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feat(ros2): ROS2 refactor with BasePublisher/PublisherImpl templates#9638

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feat(ros2): ROS2 refactor with BasePublisher/PublisherImpl templates#9638
youtalk wants to merge 16 commits intocarla-simulator:ue5-devfrom
youtalk:feat/ros2-refactor

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@youtalk youtalk commented Apr 2, 2026 •
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Description

Port the ROS2 architecture overhaul from ue4-dev cd3d640f3 (ROS2 Refactor #9097) to ue5-dev.

This replaces the old per-sensor PIMPL pattern with a template-based BasePublisher/PublisherImpl<T> architecture, eliminating ~4,100 lines of duplicated FastDDS boilerplate.

Key changes:

  • Template infrastructure: BasePublisher/PublisherImpl<T> for publishers, BaseSubscriber/SubscriberImpl<T> for subscribers — all FastDDS lifecycle management is now shared
  • Unified camera publisher: CarlaCameraPublisher base manages Image + CameraInfo; 6 camera publishers reduced to thin subclasses or type aliases
  • Point cloud publisher: CarlaPointCloudPublisher base for LiDAR, SemanticLiDAR, Radar, and DVS sensors
  • Actor-based registration: RegisterSensor/UnregisterSensor/RegisterVehicle/UnregisterVehicle replace AddActorRosName/RemoveActorRosName + stream_id-based management
  • Ackermann control: New AckermannControlSubscriber + AckermannDrive/AckermannDriveStamped message types
  • Removed unused publishers: CarlaLineInvasionPublisher, CarlaMapSensorPublisher, CarlaSpeedometerSensor
  • Removed listener wrappers: CarlaListener, CarlaSubscriberListener

Related to #9097

Where has this been tested?

  • Platform(s): Linux (Ubuntu 24.04)
  • Python version(s): 3.12
  • Unreal Engine version(s): 5.5 (CARLA fork)

Possible Drawbacks

  • All ProcessDataFrom* method signatures changed (removed stream_id parameter) — out-of-tree code calling these needs updating
  • CarlaPublisher/CarlaSubscriber base classes removed — switch to BasePublisher/BaseSubscriber

This change is Reviewable

youtalk added 9 commits April 1, 2026 19:32
@youtalk
feat(ros2): add template infrastructure for publisher/subscriber system
dbceaf9 
Add foundational CRTP template classes for the new ROS2 publisher and
subscriber architecture, replacing the old per-sensor PIMPL pattern:

- BasePublisher.h: DDS-independent abstract base (topic, frame_id, actor)
- PublisherImpl.h: FastDDS CRTP template (DomainParticipant, Publisher,
  Topic, DataWriter, TypeSupport init/destroy/Publish)
- BaseSubscriber.h: DDS-independent abstract base for subscribers
- SubscriberImpl.h: FastDDS template (DataReader, on_data_available)

These are added alongside the existing CarlaPublisher/CarlaSubscriber
classes which will be removed in a later step.

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
@youtalk
feat(ros2): add unified camera publisher base class
4196586 
Introduce CarlaCameraPublisher as an abstract base class that manages
Image and CameraInfo via two PublisherImpl<T> instances. Migrate
CarlaRGBCameraPublisher to a thin subclass providing channel count and
encoding. Replace CarlaDepthCameraPublisher, CarlaNormalsCameraPublisher,
CarlaOpticalFlowCameraPublisher, CarlaSSCameraPublisher, and
CarlaISCameraPublisher with type aliases to CarlaRGBCameraPublisher,
eliminating ~2800 lines of duplicated boilerplate.

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
@youtalk
feat(ros2): migrate non-camera publishers to PublisherImpl templates
5827f51 
Rewrite Clock, Collision, GNSS, IMU, Radar, Lidar, SemanticLidar, and
Transform publishers to use BasePublisher + PublisherImpl<T> templates,
replacing the old PIMPL + manual FastDDS boilerplate pattern.

Add new shared base classes:
- CarlaPointCloudPublisher: abstract base for point cloud publishers
  (LiDAR, SemanticLiDAR, DVS, Radar)
- CarlaDVSPublisher: composite publisher (Image + PointCloud) replacing
  the old CarlaDVSCameraPublisher

Delete unused publishers and old base classes:
- CarlaLineInvasionPublisher (NoopSerializer, unused)
- CarlaMapSensorPublisher (NoopSerializer, unused)
- CarlaSpeedometerSensor (unused)
- CarlaPublisher.h (replaced by BasePublisher.h)
- CarlaSubscriber.h (replaced by BaseSubscriber.h)
- CarlaDVSCameraPublisher (replaced by CarlaDVSPublisher)

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
@youtalk
feat(ros2): remove obsolete listener wrapper classes
eb6f0a5 
Delete CarlaListener and CarlaSubscriberListener as PublisherImpl and
SubscriberImpl now directly inherit DataWriterListener/DataReaderListener.
BasicListener is retained for the WITH_ROS2_DEMO path.

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
@youtalk
feat(ros2): refactor subscribers and add Ackermann control types
faff233 
Rewrite CarlaEgoVehicleControlSubscriber to use SubscriberImpl template,
add new AckermannControlSubscriber with AckermannDrive/AckermannDriveStamped
FastDDS types, and extend ROS2CallbackData variant with AckermannControl.

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
@youtalk
feat(ros2): overhaul ROS2 manager with actor-based registration
7aefb07 
Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
@youtalk
feat(ros2): update Unreal plugin for new ROS2 registration API
1e2fba9 
Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
@youtalk
fix(ros2): separate cd3d640 refactor from 201d375 multi-GPU fix
32b2da9 
Remove the 201d375 changes (actor prefix and unregister ordering)
from the main refactor to keep them in a separate PR.

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
@youtalk
feat(ros2): add ROS2 native example scripts and update build system
fee14f4 
Update ROS2 example files from ue4-dev reference: add GNSS and IMU
sensors to stack.json configuration, update rviz config with new sensor
frames and correct lidar topic path, sync ros2_native.py with upstream,
and update README with launch instructions.

Build system (CMakeLists.txt) uses dynamic file globs so no changes
needed for renamed/added/removed source files.

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
@update-docs
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update-docs Bot commented Apr 2, 2026

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.

This was referenced Apr 2, 2026
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@youtalk
fix(ros2): adapt build system for refactored ROS2 publishers
99b7fa4 
- Move ROS2.cpp compilation from LibCarla server to Ros2Native shared
  library, since publisher headers now include PublisherImpl.h which
  depends on FastDDS headers
- Add rpclib include path to Ros2Native build for MsgPack.h dependency
- Make BasicPublisher/BasicSubscriber standalone (no longer inherit
  from deleted CarlaPublisher/CarlaSubscriber base classes)
- Replace CarlaListener usage in BasicPublisher with inline
  DataWriterListener

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
@youtalk
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youtalk commented Apr 2, 2026

Although I would like to refine the null pointer dereference in all ProcessDataFrom* methods, this PR is just the porting. I will do it in the future PRs.

@youtalk youtalk marked this pull request as ready for review April 2, 2026 17:43
Copilot AI review requested due to automatic review settings April 2, 2026 17:43
@youtalk youtalk requested a review from a team as a code owner April 2, 2026 17:43
@youtalk
Update CHANGELOG with recent fixes and ROS2 refactor
b89e02f 
Added a note about the ROS2 refactor and fixed various issues.
youtalk pushed a commit to youtalk/carla that referenced this pull request Apr 2, 2026
@claude
fix(ROS2): add null checks after dynamic_pointer_cast in ProcessDataF…
be5548b 
…rom* methods

GetOrCreateSensor() can return nullptr for unsupported sensor types, and
dynamic_pointer_cast can also return nullptr on type mismatch. All 8
ProcessDataFrom* methods were dereferencing the result without null checks,
which would cause segfaults at runtime. Add early return guards for:
ProcessDataFromCamera, ProcessDataFromGNSS, ProcessDataFromIMU,
ProcessDataFromDVS, ProcessDataFromLidar, ProcessDataFromSemanticLidar,
ProcessDataFromRadar, ProcessDataFromCollisionSensor.

Addresses review feedback from carla-simulator#9638.

https://claude.ai/code/session_0113FGAM9Ci8oZTpbPAc3aqP
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Pull request overview

Ports the ROS2-native refactor from the UE4 branch to UE5, replacing the old per-sensor PIMPL-based publishers/subscribers with shared template infrastructure and shifting actor registration toward explicit actor/sensor/vehicle registration APIs.

Changes:

  • Introduces BasePublisher/PublisherImpl<T> and BaseSubscriber/SubscriberImpl<T> to centralize FastDDS lifecycle code and reduce duplication.
  • Updates UE sensor code paths to call the new ROS2::ProcessDataFrom* APIs (removing stream_id) and switches actor registration to Register*/Unregister*.
  • Adds Ackermann control support (new message types + subscriber + UE-side handler) and updates the ROS2 Python example/configs.

Reviewed changes

Copilot reviewed 93 out of 93 changed files in this pull request and generated 8 comments.

Show a summary per file
File Description
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp Updates parent ROS registration call to new RegisterActorParent API.
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Sensor/RayCastSemanticLidar.cpp Removes stream_id usage; forwards transform + data via new ROS2 API.
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Sensor/RayCastLidar.cpp Removes stream_id usage; forwards transform + data via new ROS2 API.
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Sensor/Radar.cpp Removes stream_id usage; forwards transform + data via new ROS2 API.
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Sensor/PixelReader.h Camera publishing now passes transform + buffer only; ROS2 side derives intrinsics from image header.
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Sensor/ObstacleDetectionSensor.cpp Removes stream_id usage; forwards transform + event data via new ROS2 API.
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Sensor/InertialMeasurementUnit.cpp Removes stream_id usage; forwards transform + IMU values via new ROS2 API.
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Sensor/GnssSensor.cpp Removes stream_id usage; forwards transform + GNSS data via new ROS2 API.
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Sensor/DVSCamera.cpp Removes stream_id usage; forwards transform + DVS buffer via new ROS2 API.
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Sensor/CollisionSensor.cpp Publishes ROS2 collision event using CARLA actor IDs instead of UE UniqueID.
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Actor/ActorROS2Handler.h Adds Ackermann control overload for ROS2 callbacks.
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Actor/ActorROS2Handler.cpp Implements Ackermann control application on ACarlaWheeledVehicle.
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Actor/ActorDispatcher.cpp Switches to RegisterSensor/RegisterVehicle and parent/TF attribute handling.
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Actor/ActorDescription.h Adds GetAttribute helper for variations lookup.
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Actor/ActorBlueprintFunctionLibrary.cpp Adds new ROS2-related actor variations (ros_frame_id, ros_publish_tf) and changes defaults.
Ros2Native/LibCarlaRos2Native/CMakeLists.txt Extends Ros2Native build to compile core ROS2 sources and adds rpclib include path.
Ros2Native/CMakeLists.txt Passes RPCLIB_INCLUDE_PATH into the external Ros2Native build.
PythonAPI/examples/ros2/stack.json Updates example blueprint/sensor config (vehicle type, camera resolution, adds GNSS+IMU).
PythonAPI/examples/ros2/rviz/ros2_native.rviz Updates frames and topic names (e.g., point cloud topic).
PythonAPI/examples/ros2/ros2_native.py Adds egg path bootstrap; adjusts timeouts and minor formatting.
PythonAPI/examples/ros2/README.md Updates run instructions for packaged/editor workflows.
LibCarla/source/carla/ros2/types/AckermannDriveStampedPubSubTypes.h Adds FastDDS-generated PubSubType for AckermannDriveStamped.
LibCarla/source/carla/ros2/types/AckermannDriveStampedPubSubTypes.cpp Adds FastDDS-generated PubSubType implementation for AckermannDriveStamped.
LibCarla/source/carla/ros2/types/AckermannDriveStamped.h Adds FastDDS-generated AckermannDriveStamped message type.
LibCarla/source/carla/ros2/types/AckermannDriveStamped.cpp Adds FastDDS-generated AckermannDriveStamped message implementation.
LibCarla/source/carla/ros2/types/AckermannDrivePubSubTypes.h Adds FastDDS-generated PubSubType for AckermannDrive.
LibCarla/source/carla/ros2/types/AckermannDrivePubSubTypes.cpp Adds FastDDS-generated PubSubType implementation for AckermannDrive.
LibCarla/source/carla/ros2/types/AckermannDrive.h Adds FastDDS-generated AckermannDrive message type.
LibCarla/source/carla/ros2/types/AckermannDrive.cpp Adds FastDDS-generated AckermannDrive message implementation.
LibCarla/source/carla/ros2/subscribers/SubscriberImpl.h Adds template subscriber implementation shared across subscribers.
LibCarla/source/carla/ros2/subscribers/CarlaSubscriber.h Removes legacy subscriber base class.
LibCarla/source/carla/ros2/subscribers/CarlaEgoVehicleControlSubscriber.h Refactors ego vehicle control subscriber to BaseSubscriber + SubscriberImpl.
LibCarla/source/carla/ros2/subscribers/CarlaEgoVehicleControlSubscriber.cpp Implements message conversion + callback dispatch using new subscriber infrastructure.
LibCarla/source/carla/ros2/subscribers/BasicSubscriber.h Removes inheritance from deleted CarlaSubscriber; inlines minimal name/frame fields.
LibCarla/source/carla/ros2/subscribers/BaseSubscriber.h Introduces shared subscriber base for actor pointer + base topic + frame id.
LibCarla/source/carla/ros2/subscribers/AckermannControlSubscriber.h Adds subscriber for AckermannDriveStamped control topic.
LibCarla/source/carla/ros2/subscribers/AckermannControlSubscriber.cpp Implements Ackermann message conversion + callback dispatch.
LibCarla/source/carla/ros2/ROS2CallbackData.h Adds AckermannControl and expands callback variant.
LibCarla/source/carla/ros2/ROS2.h Refactors ROS2 API for actor/sensor/vehicle registration and new ProcessData signatures.
LibCarla/source/carla/ros2/publishers/PublisherImpl.h Adds template publisher implementation shared across publishers.
LibCarla/source/carla/ros2/publishers/CarlaTransformPublisher.h Refactors TF publishing to BasePublisher + PublisherImpl.
LibCarla/source/carla/ros2/publishers/CarlaSSCameraPublisher.h Aliases SS camera publisher to RGB camera publisher.
LibCarla/source/carla/ros2/publishers/CarlaSpeedometerSensor.h Removes unused speedometer publisher (header).
LibCarla/source/carla/ros2/publishers/CarlaSpeedometerSensor.cpp Removes unused speedometer publisher (implementation).
LibCarla/source/carla/ros2/publishers/CarlaSemanticLidarPublisher.h Refactors semantic lidar publisher onto shared point cloud publisher base.
LibCarla/source/carla/ros2/publishers/CarlaRGBCameraPublisher.h Refactors RGB camera publisher onto shared camera publisher base.
LibCarla/source/carla/ros2/publishers/CarlaRadarPublisher.h Refactors radar publisher onto shared point cloud publisher base.
LibCarla/source/carla/ros2/publishers/CarlaPublisher.h Removes legacy publisher base class.
LibCarla/source/carla/ros2/publishers/CarlaPointCloudPublisher.h Adds shared point cloud publisher base (PointCloud2).
LibCarla/source/carla/ros2/publishers/CarlaPointCloudPublisher.cpp Implements point cloud message filling helper.
LibCarla/source/carla/ros2/publishers/CarlaOpticalFlowCameraPublisher.h Aliases optical flow publisher to RGB camera publisher.
LibCarla/source/carla/ros2/publishers/CarlaNormalsCameraPublisher.h Aliases normals publisher to RGB camera publisher.
LibCarla/source/carla/ros2/publishers/CarlaMapSensorPublisher.h Removes unused map sensor publisher (header).
LibCarla/source/carla/ros2/publishers/CarlaMapSensorPublisher.cpp Removes unused map sensor publisher (implementation).
LibCarla/source/carla/ros2/publishers/CarlaLineInvasionPublisher.h Removes unused lane invasion publisher (header).
LibCarla/source/carla/ros2/publishers/CarlaLineInvasionPublisher.cpp Removes unused lane invasion publisher (implementation).
LibCarla/source/carla/ros2/publishers/CarlaLidarPublisher.h Refactors lidar publisher onto shared point cloud publisher base.
LibCarla/source/carla/ros2/publishers/CarlaLidarPublisher.cpp Implements lidar-specific PointCloud2 field definitions + point conversion.
LibCarla/source/carla/ros2/publishers/CarlaISCameraPublisher.h Aliases instance segmentation publisher to RGB camera publisher.
LibCarla/source/carla/ros2/publishers/CarlaIMUPublisher.h Refactors IMU publisher onto BasePublisher + PublisherImpl.
LibCarla/source/carla/ros2/publishers/CarlaIMUPublisher.cpp Implements IMU message filling logic in new publisher.
LibCarla/source/carla/ros2/publishers/CarlaGNSSPublisher.h Refactors GNSS publisher onto BasePublisher + PublisherImpl.
LibCarla/source/carla/ros2/publishers/CarlaGNSSPublisher.cpp Implements GNSS message filling logic in new publisher.
LibCarla/source/carla/ros2/publishers/CarlaDVSPublisher.h Adds combined DVS publisher (image + camera info + point cloud).
LibCarla/source/carla/ros2/publishers/CarlaDVSPublisher.cpp Implements DVS point cloud fields + conversion.
LibCarla/source/carla/ros2/publishers/CarlaDVSCameraPublisher.h Removes legacy DVS camera publisher (header).
LibCarla/source/carla/ros2/publishers/CarlaDepthCameraPublisher.h Aliases depth publisher to RGB camera publisher.
LibCarla/source/carla/ros2/publishers/CarlaCollisionPublisher.h Refactors collision publisher onto BasePublisher + PublisherImpl.
LibCarla/source/carla/ros2/publishers/CarlaCollisionPublisher.cpp Implements collision message filling logic in new publisher.
LibCarla/source/carla/ros2/publishers/CarlaClockPublisher.h Refactors clock publisher onto BasePublisher + PublisherImpl.
LibCarla/source/carla/ros2/publishers/CarlaClockPublisher.cpp Implements clock message filling logic in new publisher.
LibCarla/source/carla/ros2/publishers/CarlaCameraPublisher.h Adds shared camera publisher base (Image + CameraInfo).
LibCarla/source/carla/ros2/publishers/CarlaCameraPublisher.cpp Implements camera info + image message filling logic.
LibCarla/source/carla/ros2/publishers/BasicPublisher.h Removes dependency on deleted CarlaPublisher; inlines minimal name/frame fields.
LibCarla/source/carla/ros2/publishers/BasicPublisher.cpp Replaces removed CarlaListener with a local listener implementation.
LibCarla/source/carla/ros2/publishers/BasePublisher.h Introduces shared publisher base for actor pointer + base topic + frame id.
LibCarla/source/carla/ros2/listeners/CarlaSubscriberListener.h Removes legacy subscriber listener wrapper.
LibCarla/source/carla/ros2/listeners/CarlaSubscriberListener.cpp Removes legacy subscriber listener wrapper implementation.
LibCarla/source/carla/ros2/listeners/CarlaListener.h Removes legacy publisher listener wrapper.
LibCarla/source/carla/ros2/listeners/CarlaListener.cpp Removes legacy publisher listener wrapper implementation.
LibCarla/CMakeLists.txt Stops building ROS2.cpp into LibCarla server; Ros2Native now owns it.

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Comment thread Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Actor/ActorDescription.h Outdated
Comment thread Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Actor/ActorDispatcher.cpp
Comment thread Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Actor/ActorDispatcher.cpp
Comment thread LibCarla/source/carla/ros2/publishers/CarlaDVSPublisher.cpp Outdated
Comment thread LibCarla/source/carla/ros2/publishers/CarlaDVSPublisher.cpp Outdated
Comment thread LibCarla/source/carla/ros2/publishers/CarlaCameraPublisher.cpp

const double cx = static_cast<double>(width) / 2.0;
const double cy = static_cast<double>(height) / 2.0;
const double fx = static_cast<double>(width) / (2.0 * std::tan(fov) * M_PI / 360.0);
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The camera intrinsics computation uses std::tan(fov) * M_PI / 360.0, which applies the degrees→radians factor after tan. This yields incorrect fx/fy (and thus incorrect CameraInfo). Convert to radians inside the tan, e.g., tan(fov * M_PI / 360.0) (or use a helper like DegreesToRadians).

Suggested change
const double fx = static_cast<double>(width) / (2.0 * std::tan(fov) * M_PI / 360.0);
const double fx = static_cast<double>(width) / (2.0 * std::tan(fov * M_PI / 360.0));

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Fixing in #9639

Comment thread PythonAPI/examples/ros2/README.md
Comment thread Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Sensor/CollisionSensor.cpp Outdated
youtalk
youtalk commented Apr 3, 2026
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Comment thread PythonAPI/examples/ros2/README.md Outdated
youtalk added 5 commits April 2, 2026 20:31
@youtalk
Update PythonAPI/examples/ros2/README.md
0b1fd3e
@youtalk
fix(ros2): address Copilot review comments on PR carla-simulator#9638
109a85a 
- ActorDescription: use FindRef for const-correct GetAttribute
- ActorDispatcher: use TEXT() macro for string literals
- ActorDispatcher: use std::visit instead of boost::variant2::visit
- CarlaDVSPublisher: fix descriptor3/descriptor4 copy-paste bug
- CarlaDVSPublisher: fix t field datatype (INT64 instead of FLOAT64)
- CarlaDVSPublisher: fix uint16_t y-flip underflow, avoid in-place mutation
- CarlaCameraPublisher: fix FOV-to-radians conversion order in tan()
- CollisionSensor: publish fallback ID for unregistered actors
- README: fix executable name CarlaUE4sh -> CarlaUnreal.sh

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
@youtalk
fix(ros2): correct PointField datatypes in CarlaDVSPublisher
0fd77f3 
- Change `t` field from non-existent PointField__INT64 to FLOAT64
  (the only 8-byte type available in sensor_msgs/PointField)
- Change `pol` field from INT8 to UINT8 to match bool semantics

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
@youtalk
revert
e603bd7 
Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
@youtalk
Merge branch 'ue5-dev' into feat/ros2-refactor
8cece50
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youtalk commented Apr 6, 2026

@JesusAnaya Could you review this? It is the poring of #9097 and some Copilot review addressing.

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JesusAnaya commented Apr 6, 2026

Hello @youtalk 👋, sure, I can take a look this afternoon.

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Blyron commented Apr 7, 2026

Hey @youtalk if you want the PR to be reviwed from CARLA Team you will need to split it as @JesusAnaya has done

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youtalk commented Apr 7, 2026

My initial motivation was the porting of each critical fix commits from ue4-dev, so I simply ported this pull request as well. #9097

However, if you still think it would be better to split it up, I can try doing that.
Since @JesusAnaya has started the abstraction of the DDS implementation #9608, this PR has become outdated. Therefore, I have decided to give up on making corrections within this porting task. I will ensure that I stick to simple bug fixes.

@youtalk youtalk closed this Apr 7, 2026
@youtalk youtalk deleted the feat/ros2-refactor branch April 7, 2026 16:25
This was referenced Apr 7, 2026
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