From 9179489b96491ac7a4b06eef4dafd65b7db19636 Mon Sep 17 00:00:00 2001
From: Marcel Pi <25649656+MarcelPiNacy@users.noreply.github.com>
Date: Mon, 5 Feb 2024 11:52:25 +0100
Subject: [PATCH] More progress...

---
 CMakeLists.txt                    | 619 +++++++-----------------------
 LibCarla/CMakeLists.txt           | 275 +++++++++++++
 PythonAPI/CMakeLists.txt          | 106 +++++
 osm-world-renderer/CMakeLists.txt |  63 ++-
 4 files changed, 565 insertions(+), 498 deletions(-)
 create mode 100644 LibCarla/CMakeLists.txt
 create mode 100644 PythonAPI/CMakeLists.txt

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4f8dcdf79..82cf0be1f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,23 +1,35 @@
 cmake_minimum_required (VERSION 3.20.0)
+
 cmake_policy (SET CMP0097 NEW)
 cmake_policy (SET CMP0140 NEW)
 
 set (CARLA_VERSION_MAJOR 0)
 set (CARLA_VERSION_MINOR 9)
-set (CARLA_VERSION_PATCH 14)
-set (CARLA_VERSION ${CARLA_VERSION_MAJOR}.${CARLA_VERSION_MINOR}.${CARLA_VERSION_PATCH})
+set (CARLA_VERSION_PATCH 15)
 
-set (CARLA_WORKSPACE_PATH ${CMAKE_CURRENT_SOURCE_DIR})
-set (CARLA_BUILD_PATH ${CMAKE_CURRENT_BINARY_DIR})
+set (
+  CARLA_VERSION 
+  ${CARLA_VERSION_MAJOR}.${CARLA_VERSION_MINOR}.${CARLA_VERSION_PATCH}
+)
 
 project (
     CARLA
     VERSION ${CARLA_VERSION}
     LANGUAGES CXX
     DESCRIPTION "Open-source simulator for autonomous driving research."
-    HOMEPAGE_URL "https://carla.org"
+    HOMEPAGE_URL https://carla.org
 )
 
+set (CMAKE_CXX_STANDARD 20)
+set (CMAKE_CXX_STANDARD_REQUIRED ON)
+
+include (CheckCCompilerFlag)
+include (CheckCXXCompilerFlag)
+include (ExternalProject)
+include (FetchContent)
+
+set (CARLA_WORKSPACE_PATH ${CMAKE_CURRENT_SOURCE_DIR})
+
 macro (carla_string_option NAME DESCRIPTION VALUE)
     set (${NAME} ${VALUE} CACHE STRING ${DESCRIPTION})
 endmacro ()
@@ -25,45 +37,79 @@ endmacro ()
 carla_string_option (
     CARLA_DEPENDENCIES_PATH
     "Where to build CARLA dependencies."
-    ${CARLA_BUILD_PATH}/Dependencies)
+    ${CMAKE_CURRENT_BINARY_DIR}/Dependencies
+)
 
 carla_string_option (
     CARLA_DEPENDENCIES_INSTALL_PREFIX
     "Where to install CARLA dependencies."
-    ${CMAKE_CURRENT_SOURCE_DIR}/Install)
+    ${CMAKE_CURRENT_SOURCE_DIR}/Install
+)
 
 set (
     CMAKE_INSTALL_PREFIX
     ${CARLA_DEPENDENCIES_INSTALL_PREFIX}
 )
 
-option (BUILD_CARLA_CLIENT "Build the LibCarla client." OFF)
-option (BUILD_CARLA_SERVER "Build the LibCarla server." OFF)
-option (ENABLE_LIBCARLA_PYTORCH "Enable LibCarla-PyTorch." OFF)
-option (BUILD_PYTHON_API "Build the CARLA Python API." ON)
-option (ENABLE_OSM2ODR "Enable OSM2ODR." ${BUILD_PYTHON_API})
-option (ENABLE_RSS "Enable RSS components (ad-rss-lib)" OFF)
-option (INSTALL_LIBCARLA "Install LibCarla and all of its dependencies." ON)
-option (BUILD_OSM_WORLD_RENDERER "Build OSM World Renderer." ON)
-option (ENABLE_RTTI "Enable C++ RTTI." OFF)
-option (ENABLE_EXCEPTIONS "Enable C++ Exceptions." OFF)
-
-set (
-    CMAKE_MODULE_PATH
-    ${CARLA_WORKSPACE_PATH}/cmake/modules
+option (
+  BUILD_CARLA_CLIENT
+  "Build the LibCarla client."
+  ON
 )
 
-include (CheckCCompilerFlag)
-include (CheckCXXCompilerFlag)
-include (ExternalProject)
-include (FetchContent)
+option (
+  BUILD_CARLA_SERVER
+  "Build the LibCarla server."
+  ON
+)
 
-set (CMAKE_CXX_STANDARD 20)
-set (CMAKE_CXX_STANDARD_REQUIRED ON)
+option (
+  ENABLE_LIBCARLA_PYTORCH
+  "Enable LibCarla-PyTorch."
+  OFF
+)
 
-set (LIBCARLA_SOURCE_PATH ${CARLA_WORKSPACE_PATH}/LibCarla/source)
-set (LIBCARLA_THIRD_PARTY_SOURCE_PATH ${LIBCARLA_SOURCE_PATH}/third-party)
-set (PYTHON_API_PATH ${CARLA_WORKSPACE_PATH}/PythonAPI)
+option (
+  BUILD_PYTHON_API
+  "Build the CARLA Python API."
+  ON
+)
+
+option (
+  ENABLE_OSM2ODR
+  "Enable OSM2ODR."
+  ${BUILD_PYTHON_API}
+)
+
+option (
+  ENABLE_RSS
+  "Enable RSS components (ad-rss-lib)"
+  OFF
+)
+
+option (
+  INSTALL_LIBCARLA
+  "Install LibCarla and all of its dependencies."
+  ON
+)
+
+option (
+  BUILD_OSM_WORLD_RENDERER
+  "Build OSM World Renderer."
+  ON
+)
+
+option (
+  ENABLE_RTTI
+  "Enable C++ RTTI."
+  OFF
+)
+
+option (
+  ENABLE_EXCEPTIONS
+  "Enable C++ Exceptions."
+  OFF
+)
 
 set (EXTERNAL_DEPENDENCY_LIST)
 
@@ -72,7 +118,8 @@ macro (carla_declare_git_dependency NAME URL TAG)
         ${NAME}
         GIT_REPOSITORY ${URL}
         GIT_TAG ${TAG}
-        GIT_SHALLOW TRUE
+        GIT_PROGRESS ON
+        GIT_SHALLOW ON
         ${ARGN}
     )
     list (APPEND EXTERNAL_DEPENDENCY_LIST ${NAME})
@@ -83,7 +130,8 @@ macro (carla_declare_download_dependency NAME URL)
         ${NAME}
         URL ${URL}
         DOWNLOAD_EXTRACT_TIMESTAMP TRUE
-        ${ARGN})
+        ${ARGN}
+    )
     FetchContent_MakeAvailable (${NAME})
 endmacro ()
 
@@ -99,7 +147,8 @@ function (carla_find_library OUT_RESULT PATTERN)
         GLOB_RECURSE
         CANDIDATES
         LIST_DIRECTORIES FALSE
-        ${PATTERN})
+        ${PATTERN}
+    )
     message ("Found ${CANDIDATES}")
     list (GET CANDIDATES 0 FIRST_VALUE)
     message ("Selected ${FIRST_VALUE}")
@@ -110,16 +159,31 @@ endfunction ()
 set (CARLA_DEFAULT_DEPENDENCY_ARGS)
 
 if (CMAKE_C_COMPILER)
-    list (APPEND CARLA_DEFAULT_DEPENDENCY_ARGS -DCMAKE_C_COMPILER=${CMAKE_C_COMPILER})
+    list (
+      APPEND CARLA_DEFAULT_DEPENDENCY_ARGS
+      -DCMAKE_C_COMPILER=${CMAKE_C_COMPILER}
+    )
 endif ()
+
 if (CMAKE_INSTALL_PREFIX)
-    list (APPEND CARLA_DEFAULT_DEPENDENCY_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX})
+    list (
+      APPEND CARLA_DEFAULT_DEPENDENCY_ARGS
+      -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
+    )
 endif ()
+
 if (CMAKE_CXX_COMPILER)
-    list (APPEND CARLA_DEFAULT_DEPENDENCY_ARGS -DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER})
+    list (
+      APPEND CARLA_DEFAULT_DEPENDENCY_ARGS
+      -DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER}
+    )
 endif ()
+
 if (CMAKE_BUILD_TYPE)
-    list (APPEND CARLA_DEFAULT_DEPENDENCY_ARGS -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE})
+    list (
+      APPEND CARLA_DEFAULT_DEPENDENCY_ARGS
+      -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
+    )
 endif ()
 
 # --- BOOST ---
@@ -128,6 +192,7 @@ carla_string_option (CARLA_BOOST_TAG "Target boost git tag." boost-1.84.0)
 
 set (
     REQUIRED_BOOST_LIBRARIES
+    assert
     algorithm
     python
     iterator
@@ -140,12 +205,18 @@ carla_declare_git_dependency (
     ${CARLA_BOOST_TAG}
     INSTALL_COMMAND ""
     CMAKE_ARGS
-        ${CARLA_DEFAULT_DEPENDENCY_ARGS}
-        -DBOOST_INCLUDE_LIBRARIES="${REQUIRED_BOOST_LIBRARIES}"
-        -DBOOST_ENABLE_PYTHON=ON)
-
-set (BOOST_INCLUDE_PATH ${CARLA_DEPENDENCIES_PATH}/Install/boost/include)
-set (BOOST_LIBRARY_PATH ${CARLA_DEPENDENCIES_PATH}/Install/boost/lib)
+      ${CARLA_DEFAULT_DEPENDENCY_ARGS}
+      -DBOOST_INCLUDE_LIBRARIES=${REQUIRED_BOOST_LIBRARIES}
+      -DBOOST_ENABLE_PYTHON=ON
+    GIT_SUBMODULES
+      tools/cmake
+      libs/core
+      libs/assert
+      libs/algorithm
+      libs/python
+      libs/iterator
+      libs/asio
+)
 
 
 
@@ -161,8 +232,6 @@ carla_declare_git_dependency (
         ${CARLA_DEFAULT_DEPENDENCY_ARGS}
         -DBUILD_SHARED_LIBS=OFF)
 
-set (ZLIB_INCLUDE_PATH ${CARLA_DEPENDENCIES_PATH}/Install/zlib/include)
-set (ZLIB_LIBRARY_PATH ${CARLA_DEPENDENCIES_PATH}/Install/zlib/lib)
 set (
     ZLIB_INCLUDE_PATHS
     ${CARLA_DEPENDENCIES_PATH}/Source/zlib
@@ -190,8 +259,15 @@ carla_declare_git_dependency (
 
 add_dependencies (libpng zlib)
 
-set (LIBPNG_INCLUDE_PATH ${CARLA_DEPENDENCIES_PATH}/Install/libpng/include)
-set (LIBPNG_LIBRARY_PATH ${CARLA_DEPENDENCIES_PATH}/Install/libpng/lib)
+set (
+  LIBPNG_INCLUDE_PATH
+  ${CARLA_DEPENDENCIES_PATH}/Install/libpng/include
+)
+
+set (
+  LIBPNG_LIBRARY_PATH
+  ${CARLA_DEPENDENCIES_PATH}/Install/libpng/lib
+)
 
 
 
@@ -201,11 +277,17 @@ carla_string_option (CARLA_SQLITE_VERSION_MAJOR "Target SQLite version" 3)
 carla_string_option (CARLA_SQLITE_VERSION_MINOR "Target SQLite version" 45)
 carla_string_option (CARLA_SQLITE_VERSION_PATCH "Target SQLite version" 0000)
 
-set (SQLITE_TAG ${CARLA_SQLITE_VERSION_MAJOR}${CARLA_SQLITE_VERSION_MINOR}${CARLA_SQLITE_VERSION_PATCH})
+set (SQLITE_VERSION ${CARLA_SQLITE_VERSION_MAJOR}${CARLA_SQLITE_VERSION_MINOR}${CARLA_SQLITE_VERSION_PATCH})
+
+project (
+  sqlite-amalgam
+  LANGUAGES C
+  VERSION ${SQLITE_VERSION}
+)
 
 carla_declare_download_dependency (
     sqlite3
-    https://www.sqlite.org/2024/sqlite-amalgamation-${SQLITE_TAG}.zip
+    https://www.sqlite.org/2024/sqlite-amalgamation-${SQLITE_VERSION}.zip
 )
 
 add_library (
@@ -219,7 +301,10 @@ add_executable (
     ${sqlite3_SOURCE_DIR}/shell.c
 )
 
-target_link_libraries (sqlite3 PRIVATE libsqlite3)
+target_link_libraries (
+  sqlite3 PRIVATE
+  libsqlite3
+)
 
 
 
@@ -343,23 +428,6 @@ set (
     CARLA_COMMON_DEFINITIONS
     LIBCARLA_IMAGE_WITH_PNG_SUPPORT=true)
 
-set (
-    CARLA_COMMON_INCLUDE_PATHS
-    ${LIBCARLA_SOURCE_PATH}
-    ${BOOST_INCLUDE_PATH}
-    ${CHRONO_INCLUDE_PATH}
-    ${EIGEN_INCLUDE_PATH}
-    ${GOOGLETEST_INCLUDE_PATH}
-    ${LIBPNG_INCLUDE_PATH}
-    ${PROJ_INCLUDE_PATH}
-    ${RECAST_INCLUDE_PATH}
-    ${RPCLIB_INCLUDE_PATH}
-    ${SQLITE_INCLUDE_PATH}
-    ${XERCESC_INCLUDE_PATH}
-    ${ZLIB_INCLUDE_PATH})
-
-
-
 if (WIN32)
     # https://learn.microsoft.com/en-us/cpp/porting/modifying-winver-and-win32-winnt?view=msvc-170
     list (APPEND CARLA_COMMON_DEFINITIONS _WIN32_WINNT=0x0601) # --- Windows 10 ---
@@ -367,8 +435,6 @@ if (WIN32)
     list (APPEND CARLA_COMMON_DEFINITIONS HAVE_SNPRINTF)
 endif ()
 
-
-
 set (CARLA_EXCEPTION_DEFINITIONS)
 
 if (ENABLE_EXCEPTIONS)
@@ -379,8 +445,6 @@ else ()
     list (APPEND CARLA_EXCEPTION_DEFINITIONS PUGIXML_NO_EXCEPTIONS)
 endif ()
 
-
-
 set (CARLA_RTTI_DEFINITIONS)
 
 if (ENABLE_RTTI)
@@ -388,419 +452,14 @@ else ()
     list (APPEND CARLA_RTTI_DEFINITIONS BOOST_TYPE_INDEX_FORCE_NO_RTTI_COMPATIBILITY)
 endif ()
 
-
-
-if (BUILD_CARLA_SERVER OR BUILD_CARLA_CLIENT)
-    configure_file (
-        ${LIBCARLA_SOURCE_PATH}/carla/Version.h.in
-        ${LIBCARLA_SOURCE_PATH}/carla/Version.h)
+if (BUILD_CARLA_CLIENT OR BUILD_CARLA_SERVER)
+  add_subdirectory (LibCarla)
 endif ()
 
-
-
-if (BUILD_CARLA_SERVER)
-
-    project (carla-server)
-
-    file (
-        GLOB
-        LIBCARLA_SERVER_SOURCES
-        ${LIBCARLA_SOURCE_PATH}/carla/Buffer.cpp
-        ${LIBCARLA_SOURCE_PATH}/carla/Exception.cpp
-        ${LIBCARLA_SOURCE_PATH}/carla/geom/*.cpp
-        ${LIBCARLA_SOURCE_PATH}/carla/opendrive/*.cpp
-        ${LIBCARLA_SOURCE_PATH}/carla/opendrive/parser/*.cpp
-        ${LIBCARLA_SOURCE_PATH}/carla/road/*.cpp
-        ${LIBCARLA_SOURCE_PATH}/carla/road/element/*.cpp
-        ${LIBCARLA_SOURCE_PATH}/carla/road/general/*.cpp
-        ${LIBCARLA_SOURCE_PATH}/carla/road/object/*.cpp
-        ${LIBCARLA_SOURCE_PATH}/carla/road/signal/*.cpp
-        ${LIBCARLA_SOURCE_PATH}/carla/rpc/*.cpp
-        ${LIBCARLA_SOURCE_PATH}/carla/ros2/*.cpp
-        ${LIBCARLA_SOURCE_PATH}/carla/sensor/s11n/SensorHeaderSerializer.cpp
-        ${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/*.cpp
-        ${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/tcp/*.cpp
-        ${LIBCARLA_SOURCE_PATH}/carla/multigpu/*.cpp
-    )
-
-    file (
-        GLOB
-        LIBCARLA_SERVER_SOURCES_THIRD_PARTY
-        ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.cpp
-        ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/moodycamel/*.cpp
-        ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.cpp
-    )
-
-    file (
-        GLOB
-        LIBCARLA_SERVER_HEADERS
-        ${LIBCARLA_SOURCE_PATH}/carla/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/geom/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/opendrive/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/opendrive/parser/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/road/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/road/element/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/road/general/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/road/object/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/road/signal/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/rpc/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/ros2/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/sensor/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/sensor/s11n/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/streaming/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/streaming/low_level/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/multigpu/*.h
-        ${LIBCARLA_SOURCE_PATH}/compiler/*.h
-    )
-
-    file (
-        GLOB
-        LIBCARLA_SERVER_HEADERS_THIRD_PARTY
-        ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.h
-        ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/moodycamel/*.h
-        ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.hpp
-    )
-
-    add_library (
-        carla-server STATIC
-        ${LIBCARLA_SERVER_HEADERS}
-        ${LIBCARLA_SERVER_SOURCES}
-        ${LIBCARLA_SERVER_HEADERS_THIRD_PARTY}
-        ${LIBCARLA_SERVER_SOURCES_THIRD_PARTY}
-    )
-
-    if (EXTERNAL_DEPENDENCY_LIST)
-        add_dependencies (carla-server ${EXTERNAL_DEPENDENCY_LIST})
-    endif ()
-
-    # target_compile_options (carla-server PRIVATE /EHsc)
-
-    target_include_directories (
-        carla-server PRIVATE
-        ${CARLA_COMMON_INCLUDE_PATHS}
-    )
-    
-    target_compile_definitions (
-        carla-server PRIVATE
-        ${CARLA_COMMON_DEFINITIONS}
-        ${CARLA_EXCEPTION_DEFINITIONS}
-        ${CARLA_RTTI_DEFINITIONS}
-    )
-
-    install (TARGETS carla-server DESTINATION lib)
-
-    foreach (HEADER ${LIBCARLA_SERVER_HEADERS})
-        cmake_path (GET HEADER PARENT_PATH HEADER_PARENT)
-        cmake_path (RELATIVE_PATH HEADER_PARENT BASE_DIRECTORY ${LIBCARLA_SOURCE_PATH}/carla OUTPUT_VARIABLE HEADER_RELATIVE)
-        install (FILES ${HEADER} DESTINATION include/carla/${HEADER_RELATIVE})
-    endforeach ()
-
-endif ()
-
-
-
-if (BUILD_CARLA_CLIENT)
-
-    project (carla-client)
-
-    file (
-        GLOB
-        LIBCARLA_CLIENT_HEADERS
-        ${LIBCARLA_SOURCE_PATH}/carla/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/client/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/client/detail/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/geom/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/image/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/nav/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/opendrive/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/opendrive/parser/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/pointcloud/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/profiler/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/road/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/road/element/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/road/general/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/road/object/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/road/signal/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/rpc/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/ros2/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/sensor/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/sensor/data/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/sensor/s11n/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/streaming/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/tcp/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/streaming/low_level/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/multigpu/*.h
-        ${LIBCARLA_SOURCE_PATH}/carla/trafficmanager/*.h
-        ${LIBCARLA_SOURCE_PATH}/compiler/*.h
-    )
-
-    if (ENABLE_RSS)
-        file (
-            GLOB
-            LIBCARLA_CLIENT_HEADERS_RSS
-            ${LIBCARLA_SOURCE_PATH}/carla/rss/*.h
-        )
-        list (
-            APPEND
-            LIBCARLA_CLIENT_HEADERS
-            ${LIBCARLA_CLIENT_HEADERS_RSS}
-        )
-    endif ()
-
-    file (
-        GLOB
-        LIBCARLA_CLIENT_HEADERS_THIRD_PARTY
-        ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.h
-        ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/moodycamel/*.h
-        ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.hpp
-        ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.h
-    )
-
-    file (
-        GLOB
-        LIBCARLA_CLIENT_SOURCES
-        ${LIBCARLA_SOURCE_PATH}/carla/*.cpp
-        ${LIBCARLA_SOURCE_PATH}/carla/client/*.cpp
-        ${LIBCARLA_SOURCE_PATH}/carla/client/detail/*.cpp
-        ${LIBCARLA_SOURCE_PATH}/carla/geom/*.cpp
-        ${LIBCARLA_SOURCE_PATH}/carla/image/*.cpp
-        ${LIBCARLA_SOURCE_PATH}/carla/nav/*.cpp
-        ${LIBCARLA_SOURCE_PATH}/carla/opendrive/*.cpp
-        ${LIBCARLA_SOURCE_PATH}/carla/opendrive/parser/*.cpp
-        ${LIBCARLA_SOURCE_PATH}/carla/pointcloud/*.cpp
-        ${LIBCARLA_SOURCE_PATH}/carla/road/*.cpp
-        ${LIBCARLA_SOURCE_PATH}/carla/road/element/*.cpp
-        ${LIBCARLA_SOURCE_PATH}/carla/road/general/*.cpp
-        ${LIBCARLA_SOURCE_PATH}/carla/road/object/*.cpp
-        ${LIBCARLA_SOURCE_PATH}/carla/road/signal/*.cpp
-        ${LIBCARLA_SOURCE_PATH}/carla/rpc/*.cpp
-        ${LIBCARLA_SOURCE_PATH}/carla/ros2/*.cpp
-        ${LIBCARLA_SOURCE_PATH}/carla/sensor/*.cpp
-        ${LIBCARLA_SOURCE_PATH}/carla/sensor/data/*.cpp
-        ${LIBCARLA_SOURCE_PATH}/carla/sensor/s11n/*.cpp
-        ${LIBCARLA_SOURCE_PATH}/carla/streaming/*.cpp
-        ${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/*.cpp
-        ${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/tcp/*.cpp
-        ${LIBCARLA_SOURCE_PATH}/carla/streaming/low_level/*.cpp
-        ${LIBCARLA_SOURCE_PATH}/carla/multigpu/*.cpp
-        ${LIBCARLA_SOURCE_PATH}/carla/trafficmanager/*.cpp
-    )
-
-    if (ENABLE_RSS)
-        file (
-            GLOB
-            LIBCARLA_CLIENT_SOURCES_RSS
-            ${LIBCARLA_SOURCE_PATH}/carla/rss/*.cpp
-        )
-        list (
-            APPEND
-            LIBCARLA_CLIENT_SOURCES
-            ${LIBCARLA_CLIENT_SOURCES_RSS}
-        )
-    endif ()
-
-    file (
-        GLOB
-        LIBCARLA_CLIENT_SOURCES_THIRD_PARTY
-        ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.cpp
-        ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.cpp
-    )
-
-    add_library (
-        carla-client STATIC
-        ${LIBCARLA_CLIENT_HEADERS}
-        ${LIBCARLA_CLIENT_SOURCES}
-        ${LIBCARLA_CLIENT_HEADERS_THIRD_PARTY}
-        ${LIBCARLA_CLIENT_SOURCES_THIRD_PARTY}
-    )
-
-    if (EXTERNAL_DEPENDENCY_LIST)
-        add_dependencies (carla-client ${EXTERNAL_DEPENDENCY_LIST})
-    endif ()
-
-    target_include_directories (
-        carla-client PRIVATE
-        ${CARLA_COMMON_INCLUDE_PATHS}
-    )
-
-    target_compile_definitions (
-        carla-client PRIVATE
-        ${CARLA_COMMON_DEFINITIONS}
-        ${CARLA_EXCEPTION_DEFINITIONS}
-        ${CARLA_RTTI_DEFINITIONS}
-    )
-    
-    install (TARGETS carla-client DESTINATION lib)
-    
-    foreach (HEADER ${LIBCARLA_CLIENT_HEADERS})
-        cmake_path (GET HEADER PARENT_PATH HEADER_PARENT)
-        cmake_path (RELATIVE_PATH HEADER_PARENT BASE_DIRECTORY ${LIBCARLA_SOURCE_PATH}/carla OUTPUT_VARIABLE HEADER_RELATIVE)
-        install (FILES ${HEADER} DESTINATION include/carla/${HEADER_RELATIVE})
-    endforeach ()
-
-endif ()
-
-
-
 if (BUILD_OSM_WORLD_RENDERER)
-
-    project (OsmMapRenderer)
-
-    set (OSM_RENDERER_PATH ${CARLA_WORKSPACE_PATH}/osm-world-renderer)
-
-    add_library (
-        LibOSMRenderer
-        ${OSM_RENDERER_PATH}/OsmRenderer/src/OsmRenderer.cpp
-        ${OSM_RENDERER_PATH}/OsmRenderer/src/MapDrawer.cpp
-        ${OSM_RENDERER_PATH}/OsmRenderer/src/MapRasterizer.cpp
-    )
-
-    if (EXTERNAL_DEPENDENCY_LIST)
-        add_dependencies (LibOSMRenderer ${EXTERNAL_DEPENDENCY_LIST})
-    endif ()
-
-    target_include_directories (
-        LibOSMRenderer PUBLIC
-        ${OSM_RENDERER_PATH}/OsmRenderer/include
-    )
-
-    add_executable (
-        OSMWorldRenderer
-        ${OSM_RENDERER_PATH}/OsmRenderer/main.cpp
-    )
-
-    target_link_libraries (OSMWorldRenderer PRIVATE LibOSMRenderer)
-    target_link_libraries (OSMWorldRenderer PRIVATE osmscout)
-    target_link_libraries (OSMWorldRenderer PRIVATE osmscout_map)
-    target_link_libraries (OSMWorldRenderer PRIVATE osmscout_map_svg)
-    target_link_libraries (OSMWorldRenderer PRIVATE lunasvg)
-
-    target_compile_definitions (
-        OSMWorldRenderer PRIVATE
-        _USE_MATH_DEFINES
-        ${CARLA_COMMON_DEFINITIONS}
-    )
-
+  add_subdirectory (osm-world-renderer)
 endif ()
 
-
-
 if (BUILD_PYTHON_API)
-
-    project (carla-python-api)
-
-    set (Python_USE_STATIC_LIBS ON)
-
-    find_package (
-        Python
-        COMPONENTS
-            Interpreter
-            Development.Module
-        REQUIRED)
-
-    set (PYTHON_API_CARLA_PATH ${PYTHON_API_PATH}/carla)
-    set (PYTHON_API_SOURCE_PATH ${PYTHON_API_CARLA_PATH}/source/libcarla)
-
-    configure_file (
-        ${PYTHON_API_PATH}/carla/pyproject.toml.in
-        ${PYTHON_API_PATH}/carla/pyproject.toml)
-    
-    set (
-        PYTHON_API_SOURCES
-        ${PYTHON_API_SOURCE_PATH}/Actor.cpp
-        ${PYTHON_API_SOURCE_PATH}/Blueprint.cpp
-        ${PYTHON_API_SOURCE_PATH}/Client.cpp
-        ${PYTHON_API_SOURCE_PATH}/Commands.cpp
-        ${PYTHON_API_SOURCE_PATH}/Control.cpp
-        ${PYTHON_API_SOURCE_PATH}/Exception.cpp
-        ${PYTHON_API_SOURCE_PATH}/Geom.cpp
-        ${PYTHON_API_SOURCE_PATH}/LightManager.cpp
-        ${PYTHON_API_SOURCE_PATH}/Map.cpp
-        ${PYTHON_API_SOURCE_PATH}/OSM2ODR.cpp
-        ${PYTHON_API_SOURCE_PATH}/PythonAPI.cpp
-        ${PYTHON_API_SOURCE_PATH}/PythonAPI.h
-        ${PYTHON_API_SOURCE_PATH}/Sensor.cpp
-        ${PYTHON_API_SOURCE_PATH}/SensorData.cpp
-        ${PYTHON_API_SOURCE_PATH}/Snapshot.cpp
-        ${PYTHON_API_SOURCE_PATH}/TrafficManager.cpp
-        ${PYTHON_API_SOURCE_PATH}/Weather.cpp
-        ${PYTHON_API_SOURCE_PATH}/World.cpp
-    )
-
-    if (ENABLE_RSS)
-        list (APPEND PYTHON_API_SOURCES ${PYTHON_API_SOURCE_PATH}/AdRss.cpp)
-    endif ()
-
-    Python_add_library(
-        carla-python-api
-        MODULE
-        ${PYTHON_API_SOURCES}
-        WITH_SOABI)
-    
-    if (EXTERNAL_DEPENDENCY_LIST)
-        add_dependencies (carla-python-api ${EXTERNAL_DEPENDENCY_LIST})
-    endif ()
-
-    target_compile_definitions (
-        carla-python-api
-        PRIVATE
-        ${CARLA_COMMON_DEFINITIONS}
-        ${CARLA_RTTI_DEFINITIONS}
-        # ${CARLA_EXCEPTION_DEFINITIONS}
-        BOOST_ALL_NO_LIB
-        BOOST_PYTHON_STATIC_LIB
-        LIBCARLA_WITH_PYTHON_SUPPORT)
-
-    target_include_directories (
-        carla-python-api
-        PRIVATE
-        ${CARLA_COMMON_INCLUDE_PATHS}
-        ${PYTHON_API_SOURCE_PATH}
-        ${SUMO_INCLUDE_PATH})
-    
-    # carla_find_library (BOOST_LIBRARY ${CARLA_DEPENDENCIES_PATH}/Install/boost/lib/*boost_python*${LIB_EXT})
-    # carla_find_library (RPCLIB_LIBRARY ${CARLA_DEPENDENCIES_PATH}/Install/rpclib/lib/*rpc*${LIB_EXT})
-    # carla_find_library (LIBPNG_LIBRARY ${CARLA_DEPENDENCIES_PATH}/Install/libpng/lib/*libpng*_static*${LIB_EXT})
-    # carla_find_library (ZLIB_LIBRARY ${CARLA_DEPENDENCIES_PATH}/Install/zlib/lib/*zlib${LIB_EXT})
-    # carla_find_library (RECAST_LIBRARY ${CARLA_DEPENDENCIES_PATH}/Install/recast/lib/*Recast${LIB_EXT})
-    # carla_find_library (DETOUR_LIBRARY ${CARLA_DEPENDENCIES_PATH}/Install/recast/lib/*Detour${LIB_EXT})
-    # carla_find_library (DETOURCROWD_LIBRARY ${CARLA_DEPENDENCIES_PATH}/Install/recast/lib/*DetourCrowd${LIB_EXT})
-    # carla_find_library (XERCESC_LIBRARY ${CARLA_DEPENDENCIES_PATH}/Install/xercesc/lib/*xerces-c*${LIB_EXT})
-    # carla_find_library (OSM2ODR_LIBRARY ${CARLA_DEPENDENCIES_PATH}/Install/sumo/lib/*osm2odr${LIB_EXT})
-    # carla_find_library (SQLITE_LIBRARY ${CARLA_DEPENDENCIES_PATH}/Build/sqlite/*sqlite*${LIB_EXT})
-    # carla_find_library (PROJ_LIBRARY ${CARLA_DEPENDENCIES_PATH}/Install/proj/lib/*proj${LIB_EXT})
-
-    set (
-        PYTHON_API_LIBRARY_DEPENDENCIES
-        ${BOOST_LIBRARY}
-        ${RPCLIB_LIBRARY}
-        ${LIBPNG_LIBRARY}
-        ${ZLIB_LIBRARY}
-        ${RECAST_LIBRARY}
-        ${DETOUR_LIBRARY}
-        ${DETOURCROWD_LIBRARY}
-        ${XERCESC_LIBRARY}
-        ${OSM2ODR_LIBRARY}
-        ${SQLITE_LIBRARY}
-        ${PROJ_LIBRARY})
-
-    if (WIN32)
-        list (APPEND PYTHON_API_LIBRARY_DEPENDENCIES Shlwapi.lib)
-    endif ()
-
-    target_link_libraries (
-        carla-python-api
-        PRIVATE
-        carla-client
-        ${PYTHON_API_LIBRARY_DEPENDENCIES})
-    
-    #[[
-    install (
-        TARGETS
-        carla-python-api
-        DESTINATION
-        ${CARLA_BUILD_PATH}/PythonAPI/dist)
-    ]]
+  add_subdirectory (PythonAPI)
 endif ()
diff --git a/LibCarla/CMakeLists.txt b/LibCarla/CMakeLists.txt
new file mode 100644
index 000000000..5b12467ec
--- /dev/null
+++ b/LibCarla/CMakeLists.txt
@@ -0,0 +1,275 @@
+set (LIBCARLA_SOURCE_PATH ${CARLA_WORKSPACE_PATH}/LibCarla/source)
+set (LIBCARLA_THIRD_PARTY_SOURCE_PATH ${LIBCARLA_SOURCE_PATH}/third-party)
+
+configure_file (
+  ${LIBCARLA_SOURCE_PATH}/carla/Version.h.in
+  ${LIBCARLA_SOURCE_PATH}/carla/Version.h
+)
+
+if (BUILD_CARLA_SERVER)
+
+    project (
+      carla-server
+      LANGUAGES CXX
+      VERSION ${CARLA_VERSION}
+    )
+
+    file (
+        GLOB
+        LIBCARLA_SERVER_SOURCES
+        ${LIBCARLA_SOURCE_PATH}/carla/Buffer.cpp
+        ${LIBCARLA_SOURCE_PATH}/carla/Exception.cpp
+        ${LIBCARLA_SOURCE_PATH}/carla/geom/*.cpp
+        ${LIBCARLA_SOURCE_PATH}/carla/opendrive/*.cpp
+        ${LIBCARLA_SOURCE_PATH}/carla/opendrive/parser/*.cpp
+        ${LIBCARLA_SOURCE_PATH}/carla/road/*.cpp
+        ${LIBCARLA_SOURCE_PATH}/carla/road/element/*.cpp
+        ${LIBCARLA_SOURCE_PATH}/carla/road/general/*.cpp
+        ${LIBCARLA_SOURCE_PATH}/carla/road/object/*.cpp
+        ${LIBCARLA_SOURCE_PATH}/carla/road/signal/*.cpp
+        ${LIBCARLA_SOURCE_PATH}/carla/rpc/*.cpp
+        ${LIBCARLA_SOURCE_PATH}/carla/ros2/*.cpp
+        ${LIBCARLA_SOURCE_PATH}/carla/sensor/s11n/SensorHeaderSerializer.cpp
+        ${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/*.cpp
+        ${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/tcp/*.cpp
+        ${LIBCARLA_SOURCE_PATH}/carla/multigpu/*.cpp
+    )
+
+    file (
+        GLOB
+        LIBCARLA_SERVER_SOURCES_THIRD_PARTY
+        ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.cpp
+        ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/moodycamel/*.cpp
+        ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.cpp
+    )
+
+    file (
+        GLOB
+        LIBCARLA_SERVER_HEADERS
+        ${LIBCARLA_SOURCE_PATH}/carla/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/geom/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/opendrive/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/opendrive/parser/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/road/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/road/element/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/road/general/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/road/object/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/road/signal/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/rpc/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/ros2/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/sensor/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/sensor/s11n/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/streaming/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/streaming/low_level/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/multigpu/*.h
+        ${LIBCARLA_SOURCE_PATH}/compiler/*.h
+    )
+
+    file (
+        GLOB
+        LIBCARLA_SERVER_HEADERS_THIRD_PARTY
+        ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.h
+        ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/moodycamel/*.h
+        ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.hpp
+    )
+
+    add_library (
+        carla-server STATIC
+        ${LIBCARLA_SERVER_HEADERS}
+        ${LIBCARLA_SERVER_SOURCES}
+        ${LIBCARLA_SERVER_HEADERS_THIRD_PARTY}
+        ${LIBCARLA_SERVER_SOURCES_THIRD_PARTY}
+    )
+
+    if (EXTERNAL_DEPENDENCY_LIST)
+        add_dependencies (carla-server ${EXTERNAL_DEPENDENCY_LIST})
+    endif ()
+
+    target_include_directories (
+      carla-server PRIVATE
+      ${LIBCARLA_SOURCE_PATH}
+    )
+
+    target_compile_definitions (
+        carla-server PRIVATE
+        ${CARLA_COMMON_DEFINITIONS}
+        ${CARLA_EXCEPTION_DEFINITIONS}
+        ${CARLA_RTTI_DEFINITIONS}
+    )
+
+    install (
+      TARGETS
+      carla-server
+      DESTINATION lib
+    )
+
+    foreach (HEADER ${LIBCARLA_SERVER_HEADERS})
+        cmake_path (GET HEADER PARENT_PATH HEADER_PARENT)
+        cmake_path (
+          RELATIVE_PATH HEADER_PARENT
+          BASE_DIRECTORY ${LIBCARLA_SOURCE_PATH}/carla
+          OUTPUT_VARIABLE HEADER_RELATIVE
+        )
+        install (
+          FILES ${HEADER}
+          DESTINATION include/carla/${HEADER_RELATIVE}
+        )
+    endforeach ()
+
+endif ()
+
+
+
+if (BUILD_CARLA_CLIENT)
+
+    project (
+      carla-client
+      LANGUAGES CXX
+      VERSION ${CARLA_VERSION}
+    )
+
+    file (
+        GLOB
+        LIBCARLA_CLIENT_HEADERS
+        ${LIBCARLA_SOURCE_PATH}/carla/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/client/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/client/detail/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/geom/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/image/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/nav/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/opendrive/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/opendrive/parser/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/pointcloud/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/profiler/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/road/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/road/element/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/road/general/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/road/object/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/road/signal/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/rpc/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/ros2/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/sensor/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/sensor/data/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/sensor/s11n/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/streaming/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/tcp/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/streaming/low_level/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/multigpu/*.h
+        ${LIBCARLA_SOURCE_PATH}/carla/trafficmanager/*.h
+        ${LIBCARLA_SOURCE_PATH}/compiler/*.h
+    )
+
+    if (ENABLE_RSS)
+        file (
+            GLOB
+            LIBCARLA_CLIENT_HEADERS_RSS
+            ${LIBCARLA_SOURCE_PATH}/carla/rss/*.h
+        )
+        list (
+            APPEND
+            LIBCARLA_CLIENT_HEADERS
+            ${LIBCARLA_CLIENT_HEADERS_RSS}
+        )
+    endif ()
+
+    file (
+        GLOB
+        LIBCARLA_CLIENT_HEADERS_THIRD_PARTY
+        ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.h
+        ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/moodycamel/*.h
+        ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.hpp
+        ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.h
+    )
+
+    file (
+        GLOB
+        LIBCARLA_CLIENT_SOURCES
+        ${LIBCARLA_SOURCE_PATH}/carla/*.cpp
+        ${LIBCARLA_SOURCE_PATH}/carla/client/*.cpp
+        ${LIBCARLA_SOURCE_PATH}/carla/client/detail/*.cpp
+        ${LIBCARLA_SOURCE_PATH}/carla/geom/*.cpp
+        ${LIBCARLA_SOURCE_PATH}/carla/image/*.cpp
+        ${LIBCARLA_SOURCE_PATH}/carla/nav/*.cpp
+        ${LIBCARLA_SOURCE_PATH}/carla/opendrive/*.cpp
+        ${LIBCARLA_SOURCE_PATH}/carla/opendrive/parser/*.cpp
+        ${LIBCARLA_SOURCE_PATH}/carla/pointcloud/*.cpp
+        ${LIBCARLA_SOURCE_PATH}/carla/road/*.cpp
+        ${LIBCARLA_SOURCE_PATH}/carla/road/element/*.cpp
+        ${LIBCARLA_SOURCE_PATH}/carla/road/general/*.cpp
+        ${LIBCARLA_SOURCE_PATH}/carla/road/object/*.cpp
+        ${LIBCARLA_SOURCE_PATH}/carla/road/signal/*.cpp
+        ${LIBCARLA_SOURCE_PATH}/carla/rpc/*.cpp
+        ${LIBCARLA_SOURCE_PATH}/carla/ros2/*.cpp
+        ${LIBCARLA_SOURCE_PATH}/carla/sensor/*.cpp
+        ${LIBCARLA_SOURCE_PATH}/carla/sensor/data/*.cpp
+        ${LIBCARLA_SOURCE_PATH}/carla/sensor/s11n/*.cpp
+        ${LIBCARLA_SOURCE_PATH}/carla/streaming/*.cpp
+        ${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/*.cpp
+        ${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/tcp/*.cpp
+        ${LIBCARLA_SOURCE_PATH}/carla/streaming/low_level/*.cpp
+        ${LIBCARLA_SOURCE_PATH}/carla/multigpu/*.cpp
+        ${LIBCARLA_SOURCE_PATH}/carla/trafficmanager/*.cpp
+    )
+
+    if (ENABLE_RSS)
+        file (
+            GLOB
+            LIBCARLA_CLIENT_SOURCES_RSS
+            ${LIBCARLA_SOURCE_PATH}/carla/rss/*.cpp
+        )
+        list (
+            APPEND
+            LIBCARLA_CLIENT_SOURCES
+            ${LIBCARLA_CLIENT_SOURCES_RSS}
+        )
+    endif ()
+
+    file (
+        GLOB
+        LIBCARLA_CLIENT_SOURCES_THIRD_PARTY
+        ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.cpp
+        ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.cpp
+    )
+
+    add_library (
+        carla-client STATIC
+        ${LIBCARLA_CLIENT_HEADERS}
+        ${LIBCARLA_CLIENT_SOURCES}
+        ${LIBCARLA_CLIENT_HEADERS_THIRD_PARTY}
+        ${LIBCARLA_CLIENT_SOURCES_THIRD_PARTY}
+    )
+
+    if (EXTERNAL_DEPENDENCY_LIST)
+        add_dependencies (carla-client ${EXTERNAL_DEPENDENCY_LIST})
+    endif ()
+    
+    target_include_directories (
+      carla-client PRIVATE
+      ${LIBCARLA_SOURCE_PATH}
+    )
+
+    target_compile_definitions (
+        carla-client PRIVATE
+        ${CARLA_COMMON_DEFINITIONS}
+        ${CARLA_EXCEPTION_DEFINITIONS}
+        ${CARLA_RTTI_DEFINITIONS}
+    )
+    
+    install (TARGETS carla-client DESTINATION lib)
+    
+    foreach (HEADER ${LIBCARLA_CLIENT_HEADERS})
+        cmake_path (GET HEADER PARENT_PATH HEADER_PARENT)
+        cmake_path (
+          RELATIVE_PATH HEADER_PARENT
+          BASE_DIRECTORY ${LIBCARLA_SOURCE_PATH}/carla
+          OUTPUT_VARIABLE HEADER_RELATIVE
+        )
+        install (
+          FILES ${HEADER}
+          DESTINATION include/carla/${HEADER_RELATIVE}
+        )
+    endforeach ()
+
+endif ()
diff --git a/PythonAPI/CMakeLists.txt b/PythonAPI/CMakeLists.txt
new file mode 100644
index 000000000..581eb1e1e
--- /dev/null
+++ b/PythonAPI/CMakeLists.txt
@@ -0,0 +1,106 @@
+project (
+  carla-python-api
+  LANGUAGES CXX
+  VERSION ${CARLA_VERSION}
+)
+
+find_package (
+    Python
+    COMPONENTS
+        Interpreter
+        Development.Module
+    REQUIRED
+)
+    
+set (PYTHON_API_PATH ${CARLA_WORKSPACE_PATH}/PythonAPI)
+set (PYTHON_API_CARLA_PATH ${PYTHON_API_PATH}/carla)
+set (PYTHON_API_SOURCE_PATH ${PYTHON_API_CARLA_PATH}/source/libcarla)
+
+configure_file (
+    ${PYTHON_API_PATH}/carla/pyproject.toml.in
+    ${PYTHON_API_PATH}/carla/pyproject.toml
+)
+
+set (
+    PYTHON_API_SOURCES
+    ${PYTHON_API_SOURCE_PATH}/Actor.cpp
+    ${PYTHON_API_SOURCE_PATH}/Blueprint.cpp
+    ${PYTHON_API_SOURCE_PATH}/Client.cpp
+    ${PYTHON_API_SOURCE_PATH}/Commands.cpp
+    ${PYTHON_API_SOURCE_PATH}/Control.cpp
+    ${PYTHON_API_SOURCE_PATH}/Exception.cpp
+    ${PYTHON_API_SOURCE_PATH}/Geom.cpp
+    ${PYTHON_API_SOURCE_PATH}/LightManager.cpp
+    ${PYTHON_API_SOURCE_PATH}/Map.cpp
+    ${PYTHON_API_SOURCE_PATH}/OSM2ODR.cpp
+    ${PYTHON_API_SOURCE_PATH}/PythonAPI.cpp
+    ${PYTHON_API_SOURCE_PATH}/PythonAPI.h
+    ${PYTHON_API_SOURCE_PATH}/Sensor.cpp
+    ${PYTHON_API_SOURCE_PATH}/SensorData.cpp
+    ${PYTHON_API_SOURCE_PATH}/Snapshot.cpp
+    ${PYTHON_API_SOURCE_PATH}/TrafficManager.cpp
+    ${PYTHON_API_SOURCE_PATH}/Weather.cpp
+    ${PYTHON_API_SOURCE_PATH}/World.cpp
+)
+
+if (ENABLE_RSS)
+    list (APPEND PYTHON_API_SOURCES ${PYTHON_API_SOURCE_PATH}/AdRss.cpp)
+endif ()
+
+Python_add_library(
+    carla-python-api
+    MODULE
+    ${PYTHON_API_SOURCES}
+    WITH_SOABI
+)
+
+if (EXTERNAL_DEPENDENCY_LIST)
+    add_dependencies (
+      carla-python-api
+      ${EXTERNAL_DEPENDENCY_LIST}
+    )
+endif ()
+
+target_compile_definitions (
+    carla-python-api
+    PRIVATE
+    ${CARLA_COMMON_DEFINITIONS}
+    ${CARLA_RTTI_DEFINITIONS}
+    BOOST_ALL_NO_LIB
+    BOOST_PYTHON_STATIC_LIB
+    LIBCARLA_WITH_PYTHON_SUPPORT
+)
+
+target_include_directories (
+  carla-python-api
+  PRIVATE
+  ${PYTHON_API_SOURCE_PATH}
+  ${SUMO_INCLUDE_PATH}
+  ${LIBCARLA_SOURCE_PATH}
+)
+
+set (
+    PYTHON_API_LIBRARY_DEPENDENCIES
+    ${BOOST_LIBRARY}
+    ${RPCLIB_LIBRARY}
+    ${LIBPNG_LIBRARY}
+    ${ZLIB_LIBRARY}
+    ${RECAST_LIBRARY}
+    ${DETOUR_LIBRARY}
+    ${DETOURCROWD_LIBRARY}
+    ${XERCESC_LIBRARY}
+    ${OSM2ODR_LIBRARY}
+    ${SQLITE_LIBRARY}
+    ${PROJ_LIBRARY}
+)
+
+if (WIN32)
+    list (APPEND PYTHON_API_LIBRARY_DEPENDENCIES Shlwapi.lib)
+endif ()
+
+target_link_libraries (
+    carla-python-api
+    PRIVATE
+    carla-client
+    ${PYTHON_API_LIBRARY_DEPENDENCIES}
+)
\ No newline at end of file
diff --git a/osm-world-renderer/CMakeLists.txt b/osm-world-renderer/CMakeLists.txt
index 1ad166f0c..a5cff5292 100644
--- a/osm-world-renderer/CMakeLists.txt
+++ b/osm-world-renderer/CMakeLists.txt
@@ -1,22 +1,49 @@
-cmake_minimum_required (VERSION 3.5.1)
-project (OsmMapRenderer)
+project (
+  osm-map-renderer
+  LANGUAGES CXX
+  VERSION ${CARLA_VERSION}
+)
 
-# Libosmscout and Luna SVG Library
-include_directories (ThirdParties/include)
-include_directories (ThirdParties/include/lunasvg)
-link_directories (ThirdParties/lib)
+set (
+  OSM_RENDERER_PATH
+  ${CARLA_WORKSPACE_PATH}/osm-world-renderer
+)
 
-add_definitions (-D_USE_MATH_DEFINES)
+add_library (
+    lib-osm-map-renderer
+    ${OSM_RENDERER_PATH}/OsmRenderer/src/OsmRenderer.cpp
+    ${OSM_RENDERER_PATH}/OsmRenderer/src/MapDrawer.cpp
+    ${OSM_RENDERER_PATH}/OsmRenderer/src/MapRasterizer.cpp
+)
 
-# Source Files
-add_library (OsmRenderer OsmRenderer/src/OsmRenderer.cpp)
-target_sources (OsmRenderer PRIVATE OsmRenderer/src/MapDrawer.cpp)
-target_sources (OsmRenderer PRIVATE OsmRenderer/src/MapRasterizer.cpp)
-target_include_directories (OsmRenderer PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/OsmRenderer/include)
+if (EXTERNAL_DEPENDENCY_LIST)
+    add_dependencies (
+      lib-osm-map-renderer
+      ${EXTERNAL_DEPENDENCY_LIST}
+    )
+endif ()
 
-add_executable (osm-world-renderer OsmRenderer/main.cpp)
-target_link_libraries (osm-world-renderer OsmRenderer)
-target_link_libraries (osm-world-renderer osmscout)
-target_link_libraries (osm-world-renderer osmscout_map)
-target_link_libraries (osm-world-renderer osmscout_map_svg)
-target_link_libraries (osm-world-renderer lunasvg)
\ No newline at end of file
+target_include_directories (
+    lib-osm-map-renderer PUBLIC
+    ${OSM_RENDERER_PATH}/OsmRenderer/include
+)
+
+add_executable (
+    osm-world-renderer
+    ${OSM_RENDERER_PATH}/OsmRenderer/main.cpp
+)
+
+target_link_libraries (
+  osm-world-renderer PRIVATE
+  lib-osm-map-renderer
+  osmscout
+  osmscout_map
+  osmscout_map_svg
+  lunasvg
+)
+
+target_compile_definitions (
+    osm-world-renderer PRIVATE
+    _USE_MATH_DEFINES
+    ${CARLA_COMMON_DEFINITIONS}
+)