fix(ros2): correct degree-to-radian conversion in transform publisher by youtalk · Pull Request #9639 · carla-simulator/carla

youtalk · 2026-04-02T02:39:52Z

Description

Port transform conversion bugfix from ue4-dev a46b2690b to ue5-dev.

Fixes incorrect degree-to-radian conversion in CarlaTransformPublisher.cpp:

M_PI_2 / 180.0f (pi/360, wrong) → M_PI / 180.0f (pi/180, correct)
Consistent y-axis negation for ROS coordinate conventions

Depends on #9638
Diff from #9638: fefae90

Where has this been tested?

Platform(s): Linux (Ubuntu 22.04)
Python version(s): 3.12
Unreal Engine version(s): 5.5 (CARLA fork)

Possible Drawbacks

Changes published TF transform values — any downstream code relying on the previous (incorrect) values will see different results

This change is

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>

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>

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>

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>

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>

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

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>

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 · 2026-04-02T02:39:57Z

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.

- 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>

The rotation conversion was incorrectly using M_PI_2 (pi/2) instead of M_PI (pi) in the degree-to-radian formula, producing angles that were half the correct value. Also negate the y-axis translation at the source instead of after quaternion computation for consistency with ROS coordinate conventions. Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

Copilot

Pull request overview

Ports the ROS2 transform conversion fix to ue5-dev while also aligning UE-side sensor publishing and LibCarla ROS2 native code with the new BasePublisher/BaseSubscriber template architecture (incl. Ackermann control support and updated examples).

Changes:

Fixes TF transform conversion math (deg→rad) and ROS coordinate sign conventions in the transform publisher path.
Refactors ROS2 actor/sensor/vehicle registration and sensor data publishing calls to the new API (removing stream_id usage).
Adds Ackermann control message types/subscriber and updates ROS2 native example configs (stack/rviz/script/docs).

Reviewed changes

Copilot reviewed 92 out of 92 changed files in this pull request and generated 9 comments.

Show a summary per file

File	Description
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp	Switches parent registration call to `RegisterActorParent`.
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Sensor/RayCastSemanticLidar.cpp	Removes stream_id; passes computed relative/world transform into ROS2 publisher.
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Sensor/RayCastLidar.cpp	Removes stream_id; passes computed relative/world transform into ROS2 publisher.
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Sensor/Radar.cpp	Removes stream_id; passes computed relative/world transform into ROS2 publisher.
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Sensor/PixelReader.h	Updates ROS2 camera publish path; now publishes from serialized buffer header.
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Sensor/ObstacleDetectionSensor.cpp	Removes stream_id; passes computed relative/world transform into ROS2 publisher.
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Sensor/InertialMeasurementUnit.cpp	Removes stream_id; passes computed relative/world transform into ROS2 publisher.
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Sensor/GnssSensor.cpp	Removes stream_id; passes computed relative/world transform into ROS2 publisher.
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Sensor/DVSCamera.cpp	Updates ROS2 DVS publish signature to new API.
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Sensor/CollisionSensor.cpp	Publishes collision using Carla actor id (when available) and new ROS2 API.
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Actor/ActorROS2Handler.h	Adds Ackermann control handler overload.
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Actor/ActorROS2Handler.cpp	Implements Ackermann control application to vehicles.
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Actor/ActorDispatcher.cpp	Migrates ROS2 actor registration to new RegisterSensor/RegisterVehicle APIs.
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Actor/ActorDescription.h	Adds convenience `GetAttribute` accessor for variations map.
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Actor/ActorBlueprintFunctionLibrary.cpp	Adds `ros_frame_id` and `ros_publish_tf` attributes; changes defaults.
Ros2Native/LibCarlaRos2Native/CMakeLists.txt	Ensures core ros2 *.cpp are built and adds rpclib include path.
Ros2Native/CMakeLists.txt	Plumbs `RPCLIB_INCLUDE_PATH` into Ros2Native external build.
PythonAPI/examples/ros2/stack.json	Updates blueprint id and adds GNSS/IMU sensors; adjusts camera resolution.
PythonAPI/examples/ros2/rviz/ros2_native.rviz	Adds GNSS/IMU frames and updates lidar topic naming.
PythonAPI/examples/ros2/ros2_native.py	Improves egg import path handling; tweaks timeouts; whitespace cleanup.
PythonAPI/examples/ros2/README.md	Updates ROS2 native example launch instructions.
LibCarla/source/carla/ros2/types/AckermannDriveStampedPubSubTypes.h	Adds generated FastDDS type support for AckermannDriveStamped.
LibCarla/source/carla/ros2/types/AckermannDriveStampedPubSubTypes.cpp	Adds generated FastDDS serialization for AckermannDriveStamped.
LibCarla/source/carla/ros2/types/AckermannDriveStamped.h	Adds generated AckermannDriveStamped message type.
LibCarla/source/carla/ros2/types/AckermannDriveStamped.cpp	Adds generated AckermannDriveStamped implementation.
LibCarla/source/carla/ros2/types/AckermannDrivePubSubTypes.h	Adds generated FastDDS type support for AckermannDrive.
LibCarla/source/carla/ros2/types/AckermannDrivePubSubTypes.cpp	Adds generated FastDDS serialization for AckermannDrive.
LibCarla/source/carla/ros2/types/AckermannDrive.h	Adds generated AckermannDrive message type.
LibCarla/source/carla/ros2/types/AckermannDrive.cpp	Adds generated AckermannDrive implementation.
LibCarla/source/carla/ros2/subscribers/SubscriberImpl.h	Introduces templated DDS subscriber implementation.
LibCarla/source/carla/ros2/subscribers/CarlaSubscriber.h	Removes legacy subscriber base class.
LibCarla/source/carla/ros2/subscribers/CarlaEgoVehicleControlSubscriber.h	Migrates ego control subscriber to BaseSubscriber/SubscriberImpl.
LibCarla/source/carla/ros2/subscribers/CarlaEgoVehicleControlSubscriber.cpp	Replaces bespoke DDS code with SubscriberImpl polling path.
LibCarla/source/carla/ros2/subscribers/BasicSubscriber.h	Removes inheritance from deleted CarlaSubscriber; inlines fields.
LibCarla/source/carla/ros2/subscribers/BaseSubscriber.h	Adds new BaseSubscriber abstraction for subscriber types.
LibCarla/source/carla/ros2/subscribers/AckermannControlSubscriber.h	Adds Ackermann control subscriber wrapper.
LibCarla/source/carla/ros2/subscribers/AckermannControlSubscriber.cpp	Implements Ackermann message→control conversion.
LibCarla/source/carla/ros2/ROS2CallbackData.h	Extends callback variant to include AckermannControl.
LibCarla/source/carla/ros2/ROS2.h	Reworks ROS2 API for actor registration and data ingestion without stream_id.
LibCarla/source/carla/ros2/publishers/PublisherImpl.h	Introduces templated DDS publisher implementation.
LibCarla/source/carla/ros2/publishers/CarlaTransformPublisher.h	Migrates TF publisher to BasePublisher/PublisherImpl design.
LibCarla/source/carla/ros2/publishers/CarlaSSCameraPublisher.h	Simplifies SS camera publisher to alias RGB camera publisher.
LibCarla/source/carla/ros2/publishers/CarlaSpeedometerSensor.h	Removes legacy speedometer publisher.
LibCarla/source/carla/ros2/publishers/CarlaSpeedometerSensor.cpp	Removes legacy speedometer publisher implementation.
LibCarla/source/carla/ros2/publishers/CarlaSemanticLidarPublisher.h	Migrates semantic lidar publisher to PointCloud publisher base.
LibCarla/source/carla/ros2/publishers/CarlaRGBCameraPublisher.h	Migrates RGB camera publisher to new Camera publisher base.
LibCarla/source/carla/ros2/publishers/CarlaRadarPublisher.h	Migrates radar publisher to PointCloud publisher base.
LibCarla/source/carla/ros2/publishers/CarlaPublisher.h	Removes legacy publisher base class.
LibCarla/source/carla/ros2/publishers/CarlaPointCloudPublisher.h	Adds shared PointCloud2 publisher base.
LibCarla/source/carla/ros2/publishers/CarlaPointCloudPublisher.cpp	Implements common PointCloud2 message population logic.
LibCarla/source/carla/ros2/publishers/CarlaOpticalFlowCameraPublisher.h	Simplifies optical flow publisher to alias RGB publisher.
LibCarla/source/carla/ros2/publishers/CarlaNormalsCameraPublisher.h	Simplifies normals publisher to alias RGB publisher.
LibCarla/source/carla/ros2/publishers/CarlaMapSensorPublisher.h	Removes legacy map publisher.
LibCarla/source/carla/ros2/publishers/CarlaMapSensorPublisher.cpp	Removes legacy map publisher implementation.
LibCarla/source/carla/ros2/publishers/CarlaLineInvasionPublisher.h	Removes legacy lane invasion publisher.
LibCarla/source/carla/ros2/publishers/CarlaLineInvasionPublisher.cpp	Removes legacy lane invasion publisher implementation.
LibCarla/source/carla/ros2/publishers/CarlaLidarPublisher.h	Migrates lidar publisher to PointCloud publisher base.
LibCarla/source/carla/ros2/publishers/CarlaLidarPublisher.cpp	Reimplements lidar point cloud packing/conversion.
LibCarla/source/carla/ros2/publishers/CarlaISCameraPublisher.h	Simplifies IS camera publisher to alias RGB publisher.
LibCarla/source/carla/ros2/publishers/CarlaIMUPublisher.h	Migrates IMU publisher to BasePublisher/PublisherImpl.
LibCarla/source/carla/ros2/publishers/CarlaIMUPublisher.cpp	Reimplements IMU message population under new architecture.
LibCarla/source/carla/ros2/publishers/CarlaGNSSPublisher.h	Migrates GNSS publisher to BasePublisher/PublisherImpl.
LibCarla/source/carla/ros2/publishers/CarlaGNSSPublisher.cpp	Reimplements GNSS message population under new architecture.
LibCarla/source/carla/ros2/publishers/CarlaDVSPublisher.h	Introduces combined DVS image + point cloud publisher.
LibCarla/source/carla/ros2/publishers/CarlaDVSPublisher.cpp	Implements DVS point cloud fields/packing.
LibCarla/source/carla/ros2/publishers/CarlaDVSCameraPublisher.h	Removes legacy DVS publisher class.
LibCarla/source/carla/ros2/publishers/CarlaDepthCameraPublisher.h	Simplifies depth publisher to alias RGB publisher.
LibCarla/source/carla/ros2/publishers/CarlaCollisionPublisher.h	Migrates collision publisher to BasePublisher/PublisherImpl.
LibCarla/source/carla/ros2/publishers/CarlaCollisionPublisher.cpp	Reimplements collision message population under new architecture.
LibCarla/source/carla/ros2/publishers/CarlaClockPublisher.h	Migrates clock publisher to BasePublisher/PublisherImpl.
LibCarla/source/carla/ros2/publishers/CarlaClockPublisher.cpp	Reimplements clock message population under new architecture.
LibCarla/source/carla/ros2/publishers/CarlaCameraPublisher.h	Adds shared camera (Image + CameraInfo) publisher base.
LibCarla/source/carla/ros2/publishers/CarlaCameraPublisher.cpp	Implements common camera info + image population logic.
LibCarla/source/carla/ros2/publishers/BasicPublisher.h	Removes inheritance from deleted CarlaPublisher; inlines fields.
LibCarla/source/carla/ros2/publishers/BasicPublisher.cpp	Replaces listener wrapper with local DataWriterListener impl.
LibCarla/source/carla/ros2/publishers/BasePublisher.h	Adds new BasePublisher abstraction.
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 compiling ROS2.cpp into LibCarla server; moves it to Ros2Native.

💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.

Copilot · 2026-04-06T22:52:07Z

+        ROS2->RegisterVehicle(static_cast<void*>(&Actor), RosName, RosName, [RosName](void *Actor, carla::ros2::ROS2CallbackData Data) -> void
          {
            AActor *UEActor = reinterpret_cast<AActor *>(Actor);
            ActorROS2Handler Handler(UEActor, RosName);
-            std::visit(Handler, Data);
+            boost::variant2::visit(Handler, Data);
          });


ROS2CallbackData is defined as std::variant (see LibCarla/source/carla/ros2/ROS2CallbackData.h), but this code calls boost::variant2::visit. This will not compile (and #include <variant> was removed in the same hunk). Use std::visit here, or change ROS2CallbackData to a Boost variant consistently across the codebase.

Copilot · 2026-04-06T22:52:07Z

+  FActorAttribute GetAttribute(const FString Name) const {
+    if (Variations.Contains(Name))
+    {
+      return Variations[Name];
+    }
+    else
+    {
+      return FActorAttribute();
+    }


GetAttribute is const but uses Variations[Name]. In Unreal's TMap, operator[] is non-const and may not compile in a const method; even if it compiles, it’s easy to accidentally introduce insertion in the future. Prefer if (const FActorAttribute* Attr = Variations.Find(Name)) return *Attr; (or FindRef) and take Name by const FString& to avoid copying.

Copilot · 2026-04-06T22:52:08Z

+
+  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);


Camera intrinsics computation uses std::tan(fov) where fov appears to be in degrees (it comes from ImageSerializer::ImageHeader::fov_angle). This yields incorrect fx/fy in CameraInfo. Convert to radians before calling tan, e.g., tan(fov * M_PI / 360.0) (or compute a fov_rad = fov * M_PI / 180.0).

Suggested change

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

const double half_fov_rad = static_cast<double>(fov) * M_PI / 360.0;

const double fx = static_cast<double>(width) / (2.0 * std::tan(half_fov_rad));

Copilot · 2026-04-06T22:52:08Z

+    descriptor3.name("pol");
+    descriptor3.offset(12);
+    descriptor3.datatype(sensor_msgs::msg::PointField__INT8);
+    descriptor3.count(1);


GetFields() mistakenly assigns the "pol" field metadata into descriptor3 instead of descriptor4, so the returned field list contains a corrupted "t" field and an uninitialized descriptor4. Assign name/offset/datatype/count to descriptor4 for the polarity field.

Suggested change

descriptor3.name("pol");

descriptor3.offset(12);

descriptor3.datatype(sensor_msgs::msg::PointField__INT8);

descriptor3.count(1);

descriptor4.name("pol");

descriptor4.offset(12);

descriptor4.datatype(sensor_msgs::msg::PointField__INT8);

descriptor4.count(1);

Copilot · 2026-04-06T22:52:08Z

+namespace carla {
+namespace ros2 {
+
+const size_t CarlaDVSPointCloudPublisher::GetPointSize() {
+  return sizeof(sensor::data::DVSEvent);
+}
+
+std::vector<sensor_msgs::msg::PointField> CarlaDVSPointCloudPublisher::GetFields() {
+
+    sensor_msgs::msg::PointField descriptor1;
+    descriptor1.name("x");
+    descriptor1.offset(0);
+    descriptor1.datatype(sensor_msgs::msg::PointField__UINT16);
+    descriptor1.count(1);
+    sensor_msgs::msg::PointField descriptor2;
+    descriptor2.name("y");
+    descriptor2.offset(2);
+    descriptor2.datatype(sensor_msgs::msg::PointField__UINT16);
+    descriptor2.count(1);
+    sensor_msgs::msg::PointField descriptor3;
+    descriptor3.name("t");
+    descriptor3.offset(4);
+    descriptor3.datatype(sensor_msgs::msg::PointField__FLOAT64);
+    descriptor3.count(1);
+    sensor_msgs::msg::PointField descriptor4;
+    descriptor3.name("pol");
+    descriptor3.offset(12);
+    descriptor3.datatype(sensor_msgs::msg::PointField__INT8);
+    descriptor3.count(1);
+
+  return {descriptor1, descriptor2, descriptor3, descriptor4};
+}
+
+std::vector<uint8_t> CarlaDVSPointCloudPublisher::ComputePointCloud(uint32_t height, uint32_t width, uint8_t *data) {
+
+  sensor::data::DVSEvent* events = reinterpret_cast<sensor::data::DVSEvent*>(data);
+  const size_t total_points = height * width;
+  for (size_t i = 0; i < total_points; ++i) {
+    events[i].y *= -1.0f;
+  }
+
+  const size_t total_bytes = total_points * sizeof(sensor::data::DVSEvent);
+  std::vector<uint8_t> vector_data(reinterpret_cast<uint8_t*>(events),
+                                   reinterpret_cast<uint8_t*>(events) + total_bytes);


DVSEvent::y is a uint16_t (see carla/sensor/data/DVSEvent.h), but this code multiplies it by -1.0f. That will wrap/overflow and produce invalid coordinates in the point cloud. If the intent is ROS coordinate conversion, apply the sign change on a signed/float representation (e.g., store to an int32/float field in the outgoing point cloud buffer) rather than mutating the packed DVSEvent in-place.

Suggested change

namespace carla {

namespace ros2 {

const size_t CarlaDVSPointCloudPublisher::GetPointSize() {

return sizeof(sensor::data::DVSEvent);

}

std::vector<sensor_msgs::msg::PointField> CarlaDVSPointCloudPublisher::GetFields() {

sensor_msgs::msg::PointField descriptor1;

descriptor1.name("x");

descriptor1.offset(0);

descriptor1.datatype(sensor_msgs::msg::PointField__UINT16);

descriptor1.count(1);

sensor_msgs::msg::PointField descriptor2;

descriptor2.name("y");

descriptor2.offset(2);

descriptor2.datatype(sensor_msgs::msg::PointField__UINT16);

descriptor2.count(1);

sensor_msgs::msg::PointField descriptor3;

descriptor3.name("t");

descriptor3.offset(4);

descriptor3.datatype(sensor_msgs::msg::PointField__FLOAT64);

descriptor3.count(1);

sensor_msgs::msg::PointField descriptor4;

descriptor3.name("pol");

descriptor3.offset(12);

descriptor3.datatype(sensor_msgs::msg::PointField__INT8);

descriptor3.count(1);

return {descriptor1, descriptor2, descriptor3, descriptor4};

}

std::vector<uint8_t> CarlaDVSPointCloudPublisher::ComputePointCloud(uint32_t height, uint32_t width, uint8_t *data) {

sensor::data::DVSEvent* events = reinterpret_cast<sensor::data::DVSEvent*>(data);

const size_t total_points = height * width;

for (size_t i = 0; i < total_points; ++i) {

events[i].y *= -1.0f;

}

const size_t total_bytes = total_points * sizeof(sensor::data::DVSEvent);

std::vector<uint8_t> vector_data(reinterpret_cast<uint8_t*>(events),

reinterpret_cast<uint8_t*>(events) + total_bytes);

#include <cstdint>

#include <cstring>

namespace carla {

namespace ros2 {

namespace {

constexpr size_t kDVSPointXOffset = 0;

constexpr size_t kDVSPointYOffset = 4;

constexpr size_t kDVSPointTOffset = 8;

constexpr size_t kDVSPointPolOffset = 16;

constexpr size_t kDVSPointSize = 17;

} // namespace

const size_t CarlaDVSPointCloudPublisher::GetPointSize() {

return kDVSPointSize;

}

std::vector<sensor_msgs::msg::PointField> CarlaDVSPointCloudPublisher::GetFields() {

sensor_msgs::msg::PointField descriptor1;

descriptor1.name("x");

descriptor1.offset(kDVSPointXOffset);

descriptor1.datatype(sensor_msgs::msg::PointField__UINT16);

descriptor1.count(1);

sensor_msgs::msg::PointField descriptor2;

descriptor2.name("y");

descriptor2.offset(kDVSPointYOffset);

descriptor2.datatype(sensor_msgs::msg::PointField__INT32);

descriptor2.count(1);

sensor_msgs::msg::PointField descriptor3;

descriptor3.name("t");

descriptor3.offset(kDVSPointTOffset);

descriptor3.datatype(sensor_msgs::msg::PointField__FLOAT64);

descriptor3.count(1);

sensor_msgs::msg::PointField descriptor4;

descriptor4.name("pol");

descriptor4.offset(kDVSPointPolOffset);

descriptor4.datatype(sensor_msgs::msg::PointField__INT8);

descriptor4.count(1);

return {descriptor1, descriptor2, descriptor3, descriptor4};

}

std::vector<uint8_t> CarlaDVSPointCloudPublisher::ComputePointCloud(uint32_t height, uint32_t width, uint8_t *data) {

const sensor::data::DVSEvent* events = reinterpret_cast<const sensor::data::DVSEvent*>(data);

const size_t total_points = height * width;

std::vector<uint8_t> vector_data(total_points * kDVSPointSize);

for (size_t i = 0; i < total_points; ++i) {

uint8_t *point_data = vector_data.data() + (i * kDVSPointSize);

const auto &event = events[i];

std::memcpy(point_data + kDVSPointXOffset, &event.x, sizeof(event.x));

const int32_t ros_y = -static_cast<int32_t>(event.y);

std::memcpy(point_data + kDVSPointYOffset, &ros_y, sizeof(ros_y));

std::memcpy(point_data + kDVSPointTOffset, &event.t, sizeof(event.t));

std::memcpy(point_data + kDVSPointPolOffset, &event.pol, sizeof(event.pol));

}

Copilot · 2026-04-06T22:52:08Z

 ```bash
-./CarlaUnreal.sh --ros2
+# If running a package:
+./CarlaUE4sh --ros2
+
+# If running the editor:
+make launch ARGS="--ros2 --editor-flags='--ros2'"
 ```


The launch command in the README references ./CarlaUE4sh --ros2, but the repo documentation consistently uses ./CarlaUnreal.sh --ros2 (e.g., Docs/ros2_native.md:8, Docs/build_linux_ue5.md:128). Update this example to the correct script name (and extension) so the instructions are runnable.

Copilot · 2026-04-06T22:52:08Z

+                  auto Res = std::async(std::launch::async, [&Sensor, ROS2, &Stream, BufView]()
                  {
-                    // get resolution of camera
-                    int W = -1, H = -1;
-                    float Fov = -1.0f;
-                    auto WidthOpt = Sensor.GetAttribute("image_size_x");
-                    if (WidthOpt.has_value())
-                      W = FCString::Atoi(*WidthOpt->Value);
-                    auto HeightOpt = Sensor.GetAttribute("image_size_y");
-                    if (HeightOpt.has_value())
-                      H = FCString::Atoi(*HeightOpt->Value);
-                    auto FovOpt = Sensor.GetAttribute("fov");
-                    if (FovOpt.has_value())
-                      Fov = FCString::Atof(*FovOpt->Value);
-                    // send data to ROS2
                    AActor* ParentActor = Sensor.GetAttachParentActor();
-                    if (ParentActor)
-                    {
-                      FTransform LocalTransformRelativeToParent = Sensor.GetActorTransform().GetRelativeTransform(ParentActor->GetActorTransform());
-                      ROS2->ProcessDataFromCamera(Stream.GetSensorType(), StreamId, LocalTransformRelativeToParent, W, H, Fov, BufView, &Sensor);
-                    }
-                    else
-                    {
-                      ROS2->ProcessDataFromCamera(Stream.GetSensorType(), StreamId, Stream.GetSensorTransform(), W, H, Fov, BufView, &Sensor);
-                    }
+                    auto Transform = (ParentActor) ? Sensor.GetActorTransform().GetRelativeTransform(ParentActor->GetActorTransform()) : Stream.GetSensorTransform();
+                    ROS2->ProcessDataFromCamera(Stream.GetSensorType(), Transform, BufView, &Sensor);
                  });


The async lambda captures Stream by reference (&Stream), but Stream is a local variable inside FuncForSending (created at line 145). If the async task runs after FuncForSending returns, this becomes a use-after-free. Capture the needed values by value before launching the async task (e.g., sensor_type / sensor_transform), or avoid std::async here.

Copilot · 2026-04-06T22:52:09Z

+    void on_data_available(efd::DataReader* reader) override {
+      efd::SampleInfo info;
+      msg_type message;
+
+      eprosima::fastrtps::types::ReturnCode_t rcode = reader->take_next_sample(&_message, &info);
+      if (rcode == eprosima::fastrtps::types::ReturnCode_t::ReturnCodeValue::RETCODE_OK) {
+        // TODO: Process messages directly.
+        _new_message = true;
+      } else {
+        log_error("SubscriberImpl::on_data_available (", this->GetTopicName(), ") failed with code:", rcode());
+      }
+    }


on_data_available runs on a Fast DDS thread, while HasNewMessage()/GetMessage() are called from the game thread. _new_message and _message are accessed without any synchronization, which is a data race (undefined behavior) and can return torn/partially-written messages. Use a mutex, atomics + double-buffering, or a thread-safe queue to hand off messages between threads safely (and remove the unused local msg_type message).

Copilot · 2026-04-06T22:52:09Z

+std::vector<uint8_t> CarlaLidarPublisher::ComputePointCloud(uint32_t height, uint32_t width, uint8_t *data) {

-    return *this;
-  }
+  sensor::data::LidarDetection* detections = reinterpret_cast<sensor::data::LidarDetection*>(data);

-  CarlaLidarPublisher::CarlaLidarPublisher(CarlaLidarPublisher&& other) {
-    _frame_id = std::move(other._frame_id);
-    _name = std::move(other._name);
-    _parent = std::move(other._parent);
-    _impl = std::move(other._impl);
+  const size_t total_points = height * width;
+  for (size_t i = 0; i < total_points; ++i) {
+    detections[i].point.y *= -1.0f;
  }

-  CarlaLidarPublisher& CarlaLidarPublisher::operator=(CarlaLidarPublisher&& other) {
-    _frame_id = std::move(other._frame_id);
-    _name = std::move(other._name);
-    _parent = std::move(other._parent);
-    _impl = std::move(other._impl);
-
-    return *this;
-  }
-}
+  const size_t total_bytes = total_points * sizeof(sensor::data::LidarDetection);
+  std::vector<uint8_t> vector_data(reinterpret_cast<uint8_t*>(detections),
+                                   reinterpret_cast<uint8_t*>(detections) + total_bytes);
+  return vector_data;


ComputePointCloud reinterprets the raw float buffer as sensor::data::LidarDetection* and mutates it. LidarDetection is a non-trivial class type and is not guaranteed to be layout-compatible with a float[4] buffer; this breaks strict-aliasing rules and can be undefined behavior. Prefer operating on the underlying float* (every 4th value is Y) and then copying into the output std::vector<uint8_t>.

youtalk · 2026-04-07T18:13:03Z

#9638 (comment)

youtalk added 9 commits April 1, 2026 19:32

feat(ros2): overhaul ROS2 manager with actor-based registration

7aefb07

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

feat(ros2): update Unreal plugin for new ROS2 registration API

1e2fba9

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

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 added 2 commits April 1, 2026 21:26

youtalk force-pushed the fix/ros2-transform-conversion branch from afb6c6b to fefae90 Compare April 2, 2026 04:27

youtalk mentioned this pull request Apr 3, 2026

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

Closed

youtalk marked this pull request as ready for review April 6, 2026 22:43

youtalk requested a review from a team as a code owner April 6, 2026 22:43

Copilot AI review requested due to automatic review settings April 6, 2026 22:43

Copilot started reviewing on behalf of youtalk April 6, 2026 22:44 View session

Copilot AI reviewed Apr 6, 2026

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youtalk closed this Apr 7, 2026

youtalk deleted the fix/ros2-transform-conversion branch April 7, 2026 18:13

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fix(ros2): correct degree-to-radian conversion in transform publisher#9639

fix(ros2): correct degree-to-radian conversion in transform publisher#9639
youtalk wants to merge 11 commits intocarla-simulator:ue5-devfrom
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	const double fx = static_cast<double>(width) / (2.0 * std::tan(fov) * M_PI / 360.0);
	const double half_fov_rad = static_cast<double>(fov) * M_PI / 360.0;
	const double fx = static_cast<double>(width) / (2.0 * std::tan(half_fov_rad));

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youtalk commented Apr 2, 2026 •

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