Rework ros2 support

CHANGELOG.md

@@ -9,16 +9,15 @@
  * Added functions to get actor' sockets transforms
  * make PythonAPI Windows: Fixed incompatibility issue with Anaconda due `py` command.
  * Added function to get actor' sockets names
- * Fixed bug in python agents when vehicle list was empty causing a check on all vehicles (BasicAgent.py) and detected pedestrians as vehicles if no pedestrains are present (BehaviourAgent.py) 
+ * Fixed bug in python agents when vehicle list was empty causing a check on all vehicles (BasicAgent.py) and detected pedestrians as vehicles if no pedestrains are present (BehaviourAgent.py)
  * Extended debug drawing functions to allow drawing primitives on HUD layer
  * Added possibility to change gravity variable in imui sensor for the accelerometer
- * Fixed ROS2 native extension build error when ROS2 is installed in the system.
- * ROS2Native: Force fast-dds dependencies download to avoid build crash when boost_asio and tinyxml2 are not installed in Linux.
  * Added API function `get_telemetry_data` to the vehicle actor.
  * PythonAPI `Sensor.is_listening` was defined twice (property and method), cleaned and clarified it as a method.
  * Added V2X sensors for cooperative awareness message and custom user-defined messages to support vehicle-to-vehicle communication
  * Added named tuples for BasicAgent.py's detection result to allow for type-hints and better semantics.
-
+ * Cleaned up the client/server build and respective naming
+ * ROS2Native: Integrated ROS2 native extension
 
 ## CARLA 0.9.15
 

Docs/build_linux.md

@@ -40,7 +40,7 @@ CARLA requires many different kinds of software to run. Some are built during th
 sudo apt-get update &&
 sudo apt-get install wget software-properties-common &&
 sudo add-apt-repository ppa:ubuntu-toolchain-r/test &&
-wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key|sudo apt-key add
+sudo apt-get update
 ```
 
 !!! Warning
@@ -50,53 +50,37 @@ To avoid compatibility issues between Unreal Engine and the CARLA dependencies,
 
 __Ubuntu 22.04__.
 ```sh
-sudo apt-add-repository "deb http://archive.ubuntu.com/ubuntu focal main universe"
-sudo apt-get update
-sudo apt-get install build-essential clang-10 lld-10 g++-7 cmake ninja-build libvulkan1 python python3 python3-dev python3-pip libpng-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git git-lfs
-sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-10/bin/clang++ 180 &&
-sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-10/bin/clang 180 &&
-sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-7 180
+sudo apt-get install build-essential g++-13 cmake ninja-build libvulkan1 python python3 python3-dev python3-pip libpng-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git git-lfs
+sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-13 180
 ```
 
 __Ubuntu 20.04__.
 ```sh
-sudo apt-add-repository "deb http://apt.llvm.org/focal/ llvm-toolchain-focal main"
-sudo apt-get update
-sudo apt-get install build-essential clang-10 lld-10 g++-7 cmake ninja-build libvulkan1 python python-dev python3-dev python3-pip libpng-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
-sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-10/bin/clang++ 180 &&
-sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-10/bin/clang 180
+sudo apt-get install build-essential g++-13 cmake ninja-build libvulkan1 python python-dev python3-dev python3-pip libpng-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
+sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-13 180
 ```
 
 __Ubuntu 18.04__.
 
 ```sh
-sudo apt-add-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic main"
-sudo apt-get update
-sudo apt-get install build-essential clang-8 lld-8 g++-7 cmake ninja-build libvulkan1 python python-pip python-dev python3-dev python3-pip libpng-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
-sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-8/bin/clang++ 180 &&
-sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-8/bin/clang 180
+sudo apt-get install build-essential g++-13 cmake ninja-build libvulkan1 python python-pip python-dev python3-dev python3-pip libpng-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
+sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-13 180
 ```
 
 __Ubuntu 16.04__.
 
 ```sh
-sudo apt-add-repository "deb http://apt.llvm.org/xenial/ llvm-toolchain-xenial-8 main" &&
-sudo apt-get update
-sudo apt-get install build-essential clang-8 lld-8 g++-7 cmake ninja-build libvulkan1 python python-pip python-dev python3-dev python3-pip libpng16-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
-sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-8/bin/clang++ 180 &&
-sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-8/bin/clang 180
+sudo apt-get install build-essential g++-13 cmake ninja-build libvulkan1 python python-pip python-dev python3-dev python3-pip libpng16-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
+sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-13 180
 ```
 
 __Previous Ubuntu versions__.
 
 We strongly advise using Ubuntu 18.04 or later to build CARLA. However, you may attempt to build CARLA on older versions of Ubuntu with the following commands:
 
 ```sh
-sudo apt-add-repository "deb http://apt.llvm.org/<code_name>/ llvm-toolchain-<code_name>-8 main" &&
-sudo apt-get update
-sudo apt-get install build-essential clang-8 lld-8 g++-7 cmake ninja-build libvulkan1 python python-pip python-dev python3-dev python3-pip libpng16-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
-sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-8/bin/clang++ 180 &&
-sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-8/bin/clang 180
+sudo apt-get install build-essential g++-13 cmake ninja-build libvulkan1 python python-pip python-dev python3-dev python3-pip libpng16-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
+sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-13 180
 ```
 
 __All Ubuntu systems__.

Docs/ref_sensors.md

@@ -980,7 +980,7 @@ The function the user has to call every time to send a message. This function ne
     - **Parameters:**
         - `data` (_function_) - The called function with one argument containing the sensor data.  
 
-The custom V2X message sensor works a little bit different than other sensors, because it has the *send* function in addition to the *listen* function, that needs to be called, before another sensor of this type will receive anything. The transmission of a custom message is only triggered, when *send* is called. Each message given to the *send* function is only transmitted once to all Custom V2X Message sensors currently spawned.
+The custom V2X message sensor works a little bit different than other sensors, because it has the *send* function in addition to the *listen* function, that needs to be called, before another sensor of this type will receive anything. The transmission of a custom message is only triggered, when *send* is called. Each message given to the *send* function is only transmitted once to all Custom V2X Message sensors currently spawned. Independent communcation channels can be created by the sensors 'role_name' attribute. Only sensors having the same 'role_name' are communicating with each other. This allows to create different sender/receiver groups within the system.
 
 Example:
 

Examples/CppClient/Makefile

@@ -4,8 +4,8 @@ BINDIR=$(CURDIR)/bin
 INSTALLDIR=$(CURDIR)/libcarla-install
 TOOLCHAIN=$(CURDIR)/ToolChain.cmake
 
-CC=/usr/bin/gcc-7
-CXX=/usr/bin/g++-7
+CC=/usr/bin/gcc-13
+CXX=/usr/bin/g++-13
 CXXFLAGS=-std=c++14 -pthread -fPIC -O3 -DNDEBUG -Werror -Wall -Wextra
 
 define log

LibCarla/cmake/CMakeLists.txt

@@ -4,10 +4,12 @@ project(libcarla)
 option(LIBCARLA_BUILD_DEBUG "Build debug configuration" ON)
 option(LIBCARLA_BUILD_RELEASE "Build release configuration" ON)
 option(LIBCARLA_BUILD_TEST "Build unit tests" ON)
+option(LIBCARLA_USE_ROS "Build ROS variant" OFF)
 
 message(STATUS "Build debug:   ${LIBCARLA_BUILD_DEBUG}")
 message(STATUS "Build release: ${LIBCARLA_BUILD_RELEASE}")
 message(STATUS "Build test:    ${LIBCARLA_BUILD_TEST}")
+message(STATUS "Enable ROS:    ${LIBCARLA_USE_ROS}")
 
 set(libcarla_source_path "${PROJECT_SOURCE_DIR}/../source")
 set(libcarla_source_thirdparty_path "${libcarla_source_path}/third-party")
@@ -24,14 +26,12 @@ if (CMAKE_BUILD_TYPE STREQUAL "Client")
 elseif (CMAKE_BUILD_TYPE STREQUAL "Server")
   add_subdirectory("server")
 elseif (CMAKE_BUILD_TYPE STREQUAL "Pytorch")
-add_subdirectory("pytorch")
-elseif (CMAKE_BUILD_TYPE STREQUAL "ros2")
-add_subdirectory("fast_dds")
+  add_subdirectory("pytorch")
 else ()
   message(FATAL_ERROR "Unknown build type '${CMAKE_BUILD_TYPE}'")
 endif ()
 
 # GTest is not compiled on Windows.
-if ((LIBCARLA_BUILD_TEST) AND (NOT WIN32) AND (NOT (CMAKE_BUILD_TYPE STREQUAL "Pytorch")) AND (NOT (CMAKE_BUILD_TYPE STREQUAL "ros2")))
+if ((LIBCARLA_BUILD_TEST) AND (NOT WIN32) AND (NOT (CMAKE_BUILD_TYPE STREQUAL "Pytorch")))
   add_subdirectory("test")
 endif()

LibCarla/cmake/client/CMakeLists.txt

@@ -21,8 +21,8 @@ if (BUILD_RSS_VARIANT)
   install(FILES ${spdlog_file} DESTINATION lib)
   list(APPEND ADRSS_LIBS ${spdlog_file})
 
-  set(proj_include_dir ${ADRSS_INSTALL_DIR}/../../proj-install/include)
-  set(proj_lib ${ADRSS_INSTALL_DIR}/../../proj-install/lib/libproj.a)
+  set(proj_include_dir ${PROJ_INCLUDE_PATH})
+  set(proj_lib ${PROJ_LIBPATH}/libproj.a)
   install(DIRECTORY ${proj_include_dir} DESTINATION include/system)
   list(APPEND ADRSS_INCLUDE_DIRS ${proj_include_dir})
   install(FILES ${proj_lib} DESTINATION lib)
@@ -98,6 +98,12 @@ file(GLOB libcarla_carla_sources
 set(libcarla_sources "${libcarla_sources};${libcarla_carla_sources}")
 install(FILES ${libcarla_carla_sources} DESTINATION include/carla)
 
+file(GLOB libcarla_carla_actors_sources
+    "${libcarla_source_path}/carla/actors/*.cpp"
+    "${libcarla_source_path}/carla/actors/*.h")
+set(libcarla_sources "${libcarla_sources};${libcarla_carla_actors_sources}")
+install(FILES ${libcarla_carla_actors_sources} DESTINATION include/carla/actors)
+
 file(GLOB libcarla_carla_client_sources
     "${libcarla_source_path}/carla/client/*.cpp"
     "${libcarla_source_path}/carla/client/*.h")
@@ -266,12 +272,6 @@ file(GLOB libcarla_carla_trafficmanager_sources
 set(libcarla_sources "${libcarla_sources};${libcarla_carla_trafficmanager_sources}")
 install(FILES ${libcarla_carla_trafficmanager_sources} DESTINATION include/carla/trafficmanager)
 
-file(GLOB libcarla_carla_ros2_sources
-    "${libcarla_source_path}/carla/ros2/*.cpp"
-    "${libcarla_source_path}/carla/ros2/*.h")
-set(libcarla_sources "${libcarla_sources};${libcarla_carla_ros2_sources}")
-install(FILES ${libcarla_carla_ros2_sources} DESTINATION include/carla/ros2)
-
 # ==============================================================================
 # Create targets for debug and release in the same build type.
 # ==============================================================================