diff --git a/CHANGELOG.md b/CHANGELOG.md
index ba19da0946b..0e97bcab5ab 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,6 +1,7 @@
 ## LATEST Changes
 
 * Added actor description as Actor TAGs
+* Got Windows ROS2 Build working
 
 
 ## CARLA 0.10.0
diff --git a/CMake/Options.cmake b/CMake/Options.cmake
index c163f40137b..9e9908a8d8f 100644
--- a/CMake/Options.cmake
+++ b/CMake/Options.cmake
@@ -53,7 +53,7 @@ carla_option (
 carla_option (
   ENABLE_ROS2
   "Enable ROS2."
-  OFF
+  ON
 )
 
 carla_option (
@@ -420,7 +420,7 @@ carla_string_option (
 carla_string_option (
   CARLA_FASTDDS_VERSION
   "Target Fast-DDS version."
-  2.11.2
+  2.11.3
 )
 
 carla_string_option (
diff --git a/CMake/Toolchain.cmake b/CMake/Toolchain.cmake
index 5940300d55c..b4bbee9f57c 100644
--- a/CMake/Toolchain.cmake
+++ b/CMake/Toolchain.cmake
@@ -10,201 +10,201 @@
 
 if (LINUX)
 
-set (UE_ROOT $ENV{CARLA_UNREAL_ENGINE_PATH})
+	set (UE_ROOT $ENV{CARLA_UNREAL_ENGINE_PATH})
 
-if (NOT UE_ROOT)
-	set (UE_ROOT $ENV{UE_ROOT})
-endif ()
-
-if ("${UE_ROOT}" STREQUAL "")
-	set (UE_ROOT ${CARLA_UNREAL_ENGINE_PATH})
-	set (ENV{UE_ROOT} ${UE_ROOT}) # @TODO
-endif ()
+	if (NOT UE_ROOT)
+		set (UE_ROOT $ENV{UE_ROOT})
+	endif ()
 
-if (NOT EXISTS ${UE_ROOT})
-	message (FATAL_ERROR "The specified Carla Unreal Engine 5 path does not exist (\"${UE_ROOT}\").")
-endif ()
+	if ("${UE_ROOT}" STREQUAL "")
+		set (UE_ROOT ${CARLA_UNREAL_ENGINE_PATH})
+		set (ENV{UE_ROOT} ${UE_ROOT}) # @TODO
+	endif ()
 
-set (ARCH ${CMAKE_HOST_SYSTEM_PROCESSOR})
-
-if	(${ARCH} STREQUAL "x86_64")
-	set	(CMAKE_SYSTEM_PROCESSOR x86_64 CACHE STRING "")
-	set	(TARGET_TRIPLE "x86_64-unknown-linux-gnu" CACHE STRING "")
-elseif (${ARCH} STREQUAL "aarch64")
-	set (CMAKE_SYSTEM_PROCESSOR aarch64 CACHE STRING "")
-	set (TARGET_TRIPLE "aarch64-unknown-linux-gnueabi" CACHE STRING "")
-endif()
-
-file (
-	GLOB
-	UE_SYSROOT_CANDIDATES
-	${UE_ROOT}/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v*_clang-*.*.*-*/${TARGET_TRIPLE}
-	LIST_DIRECTORIES TRUE
-	FOLLOW_SYMLINKS
-)
-
-set (UE_SYSROOT_CANDIDATE)
-foreach (CANDIDATE ${UE_SYSROOT_CANDIDATES})
-	if (IS_DIRECTORY ${CANDIDATE})
-		set (UE_SYSROOT_CANDIDATE ${CANDIDATE})
-		break ()
+	if (NOT EXISTS ${UE_ROOT})
+		message (FATAL_ERROR "The specified Carla Unreal Engine 5 path does not exist (\"${UE_ROOT}\").")
 	endif ()
-endforeach ()
 
-if (NOT UE_SYSROOT_CANDIDATE)
-	message (FATAL_ERROR "Could not find Unreal Engine clang sysroot.")
-endif ()
+	set (ARCH ${CMAKE_HOST_SYSTEM_PROCESSOR})
+
+	if	(${ARCH} STREQUAL "x86_64")
+		set	(CMAKE_SYSTEM_PROCESSOR x86_64 CACHE STRING "")
+		set	(TARGET_TRIPLE "x86_64-unknown-linux-gnu" CACHE STRING "")
+	elseif (${ARCH} STREQUAL "aarch64")
+		set (CMAKE_SYSTEM_PROCESSOR aarch64 CACHE STRING "")
+		set (TARGET_TRIPLE "aarch64-unknown-linux-gnueabi" CACHE STRING "")
+	endif()
+
+	file (
+		GLOB
+		UE_SYSROOT_CANDIDATES
+		${UE_ROOT}/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v*_clang-*.*.*-*/${TARGET_TRIPLE}
+		LIST_DIRECTORIES TRUE
+		FOLLOW_SYMLINKS
+	)
+
+	set (UE_SYSROOT_CANDIDATE)
+	foreach (CANDIDATE ${UE_SYSROOT_CANDIDATES})
+		if (IS_DIRECTORY ${CANDIDATE})
+			set (UE_SYSROOT_CANDIDATE ${CANDIDATE})
+			break ()
+		endif ()
+	endforeach ()
+
+	if (NOT UE_SYSROOT_CANDIDATE)
+		message (FATAL_ERROR "Could not find Unreal Engine clang sysroot.")
+	endif ()
 
-set (
-	UE_SYSROOT
-	${UE_SYSROOT_CANDIDATE}
-	CACHE PATH ""
-)
-
-set (
-	UE_THIRD_PARTY
-	${UE_ROOT}/Engine/Source/ThirdParty CACHE PATH ""
-)
-
-set (
-	UE_INCLUDE
-	${UE_THIRD_PARTY}/Unix/LibCxx/include CACHE PATH ""
-)
-
-set (
-	UE_LIBS
-	${UE_THIRD_PARTY}/Unix/LibCxx/lib/Unix/${TARGET_TRIPLE} CACHE PATH ""
-)
-
-set (
-	UE_OPENSSL_INCLUDE
-	${UE_THIRD_PARTY}/OpenSSL/1.1.1t/include/Unix CACHE PATH ""
-)
-
-set (
-	UE_OPENSSL_LIBS
-	${UE_THIRD_PARTY}/OpenSSL/1.1.1t/lib/Unix/x86_64-unknown-linux-gnu CACHE PATH ""
-)
-
-add_compile_options (
-	-fms-extensions
-	-fno-math-errno
-	-fdiagnostics-absolute-paths
-	$<$<COMPILE_LANGUAGE:CXX>:-stdlib=libc++>
-)
-
-add_link_options (-stdlib=libc++ -L${UE_LIBS} )
-
-set (
-	CMAKE_AR
-	${UE_SYSROOT}/bin/llvm-ar
-	CACHE FILEPATH ""
-)
-
-set (
-	CMAKE_ASM_COMPILER
-	${UE_SYSROOT}/bin/clang
-	CACHE FILEPATH ""
-)
-
-set (
-	CMAKE_C_COMPILER
-	${UE_SYSROOT}/bin/clang
-	CACHE FILEPATH ""
-)
-
-set (
-	CMAKE_C_COMPILER_AR
-	${UE_SYSROOT}/bin/llvm-ar
-	CACHE FILEPATH ""
-)
-
-set (
-	CMAKE_CXX_COMPILER
-	${UE_SYSROOT}/bin/clang++
-	CACHE FILEPATH ""
-)
-
-set (
-	CMAKE_CXX_COMPILER_AR
-	${UE_SYSROOT}/bin/llvm-ar
-	CACHE FILEPATH ""
-)
-
-set (
-	CMAKE_OBJCOPY
-	${UE_SYSROOT}/bin/llvm-objcopy
-	CACHE FILEPATH ""
-)
-
-set (
-	CMAKE_ADDR2LINE
-	${UE_SYSROOT}/bin/${TARGET_TRIPLE}-addr2line
-	CACHE FILEPATH ""
-)
-
-set (
-	CMAKE_C_COMPILER_RANLIB
-	${UE_SYSROOT}/bin/${TARGET_TRIPLE}-ranlib
-	CACHE FILEPATH ""
-)
-
-set (
-	CMAKE_CXX_COMPILER_RANLIB
-	${UE_SYSROOT}/bin/${TARGET_TRIPLE}-ranlib
-	CACHE FILEPATH ""
-)
-
-set (
-	CMAKE_LINKER
-	${UE_SYSROOT}/bin/${TARGET_TRIPLE}-ld
-	CACHE FILEPATH ""
-)
-
-set (
-	CMAKE_NM
-	${UE_SYSROOT}/bin/${TARGET_TRIPLE}-nm
-	CACHE FILEPATH ""
-)
-
-set (
-	CMAKE_OBJDUMP
-	${UE_SYSROOT}/bin/${TARGET_TRIPLE}-objdump
-	CACHE FILEPATH ""
-)
-
-set (
-	CMAKE_RANLIB
-	${UE_SYSROOT}/bin/${TARGET_TRIPLE}-ranlib
-	CACHE FILEPATH ""
-)
-
-set (
-	CMAKE_READELF
-	${UE_SYSROOT}/bin/${TARGET_TRIPLE}-readelf
-	CACHE FILEPATH ""
-)
-
-set (
-	CMAKE_STRIP
-	${UE_SYSROOT}/bin/${TARGET_TRIPLE}-strip
-	CACHE FILEPATH ""
-)
-
-set (
-	COVERAGE_COMMAND
-	${UE_SYSROOT}/bin/${TARGET_TRIPLE}-gcov
-	CACHE FILEPATH ""
-)
-
-set (
-	CMAKE_CXX_STANDARD_LIBRARIES
-	"${UE_LIBS}/libc++.a ${UE_LIBS}/libc++abi.a"
-)
-
-set (
-	CMAKE_CXX_STANDARD_INCLUDE_DIRECTORIES
-	${UE_INCLUDE} ${UE_INCLUDE}/c++/v1
-)
+	set (
+		UE_SYSROOT
+		${UE_SYSROOT_CANDIDATE}
+		CACHE PATH ""
+	)
+
+	set (
+		UE_THIRD_PARTY
+		${UE_ROOT}/Engine/Source/ThirdParty CACHE PATH ""
+	)
+
+	set (
+		UE_INCLUDE
+		${UE_THIRD_PARTY}/Unix/LibCxx/include CACHE PATH ""
+	)
+
+	set (
+		UE_LIBS
+		${UE_THIRD_PARTY}/Unix/LibCxx/lib/Unix/${TARGET_TRIPLE} CACHE PATH ""
+	)
+
+	set (
+		UE_OPENSSL_INCLUDE
+		${UE_THIRD_PARTY}/OpenSSL/1.1.1t/include/Unix CACHE PATH ""
+	)
+
+	set (
+		UE_OPENSSL_LIBS
+		${UE_THIRD_PARTY}/OpenSSL/1.1.1t/lib/Unix/x86_64-unknown-linux-gnu CACHE PATH ""
+	)
+
+	add_compile_options (
+		-fms-extensions
+		-fno-math-errno
+		-fdiagnostics-absolute-paths
+		$<$<COMPILE_LANGUAGE:CXX>:-stdlib=libc++>
+	)
+
+	add_link_options (-stdlib=libc++ -L${UE_LIBS} )
+
+	set (
+		CMAKE_AR
+		${UE_SYSROOT}/bin/llvm-ar
+		CACHE FILEPATH ""
+	)
+
+	set (
+		CMAKE_ASM_COMPILER
+		${UE_SYSROOT}/bin/clang
+		CACHE FILEPATH ""
+	)
+
+	set (
+		CMAKE_C_COMPILER
+		${UE_SYSROOT}/bin/clang
+		CACHE FILEPATH ""
+	)
+
+	set (
+		CMAKE_C_COMPILER_AR
+		${UE_SYSROOT}/bin/llvm-ar
+		CACHE FILEPATH ""
+	)
+
+	set (
+		CMAKE_CXX_COMPILER
+		${UE_SYSROOT}/bin/clang++
+		CACHE FILEPATH ""
+	)
+
+	set (
+		CMAKE_CXX_COMPILER_AR
+		${UE_SYSROOT}/bin/llvm-ar
+		CACHE FILEPATH ""
+	)
+
+	set (
+		CMAKE_OBJCOPY
+		${UE_SYSROOT}/bin/llvm-objcopy
+		CACHE FILEPATH ""
+	)
+
+	set (
+		CMAKE_ADDR2LINE
+		${UE_SYSROOT}/bin/${TARGET_TRIPLE}-addr2line
+		CACHE FILEPATH ""
+	)
+
+	set (
+		CMAKE_C_COMPILER_RANLIB
+		${UE_SYSROOT}/bin/${TARGET_TRIPLE}-ranlib
+		CACHE FILEPATH ""
+	)
+
+	set (
+		CMAKE_CXX_COMPILER_RANLIB
+		${UE_SYSROOT}/bin/${TARGET_TRIPLE}-ranlib
+		CACHE FILEPATH ""
+	)
+
+	set (
+		CMAKE_LINKER
+		${UE_SYSROOT}/bin/${TARGET_TRIPLE}-ld
+		CACHE FILEPATH ""
+	)
+
+	set (
+		CMAKE_NM
+		${UE_SYSROOT}/bin/${TARGET_TRIPLE}-nm
+		CACHE FILEPATH ""
+	)
+
+	set (
+		CMAKE_OBJDUMP
+		${UE_SYSROOT}/bin/${TARGET_TRIPLE}-objdump
+		CACHE FILEPATH ""
+	)
+
+	set (
+		CMAKE_RANLIB
+		${UE_SYSROOT}/bin/${TARGET_TRIPLE}-ranlib
+		CACHE FILEPATH ""
+	)
+
+	set (
+		CMAKE_READELF
+		${UE_SYSROOT}/bin/${TARGET_TRIPLE}-readelf
+		CACHE FILEPATH ""
+	)
+
+	set (
+		CMAKE_STRIP
+		${UE_SYSROOT}/bin/${TARGET_TRIPLE}-strip
+		CACHE FILEPATH ""
+	)
+
+	set (
+		COVERAGE_COMMAND
+		${UE_SYSROOT}/bin/${TARGET_TRIPLE}-gcov
+		CACHE FILEPATH ""
+	)
+
+	set (
+		CMAKE_CXX_STANDARD_LIBRARIES
+		"${UE_LIBS}/libc++.a ${UE_LIBS}/libc++abi.a"
+	)
+
+	set (
+		CMAKE_CXX_STANDARD_INCLUDE_DIRECTORIES
+		${UE_INCLUDE} ${UE_INCLUDE}/c++/v1
+	)
 
 endif ()
diff --git a/CarlaSetup.bat b/CarlaSetup.bat
index af7148c4830..3fc9883dd5b 100644
--- a/CarlaSetup.bat
+++ b/CarlaSetup.bat
@@ -2,7 +2,8 @@
 setlocal EnableDelayedExpansion
 
 set skip_prerequisites=false
-set launch=false
+set skip_prebuild=false
+set launch=true
 set interactive=false
 set python_path=python
 set python_root=
@@ -77,19 +78,47 @@ if exist "%cd%\Unreal\CarlaUnreal\Content" (
 )
 
 rem Activate VS terminal development environment:
-if exist "%PROGRAMFILES%\Microsoft Visual Studio\2022\Community\VC\Auxiliary\Build\vcvars64.bat" (
-    echo Activating "x64 Native Tools Command Prompt" terminal environment.
-    call "%PROGRAMFILES%\Microsoft Visual Studio\2022\Community\VC\Auxiliary\Build\vcvars64.bat" || exit /b
-) else (
-    echo Could not find vcvarsall.bat, aborting setup...
+set "vcvars64_found="
+
+echo Checking for Visual Studio 2022...
+if exist "%ProgramFiles%\Microsoft Visual Studio\2022\Professional\VC\Auxiliary\Build\vcvars64.bat" (
+    set "vcvars64_found=true"
+    call "%ProgramFiles%\Microsoft Visual Studio\2022\Professional\VC\Auxiliary\Build\vcvars64.bat" || exit /b
+)
+if exist "%ProgramFiles%\Microsoft Visual Studio\2022\Community\VC\Auxiliary\Build\vcvars64.bat" (
+    set "vcvars64_found=true"
+    call "%ProgramFiles%\Microsoft Visual Studio\2022\Community\VC\Auxiliary\Build\vcvars64.bat" || exit /b
+)
+if exist "%ProgramFiles(x86)%\Microsoft Visual Studio\2022\Professional\VC\Auxiliary\Build\vcvars64.bat" (
+    set "vcvars64_found=true"
+    call "%ProgramFiles(x86)%\Microsoft Visual Studio\2022\Professional\VC\Auxiliary\Build\vcvars64.bat" || exit /b
+)
+if exist "%ProgramFiles(x86)%\Microsoft Visual Studio\2022\Community\VC\Auxiliary\Build\vcvars64.bat" (
+    set "vcvars64_found=true"
+    call "%ProgramFiles(x86)%\Microsoft Visual Studio\2022\Community\VC\Auxiliary\Build\vcvars64.bat" || exit /b
+)
+if exist "%ProgramFiles%\Microsoft Visual Studio\2022\Enterprise\VC\Auxiliary\Build\vcvars64.bat" (
+    set "vcvars64_found=true"
+    call "%ProgramFiles%\Microsoft Visual Studio\2022\Enterprise\VC\Auxiliary\Build\vcvars64.bat" || exit /b
+)
+if exist "%ProgramFiles(x86)%\Microsoft Visual Studio\2022\Enterprise\VC\Auxiliary\Build\vcvars64.bat" (
+    set "vcvars64_found=true"
+    call "%ProgramFiles(x86)%\Microsoft Visual Studio\2022\Enterprise\VC\Auxiliary\Build\vcvars64.bat" || exit /b
+)
+
+if "%vcvars64_found%"=="" (
+    echo Could not find vcvars64.bat for any detected Visual Studio version, aborting setup...
     exit 1
+) else (
+    echo Visual Studio 2022 found.
 )
 
 rem -- DOWNLOAD + BUILD UNREAL ENGINE --
 if exist "%CARLA_UNREAL_ENGINE_PATH%" (
     echo Found Unreal Engine 5 at "%CARLA_UNREAL_ENGINE_PATH%".
 ) else if exist ..\UnrealEngine5_carla (
-    echo Found CARLA Unreal Engine at %cd%/UnrealEngine5_carla. Assuming already built...
+    echo Found CARLA Unreal Engine at %cd%/../UnrealEngine5_carla. Assuming already built...
+    set CARLA_UNREAL_ENGINE_PATH=%cd%/../UnrealEngine5_carla
 ) else (
     echo Could not find CARLA Unreal Engine, downloading...
     pushd ..
@@ -112,23 +141,24 @@ if exist "%CARLA_UNREAL_ENGINE_PATH%" (
     popd
 )
 
-rem -- BUILD CARLA --
-echo Configuring the CARLA CMake project...
-cmake ^
-    -G Ninja ^
-    -S . ^
-    -B Build ^
-    --toolchain=CMake/Toolchain.cmake ^
-    -DPython_ROOT_DIR=%python_root% ^
-    -DPython3_ROOT_DIR=%python_root% ^
-    -DCMAKE_BUILD_TYPE=Release ^
-    -DCARLA_UNREAL_ENGINE_PATH=%CARLA_UNREAL_ENGINE_PATH% || exit /b
-echo Building CARLA...
-cmake --build Build || exit /b
-echo Installing Python API...
-cmake --build Build --target carla-python-api-install || exit /b
-echo CARLA Python API build+install succeeded.
-
+if %skip_prebuild%==false (
+    rem -- BUILD CARLA --
+    echo Configuring the CARLA CMake project...
+    cmake ^
+        -G Ninja ^
+        -S . ^
+        -B Build ^
+        --toolchain=CMake/Toolchain.cmake ^
+        -DPython_ROOT_DIR=%python_root% ^
+        -DPython3_ROOT_DIR=%python_root% ^
+        -DCMAKE_BUILD_TYPE=Release ^
+        -DCARLA_UNREAL_ENGINE_PATH=%CARLA_UNREAL_ENGINE_PATH% || exit /b
+    echo Building CARLA...
+    cmake --build Build || exit /b
+    echo Installing Python API...
+    cmake --build Build --target carla-python-api-install || exit /b
+    echo CARLA Python API build+install succeeded.
+)
 rem -- POST-BUILD STEPS --
 
 if %launch%==true (
diff --git a/LibCarla/source/carla/ros2/ROS2.cpp b/LibCarla/source/carla/ros2/ROS2.cpp
index ed563cb6bec..720ca451109 100644
--- a/LibCarla/source/carla/ros2/ROS2.cpp
+++ b/LibCarla/source/carla/ros2/ROS2.cpp
@@ -94,7 +94,7 @@ void ROS2::SetFrame(uint64_t frame) {
       if (_controller->HasNewMessage()) {
         auto it = _actor_callbacks.find(actor);
         if (it != _actor_callbacks.end()) {
-          VehicleControl control = _controller->GetMessage();
+          VehicleControl control = _controller->GetCarlaMessage();
           it->second(actor, control);
         }
       }
@@ -114,7 +114,7 @@ void ROS2::SetFrame(uint64_t frame) {
       auto it = _actor_message_callbacks.find(actor);
       if (it != _actor_message_callbacks.end()) {
         MessageControl control;
-        control.message = _basic_subscriber->GetMessage();
+        control.message = _basic_subscriber->GetCarlaMessage();
         it->second(actor, control);
       }
     }
diff --git a/LibCarla/source/carla/ros2/publishers/CarlaIMUPublisher.cpp b/LibCarla/source/carla/ros2/publishers/CarlaIMUPublisher.cpp
index ce971ca0b46..50e9d3bcab5 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaIMUPublisher.cpp
+++ b/LibCarla/source/carla/ros2/publishers/CarlaIMUPublisher.cpp
@@ -1,3 +1,8 @@
+#ifdef _WIN32
+// Allow use of M_PI
+#define _USE_MATH_DEFINES
+#endif // _WIN32
+
 #include "CarlaIMUPublisher.h"
 
 #include <string>
diff --git a/LibCarla/source/carla/ros2/publishers/CarlaTransformPublisher.cpp b/LibCarla/source/carla/ros2/publishers/CarlaTransformPublisher.cpp
index fb622f14fdf..8dc26a074c2 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaTransformPublisher.cpp
+++ b/LibCarla/source/carla/ros2/publishers/CarlaTransformPublisher.cpp
@@ -1,3 +1,9 @@
+#ifdef _WIN32
+#define _USE_MATH_DEFINES
+// Convert GNU C lib M_PIf32 to a float 32 version of M_PI
+#define M_PIf32 (float)M_PI
+#endif // _WIN32
+ 
 #include "CarlaTransformPublisher.h"
 
 #include <string>
diff --git a/LibCarla/source/carla/ros2/subscribers/BasicSubscriber.cpp b/LibCarla/source/carla/ros2/subscribers/BasicSubscriber.cpp
index 9bbe83c0a01..5f68e2c698d 100644
--- a/LibCarla/source/carla/ros2/subscribers/BasicSubscriber.cpp
+++ b/LibCarla/source/carla/ros2/subscribers/BasicSubscriber.cpp
@@ -98,7 +98,7 @@ namespace ros2 {
     _impl->_alive = false;
   }
 
-  const char* BasicSubscriber::GetMessage() {
+  const char* BasicSubscriber::GetCarlaMessage() {
     _impl->_new_message = false;
     return _impl->_message.c_str();
   }
diff --git a/LibCarla/source/carla/ros2/subscribers/BasicSubscriber.h b/LibCarla/source/carla/ros2/subscribers/BasicSubscriber.h
index 1c94eae2084..ef85dea4132 100644
--- a/LibCarla/source/carla/ros2/subscribers/BasicSubscriber.h
+++ b/LibCarla/source/carla/ros2/subscribers/BasicSubscriber.h
@@ -26,7 +26,7 @@ namespace ros2 {
 
       bool HasNewMessage();
       bool IsAlive();
-      const char* GetMessage();
+      const char* GetCarlaMessage();
       void* GetActor();
 
       bool Init();
diff --git a/LibCarla/source/carla/ros2/subscribers/CarlaEgoVehicleControlSubscriber.cpp b/LibCarla/source/carla/ros2/subscribers/CarlaEgoVehicleControlSubscriber.cpp
index 0089336e07c..daaea0a2865 100644
--- a/LibCarla/source/carla/ros2/subscribers/CarlaEgoVehicleControlSubscriber.cpp
+++ b/LibCarla/source/carla/ros2/subscribers/CarlaEgoVehicleControlSubscriber.cpp
@@ -160,7 +160,7 @@ namespace ros2 {
     _impl->_alive = false;
   }
 
-  VehicleControl CarlaEgoVehicleControlSubscriber::GetMessage() {
+  VehicleControl CarlaEgoVehicleControlSubscriber::GetCarlaMessage() {
     _impl->_new_message = false;
     return _impl->_control;
   }
diff --git a/LibCarla/source/carla/ros2/subscribers/CarlaEgoVehicleControlSubscriber.h b/LibCarla/source/carla/ros2/subscribers/CarlaEgoVehicleControlSubscriber.h
index 70231fbf270..6e26257f24c 100644
--- a/LibCarla/source/carla/ros2/subscribers/CarlaEgoVehicleControlSubscriber.h
+++ b/LibCarla/source/carla/ros2/subscribers/CarlaEgoVehicleControlSubscriber.h
@@ -26,7 +26,7 @@ namespace ros2 {
 
       bool HasNewMessage();
       bool IsAlive();
-      VehicleControl GetMessage();
+      VehicleControl GetCarlaMessage();
       void* GetVehicle();
 
       bool Init();
diff --git a/LibCarla/source/carla/ros2/types/CameraInfo.cpp b/LibCarla/source/carla/ros2/types/CameraInfo.cpp
index 058e88d3bd3..32cd463019f 100644
--- a/LibCarla/source/carla/ros2/types/CameraInfo.cpp
+++ b/LibCarla/source/carla/ros2/types/CameraInfo.cpp
@@ -20,6 +20,8 @@
  */
 
 #ifdef _WIN32
+// Allow M_PI usage
+#define _USE_MATH_DEFINES
 // Remove linker warning LNK4221 on Visual Studio
 namespace {
 char dummy;
diff --git a/Ros2Native/CMakeLists.txt b/Ros2Native/CMakeLists.txt
index 18b8d61a454..e90dcd7fd73 100644
--- a/Ros2Native/CMakeLists.txt
+++ b/Ros2Native/CMakeLists.txt
@@ -9,67 +9,137 @@ include (ExternalProject)
 
 set (PROJECT_INSTALL_PATH ${CMAKE_CURRENT_BINARY_DIR}/install)
 
-ExternalProject_add (
-  foonathan_memory
-  URL https://github.com/eProsima/foonathan_memory_vendor/archive/refs/heads/${CARLA_FOONATHAN_MEMORY_VENDOR_TAG}.zip
-  CMAKE_ARGS
-    -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
-    -DCMAKE_INSTALL_PREFIX=${PROJECT_INSTALL_PATH}
-    -DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}
-    -DBUILD_SHARED_LIBS=ON
-    -DFOONATHAN_MEMORY_FORCE_VENDORED_BUILD=ON
-)
+if (WIN32) 
+  ExternalProject_add (
+    foonathan_memory
+    URL https://github.com/eProsima/foonathan_memory_vendor/archive/refs/heads/${CARLA_FOONATHAN_MEMORY_VENDOR_TAG}.zip
+    CMAKE_ARGS
+      -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
+      -DCMAKE_INSTALL_PREFIX=${PROJECT_INSTALL_PATH}
+      -DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}
+      -DBUILD_SHARED_LIBS=OFF
+      -DFOONATHAN_MEMORY_FORCE_VENDORED_BUILD=ON
+  )
 
-# Note: We are using GIT_REPOSITORY instead URL for fastdds because fastdss contains submodules
-#       and we need the .git folders to download the submodules
-ExternalProject_add (
-  fastdds
-  GIT_REPOSITORY https://github.com/eProsima/Fast-DDS.git
-  GIT_TAG ${CARLA_FASTDDS_TAG}
-  CMAKE_ARGS
-    -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
-    -DCMAKE_INSTALL_PREFIX=${PROJECT_INSTALL_PATH}
-    -DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}
-    -DBUILD_SHARED_LIBS=ON
-    -DBUILD_TESTING=OFF
-    -DCOMPILE_EXAMPLES=OFF
-    -DCOMPILE_TOOLS=OFF
-    -DTHIRDPARTY_Asio=FORCE
-    -DTHIRDPARTY_fastcdr=FORCE
-    -DTHIRDPARTY_TinyXML2=FORCE
-    -DSQLITE3_SUPPORT=OFF
-    -DOPENSSL_FOUND:BOOL=ON
-    -DOPENSSL_INCLUDE_DIR:FILEPATH=${UE_OPENSSL_INCLUDE}
-    -DOPENSSL_SSL_LIBRARY:FILEPATH=${UE_OPENSSL_LIBS}/libssl.a
-    -DOPENSSL_CRYPTO_LIBRARY:FILEPATH=${UE_OPENSSL_LIBS}/libcrypto.a
-  DEPENDS foonathan_memory
-)
+  ExternalProject_add (
+    fastcdr
+    GIT_REPOSITORY https://github.com/eProsima/Fast-CDR.git
+    GIT_TAG v1.1.0
+    CMAKE_ARGS
+      -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
+      -DCMAKE_INSTALL_PREFIX=${PROJECT_INSTALL_PATH}
+      -DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}
+      -DBUILD_SHARED_LIBS=OFF
+  )
 
-ExternalProject_Add (
-  carla-ros2-native-lib
-  DEPENDS fastdds
-  SOURCE_DIR ${PROJECT_SOURCE_DIR}/LibCarlaRos2Native
-  CMAKE_ARGS
-    -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
-    -DCMAKE_INSTALL_PREFIX=${PROJECT_INSTALL_PATH}
-    -DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}
-)
+  # Note: We are using GIT_REPOSITORY instead URL for fastdds because fastdss contains submodules
+  #       and we need the .git folders to download the submodules
+  ExternalProject_add (
+    fastdds
+    GIT_REPOSITORY https://github.com/eProsima/Fast-DDS.git
+    GIT_TAG ${CARLA_FASTDDS_TAG}
+    CMAKE_ARGS
+      -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
+      -DCMAKE_INSTALL_PREFIX=${PROJECT_INSTALL_PATH}
+      -DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}
+      -DBUILD_SHARED_LIBS=OFF
+      -DBUILD_TESTING=OFF
+      -DCOMPILE_EXAMPLES=OFF
+      -DCOMPILE_TOOLS=OFF
+      -DTHIRDPARTY_Asio=FORCE
+      -DTHIRDPARTY_fastcdr=FORCE
+      -DTHIRDPARTY_TinyXML2=FORCE
+      -DSQLITE3_SUPPORT=OFF
+      -DSECURITY=OFF
+    DEPENDS foonathan_memory
+  )
 
-set (CARLA_PLUGIN_BINARY_PATH ${CMAKE_SOURCE_DIR}/Unreal/CarlaUnreal/Plugins/Carla/Binaries/Linux)
+  ExternalProject_Add (
+    carla-ros2-native-lib
+    DEPENDS fastdds
+    SOURCE_DIR ${PROJECT_SOURCE_DIR}/LibCarlaRos2Native
+    CMAKE_ARGS
+      -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
+      -DCMAKE_INSTALL_PREFIX=${PROJECT_INSTALL_PATH}
+      -DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}
+      -DCMAKE_CXX_STANDARD=17
+  )
+else() 
+  ExternalProject_add (
+    foonathan_memory
+    URL https://github.com/eProsima/foonathan_memory_vendor/archive/refs/heads/${CARLA_FOONATHAN_MEMORY_VENDOR_TAG}.zip
+    CMAKE_ARGS
+      -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
+      -DCMAKE_INSTALL_PREFIX=${PROJECT_INSTALL_PATH}
+      -DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}
+      -DBUILD_SHARED_LIBS=ON
+      -DFOONATHAN_MEMORY_FORCE_VENDORED_BUILD=ON
+  )
 
-make_directory (${CARLA_PLUGIN_BINARY_PATH})
+  # Note: We are using GIT_REPOSITORY instead URL for fastdds because fastdss contains submodules
+  #       and we need the .git folders to download the submodules
+  ExternalProject_add (
+    fastdds
+    GIT_REPOSITORY https://github.com/eProsima/Fast-DDS.git
+    GIT_TAG ${CARLA_FASTDDS_TAG}
+    CMAKE_ARGS
+      -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
+      -DCMAKE_INSTALL_PREFIX=${PROJECT_INSTALL_PATH}
+      -DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}
+      -DBUILD_SHARED_LIBS=ON
+      -DBUILD_TESTING=ON
+      -DCOMPILE_EXAMPLES=OFF
+      -DCOMPILE_TOOLS=OFF
+      -DTHIRDPARTY_Asio=FORCE
+      -DTHIRDPARTY_fastcdr=FORCE
+      -DTHIRDPARTY_TinyXML2=FORCE
+      -DSQLITE3_SUPPORT=OFF
+      -DOPENSSL_FOUND:BOOL=ON
+      -DOPENSSL_INCLUDE_DIR:FILEPATH=${UE_OPENSSL_INCLUDE}
+      -DOPENSSL_SSL_LIBRARY:FILEPATH=${UE_OPENSSL_LIBS}/libssl.a
+      -DOPENSSL_CRYPTO_LIBRARY:FILEPATH=${UE_OPENSSL_LIBS}/libcrypto.a
+    DEPENDS foonathan_memory
+  )
 
-add_custom_command (
-  TARGET carla-ros2-native-lib
-  POST_BUILD
-  COMMAND
-    ${CMAKE_COMMAND} -E copy
-    ${PROJECT_INSTALL_PATH}/lib/*.so*
-    ${CARLA_PLUGIN_BINARY_PATH}
-)
+  ExternalProject_Add (
+    carla-ros2-native-lib
+    DEPENDS fastdds
+    SOURCE_DIR ${PROJECT_SOURCE_DIR}/LibCarlaRos2Native
+    CMAKE_ARGS
+      -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
+      -DCMAKE_INSTALL_PREFIX=${PROJECT_INSTALL_PATH}
+      -DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}
+  )
+endif()
 
 carla_add_custom_target (
   carla-ros2-native
   "Build the ROS2-Native CARLA subproject."
   DEPENDS carla-ros2-native-lib
 )
+
+set (CARLA_PLUGIN_BINARY_PATH ${CMAKE_SOURCE_DIR}/Unreal/CarlaUnreal/Plugins/Carla/Binaries)
+make_directory (${CARLA_PLUGIN_BINARY_PATH})
+
+if (WIN32)
+  add_custom_command (
+    TARGET carla-ros2-native-lib
+    POST_BUILD
+    COMMAND
+      ${CMAKE_COMMAND} -E copy
+      ${PROJECT_INSTALL_PATH}/lib/carla-ros2-native.lib
+      ${PROJECT_INSTALL_PATH}/lib/libfastcdr-1.1.lib
+      ${PROJECT_INSTALL_PATH}/lib/libfastrtps-2.11.lib
+      ${PROJECT_INSTALL_PATH}/lib/foonathan_memory-0.7.3.lib
+      ${CARLA_PLUGIN_BINARY_PATH}
+  )
+else()
+  add_custom_command (
+    TARGET carla-ros2-native-lib
+    POST_BUILD
+    COMMAND
+      ${CMAKE_COMMAND} -E copy
+      ${PROJECT_INSTALL_PATH}/lib/*.so*
+      ${CARLA_PLUGIN_BINARY_PATH}
+  )
+endif()
diff --git a/Ros2Native/LibCarlaRos2Native/CMakeLists.txt b/Ros2Native/LibCarlaRos2Native/CMakeLists.txt
index f9d4c9e0f04..05c99e74019 100644
--- a/Ros2Native/LibCarlaRos2Native/CMakeLists.txt
+++ b/Ros2Native/LibCarlaRos2Native/CMakeLists.txt
@@ -30,12 +30,21 @@ file (
   ${LIBCARLA_SOURCE_PATH}/carla/ros2/types/*.h
 )
 
-add_library (
-  carla-ros2-native
-  SHARED
-  ${LIBCARLA_ROS2_HEADERS}
-  ${LIBCARLA_ROS2_SOURCES}
-)
+if (WIN32)
+  add_library (
+    carla-ros2-native
+    STATIC
+    ${LIBCARLA_ROS2_HEADERS}
+    ${LIBCARLA_ROS2_SOURCES}
+  )
+else ()
+  add_library (
+    carla-ros2-native
+    SHARED
+    ${LIBCARLA_ROS2_HEADERS}
+    ${LIBCARLA_ROS2_SOURCES}
+  )
+endif()
 
 target_include_directories (
   carla-ros2-native
@@ -50,10 +59,21 @@ target_compile_definitions (
   BOOST_ASIO_ENABLE_BUFFER_DEBUGGING
 )
 
-target_link_libraries (
-  carla-ros2-native PUBLIC
-  ${CMAKE_INSTALL_PREFIX}/lib/libfastrtps.so
-)
+if(WIN32)
+  target_link_libraries (
+    carla-ros2-native PUBLIC
+    ${CMAKE_INSTALL_PREFIX}/lib/libfastrtps-2.11.lib
+    ${CMAKE_INSTALL_PREFIX}/lib/libfastcdr-1.1.lib
+    ${CMAKE_INSTALL_PREFIX}/lib/foonathan_memory-0.7.3.lib
+    Shlwapi.lib
+  )
+
+else()
+  target_link_libraries (
+    carla-ros2-native PUBLIC
+    ${CMAKE_INSTALL_PREFIX}/lib/libfastrtps.so
+  )
+endif()
 
 install (
   TARGETS
diff --git a/Unreal/CMakeLists.txt b/Unreal/CMakeLists.txt
index 0df769df376..795a1b160b4 100644
--- a/Unreal/CMakeLists.txt
+++ b/Unreal/CMakeLists.txt
@@ -148,10 +148,18 @@ foreach (UE_DEP ${UE_DEPENDENCIES})
   )
 endforeach ()
 
-set (
-  CARLA_UNREAL_LIBRARIES
-  $<TARGET_FILE:libsqlite3>
-)
+if(WIN32)
+  set (
+    CARLA_UNREAL_LIBRARIES
+    $<TARGET_FILE:libsqlite3>
+    shlwapi.lib
+  )
+else()
+  set (
+    CARLA_UNREAL_LIBRARIES
+    $<TARGET_FILE:libsqlite3>
+  )
+endif()
 
 foreach (UE_DEP ${UE_DEPENDENCIES})
   get_target_property (UE_DEP_TYPE ${UE_DEP} TYPE)
diff --git a/Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Carla.Build.cs b/Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Carla.Build.cs
index 4b8420c02b4..4a030cf58d4 100644
--- a/Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Carla.Build.cs
+++ b/Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Carla.Build.cs
@@ -172,15 +172,26 @@ void AddDynamicLibrary(string library)
       TestOptionalFeature(EnableRos2Demo, "Ros2 demo", "WITH_ROS2_DEMO");
 
       string CarlaPluginSourcePath = Path.GetFullPath(ModuleDirectory);
-      string CarlaPluginBinariesLinuxPath = Path.Combine(CarlaPluginSourcePath, "..", "..", "Binaries", "Linux");
-      AddDynamicLibrary(Path.Combine(CarlaPluginBinariesLinuxPath, "libcarla-ros2-native.so"));
-      RuntimeDependencies.Add(Path.Combine(CarlaPluginBinariesLinuxPath, "libfoonathan_memory-0.7.3.so"));
-      RuntimeDependencies.Add(Path.Combine(CarlaPluginBinariesLinuxPath, "libfastcdr.so"));
-      RuntimeDependencies.Add(Path.Combine(CarlaPluginBinariesLinuxPath, "libfastcdr.so.1"));
-      RuntimeDependencies.Add(Path.Combine(CarlaPluginBinariesLinuxPath, "libfastcdr.so.1.1.0"));
-      RuntimeDependencies.Add(Path.Combine(CarlaPluginBinariesLinuxPath, "libfastrtps.so"));
-      RuntimeDependencies.Add(Path.Combine(CarlaPluginBinariesLinuxPath, "libfastrtps.so.2.11"));
-      RuntimeDependencies.Add(Path.Combine(CarlaPluginBinariesLinuxPath, "libfastrtps.so.2.11.2"));
+      string CarlaPluginBinariesPath = Path.Combine(CarlaPluginSourcePath, "..", "..", "Binaries");
+      if (Target.Platform == UnrealTargetPlatform.Win64)
+      {
+        PublicAdditionalLibraries.Add(Path.Combine(CarlaPluginBinariesPath, "carla-ros2-native.lib"));
+        PublicAdditionalLibraries.Add(Path.Combine(CarlaPluginBinariesPath, "libfastrtps-2.11.lib"));
+        PublicAdditionalLibraries.Add(Path.Combine(CarlaPluginBinariesPath, "libfastcdr-1.1.lib"));
+        PublicAdditionalLibraries.Add(Path.Combine(CarlaPluginBinariesPath, "foonathan_memory-0.7.3.lib"));
+        PublicAdditionalLibraries.Add("Shlwapi.lib");
+      }
+      else
+      {
+        AddDynamicLibrary(Path.Combine(CarlaPluginBinariesPath, "libcarla-ros2-native.so"));
+        RuntimeDependencies.Add(Path.Combine(CarlaPluginBinariesPath, "libfoonathan_memory-0.7.3.so"));
+        RuntimeDependencies.Add(Path.Combine(CarlaPluginBinariesPath, "libfastcdr.so"));
+        RuntimeDependencies.Add(Path.Combine(CarlaPluginBinariesPath, "libfastcdr.so.1"));
+        RuntimeDependencies.Add(Path.Combine(CarlaPluginBinariesPath, "libfastcdr.so.1.1.0"));
+        RuntimeDependencies.Add(Path.Combine(CarlaPluginBinariesPath, "libfastrtps.so"));
+        RuntimeDependencies.Add(Path.Combine(CarlaPluginBinariesPath, "libfastrtps.so.2.11"));
+        RuntimeDependencies.Add(Path.Combine(CarlaPluginBinariesPath, "libfastrtps.so.2.11.3"));
+      }
     }
   }
 }
diff --git a/Util/SetupUtils/InstallPrerequisites.bat b/Util/SetupUtils/InstallPrerequisites.bat
index e07293ebe87..4b21ddd41b0 100644
--- a/Util/SetupUtils/InstallPrerequisites.bat
+++ b/Util/SetupUtils/InstallPrerequisites.bat
@@ -48,15 +48,42 @@ rem -- MAIN --
 :main
 
 rem -- INSTALL VISUAL STUDIO --
-if not exist %cd%\Temp (
-    mkdir %cd%\Temp
+set "vcvars64_found="
+
+echo Checking if Visual Studio 2022 needs to be installed...
+if exist "%ProgramFiles%\Microsoft Visual Studio\2022\Professional\VC\Auxiliary\Build\vcvars64.bat" (
+    set "vcvars64_found=true"
+)
+if exist "%ProgramFiles%\Microsoft Visual Studio\2022\Community\VC\Auxiliary\Build\vcvars64.bat" (
+    set "vcvars64_found=true"
+)
+if exist "%ProgramFiles(x86)%\Microsoft Visual Studio\2022\Professional\VC\Auxiliary\Build\vcvars64.bat" (
+    set "vcvars64_found=true"
+)
+if exist "%ProgramFiles(x86)%\Microsoft Visual Studio\2022\Community\VC\Auxiliary\Build\vcvars64.bat" (
+    set "vcvars64_found=true"
+)
+if exist "%ProgramFiles%\Microsoft Visual Studio\2022\Enterprise\VC\Auxiliary\Build\vcvars64.bat" (
+    set "vcvars64_found=true"
+)
+if exist "%ProgramFiles(x86)%\Microsoft Visual Studio\2022\Enterprise\VC\Auxiliary\Build\vcvars64.bat" (
+    set "vcvars64_found=true"
+)
+
+if "%vcvars64_found%"=="" (
+    echo Visual Studio 2022 not found. Installing required components...
+    if not exist %cd%\Temp (
+        mkdir %cd%\Temp
+    )
+    pushd Temp
+    curl -L -O https://aka.ms/vs/17/release/vs_community.exe || exit /b
+    popd Temp
+    %cd%\Temp\vs_community.exe --add %visual_studio_components% --installWhileDownloading --passive --wait || exit /b
+    del %cd%\Temp\vs_community.exe
+    rmdir %cd%\Temp
+) else (
+    echo Visual Studio 2022 found. Skipping installation.
 )
-pushd Temp
-curl -L -O https://aka.ms/vs/17/release/vs_community.exe || exit /b
-popd Temp
-%cd%\Temp\vs_community.exe --add %visual_studio_components% --installWhileDownloading --passive --wait || exit /b
-del %cd%\Temp\vs_community.exe
-rmdir %cd%\Temp
 
 rem -- INSTALL NINJA --
 ninja --version >nul 2>nul