Vehicle Planner had some reorganization and adjusted Conditions and TrafficState to have better performance and better match the theoretical model from paper.
Cleaning up and reorganizing many unused or outdates conditions.
A new Carla integration was added as an experiment. Can only be used in co-simulation for visualization. By default, it is turned off.
A new Behavior Tree visualization (string or image inside log) can now be used to replace py_tree tools. It adds a new dependency: py_dot
Adapting the standard Behavior Trees and Scenarios to match new Conditions and parsing rules. They are inside scenarios/coretest_scenarios