Extend ROS2 support Step 1: V2XSensor (#9435)

- V2XSensor allows selection of virtual communication channels via
  sensors 'channel_id ' attribute.
- V2XCustomSensor sends bytes instead of std::string to support
  binary data blobs
- V2XCustomSensor allows multiple messages to be sent at once
  supporting individual larger messages
- Allow V2X-sensors without an owner if these are placed within the
  infrastructure (V2I communication)
- Removed the extra height on the PathLossModel after switching the
  actor to the sensor's actor instance. Therefore, the considered
  position is always the position of the sensor itself which can
  be defined when spawning/attaching
- Updated V2X docu

Author: berndgassmann

CHANGELOG.md

@@ -7,6 +7,7 @@
  * Introduced geom::AngularVelocity, geom::Velocity, geom::Acceleration, geom::Quaternion types
  * Fixed geom::Rotation::RotateVector() rotation directions of pitch and roll
  * Prepare server for multistream support and ROS2 client calls
+ * Improved V2X sensor capabilities: send complex custom user-defined data, support V2I sensors not attached to a vehicle
 
 ## CARLA 0.9.16
 

Docs/bp_library.md

@@ -258,6 +258,63 @@ Check out the [introduction to blueprints](core_actors.md).
 - **<font color="#498efc">sensor.other.rss</font>**  
     - **Attributes:**
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+- **<font color="#498efc">sensor.other.v2x</font>**  
+    - **Attributes:**
+        - `channel_id` (_String_) <sub>_- Modifiable_</sub>
+        - `combined_antenna_gain` (_Float_) <sub>_- Modifiable_</sub>
+        - `custom_fading_stddev` (_Float_) <sub>_- Modifiable_</sub>
+        - `d_ref` (_Float_) <sub>_- Modifiable_</sub>
+        - `filter_distance` (_Float_) <sub>_- Modifiable_</sub>
+        - `fixed_rate` (_Bool_) <sub>_- Modifiable_</sub>
+        - `frequency_ghz` (_Float_) <sub>_- Modifiable_</sub>
+        - `gen_cam_max` (_Float_) <sub>_- Modifiable_</sub>
+        - `gen_cam_min` (_Float_) <sub>_- Modifiable_</sub>
+        - `noise_accel_stddev_x` (_Float_) <sub>_- Modifiable_</sub>
+        - `noise_accel_stddev_y` (_Float_) <sub>_- Modifiable_</sub>
+        - `noise_accel_stddev_z` (_Float_) <sub>_- Modifiable_</sub>
+        - `noise_alt_bias` (_Float_) <sub>_- Modifiable_</sub>
+        - `noise_alt_stddev` (_Float_) <sub>_- Modifiable_</sub>
+        - `noise_head_bias` (_Float_) <sub>_- Modifiable_</sub>
+        - `noise_head_stddev` (_Float_) <sub>_- Modifiable_</sub>
+        - `noise_lat_bias` (_Float_) <sub>_- Modifiable_</sub>
+        - `noise_lat_stddev` (_Float_) <sub>_- Modifiable_</sub>
+        - `noise_lon_bias` (_Float_) <sub>_- Modifiable_</sub>
+        - `noise_lon_stddev` (_Float_) <sub>_- Modifiable_</sub>
+        - `noise_seed` (_Int_) <sub>_- Modifiable_</sub>
+        - `noise_vel_stddev_x` (_Float_) <sub>_- Modifiable_</sub>
+        - `noise_yawrate_bias` (_Float_) <sub>_- Modifiable_</sub>
+        - `noise_yawrate_stddev` (_Float_) <sub>_- Modifiable_</sub>
+        - `path_loss_exponent` (_Float_) <sub>_- Modifiable_</sub>
+        - `path_loss_model` (_String_) <sub>_- Modifiable_</sub>
+        - `receiver_sensitivity` (_Float_) <sub>_- Modifiable_</sub>
+        - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `ros_frame_id` (_String_) <sub>_- Modifiable_</sub>
+        - `ros_name` (_String_) <sub>_- Modifiable_</sub>
+        - `ros_publish_tf` (_Bool_) <sub>_- Modifiable_</sub>
+        - `scenario` (_String_) <sub>_- Modifiable_</sub>
+        - `sensor_tick` (_Float_) <sub>_- Modifiable_</sub>
+        - `transmit_power` (_Float_) <sub>_- Modifiable_</sub>
+        - `use_etsi_fading` (_Bool_) <sub>_- Modifiable_</sub>
+- **<font color="#498efc">sensor.other.v2x_custom</font>**  
+    - **Attributes:**
+        - `channel_id` (_String_) <sub>_- Modifiable_</sub>
+        - `combined_antenna_gain` (_Float_) <sub>_- Modifiable_</sub>
+        - `custom_fading_stddev` (_Float_) <sub>_- Modifiable_</sub>
+        - `d_ref` (_Float_) <sub>_- Modifiable_</sub>
+        - `filter_distance` (_Float_) <sub>_- Modifiable_</sub>
+        - `frequency_ghz` (_Float_) <sub>_- Modifiable_</sub>
+        - `noise_seed` (_Int_) <sub>_- Modifiable_</sub>
+        - `path_loss_exponent` (_Float_) <sub>_- Modifiable_</sub>
+        - `path_loss_model` (_String_) <sub>_- Modifiable_</sub>
+        - `receiver_sensitivity` (_Float_) <sub>_- Modifiable_</sub>
+        - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `ros_frame_id` (_String_) <sub>_- Modifiable_</sub>
+        - `ros_name` (_String_) <sub>_- Modifiable_</sub>
+        - `ros_publish_tf` (_Bool_) <sub>_- Modifiable_</sub>
+        - `scenario` (_String_) <sub>_- Modifiable_</sub>
+        - `sensor_tick` (_Float_) <sub>_- Modifiable_</sub>
+        - `transmit_power` (_Float_) <sub>_- Modifiable_</sub>
+        - `use_etsi_fading` (_Bool_) <sub>_- Modifiable_</sub>
 
 ### static
 - **<font color="#498efc">static.prop.advertisement</font>**  

Docs/python_api.md

@@ -723,6 +723,48 @@ No changes applied to the image. Used by the [RGB camera](ref_sensors.md#rgb-cam
 
 ---
 
+## carla.CustomV2XBytes<a name="carla.CustomV2XBytes"></a>
+This is the data type defining the bytes of a custom V2X message. Sent by the method `[carla.Sensor.send](#carla.Sensor.send)` and received as part of a [CustomV2XEvent](#carlacustomv2xevent).  
+
+### Instance Variables
+- <a name="carla.CustomV2XBytes.data_size"></a>**<font color="#f8805a">data_size</font>** (_int_)  
+The actual number of bytes of the message.  
+
+### Methods
+- <a name="carla.CustomV2XBytes.get"></a>**<font color="#7fb800">get</font>**(<font color="#00a6ed">**self**</font>)  
+Get the custom bytes. Returns a nested dictionary containing the message. It has three primary keys: - `DataSize` : int - `MaxDataSize`: int - `Bytes`: memory view containing the bytes.  
+    - **Return:** _dict_  
+- <a name="carla.CustomV2XBytes.max_data_size"></a>**<font color="#7fb800">max_data_size</font>**(<font color="#00a6ed">**self**</font>)  
+Get the maximum data size that a single message is able to transport.  
+    - **Return:** _int_  
+
+##### Getters
+- <a name="carla.CustomV2XBytes.get_bytes"></a>**<font color="#7fb800">get_bytes</font>**(<font color="#00a6ed">**self**</font>)  
+Get the custom bytes.  
+    - **Return:** _bytes_  
+    - **Setter:** _[carla.CustomV2XBytes.set_bytes](#carla.CustomV2XBytes.set_bytes)_  
+- <a name="carla.CustomV2XBytes.get_string"></a>**<font color="#7fb800">get_string</font>**(<font color="#00a6ed">**self**</font>)  
+Get the custom bytes as string. Be aware: this is a convenience method for quick tests, no coding/decoding is performed.  
+    - **Return:** _str_  
+    - **Setter:** _[carla.CustomV2XBytes.set_string](#carla.CustomV2XBytes.set_string)_  
+
+##### Setters
+- <a name="carla.CustomV2XBytes.set_bytes"></a>**<font color="#7fb800">set_bytes</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**bytes**</font>)  
+Set the custom bytes from a bytearray. Be aware that only up to `MaxDataSize` bytes are considered. If you have larger data, you need to split it manually.  
+    - **Parameters:**
+        - `bytes` (_bytes_)  
+    - **Getter:** _[carla.CustomV2XBytes.get_bytes](#carla.CustomV2XBytes.get_bytes)_  
+- <a name="carla.CustomV2XBytes.set_string"></a>**<font color="#7fb800">set_string</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**string**</font>)  
+Set the custom bytes directly from a string. The null termination is not transmitted. Be aware that only up to `MaxDataSize` bytes are considered. If you have larger data, you need to split it manually. Be aware: this is a convenience method for quick tests, no coding/decoding is performed.  
+    - **Parameters:**
+        - `string` (_str_)  
+    - **Getter:** _[carla.CustomV2XBytes.get_string](#carla.CustomV2XBytes.get_string)_  
+
+##### Dunder methods
+- <a name="carla.CustomV2XBytes.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)  
+
+---
+
 ## carla.CustomV2XData<a name="carla.CustomV2XData"></a>
 <small style="display:block;margin-top:-20px;">Inherited from _[carla.SensorData](#carla.SensorData)_</small></br>
 This is the data type defining a custom V2X message. Received as part of a [CustomV2XEvent](#carlacustomv2xevent).  
@@ -733,7 +775,7 @@ Received power.
 
 ### Methods
 - <a name="carla.CustomV2XData.get"></a>**<font color="#7fb800">get</font>**(<font color="#00a6ed">**self**</font>)  
-Get the custom message. Returns a nested dictionary containing the message. It has two primary keys: - `Header` : dict - `Message`: str.  
+Get the custom message. Returns a nested dictionary containing the message. It has two primary keys: - `Header` : dict - `Message`: dict.  
     - **Return:** _dict_  
 
 ##### Dunder methods
@@ -2493,9 +2535,9 @@ The function the sensor will be calling to every time the desired GBuffer textur
         - `gbuffer_id` (_[carla.GBufferTextureID](#carla.GBufferTextureID)_) - The ID of the target Unreal Engine GBuffer texture.  
         - `callback` (_function_) - The called function with one argument containing the received GBuffer texture.  
 - <a name="carla.Sensor.send"></a>**<font color="#7fb800">send</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**message**</font>)  
-Instructs the sensor to send the string given by `message` to all other CustomV2XSensors on the next tick.  
+Instructs the sensor to send the bytes given by `message` to all other CustomV2XSensors on the next tick.  
     - **Parameters:**
-        - `message` (_string_) - The data to send. Note: maximum string length is 100 chars.  
+        - `message` (_[carla.CustomV2XBytes](#carla.CustomV2XBytes)_) - The data to send. Note: There is a maximum data size for a single message see [carla.CustomV2XBytes](#carla.CustomV2XBytes) for more information.  
 - <a name="carla.Sensor.stop"></a>**<font color="#7fb800">stop</font>**(<font color="#00a6ed">**self**</font>)  
 Commands the sensor to stop listening for data.  
 - <a name="carla.Sensor.stop_gbuffer"></a>**<font color="#7fb800">stop_gbuffer</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**gbuffer_id**</font>)  

Docs/ref_sensors.md

@@ -1087,18 +1087,21 @@ The function the user has to call every time to send a message. This function ne
     - **Parameters:**
         - `data` (_function_) - The called function with one argument containing the sensor data.  
 
-The custom V2X message sensor works a little bit different than other sensors, because it has the *send* function in addition to the *listen* function, that needs to be called, before another sensor of this type will receive anything. The transmission of a custom message is only triggered, when *send* is called. Each message given to the *send* function is only transmitted once to all Custom V2X Message sensors currently spawned.
+The custom V2X message sensor works a little bit different than other sensors, because it has the *send* function in addition to the *listen* function, that needs to be called, before another sensor of this type will receive anything. The transmission of a custom message is only triggered, when *send* is called. Each message given to the *send* function is only transmitted once to all Custom V2X Message sensors currently spawned. Independent communcation channels can be created by the sensors 'channel_id' attribute. Only sensors having the same 'channel_id' are communicating with each other. This allows to create different sender/receiver groups within the system.
 
 Example:
 
     bp = world.get_blueprint_library().find('sensor.other.v2x_custom')
     sensor = world.spawn_actor(bp, carla.Transform(), attach_to=parent)
-    sensor.send("Hello CARLA")
+    message = carla.CustomV2XBytes()
+    message.set_bytes(bytearray("Hello CARLA", 'utf-8'))
+    sensor.send(message)
 
 ### V2X sensors blueprint attributes
 
 | Blueprint attribute     | Type   | Default | Description                        |
 |-------------------------|--------|-------------------------|------------------------------------|
+| channel\_id             | string  | ''       | Only Sender/Receiver with the same channel_id are communicating with each other    |
 | transmit\_power         | float  | 21.5       | Sender transmission power in dBm                         |
 | receiver\_sensitivity   | float  | -99        | Receiver sensitivity in dBm                                |
 | frequency\_ghz          | float  | 5.9 | Transmission frequency in GHz. 5.9 GHz is standard for several physical channels.                 |

LibCarla/source/carla/client/ServerSideSensor.cpp

@@ -55,14 +55,14 @@ namespace client {
     listening_mask.reset(0);
   }
 
-  void ServerSideSensor::Send(std::string message) {
+  void ServerSideSensor::Send(const rpc::CustomV2XBytes &data) {
     log_debug("calling sensor Send() ", GetDisplayId());
     if (GetActorDescription().description.id != "sensor.other.v2x_custom")
     {
       log_warning("Send methods are not supported on non-V2x sensors (sensor.other.v2x_custom).");
       return;
     }
-    GetEpisode().Lock()->Send(*this,message);
+    GetEpisode().Lock()->Send(*this,data);
   }
 
   void ServerSideSensor::EnableGBuffers(bool bEnabled) {

LibCarla/source/carla/client/ServerSideSensor.h

@@ -6,9 +6,11 @@
 
 #pragma once
 
-#include "carla/client/Sensor.h"
 #include <bitset>
 
+#include "carla/client/Sensor.h"
+#include "carla/rpc/CustomV2XBytes.h"
+
 namespace carla {
 namespace client {
 
@@ -51,7 +53,7 @@ namespace client {
     }
 
     /// Send data via this sensor
-    void Send(std::string message);
+    void Send(const rpc::CustomV2XBytes &data);
 
     /// @copydoc Actor::Destroy()
     ///

LibCarla/source/carla/client/detail/Client.cpp

@@ -724,8 +724,8 @@ namespace detail {
     return _pimpl->CallAndWait<bool>("is_actor_enabled_for_ros", actor);
   }
 
-  void Client::Send(rpc::ActorId ActorId, std::string message) {
-    _pimpl->AsyncCall("send", ActorId, message);
+  void Client::Send(rpc::ActorId ActorId, const rpc::CustomV2XBytes &data) {
+    _pimpl->AsyncCall("send", ActorId, data);
   }
 
   void Client::SetIgnoredVehicles(rpc::ActorId ActorId, const std::vector<rpc::ActorId>& vehicle_ids) {

LibCarla/source/carla/client/detail/Client.h

@@ -16,6 +16,7 @@
 #include "carla/rpc/AttachmentType.h"
 #include "carla/rpc/Command.h"
 #include "carla/rpc/CommandResponse.h"
+#include "carla/rpc/CustomV2XBytes.h"
 #include "carla/rpc/EnvironmentObject.h"
 #include "carla/rpc/EpisodeInfo.h"
 #include "carla/rpc/EpisodeSettings.h"
@@ -467,7 +468,7 @@ namespace detail {
         rpc::ActorId ActorId,
         uint32_t GBufferId);
 
-    void Send(rpc::ActorId ActorId, std::string message);
+    void Send(rpc::ActorId ActorId, const rpc::CustomV2XBytes &data);
 
     void SetIgnoredVehicles(rpc::ActorId ActorId, const std::vector<rpc::ActorId>& vehicle_ids);
 

LibCarla/source/carla/client/detail/Simulator.cpp

@@ -453,8 +453,8 @@ EpisodeProxy Simulator::GetCurrentEpisode() {
     _client.FreezeAllTrafficLights(frozen);
   }
 
-  void Simulator::Send(const Sensor &sensor, std::string message) {
-    _client.Send(sensor.GetId(), message);
+  void Simulator::Send(const Sensor &sensor, const carla::rpc::CustomV2XBytes &data) {
+    _client.Send(sensor.GetId(), data);
   }
 
   void Simulator::SetIgnoredVehicles(const Sensor &sensor, const std::vector<ActorId>& vehicle_ids) {

LibCarla/source/carla/client/detail/Simulator.h

@@ -22,6 +22,7 @@
 #include "carla/client/detail/Episode.h"
 #include "carla/client/detail/EpisodeProxy.h"
 #include "carla/profiler/LifetimeProfiled.h"
+#include "carla/rpc/CustomV2XBytes.h"
 #include "carla/rpc/TrafficLightState.h"
 #include "carla/rpc/VehicleLightStateList.h"
 #include "carla/rpc/LabelledPoint.h"
@@ -731,7 +732,7 @@ namespace detail {
         Actor & sensor,
         uint32_t gbuffer_id);
 
-    void Send(const Sensor &sensor, std::string message);
+    void Send(const Sensor &sensor, const carla::rpc::CustomV2XBytes &data);
 
     void SetIgnoredVehicles(const Sensor &sensor, const std::vector<ActorId>& vehicle_ids);