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Change Date Impact Breaking Status
Config File Relocation Aug 2025 Low ❌ No ✅ Complete
CARLA Version Fixed Aug 2025 Medium ✅ Yes ✅ Complete
Default Template System Inherited Low ❌ No ✅ Complete

Configuration File Organization

What Changed: OpenCDA YAML configuration files relocated for better organization

configs/
├── opencda/              # OpenCDA scenario configs (moved here)
│   ├── default.yaml
│   ├── single_2lanefree_carla.yaml
│   ├── platoon_joining_2lanefree_carla.yaml
│   └── ...
└── marl/                 # MARL configs (future)
    └── ...

opencda/scenario_testing/config_yaml/  # Old location

Impact: Update paths when loading configuration files
Benefits: Clean separation between OpenCDA and MARL configurations

Core Changes

What Changed: CARLA version removed from YAML configurations, now fixed in code

# Before (remove this) 
carla: 
  version: 0.9.12 # Remove this line
client_port: 2000

# After (current)
carla:
client_port: 2000
# version is now fixed to 0.9.15 in code


opencda/scenario_testing/config_yaml/ 
# OpenCDA configs (unchanged) 
opencda_marl/configs/ 
# MARL configs (future) 
scenarios/ 
# MARL-specific scenarios
Impact: Remove CARLA version from existing YAML files
Benefits: Consistent CARLA version across all scenarios

Configuration Guidelines

Best Practices

When working with OpenCDA configurations:

  • OpenCDA Core: Use existing configuration system (unchanged)
  • MARL Extension: Will use separate config structure in opencda_marl/configs/
  • Inheritance: MARL configs may inherit from OpenCDA base configs

Migration: Only remove carla.version from YAML files if present

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