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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 To achieve such, also some refactoring on the core LibCarla parts were required in advance: "Extend ROS2 support Step 1: Update geometry data types" is required to ease the conversion between CARLA/Unreal and ROS2 data types. "Extend ROS2 support Step 1: Prepare for mulistream" and "Extend ROS2 support Step 2: Serializer and RPC" are required to provide correct TF data for sensors, to deserialize the UE4 data streams within ROS2 server and to support new ROS2 service interfaces. "Extend ROS2 support Step 1: V2XSensor" is i.e. required to support the exchange of complex data via V2X (e.g. to test out new protocols in simulation). "Extend ROS2 support Step 2: Fine grained ServerSynchronization" is required to support the new CarlaSynchronizationWindow message.
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‎CHANGELOG.md‎

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@@ -10,7 +10,8 @@
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* Introduced geom::AngularVelocity, geom::Velocity, geom::Acceleration, geom::Quaternion types
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* Fixed geom::Rotation::RotateVector() rotation directions of pitch and roll
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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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* 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.
5-
6-
file(GLOB libcarla_carla_fastdds_headers
7-
"${libcarla_source_path}/carla/ros2/*.h"
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"${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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"${libcarla_source_path}/carla/ros2/types/*.h"
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# Install the required public interface headers
5+
foreach(dir "" "types/" )
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file(GLOB libcarla_carla_ros2_public_headers
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"${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 ${srv_sources})
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# ==============================================================================
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# Create targets for debug and release in the same build type.
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# ==============================================================================
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set(libcarla_fastdds_include_directories
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# first the fastdds local folder allowing potential overrides of header files
58+
"${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 "${FAST_DDS_LIBRARIES}")
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${libcarla_fastdds_include_directories}
71+
)
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target_link_directories(carla_fastdds PRIVATE
73+
${FASTDDS_LIB_PATH}
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)
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install(TARGETS carla_fastdds DESTINATION lib)
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set_target_properties(carla_fastdds PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_FLAGS_RELEASE}")
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76+
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
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WITH_ROS2 CARLA_SERVER_BUILD)
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endif()
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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/"
26-
"multigpu/"
27-
"ros2/")
26+
"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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void Buffer::ReuseThisBuffer() {
88
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));
1112
}
1213
}

‎LibCarla/source/carla/Buffer.h‎

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@@ -251,9 +251,9 @@ namespace carla {
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/// allocated.
252252
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;
259259
}

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