title of Fig. 10 with coordinate systems by @PhRosenberger in #696
• Add new traffic sign variability types by @thomassedlmayer in #683
• Add new enum Type in vehicle classification for stand-up scooters by @schmidtlorenz in #676
• Adapt ReferenceLine ST definition to avoid transformation ambiguity and discontinuities by @ReinhardBiegelIntech in #651
• Add DAY to TrafficSign-Value-Unit and change DAY to WEEKDAY by @FlorianMueller87 in #662
• Update host vehicle data with kinematics data by @MaikolDrechsler in #679
• Adding the missing field for echo pulse width to logical detections by @PhRosenberger in #590
• Logical lanes: add street name by @tbleher in #701
• Add sensor-specific data to detected stationary objects by @pmai in #702
• Feature/tp/had output by @lemmer-fzi in #452
• Build: Create a release pipeline that replaces the manual creation of a deliverable package by @philipwindecker in #678
• (feat SensorModelling) add pixel_order field by @RIFJo in #698
• Links in README and example moved to docu by @PhRosenberger in #720
• Fix sensordata reference frame definitions by @thomassedlmayer in #721
• Fix documentation on coordinate systems and transformations by @thomassedlmayer in #723
• Clean README and enhanced install instructions for protobuf in Docu by @PhRosenberger in #715
• Move missing vcpkg information to prerequisites by @pmai in #731
• Fix flatbuffer builds for upcoming release by @pmai in #730
• Added radial_velocity to LidarDetection by @ClemensLinnhoff in #729
• Streaming Interface by @ThomasNaderBMW in #718
• Add detailed pedestrian description to MovingObject by @Peintnerer in #710

New Contributors

• @philipwindecker made their first contribution in #666
• @schmidtlorenz made their first contribution in #676
• @ReinhardBiegelIntech made their first contribution in #651
• @FlorianMueller87 made their first contribution in #662
• @MaikolDrechsler made their first contribution in #679
• @lemmer-fzi made their first contribution in #452
• @RIFJo made their first contribution in #698
• @ClemensLinnhoff made their first contribution in #729
• @Peintnerer made their first contribution in #710

Full Changelog: v3.5.0...v3.6.0-rc1

v3.5.0 - ASAM OSI "Hard-fighting Hunt"

L(OSI)ng is not an option!

This is an official ASAM release of OSI. The standard can also be downloaded on the ASAM website.

Purpose

In this minor release, several interface messages have been updated and extended to better ensure consistency within the standard itself and harmonization with other OpenX-Standards like ASAM OpenDRIVE or ASAM OpenScenario.
In this context the extension of GroundTruth by logical lane information - to empower a better traffic participant modelling - was one of the key achievements for this release.

Content/Changes

• Added logical lane information (including st-representation) for traffic participant usage.
• Added route message TrafficCommandUpdate to offer a backchannel for (un)executed TrafficCommands.
• Extended EnvironmentalConditions regarding sun, wind and cloud state.
• Added dash property to boundary points.
• Extended HostVehicleData by automated driving function states and operating states.
• Added friction coefficient to moving object.
• Improved description of trucks in VehicleClassification.
• Added Role to VehicleClassification.
• Concretized LaneBoundary modelling.
• Removed protobuf version recommendation.
• CMake: Project usable via FetchContent.
• Doxygen: Improved output.
• CI: Moved to current protobuf release.
• Updated documentation of coordinate systems and their transformations.

v3.4.0 - OSI "Gallant Glock"

Speak p(OSI)tive!

This is an official ASAM release of OSI. The standard can also be downloaded on the ASAM website.

Purpose

In this minor release, several interface messages have been updated and extended to better ensure consistency within the standard itself and harmonization with other OpenX-Standards like ASAM OpenDRIVE.
Moreover, this release provides a first glance on the on-going efforts for OSI's documentation improvements and migration to AsciiDoc.

Content/Changes

Documentation Updates:

• Updated the documentation's structure and migrated it to AsciiDoc.
• Updated the description of OSI's top level messages.
• Updates on additional descriptions, like those for trace file formats, naming conventions and installation instructions for Linux/Windows.

Technical Updates:

• Extended SensorViewConfiguration message to allow the consumer to choose to not include static content in the SensorView ground truth information.
• Updated StationaryObject classification enums to avoid "pylon" duplication.
• Extended StationaryObject classification message to include speed bumps.
• Extended StationaryObject to include emitting structures of electromagnetic waves (for example this can be used to define a streetlamp).
• Extended the TrafficSign classification message, by adding attributes country, country_revision, code and sub_code, to better support internationalization and to align with ASAM OpenDRIVE.
• Updated the color coding message description to better align with ASAM OpenDRIVE.
• Update the color coding message description to include Grey, RGB, RGBIR, HSV, LUV and thus align with ISO-23150.
• Added an enum for dashed lane boundaries to disambiguate start and end of those.
• Extended HostVehcileData with more comprehensive on-board information, and promoted the message to a top-level message for exchange between simulation environments and (external) dynamic models.
• Extended LidarDetection message under feature data to include echo pulse width information to better support several sensor outputs that are currently on the market.
• Extended OSI to include a generic external reference message to enable traceability for data from other standards, including other ASAM OpenX standards.
• Added support for using OSI with Flatbuffers encoding for OSI messages instead of ProtoBuffers, in preparation for a potential switch of default encoding in a future major release.
• Extended LaneBoundary message to include additional types, to better align with ASAM OpenDRIVE.

v3.3.1 - OSI "Fabulous Fangio", Update 1

This is an official ASAM release of OSI. The standard can also be downloaded on the ASAM website.

Content/Changes

• Bug Fix: Fixed outdated version information in VERSION file in 3.3.0. This lead to wrong versioning in proto definitions and Doxygen documentation.
• Bug Fix: Removed outdated picture in README.md.

v3.3.0 - OSI "Fabulous Fangio"

Stay p(OSI)tive!

This is an official ASAM release of OSI. The standard can also be downloaded on the ASAM website.

Purpose

As a part of the increasing adoption of OSI in the industry, and its movement to ASAM as its home, several new use cases and extensions for OSI have been identified. This minor release highlights the work that has been done on several working packages including the introduction of brand new top level messages which extend OSI's scope beyond the specialized world of sensor modeling.

Content/Changes

• Introduced the TrafficCommand top-level message which enables event-based control of traffic participant models, e.g. with regard to a scenario specification.

• Introduced the TrafficUpdate top-level message to send updated properties of traffic participant models.

• Add new LogicalDetectionData message to SensorData, which provides detection data with respect to the reference frame of the logical/virtual sensor.

• Added a new submessage to further specify wheel data.

• Added a new field to support future trajectories of moving objects.

• Added a new subtype message to osi_lane to better align with OpenDrive's lane type information and enable traffic participant models to identify lanes on which they are supposed to move.

• Extended traffic lights and signs messages to include the model_references attribute that can be used to point out to a 3D-model.

• Add global model reference to ground truth that can be used to specify the 3D model representing the environment.

• Extended the camera sensor view configuration to better support the configuration of the simulation environment.

• Added a new field to describe the position of the steering wheel.

• Added a message MovingObjectClassification for classify-able attributes that are shared between different moving object types. Introduced the assigned lane id and the assigned lane percentage of a moving object there.

• Updated to checklist for pull requests to provide clearer orientation for all users.

• Updated the documentation of centerline and lane boundaries (ordering of the points, describing those lines).

• Updated the documentation of 3D bounding boxes.

• Update the documentation of ground clearance.

• Make handling of enums in rules check more robust, especially ones.

• Set the default compiler to C++ 11 to support protobuf>3.6.