Extend ROS2 support Step 1: Prepare for mulistream #9431
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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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MarcelPiNacy-CVC
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Nov 27, 2025
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Prepare server for multistream support and ROS2 client calls
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