Streamline and extend ros2 interface

.gitignore

@@ -38,6 +38,7 @@ build/
 *CodeLitePreProcessor.txt
 .aria2c.input
 .codelite
+.debug
 .gdb_history
 .gtest
 .idea

CHANGELOG.md

@@ -4,6 +4,14 @@
  * Improved the turning behavior of vehicles controlled by the TrafficManager, making them smoother.
  * Added a hybrid solid-state LiDAR with adjustable parameters (blueprint attributes)
  * Fix OpenDrive Builder lane width
+ * Introduced geom::AngularVelocity, geom::Velocity, geom::Acceleration, geom::Quaternion types
+ * Fixed geom::Rotation::RotateVector() rotation directions of pitch and roll
+ * Internal source code reorganizations to prepare extended ROS2 support
+ * ROS2Native: Extended functionality and performance of ROS2 support
+ * Introduced fine grained ServerSynchronization mechanism: each client decides for its own if it requires synchronization or not and provides its own synchronization window.
+   Be aware: some existing code using master/slave sync mechanism might need rework. See also generate_traffic.py.
+
+
 
 ## CARLA 0.9.16
 

Docs/ref_sensors.md

@@ -1087,7 +1087,7 @@ 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 'channel_id' attribute. Only sensors having the same 'channel_id' are communicating with each other. This allows to create different sender/receiver groups within the system.
 
 Example:
 
@@ -1099,6 +1099,7 @@ Example:
 
 | Blueprint attribute     | Type   | Default | Description                        |
 |-------------------------|--------|-------------------------|------------------------------------|
+| channel\_id             | string  | ''       | Only Sender/Receiver with the same channel_id are communicating with each other    |
 | transmit\_power         | float  | 21.5       | Sender transmission power in dBm                         |
 | receiver\_sensitivity   | float  | -99        | Receiver sensitivity in dBm                                |
 | frequency\_ghz          | float  | 5.9 | Transmission frequency in GHz. 5.9 GHz is standard for several physical channels.                 |

Examples/CppClient/Makefile

@@ -4,9 +4,9 @@ BINDIR=$(CURDIR)/bin
 INSTALLDIR=$(CURDIR)/libcarla-install
 TOOLCHAIN=$(CURDIR)/ToolChain.cmake
 
-CC=/usr/bin/gcc-9
-CXX=/usr/bin/g++-9
-CXXFLAGS=-std=c++14 -pthread -fPIC -O3 -DNDEBUG -Werror -Wall -Wextra
+CC=/usr/bin/gcc
+CXX=/usr/bin/g++
+CXXFLAGS=-std=c++17 -pthread -fPIC -O3 -DNDEBUG -Werror -Wall -Wextra
 
 define log
 	@echo "\033[1;35m$(1)\033[0m"

Examples/CppClient/main.cpp

@@ -6,8 +6,8 @@
 #include <thread>
 #include <tuple>
 
-#include <carla/client/ActorBlueprint.h>
-#include <carla/client/BlueprintLibrary.h>
+#include <carla/actors/ActorBlueprint.h>
+#include <carla/actors/BlueprintLibrary.h>
 #include <carla/client/Client.h>
 #include <carla/client/Map.h>
 #include <carla/client/Sensor.h>

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

@@ -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")