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ROS2 Refactor #9097

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Merged
joel-mb merged 20 commits into from
Jul 30, 2025
Merged

ROS2 Refactor #9097

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adb7956
WIP: Refactor ROS2 native interface
joel-mb Jul 19, 2025
f696fe8
Merge branch 'ue4-dev' into joel-mb/ros2_rework
joel-mb Jul 21, 2025
6355c17
Merge branch 'ue4-dev' into joel-mb/ros2_rework
joel-mb Jul 24, 2025
a620651
Improve camera publisher implementation and add camera info publisher
joel-mb Jul 24, 2025
202e790
Fixed point cloud based, gnss and imu publishers. Also included firts…
joel-mb Jul 28, 2025
07ada82
Fix other actor id in collision sensor
joel-mb Jul 28, 2025
bc9e800
Merge branch 'ue4-dev' into joel-mb/ros2_rework
joel-mb Jul 28, 2025
8dceb2f
Reuse tf computation if possible
joel-mb Jul 28, 2025
28155d0
Added Ackermann controller
joel-mb Jul 29, 2025
5424ca4
Clean process data methods
joel-mb Jul 29, 2025
dfd27f2
Remove unused code
joel-mb Jul 29, 2025
8dcdef3
Cast to uint8_t instead of float
joel-mb Jul 29, 2025
5a1583a
Reorganize ros2 includes
joel-mb Jul 29, 2025
433cee2
Use a transform publisher per sensor
joel-mb Jul 29, 2025
00da360
Added ros2 example
joel-mb Jul 29, 2025
b674910
Added ros_publish_tf blueprint attribute
joel-mb Jul 30, 2025
52c298a
Merge branch 'ue4-dev' into joel-mb/ros2_rework
joel-mb Jul 30, 2025
19c73c7
Remove unused code
joel-mb Jul 30, 2025
5d5cdb6
Added ros2 example to package
joel-mb Jul 30, 2025
edf56e7
Install ROS2 headers even if ros2 interface is not enabled
joel-mb Jul 30, 2025
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6 changes: 0 additions & 6 deletions LibCarla/cmake/client/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -266,12 +266,6 @@ file(GLOB libcarla_carla_trafficmanager_sources
set(libcarla_sources "${libcarla_sources};${libcarla_carla_trafficmanager_sources}")
install(FILES ${libcarla_carla_trafficmanager_sources} DESTINATION include/carla/trafficmanager)

file(GLOB libcarla_carla_ros2_sources
"${libcarla_source_path}/carla/ros2/*.cpp"
"${libcarla_source_path}/carla/ros2/*.h")
set(libcarla_sources "${libcarla_sources};${libcarla_carla_ros2_sources}")
install(FILES ${libcarla_carla_ros2_sources} DESTINATION include/carla/ros2)

# ==============================================================================
# Create targets for debug and release in the same build type.
# ==============================================================================
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2 changes: 2 additions & 0 deletions LibCarla/cmake/fast_dds/CMakeLists.txt
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Expand Up @@ -4,6 +4,7 @@ project(libcarla_fastdds)
# Install headers.

file(GLOB libcarla_carla_fastdds_headers
"${libcarla_source_path}/carla/ros2/*.h"
"${libcarla_source_path}/carla/ros2/publishers/*.h"
"${libcarla_source_path}/carla/ros2/subscribers/*.h"
"${libcarla_source_path}/carla/ros2/listeners/*.h"
Expand All @@ -16,6 +17,7 @@ install(FILES ${fast_dds_dependencies} DESTINATION lib)


file(GLOB libcarla_fastdds_sources
"${libcarla_source_path}/carla/ros2/*.cpp"
"${libcarla_source_path}/carla/ros2/publishers/*.cpp"
"${libcarla_source_path}/carla/ros2/subscribers/*.cpp"
"${libcarla_source_path}/carla/ros2/listeners/*.cpp"
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2 changes: 0 additions & 2 deletions LibCarla/cmake/server/CMakeLists.txt
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Expand Up @@ -118,8 +118,6 @@ file(GLOB libcarla_server_sources
"${libcarla_source_path}/carla/streaming/low_level/*.h"
"${libcarla_source_path}/carla/multigpu/*.h"
"${libcarla_source_path}/carla/multigpu/*.cpp"
"${libcarla_source_path}/carla/ros2/*.h"
"${libcarla_source_path}/carla/ros2/*.cpp"
"${libcarla_source_thirdparty_path}/odrSpiral/*.cpp"
"${libcarla_source_thirdparty_path}/odrSpiral/*.h"
"${libcarla_source_thirdparty_path}/moodycamel/*.cpp"
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