1.heavy means simulator calculation compare to other simulators such as LGSVL Simulator. I felt your simulator is too heavy when we use CARLA with GUI in Linux.
2.I try to build in Linux/Windows and it was very hard.. So, I felt it is very hard to modify source code and contribute to your sim.
3.Sorry for my vague answer, but when I drive a vehicle in your sim, and I felt that the vehicle turns to much rapidly compare to real cars. I think friction calculation or something like that is strange.
4.It sounds good!! It improves CARLA usability.
5.Great
I forget to say a big problem in CARLA.
CARLA Lidar collision detection for the Ego Vehicle is a Box Collider.
I think it is not good for autonomous driving software development.
Lidar Data is very very important data for Autoware.
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