Adapt to built-in ROS2 interface #762
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berndgassmann
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That PR might be merged later on into a new branch (e.g. dev) because it is only valid for ue4-dev branch once the latest ROS2 server changes will be integrated. |
This was referenced Nov 26, 2025
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 ROS1 is not supported anymore: - remove ROS1 launch files - remove ROS1 build infos - disable ROS1 CI build Update carla_msgs to ue-extend-ros2 branch Since manual override is not available anymore in that form, added the control_priority parameter to the nodes publishing CarlaEgoVehicleControl messages. Added derived_objects_visualizer to replace /carla/markers published by the old ros bridge carla_ad_agent: - remove ego object from all objects using vehicle_info since vehicle individual objects topic is not existing anymore - make local_planner subscription to Odometry best effort - don't execute planner step if no odometry message was received - fill CarlaEgoVehicleControl header with odometry msg header data - allow setting control_priority (defaults to 10) carla_manual_control: - adapt to CarlaEgoVehicleStatus msg changes - allow setting control_priority (defaults to 20) carla_ros_scenario_runner: - allow enabling debug logging output at scenario runner carla_spawn_objects: - remove not existing pseudo sensors - remove not available control_id - read vehicle role_name from objects definition file if provided carla_twist_to_control: - allow setting control_priority (defaults to 6) ros_compatibility: This package is kept for the moment to reduce impact in the code - 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 pcl_recorder: - adapt topic names and fix dependencies rviz_carla_plugin - allow dynamic selection of vehicle to be controlled
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berndgassmann
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Nov 29, 2025
| 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 |
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This has to be changed AFTER carla-msgs have been merged!
Don't merge this PR yet!!
berndgassmann
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Nov 29, 2025
| 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 |
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This branch name has to be changed to the dev branch of the carla-msgs after the merge of the commit into that branch.
In each case a new branch is required also for the ros-bridge itself ...
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Removed not required parts of the old ros-bridge implementation as those are covered by the ROS2 enabled CARLA server directly:
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:
carla_walker_agent:
ros_compatibility:
carla_spawn_objects:
carla_control_panel:
carla_twist_to_control:
pcl_recorder:
carla_ros_scenario_runner:
Disable debian melodic CI build
This change is