added cmake target

added definition in buildcarla
added defines to avoid compile demo in ros

LibCarla/source/carla/ros2/ROS2.cpp

@@ -39,7 +39,9 @@
 
 #include "subscribers/CarlaSubscriber.h"
 #include "subscribers/CarlaEgoVehicleControlSubscriber.h"
-#include "subscribers/BasicSubscriber.h"
+#if defined(WITH_ROS2_DEMO)
+  #include "subscribers/BasicSubscriber.h"
+#endif
 
 #include <vector>
 
@@ -69,8 +71,7 @@ enum ESensors {
   InstanceSegmentationCamera,
   WorldObserver,
   CameraGBufferUint8,
-  CameraGBufferFloat,
-  YourNewSensor
+  CameraGBufferFloat
 };
 
 void ROS2::Enable(bool enable) {
@@ -78,8 +79,10 @@ void ROS2::Enable(bool enable) {
   log_info("ROS2 enabled: ", _enabled);
   _clock_publisher = std::make_shared<CarlaClockPublisher>("clock", "");
   _clock_publisher->Init();
+#if defined(WITH_ROS2_DEMO)
   _basic_publisher = std::make_shared<BasicPublisher>("basic_publisher", "");
   _basic_publisher->Init();
+#endif
 }
 
 void ROS2::SetFrame(uint64_t frame) {
@@ -99,6 +102,7 @@ void ROS2::SetFrame(uint64_t frame) {
       RemoveActorCallback(actor);
     }
    }
+#if defined(WITH_ROS2_DEMO)
    if (_basic_subscriber)
    {
     void* actor = _basic_subscriber->GetActor();
@@ -115,6 +119,7 @@ void ROS2::SetFrame(uint64_t frame) {
       }
     }
    }
+#endif
 }
 
 void ROS2::SetTimestamp(double timestamp) {
@@ -125,9 +130,10 @@ void ROS2::SetTimestamp(double timestamp) {
   _nanoseconds = static_cast<uint32_t>(fractional * multiplier);
   _clock_publisher->SetData(_seconds, _nanoseconds);
   _clock_publisher->Publish();
+#if defined(WITH_ROS2_DEMO)
   _basic_publisher->SetData("Hello from Carla!");
   _basic_publisher->Publish();
-   //log_info("ROS2 new timestamp: ", _timestamp);
+#endif
 }
 
 void ROS2::AddActorRosName(void *actor, std::string ros_name) {
@@ -194,6 +200,7 @@ std::string ROS2::GetActorParentRosName(void *actor) {
     return std::string("");
 }
 
+#if defined(WITH_ROS2_DEMO)
 void ROS2::AddBasicSubscriberCallback(void* actor, std::string ros_name, ActorMessageCallback callback) {
   _actor_message_callbacks.insert({actor, std::move(callback)});
 
@@ -206,6 +213,7 @@ void ROS2::RemoveBasicSubscriberCallback(void* actor) {
   _basic_subscriber.reset();
   _actor_message_callbacks.erase(actor);
 }
+#endif
 
 void ROS2::AddActorCallback(void* actor, std::string ros_name, ActorCallback callback) {
   _actor_callbacks.insert({actor, std::move(callback)});
@@ -503,24 +511,6 @@ std::pair<std::shared_ptr<CarlaPublisher>, std::shared_ptr<CarlaTransformPublish
       case ESensors::CameraGBufferFloat: {
         std::cerr << "Camera GBuffer float does not have an available publisher" << std::endl;
       } break;
-      case ESensors::YourNewSensor: {
-        if (ros_name == "ros_name__") {
-          ros_name.pop_back();
-          ros_name.pop_back();
-          ros_name += string_id;
-          UpdateActorRosName(actor, ros_name);
-        }
-        std::shared_ptr<BasicPublisher> new_publisher = std::make_shared<BasicPublisher>(ros_name.c_str(), parent_ros_name.c_str());
-        if (new_publisher->Init()) {
-          _publishers.insert({actor, new_publisher});
-          publisher = new_publisher;
-        }
-        std::shared_ptr<CarlaTransformPublisher> new_transform = std::make_shared<CarlaTransformPublisher>(ros_name.c_str(), parent_ros_name.c_str());
-        if (new_transform->Init()) {
-          _transforms.insert({actor, new_transform});
-          transform = new_transform;
-        }
-      }
       default: {
         std::cerr << "Unknown sensor type" << std::endl;
       }
@@ -893,10 +883,12 @@ void ROS2::Shutdown() {
     element.second.reset();
   }
   _clock_publisher.reset();
-  _basic_publisher.reset();
   _controller.reset();
-  _basic_subscriber.reset();
   _enabled = false;
+#if defined(WITH_ROS2_DEMO)
+  _basic_publisher.reset();
+  _basic_subscriber.reset();
+#endif
 }
 
 } // namespace ros2

LibCarla/source/carla/ros2/ROS2.h

@@ -72,10 +72,12 @@ class ROS2
   std::string GetActorParentRosName(void *actor);
 
   // callbacks
-  void AddBasicSubscriberCallback(void* actor, std::string ros_name, ActorMessageCallback callback);
-  void RemoveBasicSubscriberCallback(void* actor);
   void AddActorCallback(void* actor, std::string ros_name, ActorCallback callback);
   void RemoveActorCallback(void* actor);
+#if defined(WITH_ROS2_DEMO)
+  void RemoveBasicSubscriberCallback(void* actor);
+  void AddBasicSubscriberCallback(void* actor, std::string ros_name, ActorMessageCallback callback);
+#endif
 
   // enabling streams to publish
   void EnableStream(carla::streaming::detail::stream_id_type id) { _publish_stream.insert(id); }
@@ -160,15 +162,16 @@ void ProcessDataFromCollisionSensor(
   std::unordered_map<void *, std::string> _actor_ros_name;
   std::unordered_map<void *, std::vector<void*> > _actor_parent_ros_name;
   std::shared_ptr<CarlaEgoVehicleControlSubscriber> _controller;
-  std::shared_ptr<BasicSubscriber> _basic_subscriber;
   std::shared_ptr<CarlaClockPublisher> _clock_publisher;
-  std::shared_ptr<BasicPublisher> _basic_publisher;
   std::unordered_map<void *, std::shared_ptr<CarlaPublisher>> _publishers;
   std::unordered_map<void *, std::shared_ptr<CarlaTransformPublisher>> _transforms;
   std::unordered_set<carla::streaming::detail::stream_id_type> _publish_stream;
   std::unordered_map<void *, ActorCallback> _actor_callbacks;
+#if defined(WITH_ROS2_DEMO)
+  std::shared_ptr<BasicSubscriber> _basic_subscriber;
+  std::shared_ptr<BasicPublisher> _basic_publisher;
   std::unordered_map<void *, ActorMessageCallback> _actor_message_callbacks;
-
+#endif
 };
 
 } // namespace ros2

Unreal/CMakeLists.txt

@@ -482,6 +482,22 @@ carla_add_custom_target (
   VERBATIM
 )
 
+if (ENABLE_ROS2)
+  carla_add_custom_target (
+    launch-ros2-demo
+    COMMENT
+      "Launching Carla Unreal..."
+    COMMAND
+      ${UNREAL_EDITOR_PATH}
+        ${CARLA_UE_PROJECT_PATH}
+        -${CARLA_UNREAL_RHI}
+        --ros2-demo
+        ${LAUNCH_ARGS}
+    USES_TERMINAL
+    VERBATIM
+  )
+endif()
+
 add_dependencies (
   launch
   carla-unreal-editor

Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Actor/ActorDispatcher.cpp

@@ -216,13 +216,14 @@ FCarlaActor* UActorDispatcher::RegisterActor(
             ActorROS2Handler Handler(UEActor, RosName);
             std::visit(Handler, Data);
           });
-
+          #if defined(WITH_ROS2_DEMO)
           ROS2->AddBasicSubscriberCallback(static_cast<void*>(&Actor), RosName, [RosName](void *Actor, carla::ros2::ROS2MessageCallbackData Data) -> void
           {
             AActor *UEActor = reinterpret_cast<AActor *>(Actor);
             ActorROS2Handler Handler(UEActor, RosName);
             std::visit(Handler, Data);
           });
+          #endif
         }
       }
     }

Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Carla.Build.cs

@@ -24,6 +24,9 @@ public class Carla :
   [CommandLine("-ros2")]
   bool EnableRos2 = false;
 
+  [CommandLine("-ros2-demo")]
+  bool EnableRos2Demo = false;
+
   [CommandLine("-osm2odr")]
   bool EnableOSM2ODR = false;
 
@@ -48,6 +51,11 @@ public class Carla :
       {
         EnableRos2 = true;
       }
+      else if (optionTrimmed.Equals("ROS2_DEMO"))
+      {
+        EnableRos2 = true;
+        EnableRos2Demo = true;
+      }
       else if(optionTrimmed.Equals("OSM2ODR"))
       {
         EnableOSM2ODR = true;
@@ -154,6 +162,7 @@ public class Carla :
     if (EnableRos2)
     {
       TestOptionalFeature(EnableRos2, "Ros2 support", "WITH_ROS2");
+      TestOptionalFeature(EnableRos2Demo, "Ros2 demo", "WITH_ROS2_DEMO");
 
       string CarlaPluginSourcePath = Path.GetFullPath(ModuleDirectory);
       string CarlaPluginBinariesLinuxPath = Path.Combine(CarlaPluginSourcePath, "..", "..", "Binaries", "Linux");