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

CMake/Options/Common.cmake

@@ -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
+)

CMakeLists.txt

@@ -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 ()

LibCarla/CMakeLists.txt

@@ -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 (

LibCarla/source/carla/ros2/ROS2CallbackData.h

@@ -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)>;
 

Ros2Native/CMakeLists.txt

@@ -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
+)

Ros2Native/LibCarlaRos2Native/CMakeLists.txt

@@ -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)

Unreal/CMakeLists.txt

@@ -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

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

@@ -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);
           });
         }
       }

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

@@ -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",

Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Game/CarlaEngine.cpp

@@ -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;

Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Sensor/Sensor.h

@@ -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);
         }
       });
     }