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carla
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Implement Cmake ros2 native external project (#7252) 

* libcarla-ros2-native.so build and install working.

* Fixes and add Carla.Build.cs

* ROS2Native build system implemented for CMake

* Add g++/gcc option and remove Build path reference from Carla.build.cs

* Auto add ros2 target when ros2 and server is enabled

* Remove ROS2 from client

* Fix build when ROS2 is disabled.

* Clean up space

* Fix will error with ROS2 enabled

* Remove macro collision ROS2
This commit is contained in:
Xavier Solé Nogués 2024-03-14 15:27:10 +00:00 committed by GitHub
parent 6d058e9a89
commit 979b942ff5
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
11 changed files with 173 additions and 34 deletions
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12
CMake/Options/Common.cmake
View File

@ -91,3 +91,15 @@ option (
"Whether to convert build warnings to errors."
OFF
)
carla_string_option (
GCC_COMPILER
"gcc compiler used by some CARLA extensions."
/usr/bin/gcc-7
)
carla_string_option (
GXX_COMPILER
"g++ compiler used by some CARLA extensions."
/usr/bin/g++-7
)

5
CMakeLists.txt
View File

@ -151,6 +151,11 @@ if (BUILD_OSM_WORLD_RENDERER)
add_subdirectory (osm-world-renderer)
endif ()
if (ENABLE_ROS2)
set (BOOST_INCLUDE_PATH ${CMAKE_BINARY_DIR}/_deps/boost-src/libs)
add_subdirectory (Ros2Native)
endif()
if (BUILD_PYTHON_API)
add_subdirectory (PythonAPI)
endif ()

34
LibCarla/CMakeLists.txt
View File

@ -103,6 +103,7 @@ if (BUILD_CARLA_SERVER)
LIBCARLA_SERVER_HEADERS
${LIBCARLA_SERVER_HEADERS_ROS2}
)
set (CARLA_ROS2_DEFINITIONS WITH_ROS2)
endif ()
file (
@ -146,8 +147,13 @@ if (BUILD_CARLA_SERVER)
${CARLA_COMMON_DEFINITIONS}
${CARLA_EXCEPTION_DEFINITIONS}
${CARLA_RTTI_DEFINITIONS}
${CARLA_ROS2_DEFINITIONS}
)
if (ENABLE_ROS2)
add_dependencies (carla-server carla-ros2-native)
endif ()
endif ()
@ -192,19 +198,6 @@ if (BUILD_CARLA_CLIENT)
${LIBCARLA_SOURCE_PATH}/carla/trafficmanager/*.h
${LIBCARLA_SOURCE_PATH}/compiler/*.h
)
if (ENABLE_ROS2)
file (
GLOB
LIBCARLA_CLIENT_HEADERS_ROS2
${LIBCARLA_SOURCE_PATH}/carla/ros2/*.h
)
list (
APPEND
LIBCARLA_CLIENT_HEADERS
${LIBCARLA_CLIENT_HEADERS_ROS2}
)
endif ()
if (ENABLE_RSS)
file (
@ -256,19 +249,6 @@ if (BUILD_CARLA_CLIENT)
${LIBCARLA_SOURCE_PATH}/carla/multigpu/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/trafficmanager/*.cpp
)
if (ENABLE_ROS2)
file (
GLOB
LIBCARLA_CLIENT_SOURCES_ROS2
${LIBCARLA_SOURCE_PATH}/carla/ros2/*.cpp
)
list (
APPEND
LIBCARLA_CLIENT_SOURCES
${LIBCARLA_CLIENT_SOURCES_ROS2}
)
endif ()
if (ENABLE_RSS)
file (

12
LibCarla/source/carla/ros2/ROS2CallbackData.h
View File

@ -6,6 +6,16 @@
#pragma once
#ifdef _MSC_VER
#pragma warning(push)
#pragma warning(disable:4583)
#pragma warning(disable:4582)
#include <boost/variant2/variant.hpp>
#pragma warning(pop)
#else
#include <boost/variant2/variant.hpp>
#endif
#include <variant>
#include <functional>
@ -23,7 +33,7 @@ namespace ros2 {
bool manual_gear_shift;
};
using ROS2CallbackData = std::variant<VehicleControl>;
using ROS2CallbackData = boost::variant2::variant<VehicleControl>;
using ActorCallback = std::function<void(void *actor, ROS2CallbackData data)>;

53
Ros2Native/CMakeLists.txt Normal file
View File

@ -0,0 +1,53 @@
cmake_minimum_required (VERSION 3.28.0)
project(carla-ros2-native-project)
include (${CARLA_WORKSPACE_PATH}/CMake/CarlaOptions.cmake)
include (ExternalProject)
set (PROJECT_INSTALL_PATH ${CMAKE_CURRENT_BINARY_DIR}/install)
set (PROJECT_CMAKE_FLAGS -DCMAKE_CXX_COMPILER=${GXX_COMPILER} -DCMAKE_C_COMPILER=${GCC_COMPILER} -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS_RELEASE=-D_GLIBCXX_USE_CXX11_ABI=0 -DCMAKE_INSTALL_PREFIX=${PROJECT_INSTALL_PATH})
ExternalProject_add (
foonathan_memory
URL https://github.com/eProsima/foonathan_memory_vendor/archive/refs/heads/master.zip
CMAKE_ARGS ${PROJECT_CMAKE_FLAGS} -DBUILD_SHARED_LIBS=ON -DFOONATHAN_MEMORY_FORCE_VENDORED_BUILD=ON
)
ExternalProject_add (
fastcdr
URL https://github.com/eProsima/Fast-CDR/archive/refs/heads/1.1.x.zip
CMAKE_ARGS ${PROJECT_CMAKE_FLAGS}
)
# Note: We are using GIT_REPOSITORY instead URL for fastdds because fastdss contains submodules
# and we need the .git folders to download the submodules
ExternalProject_add (
fastdds
GIT_REPOSITORY https://github.com/eProsima/Fast-DDS.git
GIT_TAG 2.11.2
CMAKE_ARGS ${PROJECT_CMAKE_FLAGS} -DTHIRDPARTY_Asio=FORCE -DTHIRDPARTY_TinyXML2=FORCE
DEPENDS foonathan_memory fastcdr
)
ExternalProject_Add(
carla-ros2-native-lib
DEPENDS fastdds
SOURCE_DIR ${PROJECT_SOURCE_DIR}/LibCarlaRos2Native
CMAKE_ARGS ${PROJECT_CMAKE_FLAGS} -DBOOST_INCLUDE_PATH=${BOOST_INCLUDE_PATH}
)
set (CARLA_PLUGIN_BINARY_PATH ${CMAKE_SOURCE_DIR}/Unreal/CarlaUnreal/Plugins/Carla/Binaries/Linux)
add_custom_command(
TARGET carla-ros2-native-lib
POST_BUILD
COMMAND cmake -E make_directory ${CARLA_PLUGIN_BINARY_PATH}
COMMAND ${CMAKE_COMMAND} -E copy
${PROJECT_INSTALL_PATH}/lib/*.so*
${CARLA_PLUGIN_BINARY_PATH}
)
add_custom_target (
carla-ros2-native
DEPENDS carla-ros2-native-lib
)

46
Ros2Native/LibCarlaRos2Native/CMakeLists.txt Normal file
View File

@ -0,0 +1,46 @@
cmake_minimum_required (VERSION 3.28.0)
project(carla-ros2-native)
set (LIBCARLA_SOURCE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../../LibCarla/source)
file (
GLOB
LIBCARLA_ROS2_SOURCES
${LIBCARLA_SOURCE_PATH}/carla/ros2/publishers/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/ros2/subscribers/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/ros2/listeners/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/ros2/types/*.cpp
)
file (
GLOB
LIBCARLA_ROS2_HEADERS
${LIBCARLA_SOURCE_PATH}/carla/ros2/publishers/*.h
${LIBCARLA_SOURCE_PATH}/carla/ros2/subscribers/*.h
${LIBCARLA_SOURCE_PATH}/carla/ros2/listeners/*.h
${LIBCARLA_SOURCE_PATH}/carla/ros2/types/*.h
)
add_library (carla-ros2-native SHARED
${LIBCARLA_ROS2_HEADERS}
${LIBCARLA_ROS2_SOURCES}
)
target_include_directories (carla-ros2-native SYSTEM PRIVATE
${LIBCARLA_SOURCE_PATH}
${CMAKE_INSTALL_PREFIX}/include
${BOOST_INCLUDE_PATH}/variant2/include
${BOOST_INCLUDE_PATH}/mp11/include
${BOOST_INCLUDE_PATH}/assert/include
${BOOST_INCLUDE_PATH}/config/include
)
target_compile_definitions (carla-ros2-native PUBLIC
BOOST_ASIO_ENABLE_BUFFER_DEBUGGING
)
target_link_libraries(carla-ros2-native
${CMAKE_INSTALL_PREFIX}/lib/libfastrtps.so)
install (TARGETS carla-ros2-native DESTINATION lib)

4
Unreal/CMakeLists.txt
View File

@ -23,6 +23,10 @@ set (
${CARLA_UE_PATH}/CarlaUnreal.uproject
)
if (ENABLE_ROS2)
set (LAUNCH_ARGS ${LAUNCH_ARGS} --ros2)
endif()
if (WIN32)
set (
CARLA_UE_GENERATE_PROJECT_FILES_COMMAND

2
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Actor/ActorDispatcher.cpp
View File

@ -213,7 +213,7 @@ FCarlaActor* UActorDispatcher::RegisterActor(
{
AActor *UEActor = reinterpret_cast<AActor *>(Actor);
ActorROS2Handler Handler(UEActor, RosName);
std::visit(Handler, Data);
boost::variant2::visit(Handler, Data);
});
}
}

26
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Carla.Build.cs.in
View File

@ -1,7 +1,9 @@
// Copyright 1998-2017 Epic Games, Inc. All Rights Reserved.
using System;
using System.IO;
using UnrealBuildTool;
using System.Diagnostics;
using EpicGames.Core;
public class Carla :
@ -20,7 +22,7 @@ public class Carla :
bool EnablePytorch = false;
[CommandLine("-ros2")]
bool EnableRos2 = false;
bool EnableRos2 = "${ENABLE_ROS2}".Equals("ON");
[CommandLine("-osm2odr")]
bool EnableOSM2ODR = false;
@ -30,6 +32,14 @@ public class Carla :
public Carla(ReadOnlyTargetRules Target) :
base(Target)
{
void AddDynamicLibrary(string library)
{
PublicAdditionalLibraries.Add(library);
RuntimeDependencies.Add(library);
PublicDelayLoadDLLs.Add(library);
Console.WriteLine("Dynamic Library Added: " + library);
}
bool IsWindows = Target.Platform == UnrealTargetPlatform.Win64;
PrivatePCHHeaderFile = "Carla.h";
@ -55,7 +65,6 @@ public class Carla :
TestOptionalFeature(EnableCarSim, "CarSim support", "WITH_CARSIM");
TestOptionalFeature(EnableChrono, "Chrono support", "WITH_CHRONO");
TestOptionalFeature(EnablePytorch, "PyTorch support", "WITH_PYTORCH");
TestOptionalFeature(EnableRos2, "ROS2 support", "WITH_ROS2");
TestOptionalFeature(EnableOSM2ODR, "OSM2ODR support", "WITH_OSM2ODR");
PrivateDependencyModuleNames.AddRange(new string[]
@ -141,6 +150,19 @@ public class Carla :
};
}
if (EnableRos2)
{
PrivateDefinitions.Add("WITH_ROS2");
PrivateDefinitions.Add("WITH_ROS2");
string CarlaPluginSourcePath = Path.GetFullPath(ModuleDirectory);
string CarlaPluginBinariesLinuxPath = Path.Combine(CarlaPluginSourcePath, "..", "..", "Binaries", "Linux");
AddDynamicLibrary(Path.Combine(CarlaPluginBinariesLinuxPath, "libcarla-ros2-native.so"));
AddDynamicLibrary(Path.Combine(CarlaPluginBinariesLinuxPath, "libfoonathan_memory-0.7.3.so"));
AddDynamicLibrary(Path.Combine(CarlaPluginBinariesLinuxPath, "libfastcdr.so"));
AddDynamicLibrary(Path.Combine(CarlaPluginBinariesLinuxPath, "libfastrtps.so"));
}
PublicDefinitions.AddRange(new string[]
{
"ASIO_NO_EXCEPTIONS",

7
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Game/CarlaEngine.cpp
View File

@ -220,9 +220,16 @@ void FCarlaEngine::NotifyInitGame(const UCarlaSettings &Settings)
#if defined(WITH_ROS2)
if (Settings.ROS2)
{
UE_LOG(LogCarla, Log, TEXT("ROS2: Creating ROS2 Instance..."));
auto ROS2 = carla::ros2::ROS2::GetInstance();
UE_LOG(LogCarla, Log, TEXT("ROS2: Enabling ROS2..."));
ROS2->Enable(true);
UE_LOG(LogCarla, Log, TEXT("ROS2: ROS2 enabled..."));
} else {
UE_LOG(LogCarla, Log, TEXT("ROS2: ROS2 enabled..."));
}
#else
UE_LOG(LogCarla, Log, TEXT("ROS2: ROS2 extension not build..."));
#endif
bMapChanged = true;

6
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Sensor/Sensor.h
View File

@ -148,7 +148,7 @@ protected:
{
TRACE_CPUPROFILER_EVENT_SCOPE_STR("ROS2 Send PixelReader");
auto StreamId = carla::streaming::detail::token_type(Sensor.GetToken()).get_stream_id();
auto Res = std::async(std::launch::async, [&Sensor, ROS2, &Stream, StreamId, BufView]()
auto Res = std::async(std::launch::async, [&Sensor, ROS2, &Stream, StreamId, BufferView]()
{
// get resolution of camera
int W = -1, H = -1;
@ -167,11 +167,11 @@ protected:
if (ParentActor)
{
FTransform LocalTransformRelativeToParent = Sensor.GetActorTransform().GetRelativeTransform(ParentActor->GetActorTransform());
ROS2->ProcessDataFromCamera(Stream.GetSensorType(), StreamId, LocalTransformRelativeToParent, W, H, Fov, BufView, &Sensor);
ROS2->ProcessDataFromCamera(Stream.GetSensorType(), StreamId, LocalTransformRelativeToParent, W, H, Fov, BufferView, &Sensor);
}
else
{
ROS2->ProcessDataFromCamera(Stream.GetSensorType(), StreamId, Stream.GetSensorTransform(), W, H, Fov, BufView, &Sensor);
ROS2->ProcessDataFromCamera(Stream.GetSensorType(), StreamId, Stream.GetSensorTransform(), W, H, Fov, BufferView, &Sensor);
}
});
}