Streamline and extend ros2 interface#9420
Streamline and extend ros2 interface#9420berndgassmann wants to merge 2 commits intocarla-simulator:ue4-devfrom
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The respective changes to the carla ros messages are submitted here: |
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sorry, but this branch already contained the other PR, so later maybe a squash merge might make sense after #9419 was merged to get a clean commit history. |
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This PR fails to compile c++ example in ubuntu and editor in windows with next errors; 2025-11-08T00:48:29.6885937Z C:\a_w\carla\carla\Unreal\CarlaUE4\Plugins\Carla\Source\Carla/Sensor/CustomV2XSensor.h(60): error C7555: the use of designated initializers requires at least "/std:c++20" 2025-11-08T00:48:30.2888830Z C:\a_w\carla\carla\Unreal\CarlaUE4\Plugins\Carla\Source\Carla/Sensor/CustomV2XSensor.h(60): error C7555: the use of designated initializers requires at least "/std:c++20" 2025-11-08T00:48:30.9534091Z C:\a_w\carla\carla\Unreal\CarlaUE4\Plugins\Carla\Source\Carla/Sensor/CustomV2XSensor.h(60): error C7555: the use of designated initializers requires at least "/std:c++20" 2025-11-08T00:48:34.7758124Z C:\a_w\carla\carla\Unreal\CarlaUE4\Plugins\Carla\Source\Carla/Sensor/CustomV2XSensor.h(60): error C7555: the use of designated initializers requires at least "/std:c++20" 2025-11-08T00:48:36.0647915Z C:\a_w\carla\carla\Unreal\CarlaUE4\Plugins\Carla\Source\Carla/Sensor/CustomV2XSensor.h(60): error C7555: the use of designated initializers requires at least "/std:c++20" 2025-11-08T00:48:37.5866466Z C:\a_w\carla\carla\Unreal\CarlaUE4\Plugins\Carla\Source\Carla/Sensor/CustomV2XSensor.h(60): error C7555: the use of designated initializers requires at least "/std:c++20" 2025-11-08T00:48:40.3688341Z C:\a_w\carla\carla\Unreal\CarlaUE4\Plugins\Carla\Source\Carla/Sensor/CustomV2XSensor.h(60): error C7555: the use of designated initializers requires at least "/std:c++20" 2025-11-08T00:48:42.5347962Z C:\a_w\carla\carla\Unreal\CarlaUE4\Plugins\Carla\Source\Carla/Sensor/CustomV2XSensor.h(60): error C7555: the use of designated initializers requires at least "/std:c++20" 2025-11-08T00:48:42.5415861Z C:\a_w\carla\carla\Unreal\CarlaUE4\Plugins\Carla\Source\Carla/Server/ServerSynchronization.h(221): error C7555: the use of designated initializers requires at least "/std:c++20" 2025-11-08T00:48:42.5576259Z C:/a/_w/carla/carla/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp(3619): error C7555: the use of designated initializers requires at least "/std:c++20" 2025-11-08T00:48:42.5577896Z C:/a/_w/carla/carla/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp(3616): error C7555: the use of designated initializers requires at least "/std:c++20" 2025-11-08T00:48:42.5579514Z C:/a/_w/carla/carla/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp(3622): error C7555: the use of designated initializers requires at least "/std:c++20" 2025-11-08T00:48:42.5581142Z C:/a/_w/carla/carla/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp(3634): error C7555: the use of designated initializers requires at least "/std:c++20" 2025-11-08T00:48:42.5582764Z C:/a/_w/carla/carla/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp(3631): error C7555: the use of designated initializers requires at least "/std:c++20" 2025-11-08T00:48:42.5584466Z C:/a/_w/carla/carla/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp(3642): error C7555: the use of designated initializers requires at least "/std:c++20" 2025-11-08T00:48:42.5586092Z C:/a/_w/carla/carla/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp(3650): error C7555: the use of designated initializers requires at least "/std:c++20" 2025-11-08T00:48:45.7566894Z C:\a_w\carla\carla\Unreal\CarlaUE4\Plugins\Carla\Source\Carla/Sensor/CustomV2XSensor.h(60): error C7555: the use of designated initializers requires at least "/std:c++20" 2025-11-08T00:49:32.5012710Z make: *** [CarlaUE4Editor] Error 6 2025-11-08T00:49:32.5059970Z ##[error]Process completed with exit code 2 |
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Ah, ok. Will fix the build -- I believe I am still on my Unreal Engine branch with c++20 support on Linux. Thought I removed all c++20 stuff, so that c++17 should be enough. And will take care also on Windows build... Which in the end is suffering from the same Thanks for activating the CI runs. |
This commit is extending the ROS2 support of CARLA. It simplifies the
interface to allow easier extensions in future. One part of it is the
enablement of shared sensor/actor stream usage, which results in lower
processing overhead if ROS2 is enabled and gets rid of UE-sensor
individual code changes for ROS2. To achieve such, also some refactoring
on the core LibCarla parts were required.
Actor:
- Moved Blueprint handling sources to carla/actor from carla/client
to be able to make use of that functionalilty within ROS2 server calls
DataTypes:
- Introduced geom::AngularVelocity, geom::Velocity,geom::Acceleration,
geom::Quaternion to make the Unreal -> Carla -> ROS2 data
conversion straigth forward (-> that
- Added some Math functions for Quaternions
- Renamed MakeSafeUnitVector->MakeUnitVector (there is no 'unsafe'
variant allowed anymore)
Streaming:
- Moved streaming/detail/tcp/Message.h -> streaming/detail/Message.h to
be deployed for non-tcp communication streams like ROS2.
- Moved general (tcp-independent parts) from tcp/ServerSession to
streaming/detail/Session.h to be used for ROS2 streams. Had to
rename a Write() function to WriteMessage because of virtual
function overloaded with template function not possible.
- Make Dispatcher a shared_pointer to be able to access from ROS2.
Serializer:
- Provide GetHeaderOffset() functions where missing.
- Add sensor_relative_transform (Location and Quaternion parts) to
SensorHeader to support relative TF. Keep it in the header also
when not compiled with ROS2 to keep ROS enabled server builds
compatible with non-ROS enabled client builds as it's not that
much of an overhead.
- Allow to replace move semantic from Deserialize on ROS2-server
builds to allow multiple sinks (i.e. TCP-Server and ROS2 to deserialize
the data without destoying it).
- Added VehicleAckermannControl to ActorDynamicState in form of a
union with VehicleControl to save space
- Extract sensor/data/Array.h into a ArrayConst.h base class to be used
for const data acess on ROS2 Deserialization of RawEpisodeState.
UE4:
- Updated according to LibCarla changes.
- BoundingBoxCalulator: added GetSkeletalMeshVerticies to allow
ROS2 access to detailed mesh as exact ground truth
- Vehicle/Walker Control were extended by timestamp of the last
control input to have a notion on how old the last queried control value
was
V2X:
- V2XSensor allows selection of virtual communication channels via
sensors 'channel_id ' attribute.
- V2XCustomSensor sends bytes instead of std::string to spport
binary data blobs
- Allow V2X-sensors without an owner if these are placed within the
infrastructure (V2I communication)
BUGFIX:
- Fixed geom::Rotation::RotateVector() rotation directions of pitch and
roll!
- Added Math::GetVectorAngle(), Math::GetVectorAngleAbs() and
supporting functions. Use within MotionPlanStage to get correct
angle delta.
- Added RightHandedVector3D.h (internal class deployed for implicit
correct rotation of CARLA left handed vectors)
- Allow to comment TransformationMatrix access out by ifdef to
prevent from erroneous misuse (default access is still enabled!), since
the TransformationMatrix does NOT provide a right-handed rotation (as
the user might expect)
- Allow building CARLA without internet connection
Minor:
- Handled some compiler warnings
ROS2:
- Integrated ROS2 server extensions to server CMakeList.txt (and
simplified some CMake code using loops)
- Make heavily use of base classes to remove duplicated code
- Ensure only on Domain Participant to get rid of bind() port
already in use error
- ros2 UEPublisher classes for sensors accesses directly the data
stream already prepared for the TCP-Clients, minimizing the overhead of
ROS2 variant when no topic is subscribed
- Enable Boost and Asio exceptions for FastDDS to ensure its working
properly
- Introduced additional publishers:
+ traffic-signs
+ traffic-lights
+ v2xsensor
+ actor_list, sensor_list
+ ...
- Introduced a basic set of ros2 service calls to control Carla:
SpawnObject, SetEpisodeSettings, LoadMap, GetBlueprints,
GetAvailableMaps, DestroyObject
- ROS2 V2X Sensor
- Vehicle publisher implements a variety of individual publishers to
mimick also old ROS-bridge convenient publisher:
+ CarlaVehicleInfo
+ CarlaVehicleControlStatus
+ Speed
+ Odometry
+ Object
+ ObjectWithCovariance
+ VehicleTelemetryData
- Vehicle subscribers:
+ VehicleControlSubscriber
+ AckermannControlSubscriber,
+ SetTransformSubscriber
- use of c++17 to support std::sample() usage
CarlaServer uses rpc::RpcServerInterface to communicate with
TCP-Clients as well with the (integrated) DDS-Client
EnableForRos:
- Dynamic switching on ROS visibility is possible for all actors now
- Default startup behavior is selectable by ROS2TopicVisibility
parameter in DefaultGame.ini: If true, then all and every topic that
is currently offered by the implementation is visible from the
beginning. If false, then only the sensors/actors created via the
Client- or ROS-Interface are visible by defaults. Others can be
activated via EnableForRos() calls (this allows for disabling interfaces
e.g. for leaderboard)
- Introduced fine grained ServerSynchronization mechanism, where each
client has the possibility to interact with the synchronization of
the
carla-server on their own. Especially the ROS interface provides
means
of a time window, the server is allowed to run. Like this, every
client
can prevent the carla-server to run too fast depending on their
individual speed.
There is no sync-master anymore. Every client decides for its own if
it
requires synchronization or not. CarlaStatusPublisher provides
insights into current synchronization state.
Drawback of this change: some existing code might have to be changed
(see removal of synchronous_master in generate_traffic.py).
Ensure multiple service calls at once are working:
- qos history kind eprosima::fastdds::dds::KEEP_ALL_HISTORY_QOS
- qos reliablility kind
eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS
- qos durability kind
eprosima::fastdds::dds::TRANSIENT_LOCAL_DURABILITY_QOS
for reader, writer, topic
- adapt examples includes and Makefile - rename Quaterion::Rotation() -> Quaternion::Rotator() because of name clash with Rotation class - remove c++20 designators - fix geom::Math::GetVectorAngle()
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Reproduced the CI Linux error and fixed it. |
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Windows build is ok now. But Ubuntu is not passing smoke tests. |
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Carved out the geometry changes into #9425 to ease integration. |
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Carved out preparation steps on server side into #9431 . Are independent from the previous PR, so also possible to merge in a first step. |
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Hello, I'll be having a look at this set of PRs in the following days. |
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Hi Marcel, |
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Now this PR is replaced by 5 individual ones providing a step-by-step approach with some preparations and finally the actual ROS2 changes. |
3 participants
Description
See the extensive commit message.
But let me add a comment to compared this commit to the PR from last year, this time there were only minor changes introduced into the build system settings. Still most of the build-system cleanup in PR#7919 is valid to make CARLA compile e.g. on Ubuntu 24.04, but those are not required anymore for this build.
Fixes #
Where has this been tested?
Possible Drawbacks
Some of the ROS interfaces have been renamed (removed Ego from the name, as each vehicle can be controlled via ROS if required).
The Fix of the rotation direction of roll and pitch might have some impact in case others had fixed in their code outside before; but roll and pitch rotations are often not super relevant.
The improved synchronization handling might have to be considered in downstream applications performing synchronization. But with simple adaptions those should all work out of the box.
This change is