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Extend ROS2 support Step 3: Rework ROS2 handling
This commit is extending the built-in ROS2 support of CARLA: - the internal interface is simplified and object oriented to allow easier ROS2 extensions in future and reduce code duplication - the sensor/actor stream existing for the TCP counterparts are used in a shared manner, which results in lower processing overhead and requires little individual code changes for ROS2 within UE-sensors - enable Boost and Asio exceptions for FastDDS to ensure properly - additional service interfaces are provided to control CARLA directly from ROS2 (Map, Blueprint and Episode handling, Spawn/DestroyObject) - convenient interfaces previously available via carla_ros_bridge are provided (e.g. pseudo sensors, object messages, traffic light/sign, actor/sensor lists) - new interfaces like e.g. CarlaVehicleTelemetryData, V2X, SynchronizationWindow,... - get detailed vehicle meshes as exact ground truth for e.g. LiDAR perception - Vehicle publisher implements a variety of individual publishers to mimick also old ROS-bridge convenient publisher: + CarlaVehicleInfo + CarlaVehicleControlStatus + Speed + Odometry + Object + ObjectWithCovariance + VehicleTelemetryData - Vehicle subscribers: + VehicleControlSubscriber + AckermannControlSubscriber, + SetTransformSubscriber - use of c++17 to support std::sample() usage - Dynamic switching on ROS visibility is possible for all actors now - Default startup behavior is selectable by ROS2TopicVisibility parameter in DefaultGame.ini: If true, then all and every topic that is currently offered by the implementation is visible from the beginning. If false, then only the sensors/actors created via the Client- or ROS-Interface are visible by defaults. Others can be activated via EnableForRos() calls (this allows for disabling interfaces e.g. for leaderboard) - ensure multiple service calls at once are working: + qos history kind eprosima::fastdds::dds::KEEP_ALL_HISTORY_QOS + qos reliablility kind eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS + qos durability kind eprosima::fastdds::dds::TRANSIENT_LOCAL_DURABILITY_QOS for reader, writer, topic - add set_transform() call to RGB Cameras - add odometry publisher to walkers - filter out invalid bounding boxes observed on a few traffic signs using bounding box transmission within object data
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‎CHANGELOG.md‎

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@@ -10,7 +10,8 @@
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* Improved V2X sensor capabilities: send complex custom user-defined data, support V2I sensors not attached to a vehicle
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* Introduced fine grained ServerSynchronization mechanism: each client decides for its own if it requires synchronization or not and provides its own synchronization window.
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Be aware: some existing code using master/slave sync mechanism might need rework. See also generate_traffic.py.
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* ROS2Native: Extended functionality and performance of ROS2 support
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## CARLA 0.9.16
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* Added NVIDIA Cosmos Transfer1 integration

‎LibCarla/cmake/fast_dds/CMakeLists.txt‎

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@@ -1,60 +1,97 @@
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cmake_minimum_required(VERSION 3.5.1)
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project(libcarla_fastdds)
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4-
# Install headers.
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6-
file(GLOB libcarla_carla_fastdds_headers
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"${libcarla_source_path}/carla/ros2/*.h"
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"${libcarla_source_path}/carla/ros2/publishers/*.h"
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"${libcarla_source_path}/carla/ros2/subscribers/*.h"
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"${libcarla_source_path}/carla/ros2/listeners/*.h"
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"${libcarla_source_path}/carla/ros2/types/*.h"
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# Install the required public interface headers
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foreach(dir "" "types/" )
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file(GLOB libcarla_carla_ros2_public_headers
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"${libcarla_source_path}/carla/ros2/${dir}*.h"
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)
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install(FILES ${libcarla_carla_fastdds_headers} DESTINATION include/carla/ros2)
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install(FILES ${libcarla_carla_ros2_public_headers} DESTINATION include/carla/ros2/${dir})
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endforeach()
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file(GLOB subdirs RELATIVE "${libcarla_source_path}/carla/ros2/fastdds" "${libcarla_source_path}/carla/ros2/fastdds/*")
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foreach(typedir "msg" "srv")
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foreach(dir ${subdirs})
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if(IS_DIRECTORY "${libcarla_source_path}/carla/ros2/fastdds/${dir}/${typedir}")
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file(GLOB libcarla_carla_ros2_types_${dir}_headers
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"${libcarla_source_path}/carla/ros2/fastdds/${dir}/${typedir}/*.h"
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"${libcarla_source_path}/carla/ros2/fastdds/${dir}/${typedir}/*.hpp"
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"${libcarla_source_path}/carla/ros2/fastdds/${dir}/${typedir}/*.ipp"
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)
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install(FILES ${libcarla_carla_ros2_types_${dir}_headers} DESTINATION include/carla/ros2/ros_types/${dir}/${typedir}/)
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endif()
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endforeach()
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endforeach()
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# Install dependencies for UE4 build
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file(GLOB fast_dds_dependencies "${FASTDDS_LIB_PATH}/*.a")
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install(FILES ${fast_dds_dependencies} DESTINATION lib)
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file(GLOB libcarla_fastdds_sources
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"${libcarla_source_path}/carla/ros2/*.cpp"
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"${libcarla_source_path}/carla/ros2/publishers/*.cpp"
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"${libcarla_source_path}/carla/ros2/subscribers/*.cpp"
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"${libcarla_source_path}/carla/ros2/listeners/*.cpp"
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"${libcarla_source_path}/carla/ros2/types/*.cpp")
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file(GLOB fast_dds_include_dirs "${FASTDDS_INCLUDE_PATH}/*")
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foreach(fast_dds_include_dir ${fast_dds_include_dirs})
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install(DIRECTORY "${fast_dds_include_dir}" DESTINATION include)
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endforeach()
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# Collect the sources
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foreach(ros2_dir
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"/"
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"fastdds/carla/ros2/impl/"
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"publishers/"
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"services/"
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"subscribers/"
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"types/")
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file(GLOB sources "${libcarla_source_path}/carla/ros2/${ros2_dir}*.cpp")
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list(APPEND libcarla_fastdds_sources ${sources})
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endforeach()
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file(GLOB msg_sources "${libcarla_source_path}/carla/ros2/fastdds/*/msg/*.cxx")
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list(APPEND libcarla_fastdds_sources ${msg_sources})
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file(GLOB srv_sources "${libcarla_source_path}/carla/ros2/fastdds/*/srv/*.cxx")
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list(APPEND libcarla_fastdds_sources ${srv_sources})
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# ==============================================================================
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# Create targets for debug and release in the same build type.
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# ==============================================================================
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set(libcarla_fastdds_include_directories
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# first the fastdds local folder allowing potential overrides of header files
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"${libcarla_source_path}/carla/ros2/fastdds"
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"${BOOST_INCLUDE_PATH}"
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"${RPCLIB_INCLUDE_PATH}"
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"${FASTDDS_INCLUDE_PATH}"
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"${libcarla_source_path}/carla/ros2"
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)
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if (LIBCARLA_BUILD_RELEASE)
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add_library(carla_fastdds STATIC ${libcarla_fastdds_sources})
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target_compile_options(carla_fastdds PRIVATE -fexceptions)
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add_library(carla_fastdds STATIC
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${libcarla_fastdds_sources}
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)
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target_include_directories(carla_fastdds SYSTEM PRIVATE
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"${BOOST_INCLUDE_PATH}"
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"${RPCLIB_INCLUDE_PATH}")
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target_include_directories(carla_fastdds PRIVATE "${FASTDDS_INCLUDE_PATH}")
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target_include_directories(carla_fastdds PRIVATE "${libcarla_source_path}/carla/ros2")
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target_link_libraries(carla_fastdds fastrtps fastcdr "${FAST_DDS_LIBRARIES}")
70+
${libcarla_fastdds_include_directories}
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)
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target_link_directories(carla_fastdds PRIVATE
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${FASTDDS_LIB_PATH}
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)
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install(TARGETS carla_fastdds DESTINATION lib)
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set_target_properties(carla_fastdds PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_FLAGS_RELEASE}")
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if(NOT WIN32)
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set(CMAKE_CXX_FLAGS_RELEASE "-O3 ${CMAKE_CXX_FLAGS_RELEASE}" CACHE STRING "" FORCE)
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endif()
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set_target_properties(carla_fastdds PROPERTIES COMPILE_FLAGS
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"-fexceptions ${CMAKE_CXX_FLAGS_RELEASE}")
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target_compile_definitions(carla_fastdds PUBLIC
82+
WITH_ROS2 CARLA_SERVER_BUILD)
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endif()
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4785
if (LIBCARLA_BUILD_DEBUG)
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add_library(carla_fastdds_debug STATIC ${libcarla_fastdds_sources})
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target_compile_options(carla_fastdds_debug PRIVATE -fexceptions)
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add_library(carla_fastdds_debug STATIC
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${libcarla_fastdds_sources}
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)
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target_include_directories(carla_fastdds_debug SYSTEM PRIVATE
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"${BOOST_INCLUDE_PATH}"
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"${RPCLIB_INCLUDE_PATH}")
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"${libcarla_fastdds_include_directories}"
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)
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install(TARGETS carla_fastdds_debug DESTINATION lib)
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set_target_properties(carla_fastdds_debug PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_FLAGS_DEBUG}")
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target_compile_definitions(carla_fastdds_debug PUBLIC -DBOOST_ASIO_ENABLE_BUFFER_DEBUGGING)
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set_target_properties(carla_fastdds_debug PROPERTIES COMPILE_FLAGS
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"-fexceptions ${CMAKE_CXX_FLAGS_DEBUG}")
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target_compile_definitions(carla_fastdds_debug PUBLIC
96+
WITH_ROS2 CARLA_SERVER_BUILD BOOST_ASIO_ENABLE_BUFFER_DEBUGGING)
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endif()

‎LibCarla/cmake/server/CMakeLists.txt‎

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@@ -23,8 +23,7 @@ foreach(dir ""
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"rpc/"
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"sensor/" "sensor/data/" "sensor/s11n/"
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"streaming/" "streaming/detail/" "streaming/detail/tcp/" "streaming/low_level/"
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"multigpu/"
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"ros2/")
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"multigpu/")
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2928
file(GLOB headers "${libcarla_source_path}/carla/${dir}*.h")
3029
install(FILES ${headers} DESTINATION include/carla/${dir})

‎LibCarla/source/carla/Buffer.cpp‎

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@@ -7,6 +7,7 @@ namespace carla {
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void Buffer::ReuseThisBuffer() {
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auto pool = _parent_pool.lock();
99
if (pool != nullptr) {
10+
log_debug("Buffer[", static_cast<void*>(_data.get()), ":", _size, "]::ReuseThisBuffer() returning buffer to pool:", pool.get());
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pool->Push(std::move(*this));
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}
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}

‎LibCarla/source/carla/Buffer.h‎

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@@ -251,9 +251,9 @@ namespace carla {
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/// allocated.
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void reset(size_type size) {
253253
if (_capacity < size) {
254-
log_debug("allocating buffer of", size, "bytes");
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_data = std::make_unique<value_type[]>(size);
256255
_capacity = size;
256+
log_debug("Buffer[", static_cast<void*>(_data.get()), ":", size, "]::reset() Allocated buffer data (old size: ", _size, ")");
257257
}
258258
_size = size;
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}

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