Add some test cmake script code related to ROS2.

CMake/Dependencies.cmake

@@ -249,4 +249,59 @@ if (BUILD_CARLA_UNREAL)
   )
 endif ()
 
+if (ENABLE_ROS2)
+  carla_dependency_option (
+    FOONATHAN_MEMORY_FORCE_VENDORED_BUILD
+    ON
+  )
+
+  carla_git_dependency_add (
+    foonathan_memory
+    ${CARLA_FOONATHAN_MEMORY_TAG}
+    https://github.com/eProsima/foonathan_memory_vendor/archive/refs/tags/${CARLA_FOONATHAN_MEMORY_TAG}.zip
+    https://github.com/eProsima/foonathan_memory_vendor.git
+  )
+
+  include_directories (
+    ${foonathan_memory_SOURCE_DIR}
+    ${foonathan_memory_BINARY_DIR}
+  )
+
+  carla_git_dependency_add (
+    fastcdr
+    ${CARLA_FAST_CDR_TAG}
+    https://github.com/eProsima/Fast-CDR/archive/refs/tags/${CARLA_FAST_CDR_TAG}.zip
+    https://github.com/eProsima/Fast-CDR.git
+  )
+
+  include_directories (
+    ${fastcdr_SOURCE_DIR}
+    ${fastcdr_BINARY_DIR}
+  )
+
+  carla_dependency_option (
+    THIRDPARTY_Asio
+    ON
+  )
+
+  carla_dependency_option (
+    THIRDPARTY_TinyXML2
+    ON
+  )
+
+  carla_dependency_option (
+    COMPILE_TOOLS
+    ON
+  )
+  
+  # We currently git clone fast-dds to handle submodules:
+  carla_git_dependency_add (
+    fastdds
+    ${CARLA_FAST_DDS_TAG}
+    https://github.com/eProsima/Fast-DDS/archive/refs/tags/${CARLA_FAST_DDS_TAG}.zip
+    https://github.com/eProsima/Fast-DDS.git
+  )
+
+endif ()
+
 carla_dependencies_make_available ()

CMake/Options.cmake

@@ -394,3 +394,45 @@ carla_string_option (
   "Target StreetMap git tag."
   ${CARLA_STREETMAP_VERSION}
 )
+
+# ==== FOONATHAN MEMORY ====
+
+carla_string_option (
+  CARLA_FOONATHAN_MEMORY_VERSION
+  "Target foonathan_memory version."
+  1.3.1
+)
+
+carla_string_option (
+  CARLA_FOONATHAN_MEMORY_TAG
+  "Target foonathan_memory git tag."
+  v${CARLA_FOONATHAN_MEMORY_VERSION}
+)
+
+# ==== FAST-CDR ====
+
+carla_string_option (
+  CARLA_FAST_CDR_VERSION
+  "Target Fast-CDR version."
+  2.2.4
+)
+
+carla_string_option (
+  CARLA_FAST_CDR_TAG
+  "Target Fast-CDR git tag."
+  v${CARLA_FAST_CDR_VERSION}
+)
+
+# ==== FAST-DDS ====
+
+carla_string_option (
+  CARLA_FAST_DDS_VERSION
+  "Target Fast-DDS version."
+  3.0.0
+)
+
+carla_string_option (
+  CARLA_FAST_DDS_TAG
+  "Target Fast-DDS git tag."
+  v${CARLA_FAST_DDS_VERSION}
+)

CMakeLists.txt

@@ -82,10 +82,6 @@ if (BUILD_OSM_WORLD_RENDERER)
   add_subdirectory (osm-world-renderer)
 endif ()
 
-if (ENABLE_ROS2)
-  add_subdirectory (Ros2Native)
-endif()
-
 if (BUILD_PYTHON_API)
   add_subdirectory (PythonAPI)
 endif ()

LibCarla/CMakeLists.txt

@@ -306,3 +306,45 @@ if (BUILD_CARLA_CLIENT)
   )
 
 endif ()
+
+
+
+if (ENABLE_ROS2)
+
+  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
+  )
+
+  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
+  )
+
+  carla_add_library (
+    carla-ros2-native
+    ${LIBCARLA_ROS2_HEADERS}
+    ${LIBCARLA_ROS2_SOURCES}
+  )
+
+  target_compile_definitions (
+    carla-ros2-native PUBLIC
+    BOOST_ASIO_ENABLE_BUFFER_DEBUGGING
+  )
+
+  install (
+    TARGETS
+    carla-ros2-native
+    DESTINATION
+    lib
+  )
+
+endif ()