In conjunction with ROS2 use -ansimalloc for Unreal

Author: Bernd Gassmann

Util/BuildTools/BuildCarlaUE4.sh

@@ -19,6 +19,8 @@ USE_UNITY=true
 USE_ROS2=false
 
 EDITOR_FLAGS=""
+ROS2_EDITOR_FLAGS=""
+
 
 GDB=
 RHI="-vulkan"
@@ -70,6 +72,9 @@ while [[ $# -gt 0 ]]; do
       shift ;;
     --ros2 )
       USE_ROS2=true;
+      # In conjuncation with ROS2 MallocBinned has problems: 
+      # enforce using AnsiMalloc calls (see https://forums.unrealengine.com/t/dealing-with-allocator-mismatches-with-external-libraries/1416830)
+      ROS2_EDITOR_FLAGS="-ansimalloc"
       shift ;;
     --no-unity )
       USE_UNITY=false
@@ -208,7 +213,7 @@ fi
 if ${LAUNCH_UE4_EDITOR} ; then
 
   log "Launching UE4Editor..."
-  ${GDB} ${UE4_ROOT}/Engine/Binaries/Linux/UE4Editor "${PWD}/CarlaUE4.uproject" ${RHI} ${EDITOR_FLAGS}
+  ${GDB} ${UE4_ROOT}/Engine/Binaries/Linux/UE4Editor "${PWD}/CarlaUE4.uproject" ${RHI} ${EDITOR_FLAGS} ${ROS2_EDITOR_FLAGS}
 
 else
 

Util/CreateDebian.sh

@@ -74,6 +74,13 @@ cat >> CarlaUE4.sh <<EOF
 "/opt/carla-simulator/CarlaUE4/Binaries/Linux/CarlaUE4-Linux-Shipping" CarlaUE4 \$@
 EOF
 
+# Updating CarlaUE4ROS2.sh script
+rm CarlaUE4ROS2.sh
+cat >> CarlaUE4ROS2.sh <<EOF
+#!/bin/sh
+"/opt/carla-simulator/CarlaUE4/Binaries/Linux/CarlaUE4-Linux-Shipping" CarlaUE4 -ansimalloc \$@
+EOF
+
 # Making debian package to install Carla in /opt folder
 rm Makefile