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ROS2 Refactor#9097

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joel-mb merged 20 commits intoue4-devfrom
joel-mb/ros2_rework
Jul 30, 2025
Merged

ROS2 Refactor#9097
joel-mb merged 20 commits intoue4-devfrom
joel-mb/ros2_rework

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@joel-mb joel-mb commented Jul 30, 2025 •
edited by Blyron
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Description

This PR refactors the internal structure of the ROS2 native interface to simplify the addition and modification of publishers and reducing code duplication.

Additional changes and fixes:

  • Added support for Ackermann control.
  • Enable/Disable control of TF publishing via blueprint attribute (ros_publish_tf).
  • Fixed issues in CollisionSensor and IMU sensors.
  • Addes ROS2 example

Where has this been tested?

  • Platform(s): Ubuntu
  • Python version(s): 3.10
  • Unreal Engine version(s): CARLA fork

Possible Drawbacks

None.

This change is Reviewable

joel-mb added 18 commits July 19, 2025 13:03
@joel-mb
WIP: Refactor ROS2 native interface
adb7956
@joel-mb
Merge branch 'ue4-dev' into joel-mb/ros2_rework
f696fe8
@joel-mb
Merge branch 'ue4-dev' into joel-mb/ros2_rework
6355c17
@joel-mb
Improve camera publisher implementation and add camera info publisher
a620651
@joel-mb
Fixed point cloud based, gnss and imu publishers. Also included firts…
202e790 
… iteration transform publisher
@joel-mb
Fix other actor id in collision sensor
07ada82
@joel-mb
Merge branch 'ue4-dev' into joel-mb/ros2_rework
bc9e800
@joel-mb
Reuse tf computation if possible
8dceb2f
@joel-mb
Added Ackermann controller
28155d0
@joel-mb
Clean process data methods
5424ca4
@joel-mb
Remove unused code
dfd27f2
@joel-mb
Cast to uint8_t instead of float
8dcdef3
@joel-mb
Reorganize ros2 includes
5a1583a
@joel-mb
Use a transform publisher per sensor
433cee2
@joel-mb
Added ros2 example
00da360
@joel-mb
Added ros_publish_tf blueprint attribute
b674910
@joel-mb
Merge branch 'ue4-dev' into joel-mb/ros2_rework
52c298a
@joel-mb
Remove unused code
19c73c7
@joel-mb joel-mb self-assigned this Jul 30, 2025
@joel-mb joel-mb requested a review from a team as a code owner July 30, 2025 09:04
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update-docs Bot commented Jul 30, 2025

Thanks for opening this pull request! The maintainers of this repository would appreciate it if you would update our CHANGELOG.md based on your changes.

Blyron
Blyron previously approved these changes Jul 30, 2025
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For the future, let's minimize the auto usage in cases which is not need such as Transform variable in Unreal sensor code

LuisPovedaCano
LuisPovedaCano previously approved these changes Jul 30, 2025
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Good Job! 👋

@joel-mb joel-mb dismissed stale reviews from LuisPovedaCano and Blyron via edf56e7 July 30, 2025 13:56
@joel-mb joel-mb merged commit cd3d640 into ue4-dev Jul 30, 2025
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@LuisPovedaCano LuisPovedaCano LuisPovedaCano approved these changes

@Blyron Blyron Blyron left review comments

@glopezdiest glopezdiest Awaiting requested review from glopezdiest

@LuisPoveda LuisPoveda Awaiting requested review from LuisPoveda

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@joel-mb @LuisPovedaCano @Blyron