Apat to built-in ROS2 interface

Removed not required parts of the old ros-bridge implementation as those
are covered by the ROS2 enabled CARLA server directly:
- carla_ros_bridge
- carla_ackermann_msgs,
- carla_ackermann_control

Update carla_msgs to the ue4-extend-ros2 branch

Added derived_objects_visualizer to replace /carla/markers published by
the old ros bridge

carla_ad_agent:
- adapt msg and topic names
- remove ego object from all objects using vehicle_info
- make local_planner subscription to CarlaVehicleStatus best effort
- don't execute planner step if no odometry message was received

carla_walker_agent:
- adapt topic names

ros_compatibility:
- extend ros compatibility qos setting
- Only init rclpy if required. This allows for using multiple
  carla_ad_agents within a scenario
- Fix use of duplicated topic names for different message types in ROS2

carla_spawn_objects:
- remove not existing pseudo sensors
- remove not available control_id

carla_control_panel:
- adapt to native ROS2 interface
- allow dynamic selection of vehicle to be controlled

carla_twist_to_control:
- allow setting control_priority

pcl_recorder:
- adapt topic names and fix dependencies

carla_ros_scenario_runner:
- adapt topic names
- allow enabling debug logging output at scenario runner

Disable debian melodic CI build

Author: berndgassmann

.github/workflows/ci.yml

@@ -86,10 +86,10 @@ jobs:
     strategy:
       matrix:
         include:
-          - docker_image: melodic-robot
-            ros_distro: melodic
-            ros_python_version: 2
-            ros_version: 1
+          #- docker_image: melodic-robot
+          #  ros_distro: melodic
+          #  ros_python_version: 2
+          #  ros_version: 1
 
           - docker_image: noetic-robot
             ros_distro: noetic

.gitmodules

@@ -1,4 +1,4 @@
 [submodule "carla_msgs"]
 	path = carla_msgs
-	url = https://github.com/carla-simulator/ros-carla-msgs
-	branch = master
+	url = https://github.com/Motor-Ai/carla-simulator-ros-carla-msgs
+	branch = ue4-extend-ros2

CHANGELOG.md

@@ -1,5 +1,26 @@
 ## Latest
 
+## CARLA-ROS-Bridge 0.9.16-dev
+*   Apat to built-in ROS2 interface
+*   Removed not required parts of the old ros-bridge implementation as those
+    are covered by the ROS2 enabled CARLA server directly
+*   Added derived_objects_visualizer to replace /carla/markers published by
+    the old ros bridge
+*   carla_ad_agent: 
+    - make local_planner subscription to CarlaVehicleStatus best effort
+    - don't execute planner step if no odometry message was received
+*   ros_compatibility:
+    - Allows use of multiple carla_ad_agents within a scenario
+    - Extend ros compatibility qos setting
+    - Fix use of duplicated topic names for different message types in ROS2
+*   carla_spawn_objects:
+    - remove not existing pseudo sensors
+    - remove not available control_id
+*   carla_control_panel:
+    - allow dynamic selection of vehicle to be controlled
+*   carla_twist_to_control:
+    - allow setting control_priority
+
 ## CARLA-ROS-Bridge 0.9.12
 
 *   Fixed scenario runner node shutdown for foxy