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Extend ROS2 support Step 1: Prepare for mulistream (#9431)
Prepare server for multistream support and ROS2 client calls - Moved Blueprint handling sources to carla/actor from carla/client to allow using of that functionalilty within ROS2 server calls - Moved streaming/detail/tcp/Message.h -> streaming/detail/Message.h to be deployed for non-tcp communication streams like ROS2 - Moved general (tcp-independent parts) from tcp/ServerSession to streaming/detail/Session.h to be used for ROS2 streams. Had to rename a Write() function to WriteMessage because of virtual function overloaded with template function not possible. - Make Dispatcher a shared_pointer to be able to access from ROS2 - CarlaServer uses rpc::RpcServerInterface to communicate with TCP-Clients and upcoming DDS-Client - Dynamic switching on ROS visibility is possible for all actors now - Default startup behavior is selectable by ROS2TopicVisibility parameter in DefaultGame.ini: If true, then all and every topic that is currently offered by the implementation is visible from the beginning. If false, then only the sensors/actors created via the Client- or ROS-Interface are visible by defaults. Others can be activated via EnableForRos() calls (this allows for disabling interfaces e.g. for leaderboard)
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‎CHANGELOG.md‎

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@@ -6,6 +6,7 @@
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* Fix OpenDrive Builder lane width
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* Introduced geom::AngularVelocity, geom::Velocity, geom::Acceleration, geom::Quaternion types
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* Fixed geom::Rotation::RotateVector() rotation directions of pitch and roll
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* Prepare server for multistream support and ROS2 client calls
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## CARLA 0.9.16
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‎Docs/python_api.md‎

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@@ -94,6 +94,8 @@ Tells the simulator to destroy this actor and returns <b>True</b> if it was succ
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_</font>
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- <a name="carla.Actor.disable_constant_velocity"></a>**<font color="#7fb800">disable_constant_velocity</font>**(<font color="#00a6ed">**self**</font>)
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Disables any constant velocity previously set for a [carla.Vehicle](#carla.Vehicle) actor.
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- <a name="carla.Actor.disable_for_ros"></a>**<font color="#7fb800">disable_for_ros</font>**(<font color="#00a6ed">**self**</font>)
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Commands the actor to stop publishing via ROS2.
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- <a name="carla.Actor.enable_constant_velocity"></a>**<font color="#7fb800">enable_constant_velocity</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**velocity**</font>)
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Sets a vehicle's velocity vector to a constant value over time. The resulting velocity will be approximately the `velocity` being set, as with __<font color="#7fb800">set_target_velocity()</font>__.
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- **Parameters:**
@@ -102,6 +104,11 @@ Sets a vehicle's velocity vector to a constant value over time. The resulting ve
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_</font>
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- **Warning:** <font color="#ED2F2F">_Enabling a constant velocity for a vehicle managed by the [Traffic Manager](adv_traffic_manager.md) may cause conflicts. This method overrides any changes in velocity by the TM.
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_</font>
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- <a name="carla.Actor.enable_for_ros"></a>**<font color="#7fb800">enable_for_ros</font>**(<font color="#00a6ed">**self**</font>)
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Commands the actor to publish their content via ROS2.
109+
- <a name="carla.Actor.is_enabled_for_ros"></a>**<font color="#7fb800">is_enabled_for_ros</font>**(<font color="#00a6ed">**self**</font>)
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Returns if the actor is enabled or not to publish via ROS2.
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- **Return:** _bool_
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##### Getters
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- <a name="carla.Actor.get_acceleration"></a>**<font color="#7fb800">get_acceleration</font>**(<font color="#00a6ed">**self**</font>)
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When **True** the sensor will be waiting for data.
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### Methods
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- <a name="carla.Sensor.disable_for_ros"></a>**<font color="#7fb800">disable_for_ros</font>**(<font color="#00a6ed">**self**</font>)
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Commands the sensor to not be processed for publishing in ROS2 if there is no any listen to it.
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- <a name="carla.Sensor.enable_for_ros"></a>**<font color="#7fb800">enable_for_ros</font>**(<font color="#00a6ed">**self**</font>)
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Commands the sensor to be processed to be able to publish in ROS2 without any listen to it.
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- <a name="carla.Sensor.is_enabled_for_ros"></a>**<font color="#7fb800">is_enabled_for_ros</font>**(<font color="#00a6ed">**self**</font>)
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Returns if the sensor is enabled or not to publish in ROS2 if there is no any listen to it.
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- **Return:** _bool_
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- <a name="carla.Sensor.is_listening"></a>**<font color="#7fb800">is_listening</font>**(<font color="#00a6ed">**self**</font>)
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Returns whether the sensor is in a listening state.
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- **Return:** _bool_

‎Examples/CppClient/Makefile‎

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@@ -4,9 +4,9 @@ BINDIR=$(CURDIR)/bin
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INSTALLDIR=$(CURDIR)/libcarla-install
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TOOLCHAIN=$(CURDIR)/ToolChain.cmake
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7-
CC=/usr/bin/gcc-9
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CXX=/usr/bin/g++-9
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CXXFLAGS=-std=c++14 -pthread -fPIC -O3 -DNDEBUG -Werror -Wall -Wextra
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CC=/usr/bin/gcc
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CXX=/usr/bin/g++
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CXXFLAGS=-std=c++17 -pthread -fPIC -O3 -DNDEBUG -Werror -Wall -Wextra
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define log
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@echo "\033[1;35m$(1)\033[0m"

‎Examples/CppClient/main.cpp‎

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#include <thread>
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#include <tuple>
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9-
#include <carla/client/ActorBlueprint.h>
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#include <carla/client/BlueprintLibrary.h>
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#include <carla/actors/ActorBlueprint.h>
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#include <carla/actors/BlueprintLibrary.h>
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#include <carla/client/Client.h>
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#include <carla/client/Map.h>
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#include <carla/client/Sensor.h>

‎LibCarla/cmake/client/CMakeLists.txt‎

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set(libcarla_sources "${libcarla_sources};${libcarla_carla_sources}")
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install(FILES ${libcarla_carla_sources} DESTINATION include/carla)
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file(GLOB libcarla_carla_actors_sources
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"${libcarla_source_path}/carla/actors/*.cpp"
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"${libcarla_source_path}/carla/actors/*.h")
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set(libcarla_sources "${libcarla_sources};${libcarla_carla_actors_sources}")
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install(FILES ${libcarla_carla_actors_sources} DESTINATION include/carla/actors)
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file(GLOB libcarla_carla_client_sources
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"${libcarla_source_path}/carla/client/*.cpp"
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"${libcarla_source_path}/carla/client/*.h")

‎LibCarla/cmake/server/CMakeLists.txt‎

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@@ -14,66 +14,24 @@ install(FILES ${libcarla_carla_rpclib} DESTINATION lib)
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install(DIRECTORY "${libcarla_source_path}/compiler" DESTINATION include)
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file(GLOB libcarla_carla_headers "${libcarla_source_path}/carla/*.h")
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install(FILES ${libcarla_carla_headers} DESTINATION include/carla)
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file(GLOB libcarla_carla_geom_headers "${libcarla_source_path}/carla/geom/*.h")
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install(FILES ${libcarla_carla_geom_headers} DESTINATION include/carla/geom)
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file(GLOB libcarla_carla_opendrive "${libcarla_source_path}/carla/opendrive/*.h")
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install(FILES ${libcarla_carla_opendrive} DESTINATION include/carla/opendrive)
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file(GLOB libcarla_carla_opendrive_parser "${libcarla_source_path}/carla/opendrive/parser/*.h")
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install(FILES ${libcarla_carla_opendrive_parser} DESTINATION include/carla/opendrive/parser)
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file(GLOB libcarla_carla_profiler_headers "${libcarla_source_path}/carla/profiler/*.h")
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install(FILES ${libcarla_carla_profiler_headers} DESTINATION include/carla/profiler)
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file(GLOB libcarla_carla_road_headers "${libcarla_source_path}/carla/road/*.h")
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install(FILES ${libcarla_carla_road_headers} DESTINATION include/carla/road)
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file(GLOB libcarla_carla_road_element_headers "${libcarla_source_path}/carla/road/element/*.h")
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install(FILES ${libcarla_carla_road_element_headers} DESTINATION include/carla/road/element)
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file(GLOB libcarla_carla_road_general_headers "${libcarla_source_path}/carla/road/general/*.h")
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install(FILES ${libcarla_carla_road_general_headers} DESTINATION include/carla/road/general)
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file(GLOB libcarla_carla_road_object_headers "${libcarla_source_path}/carla/road/object/*.h")
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install(FILES ${libcarla_carla_road_object_headers} DESTINATION include/carla/road/object)
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file(GLOB libcarla_carla_road_signal_headers "${libcarla_source_path}/carla/road/signal/*.h")
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install(FILES ${libcarla_carla_road_signal_headers} DESTINATION include/carla/road/signal)
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file(GLOB libcarla_carla_rpc_headers "${libcarla_source_path}/carla/rpc/*.h")
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install(FILES ${libcarla_carla_rpc_headers} DESTINATION include/carla/rpc)
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file(GLOB libcarla_carla_sensor_headers "${libcarla_source_path}/carla/sensor/*.h")
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install(FILES ${libcarla_carla_sensor_headers} DESTINATION include/carla/sensor)
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file(GLOB libcarla_carla_sensor_data_headers "${libcarla_source_path}/carla/sensor/data/*.h")
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install(FILES ${libcarla_carla_sensor_data_headers} DESTINATION include/carla/sensor/data)
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56-
file(GLOB libcarla_carla_sensor_s11n_headers "${libcarla_source_path}/carla/sensor/s11n/*.h")
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install(FILES ${libcarla_carla_sensor_s11n_headers} DESTINATION include/carla/sensor/s11n)
58-
59-
file(GLOB libcarla_carla_streaming_headers "${libcarla_source_path}/carla/streaming/*.h")
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install(FILES ${libcarla_carla_streaming_headers} DESTINATION include/carla/streaming)
61-
62-
file(GLOB libcarla_carla_streaming_detail_headers "${libcarla_source_path}/carla/streaming/detail/*.h")
63-
install(FILES ${libcarla_carla_streaming_detail_headers} DESTINATION include/carla/streaming/detail)
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65-
file(GLOB libcarla_carla_streaming_detail_tcp_headers "${libcarla_source_path}/carla/streaming/detail/tcp/*.h")
66-
install(FILES ${libcarla_carla_streaming_detail_tcp_headers} DESTINATION include/carla/streaming/detail/tcp)
67-
68-
file(GLOB libcarla_carla_streaming_low_level_headers "${libcarla_source_path}/carla/streaming/low_level/*.h")
69-
install(FILES ${libcarla_carla_streaming_low_level_headers} DESTINATION include/carla/streaming/low_level)
70-
71-
file(GLOB libcarla_carla_multigpu_headers "${libcarla_source_path}/carla/multigpu/*.h")
72-
install(FILES ${libcarla_carla_multigpu_headers} DESTINATION include/carla/multigpu)
73-
74-
file(GLOB libcarla_carla_ros2_headers "${libcarla_source_path}/carla/ros2/*.h")
75-
install(FILES ${libcarla_carla_ros2_headers} DESTINATION include/carla/ros2)
76-
17+
foreach(dir ""
18+
"actors/"
19+
"geom/"
20+
"opendrive/" "opendrive/parser/"
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"profiler/"
22+
"road/" "road/element/" "road/general/" "road/object/" "road/signal/"
23+
"rpc/"
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"sensor/" "sensor/data/" "sensor/s11n/"
25+
"streaming/" "streaming/detail/" "streaming/detail/tcp/" "streaming/low_level/"
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"multigpu/"
27+
"ros2/")
28+
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file(GLOB headers "${libcarla_source_path}/carla/${dir}*.h")
30+
install(FILES ${headers} DESTINATION include/carla/${dir})
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32+
endforeach()
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# Install boost headers and libraries.
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install(DIRECTORY "${BOOST_INCLUDE_PATH}/boost" DESTINATION include)
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if(WIN32)
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endif()
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# carla_server library.
88-
89-
file(GLOB libcarla_server_sources
90-
"${libcarla_source_path}/carla/*.h"
91-
"${libcarla_source_path}/carla/Buffer.cpp"
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"${libcarla_source_path}/carla/Exception.cpp"
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"${libcarla_source_path}/carla/geom/*.cpp"
94-
"${libcarla_source_path}/carla/geom/*.h"
95-
"${libcarla_source_path}/carla/opendrive/*.cpp"
96-
"${libcarla_source_path}/carla/opendrive/*.h"
97-
"${libcarla_source_path}/carla/opendrive/parser/*.cpp"
98-
"${libcarla_source_path}/carla/opendrive/parser/*.h"
99-
"${libcarla_source_path}/carla/road/*.cpp"
100-
"${libcarla_source_path}/carla/road/*.h"
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"${libcarla_source_path}/carla/road/element/*.cpp"
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"${libcarla_source_path}/carla/road/element/*.h"
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"${libcarla_source_path}/carla/road/general/*.cpp"
104-
"${libcarla_source_path}/carla/road/general/*.h"
105-
"${libcarla_source_path}/carla/road/object/*.cpp"
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"${libcarla_source_path}/carla/road/object/*.h"
107-
"${libcarla_source_path}/carla/road/signal/*.cpp"
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"${libcarla_source_path}/carla/road/signal/*.h"
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"${libcarla_source_path}/carla/rpc/*.cpp"
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"${libcarla_source_path}/carla/rpc/*.h"
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"${libcarla_source_path}/carla/sensor/*.h"
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"${libcarla_source_path}/carla/sensor/s11n/*.h"
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"${libcarla_source_path}/carla/sensor/s11n/SensorHeaderSerializer.cpp"
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"${libcarla_source_path}/carla/streaming/*.h"
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"${libcarla_source_path}/carla/streaming/detail/*.cpp"
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"${libcarla_source_path}/carla/streaming/detail/*.h"
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"${libcarla_source_path}/carla/streaming/detail/tcp/*.cpp"
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"${libcarla_source_path}/carla/streaming/low_level/*.h"
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"${libcarla_source_path}/carla/multigpu/*.h"
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"${libcarla_source_path}/carla/multigpu/*.cpp"
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"${libcarla_source_thirdparty_path}/odrSpiral/*.cpp"
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"${libcarla_source_thirdparty_path}/odrSpiral/*.h"
123-
"${libcarla_source_thirdparty_path}/moodycamel/*.cpp"
124-
"${libcarla_source_thirdparty_path}/moodycamel/*.h"
125-
"${libcarla_source_thirdparty_path}/pugixml/*.cpp"
126-
"${libcarla_source_thirdparty_path}/pugixml/*.hpp")
46+
# first the sources which are picked from some directories
47+
set(libcarla_server_sources
48+
"${libcarla_source_path}/carla/Buffer.cpp"
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"${libcarla_source_path}/carla/Exception.cpp"
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"${libcarla_source_path}/carla/StringUtil.cpp"
51+
# other cpp files only define Deserialize used in client
52+
"${libcarla_source_path}/carla/sensor/s11n/SensorHeaderSerializer.cpp"
53+
)
54+
# then the globs on the folders to add as a whole
55+
foreach(dir
56+
"actors"
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"geom"
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"opendrive" "opendrive/parser"
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"profiler"
60+
"road" "road/element" "road/general" "road/object" "road/signal"
61+
"rpc"
62+
"sensor" "sensor/data"
63+
"streaming" "streaming/detail" "streaming/detail/tcp" "streaming/low_level"
64+
"multigpu")
65+
66+
file(GLOB sources "${libcarla_source_path}/carla/${dir}/*.cpp")
67+
list(APPEND libcarla_server_sources ${sources})
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69+
endforeach()
70+
71+
foreach(thirdparty_dir
72+
"odrSpiral"
73+
"moodycamel"
74+
"pugixml")
75+
76+
file(GLOB sources "${libcarla_source_thirdparty_path}/${thirdparty_dir}/*.cpp")
77+
list(APPEND libcarla_server_sources ${sources})
78+
79+
endforeach()
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# ==============================================================================
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# Create targets for debug and release in the same build type.

LibCarla/source/carla/client/ActorAttribute.cpp renamed to LibCarla/source/carla/actors/ActorAttribute.cpp

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// This work is licensed under the terms of the MIT license.
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// For a copy, see <https://opensource.org/licenses/MIT>.
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#include "carla/client/ActorAttribute.h"
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#include "carla/actors/ActorAttribute.h"
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#include "carla/Exception.h"
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#include "carla/Logging.h"
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#include "carla/StringUtil.h"
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namespace carla {
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namespace client {
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namespace actors {
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1616
#define LIBCARLA_THROW_INVALID_VALUE(message) throw_exception(InvalidAttributeValue(GetId() + ": " + message));
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#define LIBCARLA_THROW_BAD_VALUE_CAST(type) \
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103103
#undef LIBCARLA_THROW_BAD_VALUE_CAST
104104
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} // namespace client
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} // namespace actors
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} // namespace carla

LibCarla/source/carla/client/ActorAttribute.h renamed to LibCarla/source/carla/actors/ActorAttribute.h

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#include <type_traits>
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1616
namespace carla {
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namespace client {
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namespace actors {
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1919
// ===========================================================================
2020
// -- InvalidAttributeValue --------------------------------------------------
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237237
return rhs.operator==(*this);
238238
}
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} // namespace client
240+
} // namespace actors
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} // namespace carla

LibCarla/source/carla/client/ActorBlueprint.cpp renamed to LibCarla/source/carla/actors/ActorBlueprint.cpp

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44
// This work is licensed under the terms of the MIT license.
55
// For a copy, see <https://opensource.org/licenses/MIT>.
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#include "carla/client/ActorBlueprint.h"
7+
#include "carla/actors/ActorBlueprint.h"
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#include "carla/Exception.h"
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#include "carla/StringUtil.h"
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1212
#include <algorithm>
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1414
namespace carla {
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namespace client {
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namespace actors {
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1717
template <typename Map, typename Container>
1818
static void FillMap(Map &destination, Container &source) {
@@ -62,5 +62,5 @@ namespace client {
6262
return description;
6363
}
6464

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} // namespace client
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} // namespace actors
6666
} // namespace carla

LibCarla/source/carla/client/ActorBlueprint.h renamed to LibCarla/source/carla/actors/ActorBlueprint.h

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#include "carla/Debug.h"
1010
#include "carla/Iterator.h"
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#include "carla/client/ActorAttribute.h"
11+
#include "carla/actors/ActorAttribute.h"
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#include "carla/rpc/ActorDefinition.h"
1313
#include "carla/rpc/ActorDescription.h"
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1717
#include <unordered_set>
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1919
namespace carla {
20-
namespace client {
20+
namespace actors {
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/// Contains all the necessary information for spawning an Actor.
2323
class ActorBlueprint {
@@ -120,5 +120,5 @@ namespace client {
120120
std::unordered_map<std::string, ActorAttribute> _attributes;
121121
};
122122

123-
} // namespace client
123+
} // namespace actors
124124
} // namespace carla

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