Merge fa5b123c48 into 1ef3f55c95

Ensure that actually only the unreal sysroot is deployed for all C as
well C++ compilations including dependencies. That ensures the server is
NOT anymore linked against the system glibc (which is in Ubuntu22.04
incompatible with the Unreal one). As a consequence no local clang
installation required anymore to build under Linux.

Harmonized naming split into client/server (instead of libcpp and
libstdcpp) to ensure nothing mixed up (and there were things mixed up
before!)

Refactor C# Unreal build using CarlaRules base class to provide common
functionality. Fixing windows build without ROS2 and added intitial
windows build with ROS2

Restrict to one DDS-Domain-Participant for carla-server (Fixes bind
address already in use exception on with ROS2).

Due to continued segfaults in reallocations of MallocBinned2 in
conjunction with ROS2 enforce using AnsiMalloc calls under Linux (see
https://forums.unrealengine.com/t/dealing-with-allocator-mismatches-with-external-libraries/1416830)

Use C++20 to allow for more robust struct initialization (see
https://en.cppreference.com/w/cpp/language/aggregate_initialization),
added Eigen C++20 patches and required CARLA changes to cope with C++20
compilation errors
Be aware: This change requires the Unreal PR
(https://github.com/CarlaUnreal/UnrealEngine/pull/23)

Move forward to g++-13

Minors:
- Fix make clean call
- Update osm2odr commit with build fix
(https://github.com/carla-simulator/sumo/pull/6)
- Update ad-rss to 4.4.5 (supports boost 1.80)
- Fix windows install scripts and forward arguments for building
libcarla
- Adapt codeformat.py to python3 using clang-format-14

CHANGELOG.md

@@ -12,13 +12,11 @@
  * Fixed bug in python agents when vehicle list was empty causing a check on all vehicles (BasicAgent.py) and detected pedestrians as vehicles if no pedestrains are present (BehaviourAgent.py) 
  * Extended debug drawing functions to allow drawing primitives on HUD layer
  * Added possibility to change gravity variable in imui sensor for the accelerometer
- * Fixed ROS2 native extension build error when ROS2 is installed in the system.
- * ROS2Native: Force fast-dds dependencies download to avoid build crash when boost_asio and tinyxml2 are not installed in Linux.
  * Added API function `get_telemetry_data` to the vehicle actor.
  * PythonAPI `Sensor.is_listening` was defined twice (property and method), cleaned and clarified it as a method.
  * Added V2X sensors for cooperative awareness message and custom user-defined messages to support vehicle-to-vehicle communication
  * Added named tuples for BasicAgent.py's detection result to allow for type-hints and better semantics.
-
+ * Cleaned up the client/server build and respective naming
 
 ## CARLA 0.9.15
 

Docs/build_linux.md

@@ -40,7 +40,7 @@ CARLA requires many different kinds of software to run. Some are built during th
 sudo apt-get update &&
 sudo apt-get install wget software-properties-common &&
 sudo add-apt-repository ppa:ubuntu-toolchain-r/test &&
-wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key|sudo apt-key add
+sudo apt-get update
 ```
 
 !!! Warning
@@ -50,41 +50,28 @@ To avoid compatibility issues between Unreal Engine and the CARLA dependencies,
 
 __Ubuntu 22.04__.
 ```sh
-sudo apt-add-repository "deb http://archive.ubuntu.com/ubuntu focal main universe"
-sudo apt-get update
-sudo apt-get install build-essential clang-10 lld-10 g++-7 cmake ninja-build libvulkan1 python python3 python3-dev python3-pip libpng-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git git-lfs
-sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-10/bin/clang++ 180 &&
-sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-10/bin/clang 180 &&
-sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-7 180
+sudo apt-get install build-essential g++-13 cmake ninja-build libvulkan1 python3 python3-dev python3-pip libpng-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git git-lfs
+sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-13 180
 ```
 
 __Ubuntu 20.04__.
 ```sh
-sudo apt-add-repository "deb http://apt.llvm.org/focal/ llvm-toolchain-focal main"
-sudo apt-get update
-sudo apt-get install build-essential clang-10 lld-10 g++-7 cmake ninja-build libvulkan1 python python-dev python3-dev python3-pip libpng-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
-sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-10/bin/clang++ 180 &&
-sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-10/bin/clang 180
+sudo apt-get install build-essential g++-13 cmake ninja-build libvulkan1 python python-dev python3-dev python3-pip libpng-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
+sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-13 180
 ```
 
 __Ubuntu 18.04__.
 
 ```sh
-sudo apt-add-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic main"
-sudo apt-get update
-sudo apt-get install build-essential clang-8 lld-8 g++-7 cmake ninja-build libvulkan1 python python-pip python-dev python3-dev python3-pip libpng-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
-sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-8/bin/clang++ 180 &&
-sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-8/bin/clang 180
+sudo apt-get install build-essential g++-13 cmake ninja-build libvulkan1 python python-pip python-dev python3-dev python3-pip libpng-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
+sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-13 180
 ```
 
 __Ubuntu 16.04__.
 
 ```sh
-sudo apt-add-repository "deb http://apt.llvm.org/xenial/ llvm-toolchain-xenial-8 main" &&
-sudo apt-get update
-sudo apt-get install build-essential clang-8 lld-8 g++-7 cmake ninja-build libvulkan1 python python-pip python-dev python3-dev python3-pip libpng16-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
-sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-8/bin/clang++ 180 &&
-sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-8/bin/clang 180
+sudo apt-get install build-essential g++-13 cmake ninja-build libvulkan1 python python-pip python-dev python3-dev python3-pip libpng16-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
+sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-13 180
 ```
 
 __Previous Ubuntu versions__.
@@ -92,11 +79,8 @@ __Previous Ubuntu versions__.
 We strongly advise using Ubuntu 18.04 or later to build CARLA. However, you may attempt to build CARLA on older versions of Ubuntu with the following commands:
 
 ```sh
-sudo apt-add-repository "deb http://apt.llvm.org/<code_name>/ llvm-toolchain-<code_name>-8 main" &&
-sudo apt-get update
-sudo apt-get install build-essential clang-8 lld-8 g++-7 cmake ninja-build libvulkan1 python python-pip python-dev python3-dev python3-pip libpng16-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
-sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-8/bin/clang++ 180 &&
-sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-8/bin/clang 180
+sudo apt-get install build-essential g++-13 cmake ninja-build libvulkan1 python python-pip python-dev python3-dev python3-pip libpng16-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
+sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-13 180
 ```
 
 __All Ubuntu systems__.

Examples/CppClient/Makefile

@@ -4,8 +4,8 @@ BINDIR=$(CURDIR)/bin
 INSTALLDIR=$(CURDIR)/libcarla-install
 TOOLCHAIN=$(CURDIR)/ToolChain.cmake
 
-CC=/usr/bin/gcc-7
-CXX=/usr/bin/g++-7
+CC=/usr/bin/gcc-13
+CXX=/usr/bin/g++-13
 CXXFLAGS=-std=c++14 -pthread -fPIC -O3 -DNDEBUG -Werror -Wall -Wextra
 
 define log

LibCarla/cmake/CMakeLists.txt

@@ -4,10 +4,12 @@ project(libcarla)
 option(LIBCARLA_BUILD_DEBUG "Build debug configuration" ON)
 option(LIBCARLA_BUILD_RELEASE "Build release configuration" ON)
 option(LIBCARLA_BUILD_TEST "Build unit tests" ON)
+option(LIBCARLA_USE_ROS "Build ROS variant" OFF)
 
 message(STATUS "Build debug:   ${LIBCARLA_BUILD_DEBUG}")
 message(STATUS "Build release: ${LIBCARLA_BUILD_RELEASE}")
 message(STATUS "Build test:    ${LIBCARLA_BUILD_TEST}")
+message(STATUS "Enable ROS:    ${LIBCARLA_USE_ROS}")
 
 set(libcarla_source_path "${PROJECT_SOURCE_DIR}/../source")
 set(libcarla_source_thirdparty_path "${libcarla_source_path}/third-party")
@@ -24,14 +26,12 @@ if (CMAKE_BUILD_TYPE STREQUAL "Client")
 elseif (CMAKE_BUILD_TYPE STREQUAL "Server")
   add_subdirectory("server")
 elseif (CMAKE_BUILD_TYPE STREQUAL "Pytorch")
-add_subdirectory("pytorch")
-elseif (CMAKE_BUILD_TYPE STREQUAL "ros2")
-add_subdirectory("fast_dds")
+  add_subdirectory("pytorch")
 else ()
   message(FATAL_ERROR "Unknown build type '${CMAKE_BUILD_TYPE}'")
 endif ()
 
 # GTest is not compiled on Windows.
-if ((LIBCARLA_BUILD_TEST) AND (NOT WIN32) AND (NOT (CMAKE_BUILD_TYPE STREQUAL "Pytorch")) AND (NOT (CMAKE_BUILD_TYPE STREQUAL "ros2")))
+if ((LIBCARLA_BUILD_TEST) AND (NOT WIN32) AND (NOT (CMAKE_BUILD_TYPE STREQUAL "Pytorch")))
   add_subdirectory("test")
 endif()

LibCarla/cmake/client/CMakeLists.txt

@@ -21,8 +21,8 @@ if (BUILD_RSS_VARIANT)
   install(FILES ${spdlog_file} DESTINATION lib)
   list(APPEND ADRSS_LIBS ${spdlog_file})
 
-  set(proj_include_dir ${ADRSS_INSTALL_DIR}/../../proj-install/include)
-  set(proj_lib ${ADRSS_INSTALL_DIR}/../../proj-install/lib/libproj.a)
+  set(proj_include_dir ${PROJ_INCLUDE_PATH})
+  set(proj_lib ${PROJ_LIBPATH}/libproj.a)
   install(DIRECTORY ${proj_include_dir} DESTINATION include/system)
   list(APPEND ADRSS_INCLUDE_DIRS ${proj_include_dir})
   install(FILES ${proj_lib} DESTINATION lib)
@@ -98,6 +98,12 @@ file(GLOB libcarla_carla_sources
 set(libcarla_sources "${libcarla_sources};${libcarla_carla_sources}")
 install(FILES ${libcarla_carla_sources} DESTINATION include/carla)
 
+file(GLOB libcarla_carla_actors_sources
+    "${libcarla_source_path}/carla/actors/*.cpp"
+    "${libcarla_source_path}/carla/actors/*.h")
+set(libcarla_sources "${libcarla_sources};${libcarla_carla_actors_sources}")
+install(FILES ${libcarla_carla_actors_sources} DESTINATION include/carla/actors)
+
 file(GLOB libcarla_carla_client_sources
     "${libcarla_source_path}/carla/client/*.cpp"
     "${libcarla_source_path}/carla/client/*.h")
@@ -266,11 +272,10 @@ file(GLOB libcarla_carla_trafficmanager_sources
 set(libcarla_sources "${libcarla_sources};${libcarla_carla_trafficmanager_sources}")
 install(FILES ${libcarla_carla_trafficmanager_sources} DESTINATION include/carla/trafficmanager)
 
-file(GLOB libcarla_carla_ros2_sources
-    "${libcarla_source_path}/carla/ros2/*.cpp"
-    "${libcarla_source_path}/carla/ros2/*.h")
-set(libcarla_sources "${libcarla_sources};${libcarla_carla_ros2_sources}")
-install(FILES ${libcarla_carla_ros2_sources} DESTINATION include/carla/ros2)
+  file(GLOB libcarla_carla_ros2_public_headers
+    "${libcarla_source_path}/carla/ros2/*.h"
+  )
+  install(FILES ${libcarla_carla_ros2_public_headers} DESTINATION include/carla/ros2)
 
 # ==============================================================================
 # Create targets for debug and release in the same build type.

LibCarla/cmake/fast_dds/CMakeLists.txt

@@ -1,56 +0,0 @@
-cmake_minimum_required(VERSION 3.5.1)
-project(libcarla_fastdds)
-
-# Install headers.
-
-file(GLOB libcarla_carla_fastdds_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"
-  )
-install(FILES ${libcarla_carla_fastdds_headers} DESTINATION include/carla/ros2)
-
-file(GLOB fast_dds_dependencies "${FASTDDS_LIB_PATH}/*.so*")
-install(FILES ${fast_dds_dependencies} DESTINATION lib)
-
-
-file(GLOB libcarla_fastdds_sources
-  "${libcarla_source_path}/carla/ros2/publishers/*.cpp"
-  "${libcarla_source_path}/carla/ros2/subscribers/*.cpp"
-  "${libcarla_source_path}/carla/ros2/listeners/*.cpp"
-  "${libcarla_source_path}/carla/ros2/types/*.cpp")
-
-set(FASTDDS_CPP_STD_INCLUDES "/usr/include/c++/7")
-set(CMAKE_CXX_FLAGS_RELEASE "-O3 -fPIC -D_GLIBCXX_USE_CXX11_ABI=0 -I${FASTDDS_CPP_STD_INCLUDES}" CACHE STRING "" FORCE)
-
-# ==============================================================================
-# Create targets for debug and release in the same build type.
-# ==============================================================================
-
-if (LIBCARLA_BUILD_RELEASE)
-  add_library(carla_fastdds STATIC ${libcarla_fastdds_sources})
-
-  target_include_directories(carla_fastdds SYSTEM PRIVATE
-      "${BOOST_INCLUDE_PATH}"
-      "${RPCLIB_INCLUDE_PATH}")
-
-  target_include_directories(carla_fastdds PRIVATE "${FASTDDS_INCLUDE_PATH}")
-  target_include_directories(carla_fastdds PRIVATE "${libcarla_source_path}/carla/ros2")
-  target_link_libraries(carla_fastdds fastrtps fastcdr "${FAST_DDS_LIBRARIES}")
-  install(TARGETS carla_fastdds DESTINATION lib)
-  set_target_properties(carla_fastdds PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_FLAGS_RELEASE}")
-
-endif()
-
-if (LIBCARLA_BUILD_DEBUG)
-
-  add_library(carla_fastdds_debug STATIC ${libcarla_fastdds_sources})
- target_include_directories(carla_fastdds_debug SYSTEM PRIVATE
-      "${BOOST_INCLUDE_PATH}"
-      "${RPCLIB_INCLUDE_PATH}")
-  install(TARGETS carla_fastdds_debug DESTINATION lib)
-  set_target_properties(carla_fastdds_debug PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_FLAGS_DEBUG}")
-  target_compile_definitions(carla_fastdds_debug PUBLIC -DBOOST_ASIO_ENABLE_BUFFER_DEBUGGING)
-
-endif()

LibCarla/cmake/server/CMakeLists.txt

@@ -1,78 +1,51 @@
 cmake_minimum_required(VERSION 3.5.1)
 project(libcarla-server)
 
-# Install libc++ shared libraries.
-file(GLOB LibCXX_Libraries "${LLVM_LIB_PATH}/libc++*")
-install(FILES ${LibCXX_Libraries} DESTINATION lib)
-
-# Install rpclib.
-install(DIRECTORY "${RPCLIB_INCLUDE_PATH}/rpc" DESTINATION include)
-file(GLOB libcarla_carla_rpclib "${RPCLIB_LIB_PATH}/*.*")
-install(FILES ${libcarla_carla_rpclib} DESTINATION lib)
-
-# Install headers.
-
 install(DIRECTORY "${libcarla_source_path}/compiler" DESTINATION include)
 
-file(GLOB libcarla_carla_headers "${libcarla_source_path}/carla/*.h")
-install(FILES ${libcarla_carla_headers} DESTINATION include/carla)
+foreach(dir "" 
+            "actors/"
+            "geom/"
+            "opendrive/" "opendrive/parser/"
+            "profiler/"
+            "road/" "road/element/" "road/general/" "road/object/" "road/signal/"
+            "rpc/"
+            "sensor/" "sensor/data/" "sensor/s11n/"
+            "streaming/" "streaming/detail/" "streaming/detail/tcp/" "streaming/low_level/"
+            "multigpu/")
 
-file(GLOB libcarla_carla_geom_headers "${libcarla_source_path}/carla/geom/*.h")
-install(FILES ${libcarla_carla_geom_headers} DESTINATION include/carla/geom)
+  file(GLOB headers "${libcarla_source_path}/carla/${dir}*.h")
+  install(FILES ${headers} DESTINATION include/carla/${dir})
 
-file(GLOB libcarla_carla_opendrive "${libcarla_source_path}/carla/opendrive/*.h")
-install(FILES ${libcarla_carla_opendrive} DESTINATION include/carla/opendrive)
+endforeach()
 
-file(GLOB libcarla_carla_opendrive_parser "${libcarla_source_path}/carla/opendrive/parser/*.h")
-install(FILES ${libcarla_carla_opendrive_parser} DESTINATION include/carla/opendrive/parser)
 
-file(GLOB libcarla_carla_profiler_headers "${libcarla_source_path}/carla/profiler/*.h")
-install(FILES ${libcarla_carla_profiler_headers} DESTINATION include/carla/profiler)
 
-file(GLOB libcarla_carla_road_headers "${libcarla_source_path}/carla/road/*.h")
-install(FILES ${libcarla_carla_road_headers} DESTINATION include/carla/road)
+  # only install the required public interface headers
+  foreach(dir "" "types/" )
+    file(GLOB libcarla_carla_ros2_public_headers
+      "${libcarla_source_path}/carla/ros2/${dir}*.h"
+    )
+    install(FILES ${libcarla_carla_ros2_public_headers} DESTINATION include/carla/ros2/${dir})
+  endforeach()
+if (LIBCARLA_USE_ROS)
 
-file(GLOB libcarla_carla_road_element_headers "${libcarla_source_path}/carla/road/element/*.h")
-install(FILES ${libcarla_carla_road_element_headers} DESTINATION include/carla/road/element)
+  file(GLOB subdirs RELATIVE "${libcarla_source_path}/carla/ros2/${ROS2_MW_NAME}" "${libcarla_source_path}/carla/ros2/${ROS2_MW_NAME}/*")
+  foreach(typedir "msg" "srv")
+    foreach(dir ${subdirs})
+      if(IS_DIRECTORY "${libcarla_source_path}/carla/ros2/${ROS2_MW_NAME}/${dir}/${typedir}")
+        file(GLOB libcarla_carla_ros2_types_${dir}_headers
+              "${libcarla_source_path}/carla/ros2/${ROS2_MW_NAME}/${dir}/${typedir}/*.h"
+        )
+        install(FILES ${libcarla_carla_ros2_types_${dir}_headers} DESTINATION include/carla/ros2/ros_types/${dir}/${typedir}/)
+      endif()
+    endforeach()
+  endforeach()
 
-file(GLOB libcarla_carla_road_general_headers "${libcarla_source_path}/carla/road/general/*.h")
-install(FILES ${libcarla_carla_road_general_headers} DESTINATION include/carla/road/general)
-
-file(GLOB libcarla_carla_road_object_headers "${libcarla_source_path}/carla/road/object/*.h")
-install(FILES ${libcarla_carla_road_object_headers} DESTINATION include/carla/road/object)
-
-file(GLOB libcarla_carla_road_signal_headers "${libcarla_source_path}/carla/road/signal/*.h")
-install(FILES ${libcarla_carla_road_signal_headers} DESTINATION include/carla/road/signal)
-
-file(GLOB libcarla_carla_rpc_headers "${libcarla_source_path}/carla/rpc/*.h")
-install(FILES ${libcarla_carla_rpc_headers} DESTINATION include/carla/rpc)
-
-file(GLOB libcarla_carla_sensor_headers "${libcarla_source_path}/carla/sensor/*.h")
-install(FILES ${libcarla_carla_sensor_headers} DESTINATION include/carla/sensor)
-
-file(GLOB libcarla_carla_sensor_data_headers "${libcarla_source_path}/carla/sensor/data/*.h")
-install(FILES ${libcarla_carla_sensor_data_headers} DESTINATION include/carla/sensor/data)
-
-file(GLOB libcarla_carla_sensor_s11n_headers "${libcarla_source_path}/carla/sensor/s11n/*.h")
-install(FILES ${libcarla_carla_sensor_s11n_headers} DESTINATION include/carla/sensor/s11n)
-
-file(GLOB libcarla_carla_streaming_headers "${libcarla_source_path}/carla/streaming/*.h")
-install(FILES ${libcarla_carla_streaming_headers} DESTINATION include/carla/streaming)
-
-file(GLOB libcarla_carla_streaming_detail_headers "${libcarla_source_path}/carla/streaming/detail/*.h")
-install(FILES ${libcarla_carla_streaming_detail_headers} DESTINATION include/carla/streaming/detail)
-
-file(GLOB libcarla_carla_streaming_detail_tcp_headers "${libcarla_source_path}/carla/streaming/detail/tcp/*.h")
-install(FILES ${libcarla_carla_streaming_detail_tcp_headers} DESTINATION include/carla/streaming/detail/tcp)
-
-file(GLOB libcarla_carla_streaming_low_level_headers "${libcarla_source_path}/carla/streaming/low_level/*.h")
-install(FILES ${libcarla_carla_streaming_low_level_headers} DESTINATION include/carla/streaming/low_level)
-
-file(GLOB libcarla_carla_multigpu_headers "${libcarla_source_path}/carla/multigpu/*.h")
-install(FILES ${libcarla_carla_multigpu_headers} DESTINATION include/carla/multigpu)
-
-file(GLOB libcarla_carla_ros2_headers "${libcarla_source_path}/carla/ros2/*.h")
-install(FILES ${libcarla_carla_ros2_headers} DESTINATION include/carla/ros2)
+  if(NOT WIN32)
+    set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3" CACHE STRING "" FORCE)
+  endif()
+endif()
 
 install(DIRECTORY "${BOOST_INCLUDE_PATH}/boost" DESTINATION include)
 
@@ -85,47 +58,62 @@ if(WIN32)
 endif()
 
 # carla_server library.
+# first the sources which are picked from some directories
+set(libcarla_server_sources
+  "${libcarla_source_path}/carla/Buffer.cpp"
+  "${libcarla_source_path}/carla/Exception.cpp"
+  "${libcarla_source_path}/carla/StringUtil.cpp"
+  # other cpp files only define Deserialize used in client
+  "${libcarla_source_path}/carla/sensor/s11n/SensorHeaderSerializer.cpp"
+  )
+# then the globs on the folders to add as a whole
+foreach(dir 
+      "actors"
+      "geom"
+      "opendrive" "opendrive/parser" 
+      "profiler"
+      "road" "road/element" "road/general" "road/object" "road/signal"
+      "rpc"
+      "sensor" "sensor/data"
+      "streaming" "streaming/detail" "streaming/detail/tcp" "streaming/low_level"
+      "multigpu")
 
-file(GLOB libcarla_server_sources
-    "${libcarla_source_path}/carla/*.h"
-    "${libcarla_source_path}/carla/Buffer.cpp"
-    "${libcarla_source_path}/carla/Exception.cpp"
-    "${libcarla_source_path}/carla/geom/*.cpp"
-    "${libcarla_source_path}/carla/geom/*.h"
-    "${libcarla_source_path}/carla/opendrive/*.cpp"
-    "${libcarla_source_path}/carla/opendrive/*.h"
-    "${libcarla_source_path}/carla/opendrive/parser/*.cpp"
-    "${libcarla_source_path}/carla/opendrive/parser/*.h"
-    "${libcarla_source_path}/carla/road/*.cpp"
-    "${libcarla_source_path}/carla/road/*.h"
-    "${libcarla_source_path}/carla/road/element/*.cpp"
-    "${libcarla_source_path}/carla/road/element/*.h"
-    "${libcarla_source_path}/carla/road/general/*.cpp"
-    "${libcarla_source_path}/carla/road/general/*.h"
-    "${libcarla_source_path}/carla/road/object/*.cpp"
-    "${libcarla_source_path}/carla/road/object/*.h"
-    "${libcarla_source_path}/carla/road/signal/*.cpp"
-    "${libcarla_source_path}/carla/road/signal/*.h"
-    "${libcarla_source_path}/carla/rpc/*.cpp"
-    "${libcarla_source_path}/carla/rpc/*.h"
-    "${libcarla_source_path}/carla/sensor/*.h"
-    "${libcarla_source_path}/carla/sensor/s11n/*.h"
-    "${libcarla_source_path}/carla/sensor/s11n/SensorHeaderSerializer.cpp"
-    "${libcarla_source_path}/carla/streaming/*.h"
-    "${libcarla_source_path}/carla/streaming/detail/*.cpp"
-    "${libcarla_source_path}/carla/streaming/detail/*.h"
-    "${libcarla_source_path}/carla/streaming/detail/tcp/*.cpp"
-    "${libcarla_source_path}/carla/streaming/low_level/*.h"
-    "${libcarla_source_path}/carla/multigpu/*.h"
-    "${libcarla_source_path}/carla/multigpu/*.cpp"
-    "${libcarla_source_path}/carla/ros2/*.h"
-    "${libcarla_source_path}/carla/ros2/*.cpp"
-    "${libcarla_source_thirdparty_path}/odrSpiral/*.cpp"
-    "${libcarla_source_thirdparty_path}/odrSpiral/*.h"
-    "${libcarla_source_thirdparty_path}/moodycamel/*.cpp"
-    "${libcarla_source_thirdparty_path}/moodycamel/*.h"
-    "${libcarla_source_thirdparty_path}/pugixml/*.cpp"
-    "${libcarla_source_thirdparty_path}/pugixml/*.hpp")
+  file(GLOB sources "${libcarla_source_path}/carla/${dir}/*.cpp")
+  list(APPEND libcarla_server_sources ${sources})
+
+endforeach()
+
+foreach(thirdparty_dir
+        "odrSpiral"
+        "moodycamel"
+        "pugixml")
+
+  file(GLOB sources "${libcarla_source_thirdparty_path}/${thirdparty_dir}/*.cpp")
+  list(APPEND libcarla_server_sources ${sources})
+
+endforeach()
+
+if (LIBCARLA_USE_ROS)
+  foreach(ros2_dir
+          "/"
+          "${ROS2_MW_NAME}/carla/ros2/impl/"
+          "listeners/"
+          "publishers/"
+          "services/"
+          "subscribers/"
+          "types/")
+
+    file(GLOB sources "${libcarla_source_path}/carla/ros2/${ros2_dir}*.cpp")
+    list(APPEND libcarla_server_sources ${sources})
+  endforeach()
+
+  file(GLOB msg_sources "${libcarla_source_path}/carla/ros2/${ROS2_MW_NAME}/*/msg/*.cxx")
+  list(APPEND libcarla_server_sources ${msg_sources})
+
+  file(GLOB srv_sources "${libcarla_source_path}/carla/ros2/${ROS2_MW_NAME}/*/srv/*.cxx")
+  list(APPEND libcarla_server_sources ${srv_sources})
+
+endif()
 
 # ==============================================================================
 # Create targets for debug and release in the same build type.
@@ -133,7 +121,10 @@ file(GLOB libcarla_server_sources
 
 if (LIBCARLA_BUILD_RELEASE)
 
-  add_library(carla_server STATIC ${libcarla_server_sources})
+  add_library(carla_server STATIC
+    ${libcarla_server_sources}
+  )
+  target_compile_definitions(carla_server PUBLIC -DCARLA_SERVER_BUILD)
 
   target_include_directories(carla_server SYSTEM PRIVATE
       "${BOOST_INCLUDE_PATH}"
@@ -143,11 +134,23 @@ if (LIBCARLA_BUILD_RELEASE)
 
   set_target_properties(carla_server PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_FLAGS_RELEASE}")
 
+  if (LIBCARLA_USE_ROS)
+    target_include_directories(carla_server SYSTEM PRIVATE
+     # first the ROS2_MW_NAME local folder allowing potential overrides of header files
+     "${libcarla_source_path}/carla/ros2/${ROS2_MW_NAME}"
+     "${ROS2_MW_INCLUDE_PATH}")
+    target_link_directories(carla_server PRIVATE ${ROS2_MW_LIB_PATH})
+    target_link_libraries(carla_server ${ROS2_MW_LINK_LIBRARIES})
+    target_compile_definitions(carla_server PUBLIC -DWITH_ROS2)
+  endif()
 endif()
 
 if (LIBCARLA_BUILD_DEBUG)
 
-  add_library(carla_server_debug STATIC ${libcarla_server_sources})
+  add_library(carla_server_debug STATIC
+    ${libcarla_server_sources}
+  )
+  target_compile_definitions(carla_server_debug PUBLIC -DCARLA_SERVER_BUILD)
 
   target_include_directories(carla_server_debug SYSTEM PRIVATE
       "${BOOST_INCLUDE_PATH}"
@@ -158,4 +161,13 @@ if (LIBCARLA_BUILD_DEBUG)
   set_target_properties(carla_server_debug PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_FLAGS_DEBUG}")
   target_compile_definitions(carla_server_debug PUBLIC -DBOOST_ASIO_ENABLE_BUFFER_DEBUGGING)
 
+  if (LIBCARLA_USE_ROS)
+    target_include_directories(carla_server_debug SYSTEM PRIVATE
+     # first the ROS2_MW_NAME local folder allowing potential overrides of header files
+     "${libcarla_source_path}/carla/ros2/${ROS2_MW_NAME}"
+     "${ROS2_MW_INCLUDE_PATH}")
+     target_link_directories(carla_server_debug PRIVATE ${ROS2_MW_LIB_PATH})
+     target_link_libraries(carla_server_debug ${ROS2_MW_LINK_LIBRARIES})
+     target_compile_definitions(carla_server_debug PUBLIC -DWITH_ROS2)
+     endif()
 endif()

LibCarla/cmake/test/CMakeLists.txt

@@ -15,6 +15,10 @@ endif()
 link_directories(
     ${RPCLIB_LIB_PATH}
     ${GTEST_LIB_PATH})
+if (LIBCARLA_USE_ROS)
+  link_directories(${ROS2_MW_LIB_PATH})
+endif()
+
 
 file(GLOB libcarla_test_sources
     "${libcarla_source_path}/carla/profiler/*.cpp"

LibCarla/source/carla/Exception.cpp

@@ -15,19 +15,18 @@
 
 namespace boost {
 
-  void throw_exception(const std::exception &e) {
-    carla::throw_exception(e);
-  }
+void throw_exception(const std::exception &e) {
+  carla::throw_exception(e);
+}
 
-  void throw_exception(
-      const std::exception &e,
-      boost::source_location const & loc) {
-    throw_exception(e);
-  }
+void throw_exception(const std::exception &e, boost::source_location const &loc) {
+  (void)loc;
+  throw_exception(e);
+}
 
-} // namespace boost
+}  // namespace boost
 
-#endif // BOOST_NO_EXCEPTIONS
+#endif  // BOOST_NO_EXCEPTIONS
 
 // =============================================================================
 // -- Workaround for Boost.Asio bundled with rpclib ----------------------------
@@ -42,16 +41,47 @@ namespace boost {
 namespace clmdep_asio {
 namespace detail {
 
-  template <typename Exception>
-  void throw_exception(const Exception& e) {
-    carla::throw_exception(e);
-  }
+template <typename Exception>
+void throw_exception(const Exception &e) {
+  carla::throw_exception(e);
+}
 
-  template void throw_exception<std::bad_cast>(const std::bad_cast &);
-  template void throw_exception<std::exception>(const std::exception &);
-  template void throw_exception<std::system_error>(const std::system_error &);
+template void throw_exception<std::bad_cast>(const std::bad_cast &e);
+template void throw_exception<std::exception>(const std::exception &e);
+template void throw_exception<std::system_error>(const std::system_error &e);
 
-} // namespace detail
-} // namespace clmdep_asio
+}  // namespace detail
+}  // namespace clmdep_asio
 
-#endif // ASIO_NO_EXCEPTIONS
+namespace asio {
+namespace detail {
+
+template <typename Exception>
+void throw_exception(const Exception &e) {
+  carla::throw_exception(e);
+}
+
+template void throw_exception<std::bad_cast>(const std::bad_cast &e);
+template void throw_exception<std::exception>(const std::exception &e);
+template void throw_exception<std::system_error>(const std::system_error &e);
+
+}  // namespace detail
+}  // namespace asio
+
+#endif  // ASIO_NO_EXCEPTIONS
+
+#ifndef LIBCARLA_NO_EXCEPTIONS
+
+namespace carla {
+template
+#ifndef __clang__
+    // clang doesn't support C++11 attributes in template explicit instantiation, since attributes in each case cannot
+    // be changed here MSVC requires it (might be a bit too conservative and requires the attributes also in explicit
+    // instanciation)
+    [[noreturn]]
+#endif
+    void
+    throw_exception<std::exception>(const std::exception &);
+}  // namespace carla
+
+#endif

LibCarla/source/carla/Exception.h

@@ -6,38 +6,34 @@
 
 #pragma once
 
+#include <exception>
+
 #ifdef LIBCARLA_NO_EXCEPTIONS
 
-namespace std {
-
-  class exception;
-
-} // namespace std
-
 namespace carla {
 
-  /// User define function, similar to Boost throw_exception.
-  ///
-  /// @important Boost exceptions are also routed to this function.
-  ///
-  /// When compiled with LIBCARLA_NO_EXCEPTIONS, this function is left undefined
-  /// in LibCarla, and the modules using LibCarla are expected to supply an
-  /// appropriate definition. Callers of throw_exception are allowed to assume
-  /// that the function never returns; therefore, if the user-defined
-  /// throw_exception returns, the behavior is undefined.
-  [[ noreturn ]] void throw_exception(const std::exception &e);
+/// User define function, similar to Boost throw_exception.
+///
+/// @important Boost exceptions are also routed to this function.
+///
+/// When compiled with LIBCARLA_NO_EXCEPTIONS, this function is left undefined
+/// in LibCarla, and the modules using LibCarla are expected to supply an
+/// appropriate definition. Callers of throw_exception are allowed to assume
+/// that the function never returns; therefore, if the user-defined
+/// throw_exception returns, the behavior is undefined.
+[[noreturn]] void throw_exception(const std::exception &e);
 
-} // namespace carla
+}  // namespace carla
 
 #else
 
 namespace carla {
 
-  template <typename T>
-  [[ noreturn ]] void throw_exception(const T &e) {
-    throw e;
-  }
+template <typename T>
+[[noreturn]] void throw_exception(const T &e) {
+  throw e;
+}
 
-} // namespace carla
+}  // namespace carla
 
-#endif // LIBCARLA_NO_EXCEPTIONS
+#endif  // LIBCARLA_NO_EXCEPTIONS

LibCarla/source/carla/geom/Location.h

@@ -54,7 +54,7 @@ namespace geom {
     // =========================================================================
 
     Location &operator+=(const Location &rhs) {
-      static_cast<Vector3D &>(*this) += rhs;
+      static_cast<Vector3D &>(*this) += static_cast<const Vector3D &>(rhs);
       return *this;
     }
 
@@ -64,7 +64,7 @@ namespace geom {
     }
 
     Location &operator-=(const Location &rhs) {
-      static_cast<Vector3D &>(*this) -= rhs;
+      static_cast<Vector3D &>(*this) -= static_cast<const Vector3D &>(rhs);
       return *this;
     }
 
@@ -78,7 +78,7 @@ namespace geom {
     // =========================================================================
 
     bool operator==(const Location &rhs) const {
-      return static_cast<const Vector3D &>(*this) == rhs;
+      return static_cast<const Vector3D &>(*this) == static_cast<const Vector3D &>(rhs);
     }
 
     bool operator!=(const Location &rhs) const {

LibCarla/source/carla/ros2/Exception.cpp

@@ -0,0 +1,30 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#include "carla/Exception.h"
+#include <asio.hpp>
+
+#ifdef ASIO_NO_EXCEPTIONS
+
+namespace asio {
+namespace detail {
+
+template <typename Exception>
+void throw_exception(const Exception &e) {
+  carla::throw_exception(e);
+}
+
+template void throw_exception<std::length_error>(const std::length_error &e);
+template void throw_exception<asio::service_already_exists>(const asio::service_already_exists &e);
+template void throw_exception<asio::invalid_service_owner>(const asio::invalid_service_owner &e);
+template void throw_exception<asio::execution::bad_executor>(const asio::execution::bad_executor &e);
+template void throw_exception<asio::ip::bad_address_cast>(const asio::ip::bad_address_cast &e);
+template void throw_exception<std::out_of_range>(const std::out_of_range &e);
+
+}  // namespace detail
+}  // namespace asio
+
+#endif  // ASIO_NO_EXCEPTIONS

LibCarla/source/carla/ros2/ROS2.cpp

@@ -16,6 +16,7 @@
 #include "carla/sensor/s11n/ImageSerializer.h"
 #include "carla/sensor/s11n/SensorHeaderSerializer.h"
 
+#include "fastdds/carla/ros2/impl/DdsDomainParticipantImpl.h"
 #include "publishers/CarlaPublisher.h"
 #include "publishers/CarlaClockPublisher.h"
 #include "publishers/CarlaRGBCameraPublisher.h"
@@ -46,6 +47,14 @@ namespace ros2 {
 
 // static fields
 std::shared_ptr<ROS2> ROS2::_instance;
+std::shared_ptr<DdsDomainParticipantImpl> ROS2::GetDdsDomainParticipant() {
+  auto _instance = ROS2::GetInstance();
+  if (_instance->_domain_participant_impl == nullptr) 
+  {
+    _instance->_domain_participant_impl = std::make_shared<DdsDomainParticipantImpl>();
+  }
+  return _instance->_domain_participant_impl;
+}
 
 // list of sensors (should be equal to the list of SensorsRegistry
 enum ESensors {
@@ -841,6 +850,9 @@ void ROS2::Shutdown() {
   _clock_publisher.reset();
   _controller.reset();
   _enabled = false;
+  // finally, release the rest of our resources by destroying our instance
+  // to prevent from race conditions on system level shutdown of global resources
+  _instance = nullptr;
 }
 
 } // namespace ros2

LibCarla/source/carla/ros2/ROS2.h

@@ -41,6 +41,7 @@ namespace ros2 {
   class CarlaTransformPublisher;
   class CarlaClockPublisher;
   class CarlaEgoVehicleControlSubscriber;
+  class DdsDomainParticipantImpl;
 
 class ROS2
 {
@@ -54,6 +55,8 @@ class ROS2
     return _instance;
   }
 
+  static std::shared_ptr<DdsDomainParticipantImpl> GetDdsDomainParticipant();
+
   // general
   void Enable(bool enable);
   void Shutdown();
@@ -148,6 +151,7 @@ void ProcessDataFromCollisionSensor(
   ROS2() {};
 
   static std::shared_ptr<ROS2> _instance;
+  std::shared_ptr<DdsDomainParticipantImpl> _domain_participant_impl;
 
   bool _enabled { false };
   uint64_t _frame { 0 };

LibCarla/source/carla/ros2/fastdds/carla/ros2/impl/DdsDomainParticipantImpl.cpp

@@ -0,0 +1,51 @@
+// Copyright (c) 2022 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#include "carla/ros2/impl/DdsDomainParticipantImpl.h"
+
+#include <cstdlib>
+#include <string>
+
+#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
+#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
+
+#include "carla/Logging.h"
+
+namespace carla {
+namespace ros2 {
+
+DdsDomainParticipantImpl::DdsDomainParticipantImpl() {
+  _factory = eprosima::fastdds::dds::DomainParticipantFactory::get_shared_instance();
+  if (_factory == nullptr) {
+    carla::log_error("DdsDomainParticipantImpl(): Failed to acquire DomainParticipantFactory");
+    return;
+  }
+
+  const char *ros_domain_id_env = std::getenv("ROS_DOMAIN_ID");
+  unsigned int ros_domain_id = 0;
+  if ( ros_domain_id_env != nullptr ) {
+    try {
+      ros_domain_id = (unsigned int)(std::atoi(ros_domain_id_env));
+    } catch (...) {
+      ros_domain_id = 0;
+    }
+  }
+  auto pqos = eprosima::fastdds::dds::PARTICIPANT_QOS_DEFAULT;
+  pqos.name("carla-server");
+  _participant = _factory->create_participant(ros_domain_id, pqos);
+  if (_participant == nullptr) {
+    carla::log_error("DdsDomainParticipantImpl(): Failed to create DomainParticipant");
+  }
+}
+
+DdsDomainParticipantImpl::~DdsDomainParticipantImpl() {
+  carla::log_warning("DdsDomainParticipantImpl::Destructor()");
+  if ((_participant != nullptr) && (_factory != nullptr)) {
+    _factory->delete_participant(_participant);
+    _participant=nullptr;
+  }
+}
+
+}  // namespace ros2
+}  // namespace carla

LibCarla/source/carla/ros2/fastdds/carla/ros2/impl/DdsDomainParticipantImpl.h

@@ -0,0 +1,30 @@
+
+// Copyright (c) 2022 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include <fastdds/dds/domain/DomainParticipant.hpp>
+#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
+
+namespace carla {
+namespace ros2 {
+
+class DdsDomainParticipantImpl {
+public:
+  DdsDomainParticipantImpl();
+  ~DdsDomainParticipantImpl();
+
+  eprosima::fastdds::dds::DomainParticipant* GetDomainParticipant() {
+    return _participant;
+  }
+
+private:
+  eprosima::fastdds::dds::DomainParticipant* _participant{nullptr};
+  // keep also a copy of the factory that the underlying DDS is keeping their stuff up
+  std::shared_ptr<eprosima::fastdds::dds::DomainParticipantFactory> _factory;
+};
+
+}  // namespace ros2
+}  // namespace carla

LibCarla/source/carla/ros2/publishers/CarlaClockPublisher.cpp

@@ -13,8 +13,8 @@
 #include <fastdds/dds/publisher/DataWriter.hpp>
 #include <fastdds/dds/topic/TypeSupport.hpp>
 
-#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
-#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
+#include <carla/ros2/ROS2.h>
+#include <carla/ros2/impl/DdsDomainParticipantImpl.h>
 #include <fastdds/dds/publisher/qos/PublisherQos.hpp>
 #include <fastdds/dds/topic/qos/TopicQos.hpp>
 
@@ -30,7 +30,6 @@ namespace ros2 {
   using erc = eprosima::fastrtps::types::ReturnCode_t;
 
   struct CarlaClockPublisherImpl {
-    efd::DomainParticipant* _participant { nullptr };
     efd::Publisher* _publisher { nullptr };
     efd::Topic* _topic { nullptr };
     efd::DataWriter* _datawriter { nullptr };
@@ -44,18 +43,12 @@ namespace ros2 {
         std::cerr << "Invalid TypeSupport" << std::endl;
         return false;
     }
-    efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
-    pqos.name(_name);
-    auto factory = efd::DomainParticipantFactory::get_instance();
-    _impl->_participant = factory->create_participant(0, pqos);
-    if (_impl->_participant == nullptr) {
-        std::cerr << "Failed to create DomainParticipant" << std::endl;
-        return false;
-    }
-    _impl->_type.register_type(_impl->_participant);
+        auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();;
+
+    _impl->_type.register_type(participant);
 
     efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
-    _impl->_publisher = _impl->_participant->create_publisher(pubqos, nullptr);
+    _impl->_publisher = participant->create_publisher(pubqos, nullptr);
     if (_impl->_publisher == nullptr) {
       std::cerr << "Failed to create Publisher" << std::endl;
       return false;
@@ -63,7 +56,7 @@ namespace ros2 {
 
     efd::TopicQos tqos = efd::TOPIC_QOS_DEFAULT;
     const std::string topic_name { "rt/clock" };
-    _impl->_topic = _impl->_participant->create_topic(topic_name, _impl->_type->getName(), tqos);
+    _impl->_topic = participant->create_topic(topic_name, _impl->_type->getName(), tqos);
     if (_impl->_topic == nullptr) {
         std::cerr << "Failed to create Topic" << std::endl;
         return false;
@@ -157,17 +150,16 @@ namespace ros2 {
       if (!_impl)
           return;
 
+      auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
       if (_impl->_datawriter)
           _impl->_publisher->delete_datawriter(_impl->_datawriter);
 
       if (_impl->_publisher)
-          _impl->_participant->delete_publisher(_impl->_publisher);
+          participant->delete_publisher(_impl->_publisher);
 
       if (_impl->_topic)
-          _impl->_participant->delete_topic(_impl->_topic);
+          participant->delete_topic(_impl->_topic);
 
-      if (_impl->_participant)
-          efd::DomainParticipantFactory::get_instance()->delete_participant(_impl->_participant);
   }
 
   CarlaClockPublisher::CarlaClockPublisher(const CarlaClockPublisher& other) {

LibCarla/source/carla/ros2/publishers/CarlaCollisionPublisher.cpp

@@ -13,8 +13,8 @@
 #include <fastdds/dds/publisher/DataWriter.hpp>
 #include <fastdds/dds/topic/TypeSupport.hpp>
 
-#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
-#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
+#include <carla/ros2/ROS2.h>
+#include <carla/ros2/impl/DdsDomainParticipantImpl.h>
 #include <fastdds/dds/publisher/qos/PublisherQos.hpp>
 #include <fastdds/dds/topic/qos/TopicQos.hpp>
 
@@ -31,7 +31,6 @@ namespace ros2 {
   using erc = eprosima::fastrtps::types::ReturnCode_t;
 
   struct CarlaCollisionPublisherImpl {
-    efd::DomainParticipant* _participant { nullptr };
     efd::Publisher* _publisher { nullptr };
     efd::Topic* _topic { nullptr };
     efd::DataWriter* _datawriter { nullptr };
@@ -46,18 +45,12 @@ namespace ros2 {
         return false;
     }
 
-    efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
-    pqos.name(_name);
-    auto factory = efd::DomainParticipantFactory::get_instance();
-    _impl->_participant = factory->create_participant(0, pqos);
-    if (_impl->_participant == nullptr) {
-        std::cerr << "Failed to create DomainParticipant" << std::endl;
-        return false;
-    }
-    _impl->_type.register_type(_impl->_participant);
+    auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
+
+    _impl->_type.register_type(participant);
 
     efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
-    _impl->_publisher = _impl->_participant->create_publisher(pubqos, nullptr);
+    _impl->_publisher = participant->create_publisher(pubqos, nullptr);
     if (_impl->_publisher == nullptr) {
       std::cerr << "Failed to create Publisher" << std::endl;
       return false;
@@ -69,7 +62,7 @@ namespace ros2 {
     if (!_parent.empty())
       topic_name += _parent + "/";
     topic_name += _name;
-    _impl->_topic = _impl->_participant->create_topic(topic_name, _impl->_type->getName(), tqos);
+    _impl->_topic = participant->create_topic(topic_name, _impl->_type->getName(), tqos);
     if (_impl->_topic == nullptr) {
         std::cerr << "Failed to create Topic" << std::endl;
         return false;
@@ -183,17 +176,16 @@ void CarlaCollisionPublisher::SetData(int32_t seconds, uint32_t nanoseconds, uin
       if (!_impl)
           return;
 
+      auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
       if (_impl->_datawriter)
           _impl->_publisher->delete_datawriter(_impl->_datawriter);
 
       if (_impl->_publisher)
-          _impl->_participant->delete_publisher(_impl->_publisher);
+          participant->delete_publisher(_impl->_publisher);
 
       if (_impl->_topic)
-          _impl->_participant->delete_topic(_impl->_topic);
+          participant->delete_topic(_impl->_topic);
 
-      if (_impl->_participant)
-          efd::DomainParticipantFactory::get_instance()->delete_participant(_impl->_participant);
   }
 
   CarlaCollisionPublisher::CarlaCollisionPublisher(const CarlaCollisionPublisher& other) {

LibCarla/source/carla/ros2/publishers/CarlaDVSCameraPublisher.cpp

@@ -17,8 +17,8 @@
 #include <fastdds/dds/publisher/DataWriter.hpp>
 #include <fastdds/dds/topic/TypeSupport.hpp>
 
-#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
-#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
+#include <carla/ros2/ROS2.h>
+#include <carla/ros2/impl/DdsDomainParticipantImpl.h>
 #include <fastdds/dds/publisher/qos/PublisherQos.hpp>
 #include <fastdds/dds/topic/qos/TopicQos.hpp>
 
@@ -35,7 +35,6 @@ namespace ros2 {
   using erc = eprosima::fastrtps::types::ReturnCode_t;
 
   struct CarlaDVSCameraPublisherImpl {
-    efd::DomainParticipant* _participant { nullptr };
     efd::Publisher* _publisher { nullptr };
     efd::Topic* _topic { nullptr };
     efd::DataWriter* _datawriter { nullptr };
@@ -45,7 +44,6 @@ namespace ros2 {
   };
 
   struct CarlaCameraInfoPublisherImpl {
-    efd::DomainParticipant* _participant { nullptr };
     efd::Publisher* _publisher { nullptr };
     efd::Topic* _topic { nullptr };
     efd::DataWriter* _datawriter { nullptr };
@@ -56,7 +54,6 @@ namespace ros2 {
   };
 
   struct CarlaPointCloudPublisherImpl {
-    efd::DomainParticipant* _participant { nullptr };
     efd::Publisher* _publisher { nullptr };
     efd::Topic* _topic { nullptr };
     efd::DataWriter* _datawriter { nullptr };
@@ -85,18 +82,12 @@ namespace ros2 {
         return false;
     }
 
-    efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
-    pqos.name(_name);
-    auto factory = efd::DomainParticipantFactory::get_instance();
-    _impl->_participant = factory->create_participant(0, pqos);
-    if (_impl->_participant == nullptr) {
-        std::cerr << "Failed to create DomainParticipant" << std::endl;
-        return false;
-    }
-    _impl->_type.register_type(_impl->_participant);
+    auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
+
+    _impl->_type.register_type(participant);
 
     efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
-    _impl->_publisher = _impl->_participant->create_publisher(pubqos, nullptr);
+    _impl->_publisher = participant->create_publisher(pubqos, nullptr);
     if (_impl->_publisher == nullptr) {
       std::cerr << "Failed to create Publisher" << std::endl;
       return false;
@@ -110,7 +101,7 @@ namespace ros2 {
       topic_name += _parent + "/";
     topic_name += _name;
     topic_name += publisher_type;
-    _impl->_topic = _impl->_participant->create_topic(topic_name, _impl->_type->getName(), tqos);
+    _impl->_topic = participant->create_topic(topic_name, _impl->_type->getName(), tqos);
     if (_impl->_topic == nullptr) {
         std::cerr << "Failed to create Topic" << std::endl;
         return false;
@@ -134,18 +125,11 @@ namespace ros2 {
         return false;
     }
 
-    efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
-    pqos.name(_name);
-    auto factory = efd::DomainParticipantFactory::get_instance();
-    _info->_participant = factory->create_participant(0, pqos);
-    if (_info->_participant == nullptr) {
-        std::cerr << "Failed to create DomainParticipant" << std::endl;
-        return false;
-    }
-    _info->_type.register_type(_info->_participant);
+    auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
+    _info->_type.register_type(participant);
 
     efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
-    _info->_publisher = _info->_participant->create_publisher(pubqos, nullptr);
+    _info->_publisher = participant->create_publisher(pubqos, nullptr);
     if (_info->_publisher == nullptr) {
       std::cerr << "Failed to create Publisher" << std::endl;
       return false;
@@ -159,7 +143,7 @@ namespace ros2 {
       topic_name += _parent + "/";
     topic_name += _name;
     topic_name += publisher_type;
-    _info->_topic = _info->_participant->create_topic(topic_name, _info->_type->getName(), tqos);
+    _info->_topic = participant->create_topic(topic_name, _info->_type->getName(), tqos);
     if (_info->_topic == nullptr) {
         std::cerr << "Failed to create Topic" << std::endl;
         return false;
@@ -182,18 +166,11 @@ namespace ros2 {
         return false;
     }
 
-    efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
-    pqos.name(_name);
-    auto factory = efd::DomainParticipantFactory::get_instance();
-    _point_cloud->_participant = factory->create_participant(0, pqos);
-    if (_point_cloud->_participant == nullptr) {
-        std::cerr << "Failed to create DomainParticipant" << std::endl;
-        return false;
-    }
-    _point_cloud->_type.register_type(_point_cloud->_participant);
+    auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
+    _point_cloud->_type.register_type(participant);
 
     efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
-    _point_cloud->_publisher = _point_cloud->_participant->create_publisher(pubqos, nullptr);
+    _point_cloud->_publisher = participant->create_publisher(pubqos, nullptr);
     if (_point_cloud->_publisher == nullptr) {
       std::cerr << "Failed to create Publisher" << std::endl;
       return false;
@@ -207,7 +184,7 @@ namespace ros2 {
       topic_name += _parent + "/";
     topic_name += _name;
     topic_name += publisher_type;
-    _point_cloud->_topic = _point_cloud->_participant->create_topic(topic_name, _point_cloud->_type->getName(), tqos);
+    _point_cloud->_topic = participant->create_topic(topic_name, _point_cloud->_type->getName(), tqos);
     if (_point_cloud->_topic == nullptr) {
         std::cerr << "Failed to create Topic" << std::endl;
         return false;
@@ -519,17 +496,16 @@ namespace ros2 {
       if (!_impl)
           return;
 
+      auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
       if (_impl->_datawriter)
           _impl->_publisher->delete_datawriter(_impl->_datawriter);
 
       if (_impl->_publisher)
-          _impl->_participant->delete_publisher(_impl->_publisher);
+          participant->delete_publisher(_impl->_publisher);
 
       if (_impl->_topic)
-          _impl->_participant->delete_topic(_impl->_topic);
+          participant->delete_topic(_impl->_topic);
 
-      if (_impl->_participant)
-          efd::DomainParticipantFactory::get_instance()->delete_participant(_impl->_participant);
 
       if (!_info)
           return;
@@ -538,13 +514,10 @@ namespace ros2 {
           _info->_publisher->delete_datawriter(_info->_datawriter);
 
       if (_info->_publisher)
-          _info->_participant->delete_publisher(_info->_publisher);
+          participant->delete_publisher(_info->_publisher);
 
       if (_info->_topic)
-          _info->_participant->delete_topic(_info->_topic);
-
-      if (_info->_participant)
-          efd::DomainParticipantFactory::get_instance()->delete_participant(_info->_participant);
+          participant->delete_topic(_info->_topic);
 
       if (!_point_cloud)
           return;
@@ -553,13 +526,10 @@ namespace ros2 {
           _point_cloud->_publisher->delete_datawriter(_point_cloud->_datawriter);
 
       if (_point_cloud->_publisher)
-          _point_cloud->_participant->delete_publisher(_point_cloud->_publisher);
+          participant->delete_publisher(_point_cloud->_publisher);
 
       if (_point_cloud->_topic)
-          _point_cloud->_participant->delete_topic(_point_cloud->_topic);
-
-      if (_point_cloud->_participant)
-          efd::DomainParticipantFactory::get_instance()->delete_participant(_point_cloud->_participant);
+          participant->delete_topic(_point_cloud->_topic);
   }
 
   CarlaDVSCameraPublisher::CarlaDVSCameraPublisher(const CarlaDVSCameraPublisher& other) {

LibCarla/source/carla/ros2/publishers/CarlaDepthCameraPublisher.cpp

@@ -14,8 +14,8 @@
 #include <fastdds/dds/publisher/DataWriter.hpp>
 #include <fastdds/dds/topic/TypeSupport.hpp>
 
-#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
-#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
+#include <carla/ros2/ROS2.h>
+#include <carla/ros2/impl/DdsDomainParticipantImpl.h>
 #include <fastdds/dds/publisher/qos/PublisherQos.hpp>
 #include <fastdds/dds/topic/qos/TopicQos.hpp>
 
@@ -32,7 +32,6 @@ namespace ros2 {
   using erc = eprosima::fastrtps::types::ReturnCode_t;
 
   struct CarlaDepthCameraPublisherImpl {
-    efd::DomainParticipant* _participant { nullptr };
     efd::Publisher* _publisher { nullptr };
     efd::Topic* _topic { nullptr };
     efd::DataWriter* _datawriter { nullptr };
@@ -42,7 +41,6 @@ namespace ros2 {
   };
 
   struct CarlaCameraInfoPublisherImpl {
-    efd::DomainParticipant* _participant { nullptr };
     efd::Publisher* _publisher { nullptr };
     efd::Topic* _topic { nullptr };
     efd::DataWriter* _datawriter { nullptr };
@@ -72,18 +70,12 @@ namespace ros2 {
         return false;
     }
 
-    efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
-    pqos.name(_name);
-    auto factory = efd::DomainParticipantFactory::get_instance();
-    _impl->_participant = factory->create_participant(0, pqos);
-    if (_impl->_participant == nullptr) {
-        std::cerr << "Failed to create DomainParticipant" << std::endl;
-        return false;
-    }
-    _impl->_type.register_type(_impl->_participant);
+    auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
+
+    _impl->_type.register_type(participant);
 
     efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
-    _impl->_publisher = _impl->_participant->create_publisher(pubqos, nullptr);
+    _impl->_publisher = participant->create_publisher(pubqos, nullptr);
     if (_impl->_publisher == nullptr) {
       std::cerr << "Failed to create Publisher" << std::endl;
       return false;
@@ -97,7 +89,7 @@ namespace ros2 {
       topic_name += _parent + "/";
     topic_name += _name;
     topic_name += publisher_type;
-    _impl->_topic = _impl->_participant->create_topic(topic_name, _impl->_type->getName(), tqos);
+    _impl->_topic = participant->create_topic(topic_name, _impl->_type->getName(), tqos);
     if (_impl->_topic == nullptr) {
         std::cerr << "Failed to create Topic" << std::endl;
         return false;
@@ -121,18 +113,11 @@ namespace ros2 {
         return false;
     }
 
-    efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
-    pqos.name(_name);
-    auto factory = efd::DomainParticipantFactory::get_instance();
-    _impl_info->_participant = factory->create_participant(0, pqos);
-    if (_impl_info->_participant == nullptr) {
-        std::cerr << "Failed to create DomainParticipant" << std::endl;
-        return false;
-    }
-    _impl_info->_type.register_type(_impl_info->_participant);
+      auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
+    _impl_info->_type.register_type(participant);
 
     efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
-    _impl_info->_publisher = _impl_info->_participant->create_publisher(pubqos, nullptr);
+    _impl_info->_publisher = participant->create_publisher(pubqos, nullptr);
     if (_impl_info->_publisher == nullptr) {
       std::cerr << "Failed to create Publisher" << std::endl;
       return false;
@@ -146,7 +131,7 @@ namespace ros2 {
       topic_name += _parent + "/";
     topic_name += _name;
     topic_name += publisher_type;
-    _impl_info->_topic = _impl_info->_participant->create_topic(topic_name, _impl_info->_type->getName(), tqos);
+    _impl_info->_topic = participant->create_topic(topic_name, _impl_info->_type->getName(), tqos);
     if (_impl_info->_topic == nullptr) {
         std::cerr << "Failed to create Topic" << std::endl;
         return false;
@@ -348,17 +333,16 @@ namespace ros2 {
       if (!_impl)
           return;
 
+      auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
       if (_impl->_datawriter)
           _impl->_publisher->delete_datawriter(_impl->_datawriter);
 
       if (_impl->_publisher)
-          _impl->_participant->delete_publisher(_impl->_publisher);
+          participant->delete_publisher(_impl->_publisher);
 
       if (_impl->_topic)
-          _impl->_participant->delete_topic(_impl->_topic);
+          participant->delete_topic(_impl->_topic);
 
-      if (_impl->_participant)
-          efd::DomainParticipantFactory::get_instance()->delete_participant(_impl->_participant);
 
       if (!_impl_info)
         return;
@@ -367,13 +351,10 @@ namespace ros2 {
           _impl_info->_publisher->delete_datawriter(_impl_info->_datawriter);
 
       if (_impl_info->_publisher)
-          _impl_info->_participant->delete_publisher(_impl_info->_publisher);
+          participant->delete_publisher(_impl_info->_publisher);
 
       if (_impl_info->_topic)
-          _impl_info->_participant->delete_topic(_impl_info->_topic);
-
-      if (_impl_info->_participant)
-          efd::DomainParticipantFactory::get_instance()->delete_participant(_impl_info->_participant);
+          participant->delete_topic(_impl_info->_topic);
   }
 
   CarlaDepthCameraPublisher::CarlaDepthCameraPublisher(const CarlaDepthCameraPublisher& other) {

LibCarla/source/carla/ros2/publishers/CarlaGNSSPublisher.cpp

@@ -13,8 +13,8 @@
 #include <fastdds/dds/publisher/DataWriter.hpp>
 #include <fastdds/dds/topic/TypeSupport.hpp>
 
-#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
-#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
+#include <carla/ros2/ROS2.h>
+#include <carla/ros2/impl/DdsDomainParticipantImpl.h>
 #include <fastdds/dds/publisher/qos/PublisherQos.hpp>
 #include <fastdds/dds/topic/qos/TopicQos.hpp>
 
@@ -30,7 +30,6 @@ namespace ros2 {
   using erc = eprosima::fastrtps::types::ReturnCode_t;
 
   struct CarlaGNSSPublisherImpl {
-    efd::DomainParticipant* _participant { nullptr };
     efd::Publisher* _publisher { nullptr };
     efd::Topic* _topic { nullptr };
     efd::DataWriter* _datawriter { nullptr };
@@ -45,18 +44,12 @@ namespace ros2 {
         return false;
     }
 
-    efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
-    pqos.name(_name);
-    auto factory = efd::DomainParticipantFactory::get_instance();
-    _impl->_participant = factory->create_participant(0, pqos);
-    if (_impl->_participant == nullptr) {
-        std::cerr << "Failed to create DomainParticipant" << std::endl;
-        return false;
-    }
-    _impl->_type.register_type(_impl->_participant);
+    auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
+
+    _impl->_type.register_type(participant);
 
     efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
-    _impl->_publisher = _impl->_participant->create_publisher(pubqos, nullptr);
+    _impl->_publisher = participant->create_publisher(pubqos, nullptr);
     if (_impl->_publisher == nullptr) {
       std::cerr << "Failed to create Publisher" << std::endl;
       return false;
@@ -68,7 +61,7 @@ namespace ros2 {
     if (!_parent.empty())
       topic_name += _parent + "/";
     topic_name += _name;
-    _impl->_topic = _impl->_participant->create_topic(topic_name, _impl->_type->getName(), tqos);
+    _impl->_topic = participant->create_topic(topic_name, _impl->_type->getName(), tqos);
     if (_impl->_topic == nullptr) {
         std::cerr << "Failed to create Topic" << std::endl;
         return false;
@@ -173,17 +166,16 @@ namespace ros2 {
       if (!_impl)
           return;
 
+      auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
       if (_impl->_datawriter)
           _impl->_publisher->delete_datawriter(_impl->_datawriter);
 
       if (_impl->_publisher)
-          _impl->_participant->delete_publisher(_impl->_publisher);
+          participant->delete_publisher(_impl->_publisher);
 
       if (_impl->_topic)
-          _impl->_participant->delete_topic(_impl->_topic);
+          participant->delete_topic(_impl->_topic);
 
-      if (_impl->_participant)
-          efd::DomainParticipantFactory::get_instance()->delete_participant(_impl->_participant);
   }
 
   CarlaGNSSPublisher::CarlaGNSSPublisher(const CarlaGNSSPublisher& other) {

LibCarla/source/carla/ros2/publishers/CarlaIMUPublisher.cpp

@@ -13,8 +13,8 @@
 #include <fastdds/dds/publisher/DataWriter.hpp>
 #include <fastdds/dds/topic/TypeSupport.hpp>
 
-#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
-#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
+#include <carla/ros2/ROS2.h>
+#include <carla/ros2/impl/DdsDomainParticipantImpl.h>
 #include <fastdds/dds/publisher/qos/PublisherQos.hpp>
 #include <fastdds/dds/topic/qos/TopicQos.hpp>
 
@@ -30,7 +30,6 @@ namespace ros2 {
   using erc = eprosima::fastrtps::types::ReturnCode_t;
 
   struct CarlaIMUPublisherImpl {
-    efd::DomainParticipant* _participant { nullptr };
     efd::Publisher* _publisher { nullptr };
     efd::Topic* _topic { nullptr };
     efd::DataWriter* _datawriter { nullptr };
@@ -45,18 +44,12 @@ namespace ros2 {
         return false;
     }
 
-    efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
-    pqos.name(_name);
-    auto factory = efd::DomainParticipantFactory::get_instance();
-    _impl->_participant = factory->create_participant(0, pqos);
-    if (_impl->_participant == nullptr) {
-        std::cerr << "Failed to create DomainParticipant" << std::endl;
-        return false;
-    }
-    _impl->_type.register_type(_impl->_participant);
+    auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
+
+    _impl->_type.register_type(participant);
 
     efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
-    _impl->_publisher = _impl->_participant->create_publisher(pubqos, nullptr);
+    _impl->_publisher = participant->create_publisher(pubqos, nullptr);
     if (_impl->_publisher == nullptr) {
       std::cerr << "Failed to create Publisher" << std::endl;
       return false;
@@ -68,7 +61,7 @@ namespace ros2 {
     if (!_parent.empty())
       topic_name += _parent + "/";
     topic_name += _name;
-    _impl->_topic = _impl->_participant->create_topic(topic_name, _impl->_type->getName(), tqos);
+    _impl->_topic = participant->create_topic(topic_name, _impl->_type->getName(), tqos);
     if (_impl->_topic == nullptr) {
         std::cerr << "Failed to create Topic" << std::endl;
         return false;
@@ -175,7 +168,7 @@ namespace ros2 {
     geometry_msgs::msg::Quaternion orientation;
 
     const float rx = 0.0f;                           // pitch
-    const float ry = (M_PIf32 / 2.0f) - compass;     // yaw
+    const float ry = (float(M_PI_2) / 2.0f) - compass;     // yaw
     const float rz = 0.0f;                           // roll
 
     const float cr = cosf(rz * 0.5f);
@@ -206,17 +199,16 @@ namespace ros2 {
       if (!_impl)
           return;
 
+      auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
       if (_impl->_datawriter)
           _impl->_publisher->delete_datawriter(_impl->_datawriter);
 
       if (_impl->_publisher)
-          _impl->_participant->delete_publisher(_impl->_publisher);
+          participant->delete_publisher(_impl->_publisher);
 
       if (_impl->_topic)
-          _impl->_participant->delete_topic(_impl->_topic);
+          participant->delete_topic(_impl->_topic);
 
-      if (_impl->_participant)
-          efd::DomainParticipantFactory::get_instance()->delete_participant(_impl->_participant);
   }
 
   CarlaIMUPublisher::CarlaIMUPublisher(const CarlaIMUPublisher& other) {

LibCarla/source/carla/ros2/publishers/CarlaISCameraPublisher.cpp

@@ -14,8 +14,8 @@
 #include <fastdds/dds/publisher/DataWriter.hpp>
 #include <fastdds/dds/topic/TypeSupport.hpp>
 
-#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
-#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
+#include <carla/ros2/ROS2.h>
+#include <carla/ros2/impl/DdsDomainParticipantImpl.h>
 #include <fastdds/dds/publisher/qos/PublisherQos.hpp>
 #include <fastdds/dds/topic/qos/TopicQos.hpp>
 
@@ -31,7 +31,6 @@ namespace ros2 {
   using erc = eprosima::fastrtps::types::ReturnCode_t;
 
   struct CarlaISCameraPublisherImpl {
-    efd::DomainParticipant* _participant { nullptr };
     efd::Publisher* _publisher { nullptr };
     efd::Topic* _topic { nullptr };
     efd::DataWriter* _datawriter { nullptr };
@@ -41,7 +40,6 @@ namespace ros2 {
   };
 
   struct CarlaCameraInfoPublisherImpl {
-    efd::DomainParticipant* _participant { nullptr };
     efd::Publisher* _publisher { nullptr };
     efd::Topic* _topic { nullptr };
     efd::DataWriter* _datawriter { nullptr };
@@ -70,18 +68,12 @@ namespace ros2 {
         std::cerr << "Invalid TypeSupport" << std::endl;
         return false;
     }
-    efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
-    pqos.name(_name);
-    auto factory = efd::DomainParticipantFactory::get_instance();
-    _impl->_participant = factory->create_participant(0, pqos);
-    if (_impl->_participant == nullptr) {
-        std::cerr << "Failed to create DomainParticipant" << std::endl;
-        return false;
-    }
-    _impl->_type.register_type(_impl->_participant);
+    auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
+
+    _impl->_type.register_type(participant);
 
     efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
-    _impl->_publisher = _impl->_participant->create_publisher(pubqos, nullptr);
+    _impl->_publisher = participant->create_publisher(pubqos, nullptr);
     if (_impl->_publisher == nullptr) {
       std::cerr << "Failed to create Publisher" << std::endl;
       return false;
@@ -95,7 +87,7 @@ namespace ros2 {
       topic_name += _parent + "/";
     topic_name += _name;
     topic_name += publisher_type;
-    _impl->_topic = _impl->_participant->create_topic(topic_name, _impl->_type->getName(), tqos);
+    _impl->_topic = participant->create_topic(topic_name, _impl->_type->getName(), tqos);
     if (_impl->_topic == nullptr) {
         std::cerr << "Failed to create Topic" << std::endl;
         return false;
@@ -119,18 +111,11 @@ namespace ros2 {
         return false;
     }
 
-    efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
-    pqos.name(_name);
-    auto factory = efd::DomainParticipantFactory::get_instance();
-    _impl_info->_participant = factory->create_participant(0, pqos);
-    if (_impl_info->_participant == nullptr) {
-        std::cerr << "Failed to create DomainParticipant" << std::endl;
-        return false;
-    }
-    _impl_info->_type.register_type(_impl_info->_participant);
+      auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
+    _impl_info->_type.register_type(participant);
 
     efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
-    _impl_info->_publisher = _impl_info->_participant->create_publisher(pubqos, nullptr);
+    _impl_info->_publisher = participant->create_publisher(pubqos, nullptr);
     if (_impl_info->_publisher == nullptr) {
       std::cerr << "Failed to create Publisher" << std::endl;
       return false;
@@ -144,7 +129,7 @@ namespace ros2 {
       topic_name += _parent + "/";
     topic_name += _name;
     topic_name += publisher_type;
-    _impl_info->_topic = _impl_info->_participant->create_topic(topic_name, _impl_info->_type->getName(), tqos);
+    _impl_info->_topic = participant->create_topic(topic_name, _impl_info->_type->getName(), tqos);
     if (_impl_info->_topic == nullptr) {
         std::cerr << "Failed to create Topic" << std::endl;
         return false;
@@ -347,17 +332,16 @@ namespace ros2 {
       if (!_impl)
           return;
 
+      auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
       if (_impl->_datawriter)
           _impl->_publisher->delete_datawriter(_impl->_datawriter);
 
       if (_impl->_publisher)
-          _impl->_participant->delete_publisher(_impl->_publisher);
+          participant->delete_publisher(_impl->_publisher);
 
       if (_impl->_topic)
-          _impl->_participant->delete_topic(_impl->_topic);
+          participant->delete_topic(_impl->_topic);
 
-      if (_impl->_participant)
-          efd::DomainParticipantFactory::get_instance()->delete_participant(_impl->_participant);
 
       if (!_impl_info)
         return;
@@ -366,13 +350,10 @@ namespace ros2 {
           _impl_info->_publisher->delete_datawriter(_impl_info->_datawriter);
 
       if (_impl_info->_publisher)
-          _impl_info->_participant->delete_publisher(_impl_info->_publisher);
+          participant->delete_publisher(_impl_info->_publisher);
 
       if (_impl_info->_topic)
-          _impl_info->_participant->delete_topic(_impl_info->_topic);
-
-      if (_impl_info->_participant)
-          efd::DomainParticipantFactory::get_instance()->delete_participant(_impl_info->_participant);
+          participant->delete_topic(_impl_info->_topic);
   }
 
   CarlaISCameraPublisher::CarlaISCameraPublisher(const CarlaISCameraPublisher& other) {

LibCarla/source/carla/ros2/publishers/CarlaLidarPublisher.cpp

@@ -13,8 +13,8 @@
 #include <fastdds/dds/publisher/DataWriter.hpp>
 #include <fastdds/dds/topic/TypeSupport.hpp>
 
-#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
-#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
+#include <carla/ros2/ROS2.h>
+#include <carla/ros2/impl/DdsDomainParticipantImpl.h>
 #include <fastdds/dds/publisher/qos/PublisherQos.hpp>
 #include <fastdds/dds/topic/qos/TopicQos.hpp>
 
@@ -30,7 +30,6 @@ namespace ros2 {
   using erc = eprosima::fastrtps::types::ReturnCode_t;
 
   struct CarlaLidarPublisherImpl {
-    efd::DomainParticipant* _participant { nullptr };
     efd::Publisher* _publisher { nullptr };
     efd::Topic* _topic { nullptr };
     efd::DataWriter* _datawriter { nullptr };
@@ -45,18 +44,12 @@ namespace ros2 {
         return false;
     }
 
-    efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
-    pqos.name(_name);
-    auto factory = efd::DomainParticipantFactory::get_instance();
-    _impl->_participant = factory->create_participant(0, pqos);
-    if (_impl->_participant == nullptr) {
-        std::cerr << "Failed to create DomainParticipant" << std::endl;
-        return false;
-    }
-    _impl->_type.register_type(_impl->_participant);
+    auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
+
+    _impl->_type.register_type(participant);
 
     efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
-    _impl->_publisher = _impl->_participant->create_publisher(pubqos, nullptr);
+    _impl->_publisher = participant->create_publisher(pubqos, nullptr);
     if (_impl->_publisher == nullptr) {
       std::cerr << "Failed to create Publisher" << std::endl;
       return false;
@@ -68,7 +61,7 @@ namespace ros2 {
     if (!_parent.empty())
       topic_name += _parent + "/";
     topic_name += _name;
-    _impl->_topic = _impl->_participant->create_topic(topic_name, _impl->_type->getName(), tqos);
+    _impl->_topic = participant->create_topic(topic_name, _impl->_type->getName(), tqos);
     if (_impl->_topic == nullptr) {
         std::cerr << "Failed to create Topic" << std::endl;
         return false;
@@ -214,17 +207,16 @@ void CarlaLidarPublisher::SetData(int32_t seconds, uint32_t nanoseconds, size_t
       if (!_impl)
           return;
 
+      auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
       if (_impl->_datawriter)
           _impl->_publisher->delete_datawriter(_impl->_datawriter);
 
       if (_impl->_publisher)
-          _impl->_participant->delete_publisher(_impl->_publisher);
+          participant->delete_publisher(_impl->_publisher);
 
       if (_impl->_topic)
-          _impl->_participant->delete_topic(_impl->_topic);
+          participant->delete_topic(_impl->_topic);
 
-      if (_impl->_participant)
-          efd::DomainParticipantFactory::get_instance()->delete_participant(_impl->_participant);
   }
 
   CarlaLidarPublisher::CarlaLidarPublisher(const CarlaLidarPublisher& other) {

LibCarla/source/carla/ros2/publishers/CarlaLineInvasionPublisher.cpp

@@ -13,8 +13,8 @@
 #include <fastdds/dds/publisher/DataWriter.hpp>
 #include <fastdds/dds/topic/TypeSupport.hpp>
 
-#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
-#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
+#include <carla/ros2/ROS2.h>
+#include <carla/ros2/impl/DdsDomainParticipantImpl.h>
 #include <fastdds/dds/publisher/qos/PublisherQos.hpp>
 #include <fastdds/dds/topic/qos/TopicQos.hpp>
 
@@ -30,7 +30,6 @@ namespace ros2 {
   using erc = eprosima::fastrtps::types::ReturnCode_t;
 
   struct CarlaLineInvasionPublisherImpl {
-    efd::DomainParticipant* _participant { nullptr };
     efd::Publisher* _publisher { nullptr };
     efd::Topic* _topic { nullptr };
     efd::DataWriter* _datawriter { nullptr };
@@ -45,18 +44,12 @@ namespace ros2 {
         return false;
     }
 
-    efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
-    pqos.name(_name);
-    auto factory = efd::DomainParticipantFactory::get_instance();
-    _impl->_participant = factory->create_participant(0, pqos);
-    if (_impl->_participant == nullptr) {
-        std::cerr << "Failed to create DomainParticipant" << std::endl;
-        return false;
-    }
-    _impl->_type.register_type(_impl->_participant);
+    auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
+
+    _impl->_type.register_type(participant);
 
     efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
-    _impl->_publisher = _impl->_participant->create_publisher(pubqos, nullptr);
+    _impl->_publisher = participant->create_publisher(pubqos, nullptr);
     if (_impl->_publisher == nullptr) {
       std::cerr << "Failed to create Publisher" << std::endl;
       return false;
@@ -68,7 +61,7 @@ namespace ros2 {
     if (!_parent.empty())
       topic_name += _parent + "/";
     topic_name += _name;
-    _impl->_topic = _impl->_participant->create_topic(topic_name, _impl->_type->getName(), tqos);
+    _impl->_topic = participant->create_topic(topic_name, _impl->_type->getName(), tqos);
     if (_impl->_topic == nullptr) {
         std::cerr << "Failed to create Topic" << std::endl;
         return false;
@@ -171,17 +164,16 @@ namespace ros2 {
       if (!_impl)
           return;
 
+      auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
       if (_impl->_datawriter)
           _impl->_publisher->delete_datawriter(_impl->_datawriter);
 
       if (_impl->_publisher)
-          _impl->_participant->delete_publisher(_impl->_publisher);
+          participant->delete_publisher(_impl->_publisher);
 
       if (_impl->_topic)
-          _impl->_participant->delete_topic(_impl->_topic);
+          participant->delete_topic(_impl->_topic);
 
-      if (_impl->_participant)
-          efd::DomainParticipantFactory::get_instance()->delete_participant(_impl->_participant);
   }
 
   CarlaLineInvasionPublisher::CarlaLineInvasionPublisher(const CarlaLineInvasionPublisher& other) {

LibCarla/source/carla/ros2/publishers/CarlaMapSensorPublisher.cpp

@@ -13,8 +13,8 @@
 #include <fastdds/dds/publisher/DataWriter.hpp>
 #include <fastdds/dds/topic/TypeSupport.hpp>
 
-#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
-#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
+#include <carla/ros2/ROS2.h>
+#include <carla/ros2/impl/DdsDomainParticipantImpl.h>
 #include <fastdds/dds/publisher/qos/PublisherQos.hpp>
 #include <fastdds/dds/topic/qos/TopicQos.hpp>
 
@@ -30,7 +30,6 @@ namespace ros2 {
   using erc = eprosima::fastrtps::types::ReturnCode_t;
 
   struct CarlaMapSensorPublisherImpl {
-    efd::DomainParticipant* _participant { nullptr };
     efd::Publisher* _publisher { nullptr };
     efd::Topic* _topic { nullptr };
     efd::DataWriter* _datawriter { nullptr };
@@ -45,18 +44,12 @@ namespace ros2 {
         return false;
     }
 
-    efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
-    pqos.name(_name);
-    auto factory = efd::DomainParticipantFactory::get_instance();
-    _impl->_participant = factory->create_participant(0, pqos);
-    if (_impl->_participant == nullptr) {
-        std::cerr << "Failed to create DomainParticipant" << std::endl;
-        return false;
-    }
-    _impl->_type.register_type(_impl->_participant);
+    auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
+
+    _impl->_type.register_type(participant);
 
     efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
-    _impl->_publisher = _impl->_participant->create_publisher(pubqos, nullptr);
+    _impl->_publisher = participant->create_publisher(pubqos, nullptr);
     if (_impl->_publisher == nullptr) {
       std::cerr << "Failed to create Publisher" << std::endl;
       return false;
@@ -68,7 +61,7 @@ namespace ros2 {
     if (!_parent.empty())
       topic_name += _parent + "/";
     topic_name += _name;
-    _impl->_topic = _impl->_participant->create_topic(topic_name, _impl->_type->getName(), tqos);
+    _impl->_topic = participant->create_topic(topic_name, _impl->_type->getName(), tqos);
     if (_impl->_topic == nullptr) {
         std::cerr << "Failed to create Topic" << std::endl;
         return false;
@@ -162,17 +155,16 @@ namespace ros2 {
       if (!_impl)
           return;
 
+      auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
       if (_impl->_datawriter)
           _impl->_publisher->delete_datawriter(_impl->_datawriter);
 
       if (_impl->_publisher)
-          _impl->_participant->delete_publisher(_impl->_publisher);
+          participant->delete_publisher(_impl->_publisher);
 
       if (_impl->_topic)
-          _impl->_participant->delete_topic(_impl->_topic);
+          participant->delete_topic(_impl->_topic);
 
-      if (_impl->_participant)
-          efd::DomainParticipantFactory::get_instance()->delete_participant(_impl->_participant);
   }
 
   CarlaMapSensorPublisher::CarlaMapSensorPublisher(const CarlaMapSensorPublisher& other) {

LibCarla/source/carla/ros2/publishers/CarlaNormalsCameraPublisher.cpp

@@ -14,8 +14,8 @@
 #include <fastdds/dds/publisher/DataWriter.hpp>
 #include <fastdds/dds/topic/TypeSupport.hpp>
 
-#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
-#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
+#include <carla/ros2/ROS2.h>
+#include <carla/ros2/impl/DdsDomainParticipantImpl.h>
 #include <fastdds/dds/publisher/qos/PublisherQos.hpp>
 #include <fastdds/dds/topic/qos/TopicQos.hpp>
 
@@ -32,7 +32,6 @@ namespace ros2 {
   using erc = eprosima::fastrtps::types::ReturnCode_t;
 
   struct CarlaNormalsCameraPublisherImpl {
-    efd::DomainParticipant* _participant { nullptr };
     efd::Publisher* _publisher { nullptr };
     efd::Topic* _topic { nullptr };
     efd::DataWriter* _datawriter { nullptr };
@@ -42,7 +41,6 @@ namespace ros2 {
   };
 
   struct CarlaCameraInfoPublisherImpl {
-    efd::DomainParticipant* _participant { nullptr };
     efd::Publisher* _publisher { nullptr };
     efd::Topic* _topic { nullptr };
     efd::DataWriter* _datawriter { nullptr };
@@ -72,18 +70,12 @@ namespace ros2 {
         return false;
     }
 
-    efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
-    pqos.name(_name);
-    auto factory = efd::DomainParticipantFactory::get_instance();
-    _impl->_participant = factory->create_participant(0, pqos);
-    if (_impl->_participant == nullptr) {
-        std::cerr << "Failed to create DomainParticipant" << std::endl;
-        return false;
-    }
-    _impl->_type.register_type(_impl->_participant);
+    auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
+
+    _impl->_type.register_type(participant);
 
     efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
-    _impl->_publisher = _impl->_participant->create_publisher(pubqos, nullptr);
+    _impl->_publisher = participant->create_publisher(pubqos, nullptr);
     if (_impl->_publisher == nullptr) {
       std::cerr << "Failed to create Publisher" << std::endl;
       return false;
@@ -97,7 +89,7 @@ namespace ros2 {
       topic_name += _parent + "/";
     topic_name += _name;
     topic_name += publisher_type;
-    _impl->_topic = _impl->_participant->create_topic(topic_name, _impl->_type->getName(), tqos);
+    _impl->_topic = participant->create_topic(topic_name, _impl->_type->getName(), tqos);
     if (_impl->_topic == nullptr) {
         std::cerr << "Failed to create Topic" << std::endl;
         return false;
@@ -121,18 +113,11 @@ namespace ros2 {
         return false;
     }
 
-    efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
-    pqos.name(_name);
-    auto factory = efd::DomainParticipantFactory::get_instance();
-    _impl_info->_participant = factory->create_participant(0, pqos);
-    if (_impl_info->_participant == nullptr) {
-        std::cerr << "Failed to create DomainParticipant" << std::endl;
-        return false;
-    }
-    _impl_info->_type.register_type(_impl_info->_participant);
+      auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
+    _impl_info->_type.register_type(participant);
 
     efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
-    _impl_info->_publisher = _impl_info->_participant->create_publisher(pubqos, nullptr);
+    _impl_info->_publisher = participant->create_publisher(pubqos, nullptr);
     if (_impl_info->_publisher == nullptr) {
       std::cerr << "Failed to create Publisher" << std::endl;
       return false;
@@ -146,7 +131,7 @@ namespace ros2 {
       topic_name += _parent + "/";
     topic_name += _name;
     topic_name += publisher_type;
-    _impl_info->_topic = _impl_info->_participant->create_topic(topic_name, _impl_info->_type->getName(), tqos);
+    _impl_info->_topic = participant->create_topic(topic_name, _impl_info->_type->getName(), tqos);
     if (_impl_info->_topic == nullptr) {
         std::cerr << "Failed to create Topic" << std::endl;
         return false;
@@ -348,17 +333,16 @@ namespace ros2 {
       if (!_impl)
           return;
 
+      auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
       if (_impl->_datawriter)
           _impl->_publisher->delete_datawriter(_impl->_datawriter);
 
       if (_impl->_publisher)
-          _impl->_participant->delete_publisher(_impl->_publisher);
+          participant->delete_publisher(_impl->_publisher);
 
       if (_impl->_topic)
-          _impl->_participant->delete_topic(_impl->_topic);
+          participant->delete_topic(_impl->_topic);
 
-      if (_impl->_participant)
-          efd::DomainParticipantFactory::get_instance()->delete_participant(_impl->_participant);
 
       if (!_impl_info)
         return;
@@ -367,13 +351,10 @@ namespace ros2 {
           _impl_info->_publisher->delete_datawriter(_impl_info->_datawriter);
 
       if (_impl_info->_publisher)
-          _impl_info->_participant->delete_publisher(_impl_info->_publisher);
+          participant->delete_publisher(_impl_info->_publisher);
 
       if (_impl_info->_topic)
-          _impl_info->_participant->delete_topic(_impl_info->_topic);
-
-      if (_impl_info->_participant)
-          efd::DomainParticipantFactory::get_instance()->delete_participant(_impl_info->_participant);
+          participant->delete_topic(_impl_info->_topic);
   }
 
   CarlaNormalsCameraPublisher::CarlaNormalsCameraPublisher(const CarlaNormalsCameraPublisher& other) {

LibCarla/source/carla/ros2/publishers/CarlaOpticalFlowCameraPublisher.cpp

@@ -15,8 +15,8 @@
 #include <fastdds/dds/publisher/DataWriter.hpp>
 #include <fastdds/dds/topic/TypeSupport.hpp>
 
-#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
-#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
+#include <carla/ros2/ROS2.h>
+#include <carla/ros2/impl/DdsDomainParticipantImpl.h>
 #include <fastdds/dds/publisher/qos/PublisherQos.hpp>
 #include <fastdds/dds/topic/qos/TopicQos.hpp>
 
@@ -36,7 +36,6 @@ namespace ros2 {
   namespace efd = eprosima::fastdds::dds;
   using erc = eprosima::fastrtps::types::ReturnCode_t;
   struct CarlaOpticalFlowCameraPublisherImpl {
-    efd::DomainParticipant* _participant { nullptr };
     efd::Publisher* _publisher { nullptr };
     efd::Topic* _topic { nullptr };
     efd::DataWriter* _datawriter { nullptr };
@@ -46,7 +45,6 @@ namespace ros2 {
   };
 
   struct CarlaCameraInfoPublisherImpl {
-    efd::DomainParticipant* _participant { nullptr };
     efd::Publisher* _publisher { nullptr };
     efd::Topic* _topic { nullptr };
     efd::DataWriter* _datawriter { nullptr };
@@ -76,18 +74,12 @@ namespace ros2 {
         return false;
     }
 
-    efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
-    pqos.name(_name);
-    auto factory = efd::DomainParticipantFactory::get_instance();
-    _impl->_participant = factory->create_participant(0, pqos);
-    if (_impl->_participant == nullptr) {
-        std::cerr << "Failed to create DomainParticipant" << std::endl;
-        return false;
-    }
-    _impl->_type.register_type(_impl->_participant);
+    auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
+
+    _impl->_type.register_type(participant);
 
     efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
-    _impl->_publisher = _impl->_participant->create_publisher(pubqos, nullptr);
+    _impl->_publisher = participant->create_publisher(pubqos, nullptr);
     if (_impl->_publisher == nullptr) {
       std::cerr << "Failed to create Publisher" << std::endl;
       return false;
@@ -101,7 +93,7 @@ namespace ros2 {
       topic_name += _parent + "/";
     topic_name += _name;
     topic_name += publisher_type;
-    _impl->_topic = _impl->_participant->create_topic(topic_name, _impl->_type->getName(), tqos);
+    _impl->_topic = participant->create_topic(topic_name, _impl->_type->getName(), tqos);
     if (_impl->_topic == nullptr) {
         std::cerr << "Failed to create Topic" << std::endl;
         return false;
@@ -125,18 +117,11 @@ namespace ros2 {
         return false;
     }
 
-    efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
-    pqos.name(_name);
-    auto factory = efd::DomainParticipantFactory::get_instance();
-    _impl_info->_participant = factory->create_participant(0, pqos);
-    if (_impl_info->_participant == nullptr) {
-        std::cerr << "Failed to create DomainParticipant" << std::endl;
-        return false;
-    }
-    _impl_info->_type.register_type(_impl_info->_participant);
+      auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
+    _impl_info->_type.register_type(participant);
 
     efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
-    _impl_info->_publisher = _impl_info->_participant->create_publisher(pubqos, nullptr);
+    _impl_info->_publisher = participant->create_publisher(pubqos, nullptr);
     if (_impl_info->_publisher == nullptr) {
       std::cerr << "Failed to create Publisher" << std::endl;
       return false;
@@ -150,7 +135,7 @@ namespace ros2 {
       topic_name += _parent + "/";
     topic_name += _name;
     topic_name += publisher_type;
-    _impl_info->_topic = _impl_info->_participant->create_topic(topic_name, _impl_info->_type->getName(), tqos);
+    _impl_info->_topic = participant->create_topic(topic_name, _impl_info->_type->getName(), tqos);
     if (_impl_info->_topic == nullptr) {
         std::cerr << "Failed to create Topic" << std::endl;
         return false;
@@ -430,17 +415,16 @@ namespace ros2 {
       if (!_impl)
           return;
 
+      auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
       if (_impl->_datawriter)
           _impl->_publisher->delete_datawriter(_impl->_datawriter);
 
       if (_impl->_publisher)
-          _impl->_participant->delete_publisher(_impl->_publisher);
+          participant->delete_publisher(_impl->_publisher);
 
       if (_impl->_topic)
-          _impl->_participant->delete_topic(_impl->_topic);
+          participant->delete_topic(_impl->_topic);
 
-      if (_impl->_participant)
-          efd::DomainParticipantFactory::get_instance()->delete_participant(_impl->_participant);
 
       if (!_impl_info)
         return;
@@ -449,13 +433,10 @@ namespace ros2 {
           _impl_info->_publisher->delete_datawriter(_impl_info->_datawriter);
 
       if (_impl_info->_publisher)
-          _impl_info->_participant->delete_publisher(_impl_info->_publisher);
+          participant->delete_publisher(_impl_info->_publisher);
 
       if (_impl_info->_topic)
-          _impl_info->_participant->delete_topic(_impl_info->_topic);
-
-      if (_impl_info->_participant)
-          efd::DomainParticipantFactory::get_instance()->delete_participant(_impl_info->_participant);
+          participant->delete_topic(_impl_info->_topic);
   }
 
   CarlaOpticalFlowCameraPublisher::CarlaOpticalFlowCameraPublisher(const CarlaOpticalFlowCameraPublisher& other) {

LibCarla/source/carla/ros2/publishers/CarlaRGBCameraPublisher.cpp

@@ -14,8 +14,8 @@
 #include <fastdds/dds/publisher/DataWriter.hpp>
 #include <fastdds/dds/topic/TypeSupport.hpp>
 
-#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
-#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
+#include <carla/ros2/ROS2.h>
+#include <carla/ros2/impl/DdsDomainParticipantImpl.h>
 #include <fastdds/dds/publisher/qos/PublisherQos.hpp>
 #include <fastdds/dds/topic/qos/TopicQos.hpp>
 
@@ -32,7 +32,6 @@ namespace ros2 {
   using erc = eprosima::fastrtps::types::ReturnCode_t;
 
   struct CarlaRGBCameraPublisherImpl {
-    efd::DomainParticipant* _participant { nullptr };
     efd::Publisher* _publisher { nullptr };
     efd::Topic* _topic { nullptr };
     efd::DataWriter* _datawriter { nullptr };
@@ -42,7 +41,6 @@ namespace ros2 {
   };
 
   struct CarlaCameraInfoPublisherImpl {
-    efd::DomainParticipant* _participant { nullptr };
     efd::Publisher* _publisher { nullptr };
     efd::Topic* _topic { nullptr };
     efd::DataWriter* _datawriter { nullptr };
@@ -72,18 +70,12 @@ namespace ros2 {
         return false;
     }
 
-    efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
-    pqos.name(_name);
-    auto factory = efd::DomainParticipantFactory::get_instance();
-    _impl->_participant = factory->create_participant(0, pqos);
-    if (_impl->_participant == nullptr) {
-        std::cerr << "Failed to create DomainParticipant" << std::endl;
-        return false;
-    }
-    _impl->_type.register_type(_impl->_participant);
+    auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
+
+    _impl->_type.register_type(participant);
 
     efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
-    _impl->_publisher = _impl->_participant->create_publisher(pubqos, nullptr);
+    _impl->_publisher = participant->create_publisher(pubqos, nullptr);
     if (_impl->_publisher == nullptr) {
       std::cerr << "Failed to create Publisher" << std::endl;
       return false;
@@ -97,7 +89,7 @@ namespace ros2 {
       topic_name += _parent + "/";
     topic_name += _name;
     topic_name += publisher_type;
-    _impl->_topic = _impl->_participant->create_topic(topic_name, _impl->_type->getName(), tqos);
+    _impl->_topic = participant->create_topic(topic_name, _impl->_type->getName(), tqos);
     if (_impl->_topic == nullptr) {
         std::cerr << "Failed to create Topic" << std::endl;
         return false;
@@ -121,18 +113,11 @@ namespace ros2 {
         return false;
     }
 
-    efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
-    pqos.name(_name);
-    auto factory = efd::DomainParticipantFactory::get_instance();
-    _impl_info->_participant = factory->create_participant(0, pqos);
-    if (_impl_info->_participant == nullptr) {
-        std::cerr << "Failed to create DomainParticipant" << std::endl;
-        return false;
-    }
-    _impl_info->_type.register_type(_impl_info->_participant);
+      auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
+    _impl_info->_type.register_type(participant);
 
     efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
-    _impl_info->_publisher = _impl_info->_participant->create_publisher(pubqos, nullptr);
+    _impl_info->_publisher = participant->create_publisher(pubqos, nullptr);
     if (_impl_info->_publisher == nullptr) {
       std::cerr << "Failed to create Publisher" << std::endl;
       return false;
@@ -146,7 +131,7 @@ namespace ros2 {
       topic_name += _parent + "/";
     topic_name += _name;
     topic_name += publisher_type;
-    _impl_info->_topic = _impl_info->_participant->create_topic(topic_name, _impl_info->_type->getName(), tqos);
+    _impl_info->_topic = participant->create_topic(topic_name, _impl_info->_type->getName(), tqos);
     if (_impl_info->_topic == nullptr) {
         std::cerr << "Failed to create Topic" << std::endl;
         return false;
@@ -350,17 +335,16 @@ void CarlaRGBCameraPublisher::SetImageData(int32_t seconds, uint32_t nanoseconds
       if (!_impl)
           return;
 
+      auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
       if (_impl->_datawriter)
           _impl->_publisher->delete_datawriter(_impl->_datawriter);
 
       if (_impl->_publisher)
-          _impl->_participant->delete_publisher(_impl->_publisher);
+          participant->delete_publisher(_impl->_publisher);
 
       if (_impl->_topic)
-          _impl->_participant->delete_topic(_impl->_topic);
+          participant->delete_topic(_impl->_topic);
 
-      if (_impl->_participant)
-          efd::DomainParticipantFactory::get_instance()->delete_participant(_impl->_participant);
 
       if (!_impl_info)
         return;
@@ -369,13 +353,10 @@ void CarlaRGBCameraPublisher::SetImageData(int32_t seconds, uint32_t nanoseconds
           _impl_info->_publisher->delete_datawriter(_impl_info->_datawriter);
 
       if (_impl_info->_publisher)
-          _impl_info->_participant->delete_publisher(_impl_info->_publisher);
+          participant->delete_publisher(_impl_info->_publisher);
 
       if (_impl_info->_topic)
-          _impl_info->_participant->delete_topic(_impl_info->_topic);
-
-      if (_impl_info->_participant)
-          efd::DomainParticipantFactory::get_instance()->delete_participant(_impl_info->_participant);
+          participant->delete_topic(_impl_info->_topic);
   }
 
   CarlaRGBCameraPublisher::CarlaRGBCameraPublisher(const CarlaRGBCameraPublisher& other) {

LibCarla/source/carla/ros2/publishers/CarlaRadarPublisher.cpp

@@ -14,8 +14,8 @@
 #include <fastdds/dds/publisher/DataWriter.hpp>
 #include <fastdds/dds/topic/TypeSupport.hpp>
 
-#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
-#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
+#include <carla/ros2/ROS2.h>
+#include <carla/ros2/impl/DdsDomainParticipantImpl.h>
 #include <fastdds/dds/publisher/qos/PublisherQos.hpp>
 #include <fastdds/dds/topic/qos/TopicQos.hpp>
 
@@ -32,7 +32,6 @@ namespace ros2 {
   using erc = eprosima::fastrtps::types::ReturnCode_t;
 
   struct CarlaRadarPublisherImpl {
-    efd::DomainParticipant* _participant { nullptr };
     efd::Publisher* _publisher { nullptr };
     efd::Topic* _topic { nullptr };
     efd::DataWriter* _datawriter { nullptr };
@@ -54,18 +53,12 @@ namespace ros2 {
         return false;
     }
 
-    efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
-    pqos.name(_name);
-    auto factory = efd::DomainParticipantFactory::get_instance();
-    _impl->_participant = factory->create_participant(0, pqos);
-    if (_impl->_participant == nullptr) {
-        std::cerr << "Failed to create DomainParticipant" << std::endl;
-        return false;
-    }
-    _impl->_type.register_type(_impl->_participant);
+    auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
+
+    _impl->_type.register_type(participant);
 
     efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
-    _impl->_publisher = _impl->_participant->create_publisher(pubqos, nullptr);
+    _impl->_publisher = participant->create_publisher(pubqos, nullptr);
     if (_impl->_publisher == nullptr) {
       std::cerr << "Failed to create Publisher" << std::endl;
       return false;
@@ -77,7 +70,7 @@ namespace ros2 {
     if (!_parent.empty())
       topic_name += _parent + "/";
     topic_name += _name;
-    _impl->_topic = _impl->_participant->create_topic(topic_name, _impl->_type->getName(), tqos);
+    _impl->_topic = participant->create_topic(topic_name, _impl->_type->getName(), tqos);
     if (_impl->_topic == nullptr) {
         std::cerr << "Failed to create Topic" << std::endl;
         return false;
@@ -241,17 +234,16 @@ void CarlaRadarPublisher::SetData(int32_t seconds, uint32_t nanoseconds, size_t
       if (!_impl)
           return;
 
+      auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
       if (_impl->_datawriter)
           _impl->_publisher->delete_datawriter(_impl->_datawriter);
 
       if (_impl->_publisher)
-          _impl->_participant->delete_publisher(_impl->_publisher);
+          participant->delete_publisher(_impl->_publisher);
 
       if (_impl->_topic)
-          _impl->_participant->delete_topic(_impl->_topic);
+          participant->delete_topic(_impl->_topic);
 
-      if (_impl->_participant)
-          efd::DomainParticipantFactory::get_instance()->delete_participant(_impl->_participant);
   }
 
   CarlaRadarPublisher::CarlaRadarPublisher(const CarlaRadarPublisher& other) {

LibCarla/source/carla/ros2/publishers/CarlaSSCameraPublisher.cpp

@@ -14,8 +14,8 @@
 #include <fastdds/dds/publisher/DataWriter.hpp>
 #include <fastdds/dds/topic/TypeSupport.hpp>
 
-#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
-#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
+#include <carla/ros2/ROS2.h>
+#include <carla/ros2/impl/DdsDomainParticipantImpl.h>
 #include <fastdds/dds/publisher/qos/PublisherQos.hpp>
 #include <fastdds/dds/topic/qos/TopicQos.hpp>
 
@@ -31,7 +31,6 @@ namespace ros2 {
   using erc = eprosima::fastrtps::types::ReturnCode_t;
 
   struct CarlaSSCameraPublisherImpl {
-    efd::DomainParticipant* _participant { nullptr };
     efd::Publisher* _publisher { nullptr };
     efd::Topic* _topic { nullptr };
     efd::DataWriter* _datawriter { nullptr };
@@ -41,7 +40,6 @@ namespace ros2 {
   };
 
   struct CarlaCameraInfoPublisherImpl {
-    efd::DomainParticipant* _participant { nullptr };
     efd::Publisher* _publisher { nullptr };
     efd::Topic* _topic { nullptr };
     efd::DataWriter* _datawriter { nullptr };
@@ -70,18 +68,12 @@ namespace ros2 {
         std::cerr << "Invalid TypeSupport" << std::endl;
         return false;
     }
-    efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
-    pqos.name(_name);
-    auto factory = efd::DomainParticipantFactory::get_instance();
-    _impl->_participant = factory->create_participant(0, pqos);
-    if (_impl->_participant == nullptr) {
-        std::cerr << "Failed to create DomainParticipant" << std::endl;
-        return false;
-    }
-    _impl->_type.register_type(_impl->_participant);
+    auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
+
+    _impl->_type.register_type(participant);
 
     efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
-    _impl->_publisher = _impl->_participant->create_publisher(pubqos, nullptr);
+    _impl->_publisher = participant->create_publisher(pubqos, nullptr);
     if (_impl->_publisher == nullptr) {
       std::cerr << "Failed to create Publisher" << std::endl;
       return false;
@@ -95,7 +87,7 @@ namespace ros2 {
       topic_name += _parent + "/";
     topic_name += _name;
     topic_name += publisher_type;
-    _impl->_topic = _impl->_participant->create_topic(topic_name, _impl->_type->getName(), tqos);
+    _impl->_topic = participant->create_topic(topic_name, _impl->_type->getName(), tqos);
     if (_impl->_topic == nullptr) {
         std::cerr << "Failed to create Topic" << std::endl;
         return false;
@@ -119,18 +111,11 @@ namespace ros2 {
         return false;
     }
 
-    efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
-    pqos.name(_name);
-    auto factory = efd::DomainParticipantFactory::get_instance();
-    _impl_info->_participant = factory->create_participant(0, pqos);
-    if (_impl_info->_participant == nullptr) {
-        std::cerr << "Failed to create DomainParticipant" << std::endl;
-        return false;
-    }
-    _impl_info->_type.register_type(_impl_info->_participant);
+      auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
+    _impl_info->_type.register_type(participant);
 
     efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
-    _impl_info->_publisher = _impl_info->_participant->create_publisher(pubqos, nullptr);
+    _impl_info->_publisher = participant->create_publisher(pubqos, nullptr);
     if (_impl_info->_publisher == nullptr) {
       std::cerr << "Failed to create Publisher" << std::endl;
       return false;
@@ -144,7 +129,7 @@ namespace ros2 {
       topic_name += _parent + "/";
     topic_name += _name;
     topic_name += publisher_type;
-    _impl_info->_topic = _impl_info->_participant->create_topic(topic_name, _impl_info->_type->getName(), tqos);
+    _impl_info->_topic = participant->create_topic(topic_name, _impl_info->_type->getName(), tqos);
     if (_impl_info->_topic == nullptr) {
         std::cerr << "Failed to create Topic" << std::endl;
         return false;
@@ -347,17 +332,16 @@ namespace ros2 {
       if (!_impl)
           return;
 
+      auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
       if (_impl->_datawriter)
           _impl->_publisher->delete_datawriter(_impl->_datawriter);
 
       if (_impl->_publisher)
-          _impl->_participant->delete_publisher(_impl->_publisher);
+          participant->delete_publisher(_impl->_publisher);
 
       if (_impl->_topic)
-          _impl->_participant->delete_topic(_impl->_topic);
+          participant->delete_topic(_impl->_topic);
 
-      if (_impl->_participant)
-          efd::DomainParticipantFactory::get_instance()->delete_participant(_impl->_participant);
 
       if (!_impl_info)
         return;
@@ -366,13 +350,10 @@ namespace ros2 {
           _impl_info->_publisher->delete_datawriter(_impl_info->_datawriter);
 
       if (_impl_info->_publisher)
-          _impl_info->_participant->delete_publisher(_impl_info->_publisher);
+          participant->delete_publisher(_impl_info->_publisher);
 
       if (_impl_info->_topic)
-          _impl_info->_participant->delete_topic(_impl_info->_topic);
-
-      if (_impl_info->_participant)
-          efd::DomainParticipantFactory::get_instance()->delete_participant(_impl_info->_participant);
+          participant->delete_topic(_impl_info->_topic);
   }
 
   CarlaSSCameraPublisher::CarlaSSCameraPublisher(const CarlaSSCameraPublisher& other) {

LibCarla/source/carla/ros2/publishers/CarlaSemanticLidarPublisher.cpp

@@ -13,8 +13,8 @@
 #include <fastdds/dds/publisher/DataWriter.hpp>
 #include <fastdds/dds/topic/TypeSupport.hpp>
 
-#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
-#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
+#include <carla/ros2/ROS2.h>
+#include <carla/ros2/impl/DdsDomainParticipantImpl.h>
 #include <fastdds/dds/publisher/qos/PublisherQos.hpp>
 #include <fastdds/dds/topic/qos/TopicQos.hpp>
 
@@ -31,7 +31,6 @@ namespace ros2 {
   using erc = eprosima::fastrtps::types::ReturnCode_t;
 
   struct CarlaSemanticLidarPublisherImpl {
-    efd::DomainParticipant* _participant { nullptr };
     efd::Publisher* _publisher { nullptr };
     efd::Topic* _topic { nullptr };
     efd::DataWriter* _datawriter { nullptr };
@@ -45,18 +44,12 @@ namespace ros2 {
         std::cerr << "Invalid TypeSupport" << std::endl;
         return false;
     }
-    efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
-    pqos.name(_name);
-    auto factory = efd::DomainParticipantFactory::get_instance();
-    _impl->_participant = factory->create_participant(0, pqos);
-    if (_impl->_participant == nullptr) {
-        std::cerr << "Failed to create DomainParticipant" << std::endl;
-        return false;
-    }
-    _impl->_type.register_type(_impl->_participant);
+    auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
+
+    _impl->_type.register_type(participant);
 
     efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
-    _impl->_publisher = _impl->_participant->create_publisher(pubqos, nullptr);
+    _impl->_publisher = participant->create_publisher(pubqos, nullptr);
     if (_impl->_publisher == nullptr) {
       std::cerr << "Failed to create Publisher" << std::endl;
       return false;
@@ -68,7 +61,7 @@ namespace ros2 {
     if (!_parent.empty())
       topic_name += _parent + "/";
     topic_name += _name;
-    _impl->_topic = _impl->_participant->create_topic(topic_name, _impl->_type->getName(), tqos);
+    _impl->_topic = participant->create_topic(topic_name, _impl->_type->getName(), tqos);
     if (_impl->_topic == nullptr) {
         std::cerr << "Failed to create Topic" << std::endl;
         return false;
@@ -224,17 +217,16 @@ void CarlaSemanticLidarPublisher::SetData(int32_t seconds, uint32_t nanoseconds,
       if (!_impl)
           return;
 
+      auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
       if (_impl->_datawriter)
           _impl->_publisher->delete_datawriter(_impl->_datawriter);
 
       if (_impl->_publisher)
-          _impl->_participant->delete_publisher(_impl->_publisher);
+          participant->delete_publisher(_impl->_publisher);
 
       if (_impl->_topic)
-          _impl->_participant->delete_topic(_impl->_topic);
+          participant->delete_topic(_impl->_topic);
 
-      if (_impl->_participant)
-          efd::DomainParticipantFactory::get_instance()->delete_participant(_impl->_participant);
   }
 
   CarlaSemanticLidarPublisher::CarlaSemanticLidarPublisher(const CarlaSemanticLidarPublisher& other) {

LibCarla/source/carla/ros2/publishers/CarlaSpeedometerSensor.cpp

@@ -13,8 +13,8 @@
 #include <fastdds/dds/publisher/DataWriter.hpp>
 #include <fastdds/dds/topic/TypeSupport.hpp>
 
-#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
-#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
+#include <carla/ros2/ROS2.h>
+#include <carla/ros2/impl/DdsDomainParticipantImpl.h>
 #include <fastdds/dds/publisher/qos/PublisherQos.hpp>
 #include <fastdds/dds/topic/qos/TopicQos.hpp>
 
@@ -30,7 +30,6 @@ namespace ros2 {
   using erc = eprosima::fastrtps::types::ReturnCode_t;
 
   struct CarlaSpeedometerSensorImpl {
-    efd::DomainParticipant* _participant { nullptr };
     efd::Publisher* _publisher { nullptr };
     efd::Topic* _topic { nullptr };
     efd::DataWriter* _datawriter { nullptr };
@@ -44,18 +43,12 @@ namespace ros2 {
         std::cerr << "Invalid TypeSupport" << std::endl;
         return false;
     }
-    efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
-    pqos.name(_name);
-    auto factory = efd::DomainParticipantFactory::get_instance();
-    _impl->_participant = factory->create_participant(0, pqos);
-    if (_impl->_participant == nullptr) {
-        std::cerr << "Failed to create DomainParticipant" << std::endl;
-        return false;
-    }
-    _impl->_type.register_type(_impl->_participant);
+    auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
+
+    _impl->_type.register_type(participant);
 
     efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
-    _impl->_publisher = _impl->_participant->create_publisher(pubqos, nullptr);
+    _impl->_publisher = participant->create_publisher(pubqos, nullptr);
     if (_impl->_publisher == nullptr) {
       std::cerr << "Failed to create Publisher" << std::endl;
       return false;
@@ -67,7 +60,7 @@ namespace ros2 {
     if (!_parent.empty())
       topic_name += _parent + "/";
     topic_name += _name;
-    _impl->_topic = _impl->_participant->create_topic(topic_name, _impl->_type->getName(), tqos);
+    _impl->_topic = participant->create_topic(topic_name, _impl->_type->getName(), tqos);
     if (_impl->_topic == nullptr) {
         std::cerr << "Failed to create Topic" << std::endl;
         return false;
@@ -161,17 +154,16 @@ namespace ros2 {
       if (!_impl)
           return;
 
+      auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
       if (_impl->_datawriter)
           _impl->_publisher->delete_datawriter(_impl->_datawriter);
 
       if (_impl->_publisher)
-          _impl->_participant->delete_publisher(_impl->_publisher);
+          participant->delete_publisher(_impl->_publisher);
 
       if (_impl->_topic)
-          _impl->_participant->delete_topic(_impl->_topic);
+          participant->delete_topic(_impl->_topic);
 
-      if (_impl->_participant)
-          efd::DomainParticipantFactory::get_instance()->delete_participant(_impl->_participant);
   }
 
   CarlaSpeedometerSensor::CarlaSpeedometerSensor(const CarlaSpeedometerSensor& other) {

LibCarla/source/carla/ros2/publishers/CarlaTransformPublisher.cpp

@@ -13,8 +13,8 @@
 #include <fastdds/dds/publisher/DataWriter.hpp>
 #include <fastdds/dds/topic/TypeSupport.hpp>
 
-#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
-#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
+#include <carla/ros2/ROS2.h>
+#include <carla/ros2/impl/DdsDomainParticipantImpl.h>
 #include <fastdds/dds/publisher/qos/PublisherQos.hpp>
 #include <fastdds/dds/topic/qos/TopicQos.hpp>
 
@@ -30,7 +30,6 @@ namespace ros2 {
   using erc = eprosima::fastrtps::types::ReturnCode_t;
 
   struct CarlaTransformPublisherImpl {
-    efd::DomainParticipant* _participant { nullptr };
     efd::Publisher* _publisher { nullptr };
     efd::Topic* _topic { nullptr };
     efd::DataWriter* _datawriter { nullptr };
@@ -50,18 +49,12 @@ namespace ros2 {
         return false;
     }
 
-    efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
-    pqos.name(_name);
-    auto factory = efd::DomainParticipantFactory::get_instance();
-    _impl->_participant = factory->create_participant(0, pqos);
-    if (_impl->_participant == nullptr) {
-        std::cerr << "Failed to create DomainParticipant" << std::endl;
-        return false;
-    }
-    _impl->_type.register_type(_impl->_participant);
+    auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
+
+    _impl->_type.register_type(participant);
 
     efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
-    _impl->_publisher = _impl->_participant->create_publisher(pubqos, nullptr);
+    _impl->_publisher = participant->create_publisher(pubqos, nullptr);
     if (_impl->_publisher == nullptr) {
       std::cerr << "Failed to create Publisher" << std::endl;
       return false;
@@ -69,7 +62,7 @@ namespace ros2 {
 
     efd::TopicQos tqos = efd::TOPIC_QOS_DEFAULT;
     const std::string topic_name { "rt/tf" };
-    _impl->_topic = _impl->_participant->create_topic(topic_name, _impl->_type->getName(), tqos);
+    _impl->_topic = participant->create_topic(topic_name, _impl->_type->getName(), tqos);
     if (_impl->_topic == nullptr) {
         std::cerr << "Failed to create Topic" << std::endl;
         return false;
@@ -161,9 +154,9 @@ namespace ros2 {
         const float ty = *translation++;
         const float tz = *translation++;
 
-        const float rx = ((*rotation++) * -1.0f) * (M_PIf32 / 180.0f);
-        const float ry = ((*rotation++) * -1.0f) * (M_PIf32 / 180.0f);
-        const float rz = *rotation++ * (M_PIf32 / 180.0f);
+        const float rx = ((*rotation++) * -1.0f) * (float(M_PI_2) / 180.0f);
+        const float ry = ((*rotation++) * -1.0f) * (float(M_PI_2) / 180.0f);
+        const float rz = *rotation++ * (float(M_PI_2) / 180.0f);
 
         const float cr = cosf(rz * 0.5f);
         const float sr = sinf(rz * 0.5f);
@@ -211,17 +204,16 @@ namespace ros2 {
       if (!_impl)
           return;
 
+      auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
       if (_impl->_datawriter)
           _impl->_publisher->delete_datawriter(_impl->_datawriter);
 
       if (_impl->_publisher)
-          _impl->_participant->delete_publisher(_impl->_publisher);
+          participant->delete_publisher(_impl->_publisher);
 
       if (_impl->_topic)
-          _impl->_participant->delete_topic(_impl->_topic);
+          participant->delete_topic(_impl->_topic);
 
-      if (_impl->_participant)
-          efd::DomainParticipantFactory::get_instance()->delete_participant(_impl->_participant);
   }
 
   CarlaTransformPublisher::CarlaTransformPublisher(const CarlaTransformPublisher& other) {

LibCarla/source/carla/ros2/subscribers/CarlaEgoVehicleControlSubscriber.cpp

@@ -13,8 +13,8 @@
 #include <fastdds/dds/topic/TypeSupport.hpp>
 #include <fastdds/dds/subscriber/SampleInfo.hpp>
 
-#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
-#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
+#include <carla/ros2/ROS2.h>
+#include <carla/ros2/impl/DdsDomainParticipantImpl.h>
 #include <fastdds/dds/subscriber/qos/SubscriberQos.hpp>
 #include <fastdds/dds/topic/qos/TopicQos.hpp>
 
@@ -31,7 +31,6 @@ namespace ros2 {
   using erc = eprosima::fastrtps::types::ReturnCode_t;
 
   struct CarlaEgoVehicleControlSubscriberImpl {
-    efd::DomainParticipant* _participant { nullptr };
     efd::Subscriber* _subscriber { nullptr };
     efd::Topic* _topic { nullptr };
     efd::DataReader* _datareader { nullptr };
@@ -50,18 +49,12 @@ namespace ros2 {
         return false;
     }
 
-    efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
-    pqos.name(_name);
-    auto factory = efd::DomainParticipantFactory::get_instance();
-    _impl->_participant = factory->create_participant(0, pqos);
-    if (_impl->_participant == nullptr) {
-        std::cerr << "Failed to create DomainParticipant" << std::endl;
-        return false;
-    }
-    _impl->_type.register_type(_impl->_participant);
+    auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
+
+    _impl->_type.register_type(participant);
 
     efd::SubscriberQos subqos = efd::SUBSCRIBER_QOS_DEFAULT;
-    _impl->_subscriber = _impl->_participant->create_subscriber(subqos, nullptr);
+    _impl->_subscriber = participant->create_subscriber(subqos, nullptr);
     if (_impl->_subscriber == nullptr) {
       std::cerr << "Failed to create Subscriber" << std::endl;
       return false;
@@ -75,7 +68,7 @@ namespace ros2 {
       topic_name += _parent + "/";
     topic_name += _name;
     topic_name += publisher_type;
-    _impl->_topic = _impl->_participant->create_topic(topic_name, _impl->_type->getName(), tqos);
+    _impl->_topic = participant->create_topic(topic_name, _impl->_type->getName(), tqos);
     if (_impl->_topic == nullptr) {
         std::cerr << "Failed to create Topic" << std::endl;
         return false;
@@ -191,17 +184,16 @@ namespace ros2 {
       if (!_impl)
           return;
 
+    auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
       if (_impl->_datareader)
           _impl->_subscriber->delete_datareader(_impl->_datareader);
 
       if (_impl->_subscriber)
-          _impl->_participant->delete_subscriber(_impl->_subscriber);
+          participant->delete_subscriber(_impl->_subscriber);
 
       if (_impl->_topic)
-          _impl->_participant->delete_topic(_impl->_topic);
+          participant->delete_topic(_impl->_topic);
 
-      if (_impl->_participant)
-          efd::DomainParticipantFactory::get_instance()->delete_participant(_impl->_participant);
   }
 
   CarlaEgoVehicleControlSubscriber::CarlaEgoVehicleControlSubscriber(const CarlaEgoVehicleControlSubscriber& other) {

LibCarla/source/carla/rss/RssCheck.cpp

@@ -57,14 +57,14 @@ EgoDynamicsOnRoute::EgoDynamicsOnRoute()
     time_since_epoch_check_end_ms(0.),
     ego_speed(0.),
     min_stopping_distance(0.),
-    ego_center({0., 0., 0.}),
+    ego_center(),
     ego_heading(0.),
     ego_heading_change(0.),
     ego_steering_angle(0.),
     ego_center_within_route(false),
     crossing_border(false),
     route_heading(0.),
-    route_nominal_center({0., 0., 0.}),
+    route_nominal_center(),
     heading_diff(0.),
     route_speed_lat(0.),
     route_speed_lon(0.),
@@ -73,6 +73,12 @@ EgoDynamicsOnRoute::EgoDynamicsOnRoute()
     avg_route_accel_lat(0.),
     avg_route_accel_lon(0.) {
   timestamp.elapsed_seconds = 0.;
+  ego_center.x = 0.;
+  ego_center.y = 0.;
+  ego_center.z = 0.,
+  route_nominal_center.x = 0.;
+  route_nominal_center.y = 0.;
+  route_nominal_center.z = 0.;
 }
 
 std::shared_ptr<spdlog::logger> getLogger() {

LibCarla/source/test/client/test_image.cpp

@@ -14,7 +14,6 @@
 
 template <typename ViewT, typename PixelT>
 struct TestImage {
-  TestImage(TestImage &&) = default;
   using pixel_type = PixelT;
   std::unique_ptr<PixelT[]> data;
   ViewT view;
@@ -28,7 +27,7 @@ static auto MakeTestImage(size_t width, size_t height) {
       height,
       reinterpret_cast<PixelT*>(data.get()),
       static_cast<long>(sizeof(PixelT) * width));
-  return TestImage<decltype(view), PixelT>{std::move(data), view};
+  return TestImage<decltype(view), PixelT>{.data = std::move(data), .view = view};
 }
 
 #ifndef PLATFORM_WINDOWS

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Carla.Build.cs

@@ -4,25 +4,17 @@ using System;
 using System.IO;
 using UnrealBuildTool;
 
-public class Carla : ModuleRules
+
+public class Carla : CarlaRules
 {
   bool UsingCarSim = false;
   bool UsingChrono = false;
   bool UsingPytorch = false;
-  bool UsingRos2 = false;
-  private bool IsWindows(ReadOnlyTargetRules Target)
-  {
-    return (Target.Platform == UnrealTargetPlatform.Win64) || (Target.Platform == UnrealTargetPlatform.Win32);
-  }
-
-  public Carla(ReadOnlyTargetRules Target) : base(Target)
+  public Carla(ReadOnlyTargetRules Target) : base(Target, "../../CarlaDependencies")
   {
     PrivatePCHHeaderFile = "Carla.h";
-
-    if (IsWindows(Target))
-    {
-      bEnableExceptions = true;
-    }
+    bEnableExceptions = true;
+    CppStandard = CppStandardVersion.Cpp20;
 
     // Read config about carsim
     string CarlaPluginPath = Path.GetFullPath( ModuleDirectory );
@@ -57,8 +49,12 @@ public class Carla : ModuleRules
       {
         Console.WriteLine("Enabling ros2");
         UsingRos2 = true;
-        PublicDefinitions.Add("WITH_ROS2");
-        PrivateDefinitions.Add("WITH_ROS2");
+      }
+
+      if (line.Contains("Debug ON"))
+      {
+        Console.WriteLine("Enabling debug build");
+        Debug = true;
       }
     }
 
@@ -91,10 +87,10 @@ public class Carla : ModuleRules
       PublicDependencyModuleNames.AddRange(new string[] { "CarSim" });
     }
 
-	 if (Target.Type == TargetType.Editor)
-	 {
-		PublicDependencyModuleNames.AddRange(new string[] { "UnrealEd" });
-	 }
+	  if (Target.Type == TargetType.Editor)
+	  {
+      PublicDependencyModuleNames.AddRange(new string[] { "UnrealEd" });
+	  }
 
     PrivateDependencyModuleNames.AddRange(
       new string[]
@@ -118,229 +114,143 @@ public class Carla : ModuleRules
         "PhysicsCore"
         // ... add private dependencies that you statically link with here ...
       }
-      );
+    );
+
     if (UsingCarSim)
     {
       PrivateDependencyModuleNames.AddRange(new string[] { "CarSim" });
       PrivateIncludePathModuleNames.AddRange(new string[] { "CarSim" });
     }
 
-
     DynamicallyLoadedModuleNames.AddRange(
       new string[]
       {
         // ... add any modules that your module loads dynamically here ...
       }
-      );
+    );
 
-    AddCarlaServerDependency(Target);
+    AddCarlaServerDependency();
   }
 
-  private bool UseDebugLibs(ReadOnlyTargetRules Target)
+  private void AddCarlaServerDependency()
   {
-    if (IsWindows(Target))
+
+    // Link dependencies.
+    AddStaticLibrary( "rpc");
+    if (UseDebugLibs())
     {
-      // In Windows, Unreal uses the Release C++ Runtime (CRT) even in debug
-      // mode, so unless we recompile the engine we cannot link the debug
-      // libraries.
-      return false;
+      AddStaticLibrary("carla_server_debug");
     }
     else
     {
-      return false;
+      AddStaticLibrary("carla_server");
     }
-  }
-
-  private void AddDynamicLibrary(string library)
-  {
-    PublicAdditionalLibraries.Add(library);
-    RuntimeDependencies.Add(library);
-    PublicDelayLoadDLLs.Add(library);
-  }
-  private void AddDllDependency(string PathToFolder, string DllName)
-  {
-    string Source = Path.Combine(PathToFolder, DllName);
-    string Destination = Path.Combine("$(BinaryOutputDir)", DllName);
-    RuntimeDependencies.Add(Destination, Source);
-  }
-
-  delegate string ADelegate(string s);
-
-  private void AddBoostLibs(string LibPath)
-  {
-    string [] files = Directory.GetFiles(LibPath, "*boost*.lib");
-    foreach (string file in files) PublicAdditionalLibraries.Add(file);
-  }
-
-  private void AddCarlaServerDependency(ReadOnlyTargetRules Target)
-  {
-    string LibCarlaInstallPath = Path.GetFullPath(Path.Combine(ModuleDirectory, "../../CarlaDependencies"));
-
-    ADelegate GetLibName = (string BaseName) => {
-      if (IsWindows(Target))
-      {
-        return BaseName + ".lib";
-      }
-      else
-      {
-        return "lib" + BaseName + ".a";
-      }
-    };
-
-    // Link dependencies.
-    if (IsWindows(Target))
+    if (IsWindows())
     {
-      AddBoostLibs(Path.Combine(LibCarlaInstallPath, "lib"));
-      PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("rpc")));
+       PublicAdditionalLibraries.Add("shlwapi.lib");
 
-      if (UseDebugLibs(Target))
-      {
-        PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_server_debug")));
-      }
-      else
-      {
-        PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_server")));
-      }
+      AddBoostLibs();
       if (UsingChrono)
       {
-        PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("ChronoEngine")));
-        PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("ChronoEngine_vehicle")));
-        PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("ChronoModels_vehicle")));
-        PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("ChronoModels_robot")));
+        AddStaticLibrary("ChronoEngine");
+        AddStaticLibrary("ChronoEngine_vehicle");
+        AddStaticLibrary("ChronoModels_vehicle");
+        AddStaticLibrary("ChronoModels_robot");
         AddDllDependency(Path.Combine(LibCarlaInstallPath, "dll"), "ChronoEngine.dll");
         AddDllDependency(Path.Combine(LibCarlaInstallPath, "dll"), "ChronoEngine_vehicle.dll");
         AddDllDependency(Path.Combine(LibCarlaInstallPath, "dll"), "ChronoModels_vehicle.dll");
         AddDllDependency(Path.Combine(LibCarlaInstallPath, "dll"), "ChronoModels_robot.dll");
         bUseRTTI = true;
       }
-
-      //OsmToODR
-      PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "sqlite3.lib"));
-      PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "xerces-c_3.lib"));
-      PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "proj.lib"));
-      PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "osm2odr.lib"));
-      PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "zlibstatic.lib"));
     }
     else
     {
-      PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("rpc")));
-      if (UseDebugLibs(Target))
-      {
-        PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_server_debug")));
-      }
-      else
-      {
-        PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_server")));
-      }
       if (UsingChrono)
       {
-        AddDynamicLibrary(Path.Combine(LibCarlaInstallPath, "lib", "libChronoEngine.so"));
-        AddDynamicLibrary(Path.Combine(LibCarlaInstallPath, "lib", "libChronoEngine_vehicle.so"));
-        AddDynamicLibrary(Path.Combine(LibCarlaInstallPath, "lib", "libChronoModels_vehicle.so"));
-        AddDynamicLibrary(Path.Combine(LibCarlaInstallPath, "lib", "libChronoModels_robot.so"));
+        AddStaticLibrary( "ChronoEngine");
+        AddStaticLibrary( "ChronoEngine_vehicle");
+        AddStaticLibrary( "ChronoModels_vehicle");
+        AddStaticLibrary( "ChronoModels_robot");
 
         bUseRTTI = true;
       }
 
       if (UsingPytorch)
       {
-        PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_pytorch")));
+        AddStaticLibrary( "carla_pytorch");
 
-        string LibTorchPath = LibCarlaInstallPath;
-        PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libonnx_proto.a"));
-        PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libfbgemm.a"));
-        PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libgloo.a"));
-        PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libXNNPACK.a"));
-        PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libprotobuf-lite.a"));
-        PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libprotobuf.a"));
-        PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libasmjit.a"));
-        PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libcpuinfo_internals.a"));
-        PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libclog.a"));
-        // PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libbreakpad_common.a"));
-        PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libbenchmark.a"));
-        PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libtensorpipe.a"));
-        PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libpytorch_qnnpack.a"));
-        PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libtensorpipe_cuda.a"));
-        PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libnnpack_reference_layers.a"));
-        PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libgmock.a"));
-        PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libdnnl.a"));
-        PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libpthreadpool.a"));
-        PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libcpuinfo.a"));
-        PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libqnnpack.a"));
-        // PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libbreakpad.a"));
-        PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libkineto.a"));
-        PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libprotoc.a"));
-        PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libgtest.a"));
-        PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libgmock_main.a"));
-        PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libgtest_main.a"));
-        PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libbenchmark_main.a"));
-        PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libfmt.a"));
-        PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libtensorpipe_uv.a"));
-        PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libfoxi_loader.a"));
-        PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libgloo_cuda.a"));
-        PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libnnpack.a"));
-        PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libcaffe2_protos.a"));
-        PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libonnx.a"));
-        AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorch.so"));
-        AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libnnapi_backend.so"));
-        AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libbackend_with_compiler.so"));
-        AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libcaffe2_nvrtc.so"));
-        AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorch_cuda_cpp.so"));
-        AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libc10_cuda.so"));
-        AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorchbind_test.so"));
-        AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libjitbackend_test.so"));
-        AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libc10.so"));
-        AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorch_cuda.so"));
-        AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorch_global_deps.so"));
-        AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorch_cpu.so"));
-        AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libshm.so"));
-        AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorch_cuda_cu.so"));
-        AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorchscatter.so"));
-        AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorchcluster.so"));
-        // AddDynamicLibrary("/usr/local/cuda/lib64/stubs/libcuda.so");
-        // AddDynamicLibrary("/usr/local/cuda/lib64/libnvrtc.so");
-        // AddDynamicLibrary("/usr/local/cuda/lib64/libnvToolsExt.so");
-        // AddDynamicLibrary("/usr/local/cuda/lib64/libcudart.so");
-        // AddDynamicLibrary("/usr/lib/llvm-10/lib/libgomp.so");
-        PublicAdditionalLibraries.Add("/usr/local/cuda/lib64/stubs/libcuda.so");
-        PublicAdditionalLibraries.Add("/usr/local/cuda/lib64/libnvrtc.so");
-        PublicAdditionalLibraries.Add("/usr/local/cuda/lib64/libnvToolsExt.so");
-        PublicAdditionalLibraries.Add("/usr/local/cuda/lib64/libcudart.so");
-        PublicAdditionalLibraries.Add("/usr/lib/llvm-10/lib/libgomp.so");
-        RuntimeDependencies.Add(Path.Combine(LibTorchPath, "lib", "libcudart-a7b20f20.so.11.0"));
-        RuntimeDependencies.Add(Path.Combine(LibTorchPath, "lib", "libgomp-a34b3233.so.1"));
-        RuntimeDependencies.Add(Path.Combine(LibTorchPath, "lib", "libnvrtc-builtins-4730a239.so.11.3"));
-        RuntimeDependencies.Add(Path.Combine(LibTorchPath, "lib", "libnvrtc-1ea278b5.so.11.2"));
-        RuntimeDependencies.Add(Path.Combine(LibTorchPath, "lib", "libnvToolsExt-24de1d56.so.1"));
+        AddStaticLibrary("onnx_proto");
+        AddStaticLibrary("fbgemm");
+        AddStaticLibrary("gloo");
+        AddStaticLibrary("XNNPACK");
+        AddStaticLibrary("protobuf-lite");
+        AddStaticLibrary("protobuf");
+        AddStaticLibrary("asmjit");
+        AddStaticLibrary("cpuinfo_internals");
+        AddStaticLibrary("clog");
+        // AddStaticLibrary("breakpad_common");
+        AddStaticLibrary("benchmark");
+        AddStaticLibrary("tensorpipe");
+        AddStaticLibrary("pytorch_qnnpack");
+        AddStaticLibrary("tensorpipe_cuda");
+        AddStaticLibrary("nnpack_reference_layers");
+        AddStaticLibrary("gmock");
+        AddStaticLibrary("dnnl");
+        AddStaticLibrary("pthreadpool");
+        AddStaticLibrary("cpuinfo");
+        AddStaticLibrary("qnnpack");
+        // AddStaticLibrary("breakpad"));
+        AddStaticLibrary("kineto");
+        AddStaticLibrary("protoc");
+        AddStaticLibrary("gtest");
+        AddStaticLibrary("gmock_main");
+        AddStaticLibrary("gtest_main");
+        AddStaticLibrary("benchmark_main");
+        AddStaticLibrary("fmt");
+        AddStaticLibrary("tensorpipe_uv");
+        AddStaticLibrary("foxi_loader");
+        AddStaticLibrary("gloo_cuda");
+        AddStaticLibrary("nnpack");
+        AddStaticLibrary("caffe2_protos");
+        AddStaticLibrary("onnx");
+        AddDynamicLibrary("torch");
+        AddDynamicLibrary("nnapi_backend");
+        AddDynamicLibrary("backend_with_compiler");
+        AddDynamicLibrary("caffe2_nvrtc");
+        AddDynamicLibrary("torch_cuda_cpp");
+        AddDynamicLibrary("c10_cuda");
+        AddDynamicLibrary("torchbind_test");
+        AddDynamicLibrary("jitbackend_test");
+        AddDynamicLibrary("c10");
+        AddDynamicLibrary("torch_cuda");
+        AddDynamicLibrary("torch_global_deps");
+        AddDynamicLibrary("torch_cpu");
+        AddDynamicLibrary("shm");
+        AddDynamicLibrary("torch_cuda_cu");
+        AddDynamicLibrary("torchscatter");
+        AddDynamicLibrary("torchcluster");
+        AddDynamicLibrary("cuda", "/usr/local/cuda/lib64/stubs");
+        AddDynamicLibrary("nvrtc", "/usr/local/cuda/lib64");
+        AddDynamicLibrary("nvToolsExt", "/usr/local/cuda/lib64");
+        AddDynamicLibrary("cudart", "/usr/local/cuda/lib64");
+        AddDynamicLibrary("gomp", "/usr/lib/llvm-10/lib");
+        RuntimeDependencies.Add(Path.Combine("libcudart-a7b20f20.so.11.0"));
+        RuntimeDependencies.Add(Path.Combine("libgomp-a34b3233.so.1"));
+        RuntimeDependencies.Add(Path.Combine("libnvrtc-builtins-4730a239.so.11.3"));
+        RuntimeDependencies.Add(Path.Combine("libnvrtc-1ea278b5.so.11.2"));
+        RuntimeDependencies.Add(Path.Combine("libnvToolsExt-24de1d56.so.1"));
         PublicAdditionalLibraries.Add("stdc++");
         PublicAdditionalLibraries.Add("/usr/lib/x86_64-linux-gnu/libpython3.9.so");
       }
-
-      if (UsingRos2)
-      {
-        PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_fastdds")));
-
-        string LibFastDDSPath = LibCarlaInstallPath;
-        AddDynamicLibrary(Path.Combine(LibFastDDSPath, "lib", "libfoonathan_memory-0.7.3.so"));
-        AddDynamicLibrary(Path.Combine(LibFastDDSPath, "lib", "libfastcdr.so"));
-        AddDynamicLibrary(Path.Combine(LibFastDDSPath, "lib", "libfastrtps.so"));
-        PublicAdditionalLibraries.Add("stdc++");
-      }
-
-
-      //OsmToODR
-      PublicAdditionalLibraries.Add("/usr/lib/x86_64-linux-gnu/libc.so");
-      PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "libsqlite3.so"));
-      PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "libxerces-c.a"));
-      PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "libproj.a"));
-      PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "libosm2odr.a"));
-
     }
-    bEnableExceptions = true;
+
+    addOsmToODR();
+
+    addROS2();
+
 
     // Include path.
     string LibCarlaIncludePath = Path.Combine(LibCarlaInstallPath, "include");
-
     PublicIncludePaths.Add(LibCarlaIncludePath);
     PrivateIncludePaths.Add(LibCarlaIncludePath);
 

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaRules.Build.cs

@@ -0,0 +1,179 @@
+// Copyright 1998-2017 Epic Games, Inc. All Rights Reserved.
+
+using System;
+using System.IO;
+using UnrealBuildTool;
+
+public class CarlaRules : ModuleRules
+{
+  protected string LibCarlaInstallPath;
+  protected bool UsingRos2 = false;
+  protected bool Debug = false;
+
+  public CarlaRules(ReadOnlyTargetRules Target, string LibCarlaInstallPathRelativeToModule) : base(Target)
+  {
+    LibCarlaInstallPath = Path.GetFullPath(Path.Combine(ModuleDirectory, LibCarlaInstallPathRelativeToModule));
+  }
+
+  protected bool IsWindows()
+  {
+    return (Target.Platform == UnrealTargetPlatform.Win64) || (Target.Platform == UnrealTargetPlatform.Win32);
+  }
+
+  protected bool IsLinux()
+  {
+    return (Target.Platform == UnrealTargetPlatform.Linux) || (Target.Platform == UnrealTargetPlatform.LinuxAArch64);
+  }
+
+  protected bool IsMac()
+  {
+    return (Target.Platform == UnrealTargetPlatform.Mac);
+  }
+
+  protected bool UseDebugLibs()
+  {
+    if (IsWindows())
+    {
+      // In Windows, Unreal uses the Release C++ Runtime (CRT) even in debug
+      // mode, so unless we recompile the engine we cannot link the debug
+      // libraries.
+      return false;
+    }
+    else
+    {
+      return Debug;
+    }
+  }
+
+  protected void AddDllDependency(string PathToFolder, string DllName)
+  {
+    string Source = Path.Combine(PathToFolder, DllName);
+    string Destination = Path.Combine("$(BinaryOutputDir)", DllName);
+    RuntimeDependencies.Add(Destination, Source);
+  }
+
+  protected void AddBoostLibs()
+  {
+    string [] files = Directory.GetFiles(Path.Combine(LibCarlaInstallPath, "lib"), "*boost*.lib");
+    foreach (string file in files) PublicAdditionalLibraries.Add(file);
+  }
+
+  protected void AddStaticLibrary(string LibBaseName, string LinkBasePath = "", string LibPrefix = "", string LibPostfix = "") {
+    string linkBasePath = LinkBasePath;
+    if ( linkBasePath == "" )
+    {
+      linkBasePath = Path.GetFullPath(Path.Combine(LibCarlaInstallPath, "lib"));
+    }
+
+    string libPrefix = LibPrefix;
+    if ( libPrefix == "" )
+    {
+      if (IsWindows())
+      {
+        libPrefix = "";
+      }
+      else
+      {
+        libPrefix = "lib";
+      }
+    }
+
+    string libPostfix = LibPostfix;
+    if ( libPostfix == "" )
+    {
+      if (IsWindows())
+      {
+        libPostfix = ".lib";
+      }
+      else
+      {
+        libPostfix = ".a";
+      }
+    }
+
+    string linkLibrary= Path.Combine(linkBasePath, libPrefix + LibBaseName + libPostfix);
+    PublicAdditionalLibraries.Add(linkLibrary);
+  }
+  protected void AddDynamicLibrary(string LibBaseName, string LinkBasePath = "", string LibPrefix = "", string LibPostfix = "")
+  {
+    string linkBasePath = LinkBasePath;
+    if ( linkBasePath == "" )
+    {
+      linkBasePath = Path.GetFullPath(Path.Combine(LibCarlaInstallPath, "lib"));
+    }
+
+    string libPrefix;
+    if (IsWindows())
+    {
+      libPrefix = "";
+    }
+    else
+    {
+      libPrefix = "lib";
+    }
+    if ( LibPrefix != "" )
+    {
+      libPrefix = LibPrefix;
+    }
+
+    string libPostfix;
+    if (IsWindows())
+    {
+      libPostfix = ".dll";
+    }
+    else
+    {
+      libPostfix = ".so";
+    }
+    if (LibPostfix != "")
+    {
+      libPostfix = LibPostfix;
+    }
+
+    string linkLibrary= Path.Combine(linkBasePath, libPrefix + LibBaseName + libPostfix);
+    PublicAdditionalLibraries.Add(linkLibrary);
+    RuntimeDependencies.Add(linkLibrary);
+    if ( IsWindows() )
+    {
+      PublicDelayLoadDLLs.Add(linkLibrary);
+    }
+  }
+
+  protected void addOsmToODR()
+  {
+      AddStaticLibrary( "sqlite3");
+      AddStaticLibrary( "proj");
+      AddStaticLibrary( "osm2odr");
+      if ( IsWindows() )
+      {
+        AddStaticLibrary( "xerces-c_3");
+        AddStaticLibrary( "zlibstatic");
+      }
+      else
+      {
+        AddStaticLibrary( "xerces-c");
+      }
+  }
+
+  protected void addROS2()
+  {
+    if (UsingRos2) 
+    {
+      AddStaticLibrary( "foonathan_memory-0.7.3");
+      if ( IsWindows() )
+      {
+        AddStaticLibrary( "libfastcdr-1.1");
+        AddStaticLibrary( "libfastrtps-2.11");
+      }
+      else
+      {
+        AddStaticLibrary( "fastcdr");
+        AddStaticLibrary( "fastrtps");
+      }
+      PublicIncludePaths.Add(Path.Combine(LibCarlaInstallPath, "include", "carla", "ros2", "ros_types"));
+      PrivateIncludePaths.Add(Path.Combine(LibCarlaInstallPath, "include", "carla", "ros2", "ros_types"));
+      PublicDefinitions.Add("WITH_ROS2");
+      PrivateDefinitions.Add("WITH_ROS2");
+    }
+  }
+}

Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/CarlaTools.Build.cs

@@ -4,21 +4,17 @@ using System;
 using System.IO;
 using UnrealBuildTool;
 
-public class CarlaTools : ModuleRules
+public class CarlaTools : CarlaRules
 {
   bool bUsingOmniverseConnector = false;
-  private bool IsWindows(ReadOnlyTargetRules Target)
-  {
-    return (Target.Platform == UnrealTargetPlatform.Win64) || (Target.Platform == UnrealTargetPlatform.Win32);
-  }
 
-	public CarlaTools(ReadOnlyTargetRules Target) : base(Target)
+	public CarlaTools(ReadOnlyTargetRules Target) : base(Target, "../../../Carla/CarlaDependencies")
 	{
 		PCHUsage = ModuleRules.PCHUsageMode.UseExplicitOrSharedPCHs;
 
     // PrivatePCHHeaderFile = "Carla.h";
 
-    if (IsWindows(Target))
+    if (IsWindows())
     {
       bEnableExceptions = true;
     }
@@ -36,6 +32,13 @@ public class CarlaTools : ModuleRules
         PublicDefinitions.Add("WITH_OMNIVERSE");
         PrivateDefinitions.Add("WITH_OMNIVERSE");
       }
+
+      if (line.Contains("Ros2 ON"))
+      {
+        Console.WriteLine("Enabling ros2");
+        UsingRos2 = true;
+      }
+
     }
 
 		PublicIncludePaths.AddRange(
@@ -112,78 +115,32 @@ public class CarlaTools : ModuleRules
 				// ... add any modules that your module loads dynamically here ...
 			}
 			);
-		AddCarlaServerDependency(Target);
+		AddCarlaServerDependency();
 	}
 
-  private bool UseDebugLibs(ReadOnlyTargetRules Target)
-  {
-    if (IsWindows(Target))
-    {
-      // In Windows, Unreal uses the Release C++ Runtime (CRT) even in debug
-      // mode, so unless we recompile the engine we cannot link the debug
-      // libraries.
-      return false;
-    }
-    else
-    {
-      return false;
-    }
-  }
   
-  delegate string ADelegate(string s);
-
-  private void AddBoostLibs(string LibPath)
-  {
-    string [] files = Directory.GetFiles(LibPath, "*boost*.lib");
-    foreach (string file in files)
-    {
-      PublicAdditionalLibraries.Add(file);
-    }
-  }
-
-
-	private void AddCarlaServerDependency(ReadOnlyTargetRules Target)
+	private void AddCarlaServerDependency()
 	{
-		string LibCarlaInstallPath = Path.GetFullPath(Path.Combine(ModuleDirectory, "../../../Carla/CarlaDependencies"));
-
-		ADelegate GetLibName = (string BaseName) => {
-			if (IsWindows(Target))
-			{
-				return BaseName + ".lib";
-			}
-			else
-			{
-				return "lib" + BaseName + ".a";
-			}
-		};
 
     // Link dependencies.
-    if (IsWindows(Target))
+    if (IsWindows())
     {
-      AddBoostLibs(Path.Combine(LibCarlaInstallPath, "lib"));
-      PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("rpc")));
-
-      if (UseDebugLibs(Target))
-      {
-        PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_server_debug")));
-      }
-      else
-      {
-        PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_server")));
-      }
+      AddBoostLibs();
+    }
+    AddStaticLibrary("rpc");
+    if (UseDebugLibs())
+    {
+      AddStaticLibrary("carla_server_debug");
     }
     else
     {
-      PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("rpc")));
-      if (UseDebugLibs(Target))
-      {
-        PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_server_debug")));
-      }
-      else
-      {
-        PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_server")));
-      }
+      AddStaticLibrary("carla_server");
     }
+
+    addOsmToODR();
+
+    addROS2();
+
     // Include path.
     string LibCarlaIncludePath = Path.Combine(LibCarlaInstallPath, "include");
 
@@ -192,7 +149,7 @@ public class CarlaTools : ModuleRules
 
     PublicDefinitions.Add("ASIO_NO_EXCEPTIONS");
     PublicDefinitions.Add("BOOST_NO_EXCEPTIONS");
-    // PublicDefinitions.Add("LIBCARLA_NO_EXCEPTIONS");
+    PublicDefinitions.Add("LIBCARLA_NO_EXCEPTIONS");
     PublicDefinitions.Add("PUGIXML_NO_EXCEPTIONS");
     PublicDefinitions.Add("BOOST_DISABLE_ABI_HEADERS");
     PublicDefinitions.Add("BOOST_TYPE_INDEX_FORCE_NO_RTTI_COMPATIBILITY");

Util/BuildTools/Ad-rss.sh

@@ -22,6 +22,13 @@ done
 # ==============================================================================
 source $(dirname "$0")/Environment.sh
 
+
+UNREAL_SYSROOT="$UE4_ROOT/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu"
+export CC="${UNREAL_SYSROOT}/bin/clang"
+export CXX="${UNREAL_SYSROOT}/bin/clang++"
+export PATH="${UNREAL_SYSROOT}/bin:$PATH"
+
+
 # Convert comma-separated string to array of unique elements.
 IFS="," read -r -a PY_VERSION_LIST <<< "${PY_VERSION_LIST}"
 
@@ -29,7 +36,7 @@ IFS="," read -r -a PY_VERSION_LIST <<< "${PY_VERSION_LIST}"
 # -- Get ad-rss -------------------------------------------
 # ==============================================================================
 
-ADRSS_VERSION=4.4.4
+ADRSS_VERSION=4.4.5
 ADRSS_BASENAME=ad-rss-${ADRSS_VERSION}
 ADRSS_COLCON_WORKSPACE="${CARLA_BUILD_FOLDER}/${ADRSS_BASENAME}"
 ADRSS_SRC_DIR="${ADRSS_COLCON_WORKSPACE}/src"
@@ -42,11 +49,8 @@ if [[ ! -d "${ADRSS_SRC_DIR}" ]]; then
 
   # clone ad-rss with all submodules, but remove proj, as CARLA already uses it
   pushd "${ADRSS_SRC_DIR}" >/dev/null
-  git clone -b v${ADRSS_VERSION} https://github.com/intel/ad-rss-lib.git && cd ad-rss-lib && git submodule update --init --recursive && rm -rf dependencies/map/dependencies/PROJ4 && cd ..
+  git clone -b v${ADRSS_VERSION} https://github.com/intel/ad-rss-lib.git && cd ad-rss-lib && git submodule update --init --recursive && cd ..
 
-  # ADRSS_VERSION is designed for older boost, update datatype from boost::array to std::array
-  grep -rl "boost::array" | xargs sed -i 's/boost::array/std::array/g'
-  grep -rl "find_package(Boost" | xargs sed -i 's/find_package(Boost/find_package(Boost 1.80/g'
   popd
 
   cat >"${ADRSS_COLCON_WORKSPACE}/colcon.meta" <<EOL
@@ -91,8 +95,6 @@ ADRSS_INSTALL_DIR="${CARLA_BUILD_FOLDER}/${ADRSS_BASENAME}/install"
 #else
 #  echo "Using clang-$CARLA_LLVM_VERSION_MAJOR as the CARLA compiler."
 #fi
-CXX_TAG=c10
-
 #
 # Since it it not possible with boost-python to build more than one python version at once (find_package has some bugs)
 # we have to build it for every version in a separate colcon build
@@ -107,9 +109,9 @@ for PY_VERSION in ${PY_VERSION_LIST[@]} ; do
 
     pushd "${ADRSS_COLCON_WORKSPACE}" >/dev/null
     if [[ "${CMAKE_PREFIX_PATH}" == "" ]]; then
-      CMAKE_PREFIX_PATH="${CARLA_BUILD_FOLDER}/boost-1.80.0-$CXX_TAG-install;${CARLA_BUILD_FOLDER}/proj-install"
+      CMAKE_PREFIX_PATH="${CARLA_BUILD_FOLDER}/boost-1.80.0-client-install;${CARLA_BUILD_FOLDER}/proj-client-install"
     else
-      CMAKE_PREFIX_PATH="${CARLA_BUILD_FOLDER}/boost-1.80.0-$CXX_TAG-install;${CARLA_BUILD_FOLDER}/proj-install;${CMAKE_PREFIX_PATH}"
+      CMAKE_PREFIX_PATH="${CARLA_BUILD_FOLDER}/boost-1.80.0-client-install;${CARLA_BUILD_FOLDER}/proj-client-install;${CMAKE_PREFIX_PATH}"
     fi
 
     # get the python version of the binding to be built, need to query the binary,
@@ -120,7 +122,7 @@ for PY_VERSION in ${PY_VERSION_LIST[@]} ; do
     echo "PYTHON_BINDING_VERSIONS=${PYTHON_BINDING_VERSIONS}"
 
     # enforce sequential executor to reduce the required memory for compilation
-    colcon build --executor sequential --packages-up-to ad_rss_map_integration --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_TOOLCHAIN_FILE="${CARLA_BUILD_FOLDER}/LibStdCppToolChain.cmake" -DCMAKE_PREFIX_PATH="${CMAKE_PREFIX_PATH}" -DPYTHON_BINDING_VERSIONS="${PYTHON_BINDING_VERSIONS}" --build-base ${ADRSS_BUILD_DIR} --install-base ${ADRSS_INSTALL_DIR}
+    colcon build --executor sequential --packages-up-to ad_rss_map_integration --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_TOOLCHAIN_FILE="${CARLA_BUILD_FOLDER}/CarlaClientToolChain.cmake" -DCMAKE_PREFIX_PATH="${CMAKE_PREFIX_PATH}" -DPYTHON_BINDING_VERSIONS="${PYTHON_BINDING_VERSIONS}" --build-base ${ADRSS_BUILD_DIR} --install-base ${ADRSS_INSTALL_DIR}
 
     COLCON_RESULT=$?
     if (( COLCON_RESULT )); then

Util/BuildTools/BuildCarlaUE4.sh

@@ -6,7 +6,7 @@
 
 DOC_STRING="Build and launch CarlaUE4."
 
-USAGE_STRING="Usage: $0 [-h|--help] [--build] [--rebuild] [--launch] [--clean] [--hard-clean] [--opengl]"
+USAGE_STRING="Usage: $0 [-h|--help] [--build] [--rebuild] [--launch] [--clean] [--hard-clean] [--opengl] [--ros2]"
 
 REMOVE_INTERMEDIATE=false
 HARD_CLEAN=false
@@ -17,11 +17,13 @@ USE_CHRONO=false
 USE_PYTORCH=false
 USE_UNITY=true
 USE_ROS2=false
+EDITOR_ROS2_FLAGS=""
 
 EDITOR_FLAGS=""
 
 GDB=
 RHI="-vulkan"
+DEBUG=false
 
 OPTS=`getopt -o h --long help,build,rebuild,launch,clean,hard-clean,gdb,opengl,carsim,pytorch,chrono,ros2,no-unity,editor-flags: -n 'parse-options' -- "$@"`
 
@@ -35,6 +37,9 @@ while [[ $# -gt 0 ]]; do
     --gdb )
       GDB="gdb --args";
       shift ;;
+    --debug )
+      DEBUG=true;
+      shift ;;
     --build )
       BUILD_CARLAUE4=true;
       shift ;;
@@ -66,6 +71,9 @@ while [[ $# -gt 0 ]]; do
       shift ;;
     --ros2 )
       USE_ROS2=true;
+      # Due to continued segfaults in reallocations of MallocBinned2 enforce using AnsiMalloc calls 
+      # (see https://forums.unrealengine.com/t/dealing-with-allocator-mismatches-with-external-libraries/1416830)
+      EDITOR_ROS2_FLAGS="-ansimalloc"
       shift ;;
     --no-unity )
       USE_UNITY=false
@@ -110,7 +118,7 @@ if ${HARD_CLEAN} ; then
 
   log "Doing a \"hard\" clean of the Unreal Engine project."
 
-  make CarlaUE4Editor ARGS=-clean
+  make CarlaUE4Editor ARGS="-clean"
 
 fi
 
@@ -122,16 +130,16 @@ if ${REMOVE_INTERMEDIATE} ; then
 
   rm -Rf ${UE4_INTERMEDIATE_FOLDERS}
 
+  cd Plugins
+  rm -Rf HoudiniEngine
+  cd ..
+
   rm -f Makefile
 
   pushd "${CARLAUE4_PLUGIN_ROOT_FOLDER}" >/dev/null
 
   rm -Rf ${UE4_INTERMEDIATE_FOLDERS}
 
-  cd Plugins
-  rm -Rf HoudiniEngine
-  cd ..
-
   popd >/dev/null
 
 fi
@@ -165,12 +173,16 @@ if ${BUILD_CARLAUE4} ; then
   else
     OPTIONAL_MODULES_TEXT="Ros2 OFF"$'\n'"${OPTIONAL_MODULES_TEXT}"
   fi
+  if ${DEBUG} ; then
+    OPTIONAL_MODULES_TEXT="Debug ON"$'\n'"${OPTIONAL_MODULES_TEXT}"
+  else
+    OPTIONAL_MODULES_TEXT="Debug OFF"$'\n'"${OPTIONAL_MODULES_TEXT}"
+  fi
   if ${USE_UNITY} ; then
     OPTIONAL_MODULES_TEXT="Unity ON"$'\n'"${OPTIONAL_MODULES_TEXT}"
   else
     OPTIONAL_MODULES_TEXT="Unity OFF"$'\n'"${OPTIONAL_MODULES_TEXT}"
   fi
-  OPTIONAL_MODULES_TEXT="Fast_dds ON"$'\n'"${OPTIONAL_MODULES_TEXT}"
   echo ${OPTIONAL_MODULES_TEXT} > ${PWD}/Config/OptionalModules.ini
 
   if [ ! -f Makefile ]; then
@@ -200,7 +212,7 @@ fi
 if ${LAUNCH_UE4_EDITOR} ; then
 
   log "Launching UE4Editor..."
-  ${GDB} ${UE4_ROOT}/Engine/Binaries/Linux/UE4Editor "${PWD}/CarlaUE4.uproject" ${RHI} ${EDITOR_FLAGS}
+  ${GDB} ${UE4_ROOT}/Engine/Binaries/Linux/UE4Editor "${PWD}/CarlaUE4.uproject" ${RHI} ${EDITOR_FLAGS} ${EDITOR_ROS2_FLAGS}
 
 else
 

Util/BuildTools/BuildLibCarla.bat

@@ -15,11 +15,13 @@ rem -- Parse arguments ---------------------------------------------------------
 rem ============================================================================
 
 set DOC_STRING=Build LibCarla.
-set USAGE_STRING=Usage: %FILE_N% [-h^|--help] [--rebuild] [--server] [--client] [--clean]
+set USAGE_STRING=Usage: %FILE_N% [-h^|--help] [--rebuild] [--server] [--client] [--clean] [--ros2]
 
 set REMOVE_INTERMEDIATE=false
 set BUILD_SERVER=false
 set BUILD_CLIENT=false
+set M_ROS2=OFF
+set GENERATOR=""
 
 :arg-parse
 if not "%1"=="" (
@@ -34,6 +36,9 @@ if not "%1"=="" (
     if "%1"=="--client" (
         set BUILD_CLIENT=true
     )
+    if "%1"=="--ros2" (
+        set M_ROS2=ON
+    )
     if "%1"=="--clean" (
         set REMOVE_INTERMEDIATE=true
     )
@@ -73,7 +78,11 @@ rem
 set LIBCARLA_VSPROJECT_PATH=%INSTALLATION_DIR:/=\%libcarla-visualstudio\
 
 if %GENERATOR% == "" set GENERATOR="Visual Studio 16 2019"
-
+echo.%GENERATOR% | findstr /C:"Visual Studio" >nul && (
+    set PLATFORM=-A x64
+) || (
+    set PLATFORM=
+)
 
 set LIBCARLA_SERVER_INSTALL_PATH=%ROOT_PATH:/=\%Unreal\CarlaUE4\Plugins\Carla\CarlaDependencies\
 set LIBCARLA_CLIENT_INSTALL_PATH=%ROOT_PATH:/=\%PythonAPI\carla\dependencies\
@@ -104,12 +113,6 @@ if %REMOVE_INTERMEDIATE% == true (
 if not exist "%LIBCARLA_VSPROJECT_PATH%" mkdir "%LIBCARLA_VSPROJECT_PATH%"
 cd "%LIBCARLA_VSPROJECT_PATH%"
 
-echo.%GENERATOR% | findstr /C:"Visual Studio" >nul && (
-    set PLATFORM=-A x64
-) || (
-    set PLATFORM=
-)
-
 rem For some reason the findstr above sets an errorlevel even if it finds the string in this batch file.
 set errorlevel=0
 
@@ -121,6 +124,7 @@ if %BUILD_SERVER% == true (
       -DCMAKE_BUILD_TYPE=Server^
       -DCMAKE_CXX_FLAGS_RELEASE="/MD /MP"^
       -DCMAKE_INSTALL_PREFIX="%LIBCARLA_SERVER_INSTALL_PATH:\=/%"^
+      -DLIBCARLA_USE_ROS="%M_ROS2%"^
       "%ROOT_PATH%"
 
     if %errorlevel% neq 0 goto error_cmake

Util/BuildTools/BuildLibCarla.sh

@@ -125,28 +125,31 @@ function build_libcarla {
 
   CMAKE_EXTRA_OPTIONS=''
 
+  M_ROS=false
   if [ $1 == Server ] ; then
-    M_TOOLCHAIN=${LIBCPP_TOOLCHAIN_FILE}
+    M_TOOLCHAIN=${CARLA_SERVER_TOOLCHAIN_FILE}
     M_BUILD_FOLDER=${LIBCARLA_BUILD_SERVER_FOLDER}.$(echo "$2" | tr '[:upper:]' '[:lower:]')
     M_INSTALL_FOLDER=${LIBCARLA_INSTALL_SERVER_FOLDER}
+  elif [ $1 == ServerROS ] ; then
+    BUILD_TYPE='Server'
+    M_TOOLCHAIN=${CARLA_SERVER_TOOLCHAIN_FILE}
+    M_BUILD_FOLDER=${LIBCARLA_BUILD_SERVER_FOLDER}.ROS.$(echo "$2" | tr '[:upper:]' '[:lower:]')
+    M_INSTALL_FOLDER=${LIBCARLA_INSTALL_SERVER_FOLDER}
+    M_ROS=true
   elif [ $1 == Client ] ; then
-    M_TOOLCHAIN=${LIBSTDCPP_TOOLCHAIN_FILE}
+    M_TOOLCHAIN=${CARLA_CLIENT_TOOLCHAIN_FILE}
     M_BUILD_FOLDER=${LIBCARLA_BUILD_CLIENT_FOLDER}.$(echo "$2" | tr '[:upper:]' '[:lower:]')
     M_INSTALL_FOLDER=${LIBCARLA_INSTALL_CLIENT_FOLDER}
   elif [ $1 == Pytorch ] ; then
-    M_TOOLCHAIN=${LIBSTDCPP_TOOLCHAIN_FILE}
+    M_TOOLCHAIN=${CARLA_SERVER_TOOLCHAIN_FILE}
     M_BUILD_FOLDER=${LIBCARLA_BUILD_PYTORCH_FOLDER}.$(echo "$2" | tr '[:upper:]' '[:lower:]')
     M_INSTALL_FOLDER=${LIBCARLA_INSTALL_SERVER_FOLDER}
-  elif [ $1 == ros2 ] ; then
-    M_TOOLCHAIN=${LIBSTDCPP_TOOLCHAIN_FILE}
-    M_BUILD_FOLDER=${LIBCARLA_FASTDDS_FOLDER}.$(echo "$2" | tr '[:upper:]' '[:lower:]')
-    M_INSTALL_FOLDER=${LIBCARLA_INSTALL_SERVER_FOLDER}
   elif [ $1 == ClientRSS ] ; then
     BUILD_TYPE='Client'
-    M_TOOLCHAIN=${LIBSTDCPP_TOOLCHAIN_FILE}
+    M_TOOLCHAIN=${CARLA_CLIENT_TOOLCHAIN_FILE}
     M_BUILD_FOLDER=${LIBCARLA_BUILD_CLIENT_FOLDER}.rss.$(echo "$2" | tr '[:upper:]' '[:lower:]')
     M_INSTALL_FOLDER=${LIBCARLA_INSTALL_CLIENT_FOLDER}
-    CMAKE_EXTRA_OPTIONS="${CMAKE_EXTRA_OPTIONS:+${CMAKE_EXTRA_OPTIONS} }-DBUILD_RSS_VARIANT=ON -DADRSS_INSTALL_DIR=${CARLA_BUILD_FOLDER}/ad-rss-4.4.4/install"
+    CMAKE_EXTRA_OPTIONS="${CMAKE_EXTRA_OPTIONS:+${CMAKE_EXTRA_OPTIONS} }-DBUILD_RSS_VARIANT=ON -DADRSS_INSTALL_DIR=${CARLA_BUILD_FOLDER}/ad-rss-4.4.5/install"
   else
     fatal_error "Invalid build configuration \"$1\""
   fi
@@ -184,6 +187,7 @@ function build_libcarla {
         -DCMAKE_BUILD_TYPE=${BUILD_TYPE:-$1} \
         -DLIBCARLA_BUILD_DEBUG=${M_DEBUG} \
         -DLIBCARLA_BUILD_RELEASE=${M_RELEASE} \
+        -DLIBCARLA_USE_ROS=${M_ROS} \
         -DCMAKE_TOOLCHAIN_FILE=${M_TOOLCHAIN} \
         -DCMAKE_INSTALL_PREFIX=${M_INSTALL_FOLDER} \
         -DCMAKE_EXPORT_COMPILE_COMMANDS=1 \
@@ -205,23 +209,22 @@ function build_libcarla {
 # -- Build all possible configurations -----------------------------------------
 # ==============================================================================
 
+SERVER_VARIANT='Server'
+if ${USE_ROS2}; then
+  SERVER_VARIANT='ServerROS'
+fi
 if { ${BUILD_SERVER} && ${BUILD_OPTION_DEBUG}; }; then
 
-  build_libcarla Server Debug
+  build_libcarla ${SERVER_VARIANT} Debug
 
 fi
 
 if { ${BUILD_SERVER} && ${BUILD_OPTION_RELEASE}; }; then
 
-  build_libcarla Server Release
+  build_libcarla ${SERVER_VARIANT} Release
   if ${USE_PYTORCH} ; then
     build_libcarla Pytorch Release
   fi
-
-  if ${USE_ROS2} ; then
-    build_libcarla ros2 Release
-  fi
-
 fi
 
 CLIENT_VARIANT='Client'

Util/BuildTools/BuildOSM2ODR.bat

@@ -6,6 +6,7 @@ rem Run it through a cmd with the x64 Visual C++ Toolset enabled.
 
 set LOCAL_PATH=%~dp0
 set FILE_N=-[%~n0]:
+set GENERATOR=""
 
 rem Print batch params (debug purpose)
 echo %FILE_N% [Batch params]: %*
@@ -57,6 +58,13 @@ if not "%1"=="" (
     goto :arg-parse
 )
 
+if %GENERATOR% == "" set GENERATOR="Visual Studio 16 2019"
+echo.%GENERATOR% | findstr /C:"Visual Studio" >nul && (
+    set PLATFORM=-A x64
+) || (
+    set PLATFORM=
+)
+
 if %REMOVE_INTERMEDIATE% == false (
     if %BUILD_OSM2ODR% == false (
         echo Nothing selected to be done.
@@ -76,8 +84,6 @@ set OSM2ODR_INSTALL_PATH=%ROOT_PATH:/=\%PythonAPI\carla\dependencies\
 set OSM2ODR__SERVER_INSTALL_PATH=%ROOT_PATH:/=\%Unreal\CarlaUE4\Plugins\Carla\CarlaDependencies
 set CARLA_DEPENDENCIES_FOLDER=%ROOT_PATH:/=\%Unreal\CarlaUE4\Plugins\Carla\CarlaDependencies\
 
-if %GENERATOR% == "" set GENERATOR="Visual Studio 16 2019"
-
 if %REMOVE_INTERMEDIATE% == true (
     rem Remove directories
     for %%G in (
@@ -90,6 +96,7 @@ if %REMOVE_INTERMEDIATE% == true (
     )
 )
 
+
 rem Build OSM2ODR
 if %BUILD_OSM2ODR% == true (
     cd "%INSTALLATION_DIR%"

Util/BuildTools/BuildOSM2ODR.sh

@@ -14,7 +14,7 @@ END
 REMOVE_INTERMEDIATE=false
 BUILD_OSM2ODR=false
 GIT_PULL=true
-CURRENT_OSM2ODR_COMMIT=1835e1e9538d0778971acc8b19b111834aae7261
+CURRENT_OSM2ODR_COMMIT=2a490962dc54da711ab09265393a4dc2f6d31813
 OSM2ODR_BRANCH=aaron/defaultsidewalkwidth
 OSM2ODR_REPO=https://github.com/carla-simulator/sumo.git
 
@@ -51,13 +51,15 @@ source $(dirname "$0")/Environment.sh
 
 function get_source_code_checksum {
   local EXCLUDE='*__pycache__*'
-  find "${OSM2ODR_SOURCE_FOLDER}"/* \! -path "${EXCLUDE}" -print0 | sha1sum | awk '{print $1}'
+  find "${OSM2ODR_BASENAME}-source"/* \! -path "${EXCLUDE}" -print0 | sha1sum | awk '{print $1}'
 }
 
 if ! { ${REMOVE_INTERMEDIATE} || ${BUILD_OSM2ODR}; }; then
   fatal_error "Nothing selected to be done."
 fi
 
+OSM2ODR_BASENAME=${CARLA_BUILD_FOLDER}/osm2odr
+
 # ==============================================================================
 # -- Clean intermediate files --------------------------------------------------
 # ==============================================================================
@@ -66,7 +68,8 @@ if ${REMOVE_INTERMEDIATE} ; then
 
   log "Cleaning intermediate files and folders."
 
-  rm -Rf ${OSM2ODR_BUILD_FOLDER}*
+  rm -Rf ${OSM2ODR_BASENAME}-client-build* ${OSM2ODR_BASENAME}-server-build*
+  rm -Rf ${OSM2ODR_BASENAME}-server-install* ${OSM2ODR_BASENAME}-client-install*
 
 fi
 
@@ -75,75 +78,64 @@ fi
 # ==============================================================================
 
 if ${BUILD_OSM2ODR} ; then
-  log "Building OSM2ODR."
-  if [ ! -d ${OSM2ODR_SOURCE_FOLDER} ] ; then
-    cd ${CARLA_BUILD_FOLDER}
-    curl --retry 5 --retry-max-time 120 -L -o OSM2ODR.zip https://github.com/carla-simulator/sumo/archive/${CURRENT_OSM2ODR_COMMIT}.zip
-    unzip -qq OSM2ODR.zip
-    rm -f OSM2ODR.zip
-    mv sumo-${CURRENT_OSM2ODR_COMMIT} ${OSM2ODR_SOURCE_FOLDER}
+
+  if [[ -d ${OSM2ODR_BASENAME}-client-install && -d ${OSM2ODR_BASENAME}-server-install ]] ; then
+    log "OSM2ODR already installed."
+  else
+    rm -Rf \
+        ${OSM2ODR_BASENAME}-source \
+        ${OSM2ODR_BASENAME}-server-build ${OSM2ODR_BASENAME}-client-build \
+        ${OSM2ODR_BASENAME}-server-install ${OSM2ODR_BASENAME}-client-install
+
+    log "Building OSM2ODR."
+    if [ ! -d ${OSM2ODR_BASENAME}-source ] ; then
+      cd ${CARLA_BUILD_FOLDER}
+      curl --retry 5 --retry-max-time 120 -L -o OSM2ODR.zip https://github.com/carla-simulator/sumo/archive/${CURRENT_OSM2ODR_COMMIT}.zip
+      unzip -qq OSM2ODR.zip
+      rm -f OSM2ODR.zip
+      mv sumo-${CURRENT_OSM2ODR_COMMIT} ${OSM2ODR_BASENAME}-source
+    fi
+
+    mkdir -p ${OSM2ODR_BASENAME}-client-build
+    pushd ${OSM2ODR_BASENAME}-client-build >/dev/null
+
+    cmake ${OSM2ODR_BASENAME}-source \
+        -G "Eclipse CDT4 - Ninja" \
+        -DCMAKE_INSTALL_PREFIX=${OSM2ODR_BASENAME}-client-install \
+        -DCMAKE_TOOLCHAIN_FILE="${CARLA_CLIENT_TOOLCHAIN_FILE}" \
+        -DOSM2ODR_INCLUDE_DIR=${CARLA_BUILD_FOLDER}/proj-client-install/include \
+        -DOSM2ODR_LIBRARY=${CARLA_BUILD_FOLDER}/proj-client-install/lib/libproj.so \
+        -DXercesC_INCLUDE_DIR=${CARLA_BUILD_FOLDER}/xerces-c-3.2.3-client-install/include \
+        -DXercesC_LIBRARY=${CARLA_BUILD_FOLDER}/xerces-c-3.2.3-client-install/lib/libxerces-c.so
+
+    ninja osm2odr
+    ninja install
+    popd >/dev/null
+
+    mkdir -p ${OSM2ODR_BASENAME}-server-build
+    pushd ${OSM2ODR_BASENAME}-server-build >/dev/null
+
+    cmake ${OSM2ODR_BASENAME}-source \
+        -G "Eclipse CDT4 - Ninja" \
+        -DCMAKE_INSTALL_PREFIX=${OSM2ODR_BASENAME}-server-install \
+        -DCMAKE_TOOLCHAIN_FILE="${CARLA_SERVER_TOOLCHAIN_FILE}" \
+        -DOSM2ODR_INCLUDE_DIR=${CARLA_BUILD_FOLDER}/proj-server-install/include \
+        -DOSM2ODR_LIBRARY=${CARLA_BUILD_FOLDER}/proj-server-install/lib/libproj.a \
+        -DXercesC_INCLUDE_DIR=${CARLA_BUILD_FOLDER}/xerces-c-3.2.3-server-install/include \
+        -DXercesC_LIBRARY=${CARLA_BUILD_FOLDER}/xerces-c-3.2.3-server-install/lib/libxerces-c.a
+
+    ninja osm2odr
+    ninja install
+    popd >/dev/null
+
+    rm -Rf ${OSM2ODR_BASENAME}-server-build ${OSM2ODR_BASENAME}-client-build
   fi
 
-  mkdir -p ${OSM2ODR_BUILD_FOLDER}
-  cd ${OSM2ODR_BUILD_FOLDER}
+  cp -p -r ${OSM2ODR_BASENAME}-server-install/include/* ${LIBCARLA_INSTALL_SERVER_FOLDER}/include/
+  cp -p ${OSM2ODR_BASENAME}-server-install/lib/*.a ${LIBCARLA_INSTALL_SERVER_FOLDER}/lib
 
-
-  export CC="$UE4_ROOT/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/clang"
-  export CXX="$UE4_ROOT/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/clang++"
-  export PATH="$UE4_ROOT/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin:$PATH"
-
-  cmake ${OSM2ODR_SOURCE_FOLDER} \
-      -G "Eclipse CDT4 - Ninja" \
-      -DCMAKE_CXX_FLAGS="-stdlib=libstdc++" \
-      -DCMAKE_INSTALL_PREFIX=${LIBCARLA_INSTALL_CLIENT_FOLDER} \
-      -DPROJ_INCLUDE_DIR=${CARLA_BUILD_FOLDER}/proj-install/include \
-      -DPROJ_LIBRARY=${CARLA_BUILD_FOLDER}/proj-install/lib/libproj.a \
-      -DXercesC_INCLUDE_DIR=${CARLA_BUILD_FOLDER}/xerces-c-3.2.3-install/include \
-      -DXercesC_LIBRARY=${CARLA_BUILD_FOLDER}/xerces-c-3.2.3-install/lib/libxerces-c.a
-
-  ninja osm2odr
-  ninja install
-
-  mkdir -p ${OSM2ODR_SERVER_BUILD_FOLDER}
-  cd ${OSM2ODR_SERVER_BUILD_FOLDER}
-
-  LLVM_BASENAME=llvm-8.0
-  LLVM_INCLUDE="$UE4_ROOT/Engine/Source/ThirdParty/Linux/LibCxx/include/c++/v1"
-  LLVM_LIBPATH="$UE4_ROOT/Engine/Source/ThirdParty/Linux/LibCxx/lib/Linux/x86_64-unknown-linux-gnu"
-
-  echo $LLVM_INCLUDE
-  echo $LLVM_LIBPATH
-
-  cmake ${OSM2ODR_SOURCE_FOLDER} \
-      -G "Eclipse CDT4 - Ninja" \
-      -DCMAKE_CXX_FLAGS="-fPIC -std=c++14 -stdlib=libc++ -I${LLVM_INCLUDE} -L${LLVM_LIBPATH}" \
-      -DCMAKE_INSTALL_PREFIX=${LIBCARLA_INSTALL_SERVER_FOLDER} \
-      -DPROJ_INCLUDE_DIR=${CARLA_BUILD_FOLDER}/proj-install-server/include \
-      -DPROJ_LIBRARY=${CARLA_BUILD_FOLDER}/proj-install-server/lib/libproj.a \
-      -DXercesC_INCLUDE_DIR=${CARLA_BUILD_FOLDER}/xerces-c-3.2.3-install-server/include \
-      -DXercesC_LIBRARY=${CARLA_BUILD_FOLDER}/xerces-c-3.2.3-install-server/lib/libxerces-c.a
-
-  ninja osm2odr
-  ninja install
-
-  mkdir -p ${OSM2ODR_SERVER_BUILD_FOLDER}
-  cd ${OSM2ODR_SERVER_BUILD_FOLDER}
-
-  LLVM_BASENAME=llvm-8.0
-  LLVM_INCLUDE="$UE4_ROOT/Engine/Source/ThirdParty/Linux/LibCxx/include/c++/v1"
-  LLVM_LIBPATH="$UE4_ROOT/Engine/Source/ThirdParty/Linux/LibCxx/lib/Linux/x86_64-unknown-linux-gnu"
-
-  cmake ${OSM2ODR_SOURCE_FOLDER} \
-      -G "Eclipse CDT4 - Ninja" \
-      -DCMAKE_CXX_FLAGS="-fPIC -std=c++14 -stdlib=libc++ -I${LLVM_INCLUDE} -L${LLVM_LIBPATH}" \
-      -DCMAKE_INSTALL_PREFIX=${LIBCARLA_INSTALL_SERVER_FOLDER} \
-      -DPROJ_INCLUDE_DIR=${CARLA_BUILD_FOLDER}/proj-install-server/include \
-      -DPROJ_LIBRARY=${CARLA_BUILD_FOLDER}/proj-install-server/lib/libproj.a \
-      -DXercesC_INCLUDE_DIR=${CARLA_BUILD_FOLDER}/xerces-c-3.2.3-install-server/include \
-      -DXercesC_LIBRARY=${CARLA_BUILD_FOLDER}/xerces-c-3.2.3-install-server/lib/libxerces-c.a
-
-  ninja osm2odr
-  ninja install
+  cp -p -r ${OSM2ODR_BASENAME}-client-install/include/* ${LIBCARLA_INSTALL_CLIENT_FOLDER}/include/
+  cp -p ${OSM2ODR_BASENAME}-client-install/lib/*.a ${LIBCARLA_INSTALL_CLIENT_FOLDER}/lib
 
 fi
 

Util/BuildTools/BuildOSMRenderer.bat

@@ -75,7 +75,7 @@ if not exist "%OSM_RENDERER_VSPROJECT_PATH%" mkdir "%OSM_RENDERER_VSPROJECT_PATH
 cd "%OSM_RENDERER_VSPROJECT_PATH%"
 
 cmake -G "Visual Studio 16 2019" -A x64^
-    -DCMAKE_CXX_FLAGS_RELEASE="/std:c++17 /wd4251 /I%INSTALLATION_DIR:/=\%boost-1.80.0-install\include"^
+    -DCMAKE_CXX_FLAGS_RELEASE="/std:c++20 /wd4251 /I%INSTALLATION_DIR:/=\%boost-1.80.0-install\include"^
     "%OSM_RENDERER_SOURCE%"
 
 cmake --build . --config Release

Util/BuildTools/BuildOSMRenderer.sh

@@ -68,7 +68,7 @@ echo "Building osm-map-renderer"
 mkdir -p ${OSM_RENDERER_BUILD}
 cd ${OSM_RENDERER_BUILD}
 
-cmake -DCMAKE_CXX_FLAGS="-std=c++17 -g -pthread -I${CARLA_BUILD_FOLDER}/boost-1.80.0-c10-install/include" \
+cmake -DCMAKE_TOOLCHAIN_FILE="${CARLA_CLIENT_TOOLCHAIN_FILE}" -DCMAKE_CXX_FLAGS="-g -I${CARLA_BUILD_FOLDER}/boost-1.80.0-install/include" \
     ${OSM_RENDERER_SOURCE}
 make
 

Util/BuildTools/BuildPythonAPI.sh

@@ -48,10 +48,10 @@ while [[ $# -gt 0 ]]; do
   esac
 done
 
-
-export CC="$UE4_ROOT/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/clang"
-export CXX="$UE4_ROOT/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/clang++"
-export PATH="$UE4_ROOT/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin:$PATH"
+UNREAL_SYSROOT="$UE4_ROOT/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu"
+export CC="${UNREAL_SYSROOT}/bin/clang"
+export CXX="${UNREAL_SYSROOT}/bin/clang++"
+export PATH="${UNREAL_SYSROOT}/bin:$PATH"
 
 source $(dirname "$0")/Environment.sh
 
@@ -75,7 +75,7 @@ if ${REMOVE_INTERMEDIATE} ; then
   rm -Rf build dist source/carla.egg-info
 
   find source -name "*.so" -delete
-  find source -name "__pycache__" -type d -exec rm -r "{}" \;
+  find source -name "__pycache__" -type d -exec rm -rf "{}" \;
 
 fi
 

Util/BuildTools/BuildUtilsDocker.sh

@@ -37,7 +37,7 @@ mkdir -p "${FBX2OBJ_BUILD_FOLDER}"
 pushd "${FBX2OBJ_BUILD_FOLDER}" >/dev/null
 
 cmake -G "Ninja" \
-    -DCMAKE_CXX_FLAGS="-fPIC -std=c++14" \
+    -DCMAKE_CXX_FLAGS="-fPIC -std=c++20" \
     ..
 
 # copy the shared object 'libfbxsdk.so' to 'dist' folder

Util/BuildTools/Linux.mk

@@ -7,6 +7,10 @@ launch: LibCarla.server.release osm2odr downloadplugins
 	@${CARLA_BUILD_TOOLS_FOLDER}/BuildUE4Plugins.sh --build $(ARGS)
 	@${CARLA_BUILD_TOOLS_FOLDER}/BuildCarlaUE4.sh --build --launch $(ARGS)
 
+launch.debug: LibCarla.server.debug osm2odr downloadplugins
+	@${CARLA_BUILD_TOOLS_FOLDER}/BuildUE4Plugins.sh --build $(ARGS)
+	@${CARLA_BUILD_TOOLS_FOLDER}/BuildCarlaUE4.sh --build --debug --launch $(ARGS)
+
 launch-only:
 	@${CARLA_BUILD_TOOLS_FOLDER}/BuildCarlaUE4.sh --launch $(ARGS)
 
@@ -138,7 +142,7 @@ LibCarla.client.rss.release: setup ad-rss
 plugins:
 	@${CARLA_BUILD_TOOLS_FOLDER}/Plugins.sh $(ARGS)
 
-setup downloadplugins:
+setup: downloadplugins
 	@${CARLA_BUILD_TOOLS_FOLDER}/Setup.sh $(ARGS)
 
 ad-rss:

Util/BuildTools/Package.sh

@@ -6,7 +6,7 @@
 
 DOC_STRING="Makes a packaged version of CARLA and other content packages ready for distribution."
 
-USAGE_STRING="Usage: $0 [-h|--help] [--config={Debug,Development,Shipping}] [--no-zip] [--clean-intermediate] [--packages=Name1,Name2,...] [--target-archive=] [--archive-sufix=]"
+USAGE_STRING="Usage: $0 [-h|--help] [--config={Debug,Development,Shipping}] [--no-zip] [--clean-intermediate] [--packages=Name1,Name2,...] [--target-archive=] [--archive-sufix=] [--ros2]"
 
 PACKAGES="Carla"
 DO_TARBALL=true
@@ -17,7 +17,10 @@ USE_CARSIM=false
 SINGLE_PACKAGE=false
 ARCHIVE_SUFIX=""
 
-OPTS=`getopt -o h --long help,config:,no-zip,clean-intermediate,carsim,packages:,python-version,target-archive:,archive-sufix:, -n 'parse-options' -- "$@"`
+EDITOR_ROS2_FLAGS=""
+
+
+OPTS=`getopt -o h --long help,config:,no-zip,clean-intermediate,carsim,packages:,python-version,target-archive:,archive-sufix:,ros2 -n 'parse-options' -- "$@"`
 
 eval set -- "$OPTS"
 
@@ -42,6 +45,11 @@ while [[ $# -gt 0 ]]; do
     --archive-sufix )
       ARCHIVE_SUFIX="$2"
       shift 2 ;;
+    --ros2 )
+      # Due to continued segfaults in reallocations of MallocBinned2 enforce using AnsiMalloc calls 
+      # (see https://forums.unrealengine.com/t/dealing-with-allocator-mismatches-with-external-libraries/1416830)
+      EDITOR_ROS2_FLAGS="-ansimalloc"
+      shift ;;
     --carsim )
       USE_CARSIM=true;
       shift ;;
@@ -182,12 +190,14 @@ if ${DO_CARLA_RELEASE} ; then
   fi
 
   if [ -d "./Unreal/CarlaUE4/Plugins/Carla/CarlaDependencies/lib" ] ; then
-    cp -r "./Unreal/CarlaUE4/Plugins/Carla/CarlaDependencies/lib" "${DESTINATION}/CarlaUE4/Plugins/Carla/CarlaDependencies"
+    cp -r "./Unreal/CarlaUE4/Plugins/Carla/CarlaDependencies/lib/" "${DESTINATION}/CarlaUE4/Plugins/Carla/CarlaDependencies"
   fi
 
   copy_if_changed "./Unreal/CarlaUE4/Content/Carla/HDMaps/*.pcd" "${DESTINATION}/HDMaps/"
   copy_if_changed "./Unreal/CarlaUE4/Content/Carla/HDMaps/Readme.md" "${DESTINATION}/HDMaps/README"
 
+  sed -i "s/CarlaUE4 /CarlaUE4 ${EDITOR_ROS2_FLAGS} /g" "${DESTINATION}/CarlaUE4.sh"
+
   popd >/dev/null
 
 fi

Util/BuildTools/Setup.bat

@@ -65,7 +65,7 @@ if not "%1"=="" (
 
 rem If not defined, use Visual Studio 2019 as tool set
 if "%TOOLSET%" == "" set TOOLSET=msvc-14.2
-if %GENERATOR% == "" set GENERATOR="Visual Studio 16 2019"
+if "%GENERATOR%" == "" set GENERATOR="Visual Studio 16 2019"
 
 rem If is not set, set the number of parallel jobs to the number of CPU threads
 if "%NUMBER_OF_ASYNC_JOBS%" == "" set NUMBER_OF_ASYNC_JOBS=%NUMBER_OF_PROCESSORS%
@@ -81,14 +81,17 @@ echo %FILE_N% Boost toolset:      %TOOLSET%
 echo %FILE_N% Generator:          %GENERATOR%
 echo %FILE_N% Install directory:  "%INSTALLATION_DIR%"
 
-if not exist "%CONTENT_DIR%" (
-    echo %FILE_N% Creating "%CONTENT_DIR%" folder...
-    mkdir "%CONTENT_DIR%"
-)
-
-if not exist "%INSTALLATION_DIR%" (
-    echo %FILE_N% Creating "%INSTALLATION_DIR%" folder...
-    mkdir "%INSTALLATION_DIR%"
+rem creating some folders
+for %%G in (
+    "%CONTENT_DIR%",
+    "%INSTALLATION_DIR%",
+    "%CARLA_DEPENDENCIES_FOLDER%\include",
+    "%CARLA_DEPENDENCIES_FOLDER%\lib"
+) do (
+    if not exist %%G (
+        echo %FILE_N% Creating "%%G" folder...
+        mkdir "%%G"
+    )
 )
 
 rem ============================================================================
@@ -141,6 +144,8 @@ if not defined install_rpclib (
     echo %FILE_N% Failed while installing rpclib.
     goto failed
 )
+xcopy /Y /S /I %INSTALLATION_DIR%rpclib-install\include\rpc\* %CARLA_DEPENDENCIES_FOLDER%\include\rpc\* > NUL
+copy %INSTALLATION_DIR%rpclib-install\lib\*.* %CARLA_DEPENDENCIES_FOLDER%\lib\ > NUL
 
 rem ============================================================================
 rem -- Download and install Google Test ----------------------------------------
@@ -178,26 +183,6 @@ if not defined install_recast (
     set RECAST_INSTALL_DIR=%install_recast:\=/%
 )
 
-rem ============================================================================
-rem -- Download and install Fast-DDS (for ROS2)---------------------------------
-rem ============================================================================
-
-if %USE_ROS2% == true (
-    echo %FILE_N% Installing "Fast-DDS"...
-    call "%INSTALLERS_DIR%install_fastDDS.bat"^
-    --build-dir "%INSTALLATION_DIR%"
-
-    if %errorlevel% neq 0 goto failed
-
-    if not defined install_dds (
-
-        echo %FILE_N% Failed while installing "Fast-DDS".
-        goto failed
-    ) else (
-        set FASTDDS_INSTALL_DIR=%install_dds:\=/%
-    )
-)
-
 rem ============================================================================
 rem -- Download and install Boost ----------------------------------------------
 rem ============================================================================
@@ -216,6 +201,27 @@ if not defined install_boost (
     goto failed
 )
 
+rem ============================================================================
+rem -- Download and install Fast-DDS (for ROS2)---------------------------------
+rem ============================================================================
+
+if %USE_ROS2% == true (
+    echo %FILE_N% Installing "Fast-DDS"...
+    call "%INSTALLERS_DIR%install_fastDDS.bat"^
+    --boost-version %BOOST_VERSION%^
+    --build-dir "%INSTALLATION_DIR%"^
+    --install-dir "%INSTALLATION_DIR%fastDDS-install\"
+
+    if %errorlevel% neq 0 goto failed
+
+    if not defined install_dds (
+        echo %FILE_N% Failed while installing "Fast-DDS".
+        goto failed
+    )
+    copy %INSTALLATION_DIR%fastDDS-install\lib\*.lib %CARLA_DEPENDENCIES_FOLDER%\lib > NUL
+    xcopy /Y /S /I  %INSTALLATION_DIR%fastDDS-install\include\* %CARLA_DEPENDENCIES_FOLDER%\include\* > NUL
+)
+
 rem ============================================================================
 rem -- Download and install Xercesc --------------------------------------------
 rem ============================================================================
@@ -285,81 +291,6 @@ if %USE_CHRONO% == true (
     xcopy /Y /S /I "%INSTALLATION_DIR%eigen-install\include\*" "%CARLA_DEPENDENCIES_FOLDER%include\*" > NUL
 )
 
-REM ==============================================================================
-REM -- Download Fast DDS and dependencies ----------------------------------------
-REM ==============================================================================
-
-SET FASTDDS_BASENAME=fast-dds
-SET FASTDDS_INSTALL_DIR=%CD%\%FASTDDS_BASENAME%-install
-SET FASTDDS_INCLUDE=%FASTDDS_INSTALL_DIR%\include
-SET FASTDDS_LIB=%FASTDDS_INSTALL_DIR%\lib
-IF "%USE_ROS2%"=="true" (
-
-  :build_fastdds_extension
-  SET LIB_SOURCE=%1
-  SET LIB_REPO=%2
-  SET CMAKE_FLAGS=%3
-
-  IF NOT EXIST "%LIB_SOURCE%" (
-    mkdir "%LIB_SOURCE%"
-    echo %LIB_REPO%
-    git clone %LIB_REPO% %LIB_SOURCE%
-    mkdir "%LIB_SOURCE%\build"
-  )
-
-  IF NOT EXIST "%FASTDDS_INSTALL_DIR%" (
-    mkdir "%FASTDDS_INSTALL_DIR%"
-    echo Build foonathan memory vendor
-    SET FOONATHAN_MEMORY_VENDOR_BASENAME=foonathan-memory-vendor
-    SET FOONATHAN_MEMORY_VENDOR_SOURCE_DIR=%CD%\%FOONATHAN_MEMORY_VENDOR_BASENAME%-source
-    SET FOONATHAN_MEMORY_VENDOR_REPO="https://github.com/eProsima/foonathan_memory_vendor.git"
-    SET FOONATHAN_MEMORY_VENDOR_CMAKE_FLAGS=-DBUILD_SHARED_LIBS=ON
-    CALL :build_fastdds_extension "%FOONATHAN_MEMORY_VENDOR_SOURCE_DIR%" "%FOONATHAN_MEMORY_VENDOR_REPO%"
-    pushd "%FOONATHAN_MEMORY_VENDOR_SOURCE_DIR%\build" >nul
-    cmake -G "Ninja" ^
-      -DCMAKE_INSTALL_PREFIX="%FASTDDS_INSTALL_DIR%" ^
-      -DBUILD_SHARED_LIBS=ON ^
-      -DCMAKE_CXX_FLAGS_RELEASE="-D_GLIBCXX_USE_CXX11_ABI=0" ^
-      -DFOONATHAN_MEMORY_FORCE_VENDORED_BUILD=ON ^
-      ..
-    ninja
-    ninja install
-    popd >nul
-    rmdir /s /q "%FOONATHAN_MEMORY_VENDOR_SOURCE_DIR%"
-
-    echo Build fast cdr
-    SET FAST_CDR_BASENAME=fast-cdr
-    SET FAST_CDR_SOURCE_DIR=%CD%\%FAST_CDR_BASENAME%-source
-    SET FAST_CDR_REPO="https://github.com/eProsima/Fast-CDR.git"
-    CALL :build_fastdds_extension "%FAST_CDR_SOURCE_DIR%" "%FAST_CDR_REPO%"
-    pushd "%FAST_CDR_SOURCE_DIR%\build" >nul
-    cmake -G "Ninja" ^
-      -DCMAKE_INSTALL_PREFIX="%FASTDDS_INSTALL_DIR%" ^
-      -DCMAKE_CXX_FLAGS_RELEASE="-D_GLIBCXX_USE_CXX11_ABI=0" ^
-      ..
-    ninja
-    ninja install
-    popd >nul
-    rmdir /s /q "%FAST_CDR_SOURCE_DIR%"
-
-    echo Build fast dds
-    SET FAST_DDS_LIB_BASENAME=fast-dds-lib
-    SET FAST_DDS_LIB_SOURCE_DIR=%CD%\%FAST_DDS_LIB_BASENAME%-source
-    SET FAST_DDS_LIB_REPO="https://github.com/eProsima/Fast-DDS.git"
-    CALL :build_fastdds_extension "%FAST_DDS_LIB_SOURCE_DIR%" "%FAST_DDS_LIB_REPO%"
-    pushd "%FAST_DDS_LIB_SOURCE_DIR%\build" >nul
-    cmake -G "Ninja" ^
-      -DCMAKE_INSTALL_PREFIX="%FASTDDS_INSTALL_DIR%" ^
-      -DCMAKE_CXX_FLAGS=-latomic ^
-      -DCMAKE_CXX_FLAGS_RELEASE="-D_GLIBCXX_USE_CXX11_ABI=0" ^
-      ..
-    ninja
-    ninja install
-    popd >nul
-    rmdir /
-  )
-)
-
 rem ============================================================================
 rem -- Assets download URL -----------------------------------------------------
 rem ============================================================================
@@ -384,7 +315,7 @@ set CMAKE_CONFIG_FILE=%INSTALLATION_DIR%CMakeLists.txt.in
  >"%CMAKE_CONFIG_FILE%" echo # Automatically generated by Setup.bat
 >>"%CMAKE_CONFIG_FILE%" echo set(CARLA_VERSION %carla_version%)
 >>"%CMAKE_CONFIG_FILE%" echo.
->>"%CMAKE_CONFIG_FILE%" echo set(CMAKE_CXX_STANDARD 14)
+>>"%CMAKE_CONFIG_FILE%" echo set(CMAKE_CXX_STANDARD 20)
 >>"%CMAKE_CONFIG_FILE%" echo set(CMAKE_CXX_STANDARD_REQUIRED ON)
 >>"%CMAKE_CONFIG_FILE%" echo.
 >>"%CMAKE_CONFIG_FILE%" echo add_definitions(-D_WIN32_WINNT=0x0600)
@@ -400,6 +331,11 @@ set CMAKE_CONFIG_FILE=%INSTALLATION_DIR%CMakeLists.txt.in
 >>"%CMAKE_CONFIG_FILE%" echo set(RPCLIB_INCLUDE_PATH "%CMAKE_INSTALLATION_DIR%rpclib-install/include")
 >>"%CMAKE_CONFIG_FILE%" echo set(RPCLIB_LIB_PATH "%CMAKE_INSTALLATION_DIR%rpclib-install/lib")
 >>"%CMAKE_CONFIG_FILE%" echo.
+>>"%CMAKE_CONFIG_FILE%" echo set(ROS2_MW_INCLUDE_PATH "%CMAKE_INSTALLATION_DIR%fastDDS-install/include")
+>>"%CMAKE_CONFIG_FILE%" echo set(ROS2_MW_LIB_PATH "%CMAKE_INSTALLATION_DIR%fastDDS-install/lib")
+>>"%CMAKE_CONFIG_FILE%" echo set(ROS2_MW_LINK_LIBRARIES "fastrtps;fastcdr")
+>>"%CMAKE_CONFIG_FILE%" echo set(ROS2_MW_NAME "fastdds")
+>>"%CMAKE_CONFIG_FILE%" echo.
 >>"%CMAKE_CONFIG_FILE%" echo if (CMAKE_BUILD_TYPE STREQUAL "Server")
 >>"%CMAKE_CONFIG_FILE%" echo   # Prevent exceptions
 >>"%CMAKE_CONFIG_FILE%" echo   add_definitions(-DBOOST_TYPE_INDEX_FORCE_NO_RTTI_COMPATIBILITY)

Util/BuildTools/Vars.mk

@@ -16,7 +16,6 @@ CARLA_PYTHONAPI_SOURCE_FOLDER=${CARLA_PYTHONAPI_ROOT_FOLDER}/carla
 LIBCARLA_ROOT_FOLDER=${CURDIR}/LibCarla
 LIBCARLA_BUILD_SERVER_FOLDER=${CARLA_BUILD_FOLDER}/libcarla-server-build
 LIBCARLA_BUILD_PYTORCH_FOLDER=${CARLA_BUILD_FOLDER}/libcarla-pytorch-build
-LIBCARLA_FASTDDS_FOLDER=${CARLA_BUILD_FOLDER}/libcarla-fastdds-install
 LIBCARLA_BUILD_CLIENT_FOLDER=${CARLA_BUILD_FOLDER}/libcarla-client-build
 LIBCARLA_INSTALL_SERVER_FOLDER=${CARLAUE4_PLUGIN_ROOT_FOLDER}/CarlaDependencies
 LIBCARLA_INSTALL_CLIENT_FOLDER=${CARLA_PYTHONAPI_SOURCE_FOLDER}/dependencies
@@ -27,8 +26,8 @@ OSM2ODR_SOURCE_FOLDER=${CARLA_BUILD_FOLDER}/libosm2dr-source
 
 CARLAUE4_PLUGIN_DEPS_FOLDER=${CARLAUE4_PLUGIN_ROOT_FOLDER}/CarlaDependencies
 
-LIBSTDCPP_TOOLCHAIN_FILE=${CARLA_BUILD_FOLDER}/LibStdCppToolChain.cmake
-LIBCPP_TOOLCHAIN_FILE=${CARLA_BUILD_FOLDER}/LibCppToolChain.cmake
+CARLA_CLIENT_TOOLCHAIN_FILE=${CARLA_BUILD_FOLDER}/CarlaClientToolChain.cmake
+CARLA_SERVER_TOOLCHAIN_FILE=${CARLA_BUILD_FOLDER}/CarlaServerToolChain.cmake
 CMAKE_CONFIG_FILE=${CARLA_BUILD_FOLDER}/CMakeLists.txt.in
 
 LIBCARLA_TEST_CONTENT_FOLDER=${CARLA_BUILD_FOLDER}/test-content

Util/BuildTools/Windows.mk

@@ -62,14 +62,14 @@ PythonAPI: LibCarla osm2odr
 	@"${CARLA_BUILD_TOOLS_FOLDER}/BuildPythonAPI.bat" --py3
 
 server: setup
-	@"${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.bat" --server --generator "$(GENERATOR)"
+	@"${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.bat" --server --generator "$(GENERATOR)" $(ARGS)
 
 client: setup
-	@"${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.bat" --client --generator "$(GENERATOR)"
+	@"${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.bat" --client --generator "$(GENERATOR)" $(ARGS)
 
 .PHONY: LibCarla
 LibCarla: setup
-	@"${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.bat" --server --client --generator "$(GENERATOR)"
+	@"${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.bat" --server --client --generator "$(GENERATOR)" $(ARGS)
 
 setup: downloadplugin
 	@"${CARLA_BUILD_TOOLS_FOLDER}/Setup.bat" --boost-toolset msvc-14.2 --generator "$(GENERATOR)" $(ARGS)

Util/Formatting/codeformat.py

@@ -1,15 +1,14 @@
 #!/usr/bin/python
 
 #
-# Copyright (c) 2017-2020 Intel Corporation
+# Copyright (c) 2017-2024 Intel Corporation
 #
-# Helper script for code formatting using clang-format-3.9 and autopep
+# Helper script for code formatting using clang-format-14 and autopep
 
 import argparse
 import filecmp
 import os
 import re
-import sets
 import subprocess
 import sys
 from termcolor import cprint
@@ -31,9 +30,10 @@ class CodeFormatter:
 
     def verifyFormatterVersion(self):
         try:
-            versionOutput = subprocess.check_output([self.command, "--version"]).rstrip('\r\n')
+            versionOutputByteString = subprocess.check_output([self.command, "--version"])
+            versionOutput = versionOutputByteString.decode(encoding='UTF-8')
             if self.expectedVersion != "":
-                if versionOutput.startswith(self.expectedVersion):
+                if self.expectedVersion in versionOutput:
                     print("[OK] Found formatter '" + versionOutput + "'")
                     return
                 else:
@@ -41,8 +41,9 @@ class CodeFormatter:
                     cprint("[NOT OK] Version string does not start with '" + self.expectedVersion + "'", "red")
             else:
                 return
-        except:
+        except subprocess.CalledProcessError as exc:
             cprint("[ERROR] Could not run " + self.command, "red")
+            cprint("[ERROR] '" + exc.output + "'", "red")
             cprint("[INFO] Please check if correct version is installed or install with '" +
                    self.installCommand + "'", "blue")
         sys.exit(1)
@@ -70,9 +71,9 @@ class CodeFormatter:
         try:
             diffProcess = subprocess.Popen(
                 ["git", "diff", "--color=always", "--exit-code", "--no-index", "--", fileName, "-"],
-                                           stdin=subprocess.PIPE,
-                                           stdout=subprocess.PIPE,
-                                           stderr=subprocess.PIPE)
+                stdin=subprocess.PIPE,
+                stdout=subprocess.PIPE,
+                stderr=subprocess.PIPE)
             diffOutput, _ = diffProcess.communicate(verifyOutput)
             if diffProcess.returncode == 0:
                 diffOutput = ""
@@ -99,6 +100,8 @@ class CodeFormatter:
             if status:
                 return True
 
+        if not type(diffOutput) is str:
+            diffOutput = diffOutput.decode("utf-8")
         if diffOutput != "":
             cprint("[NOT OK] " + fileName, "red")
             if printDiff:
@@ -108,6 +111,9 @@ class CodeFormatter:
         print("[OK] " + fileName)
         return False
 
+    def setArgs(self, args):
+        self.args = args
+
 
 class CodeFormatterClang(CodeFormatter):
     CLANG_FORMAT_FILE = ".clang-format"
@@ -116,14 +122,14 @@ class CodeFormatterClang(CodeFormatter):
 
     def __init__(self):
         CodeFormatter.__init__(self,
-                               command="clang-format-3.9",
-                               expectedVersion="clang-format version 3.9",
+                               command="clang-format-14",
+                               expectedVersion="clang-format version 14",
                                formatCommandArguments=["-style=file", "-fallback-style=none", "-i"],
                                verifyCommandArguments=["-style=file", "-fallback-style=none"],
                                verifyOutputIsDiff=False,
                                fileEndings=["cpp", "hpp", "c", "h", "cc"],
                                fileDescription="source and header",
-                               installCommand="sudo apt-get install clang-format-3.9")
+                               installCommand="sudo apt-get install clang-format-14")
         self.scriptPath = os.path.dirname(os.path.abspath(__file__))
         self.checkedInClangFormatFile = os.path.join(self.scriptPath, CodeFormatterClang.CHECKED_IN_CLANG_FORMAT_FILE)
 
@@ -142,13 +148,13 @@ class CodeFormatterClang(CodeFormatter):
 
     def confirmWithUserClangFormatFileCantBeVerified(self):
         if not self.args.yes:
-            answer = raw_input("Are you sure your .clang-format file is up-to-date and you want to continue? (y/N)")
+            answer = input("Are you sure your .clang-format file is up-to-date and you want to continue? (y/N)")
             if answer != "y":
                 sys.exit(1)
 
     def verifyClangFormatFileExistsAndMatchesCheckedIn(self):
         self.verifyCheckedInClangFormatFileExists()
-        foundClangFormatFiles = sets.Set()
+        foundClangFormatFiles = set()
         for fileName in self.inputFiles:
             dirName = os.path.dirname(os.path.abspath(fileName))
             if not self.findClangFormatFileStartingFrom(dirName, fileName, foundClangFormatFiles):
@@ -219,6 +225,7 @@ class CodeFormat:
 
     def addCodeFormatter(self, codeFormatterInstance):
         self.codeFormatterInstances.append(codeFormatterInstance)
+        codeFormatterInstance.setArgs(self.args)
 
     def scanForInputFiles(self):
         for formatterInstance in self.codeFormatterInstances:
@@ -263,26 +270,26 @@ class CodeFormat:
 
     def confirmWithUserFileIsOutsideGit(self, fileName):
         cprint("[WARN] File is not in a Git repo: " + fileName, "yellow")
-        answer = raw_input("Are you sure to code format it anyway? (y/Q)")
+        answer = input("Are you sure to code format it anyway? (y/Q)")
         if answer != "y":
             sys.exit(1)
 
     def confirmWithUserFileIsUntracked(self, fileName):
         cprint("[WARN] File is untracked in Git: " + fileName, "yellow")
-        answer = raw_input("Are you sure to code format it anyway? (y/Q)")
+        answer = input("Are you sure to code format it anyway? (y/Q)")
         if answer != "y":
             sys.exit(1)
 
     def confirmWithUserGitRepoIsNotClean(self, gitRepo):
         cprint("[WARN] Git repo is not clean: " + gitRepo, "yellow")
-        answer = raw_input("Are you sure to code format files in it anyway? (y/Q)")
+        answer = input("Are you sure to code format files in it anyway? (y/Q)")
         if answer != "y":
             sys.exit(1)
 
     def checkInputFilesAreInCleanGitReposAndAreTracked(self):
         if self.args.verify or self.args.yes:
             return
-        gitRepos = sets.Set()
+        gitRepos = set()
         for formatterInstance in self.codeFormatterInstances:
             for fileName in formatterInstance.inputFiles:
                 gitRepo = self.getGitRepoForFile(fileName)
@@ -308,7 +315,7 @@ class CodeFormat:
                                           cwd=os.path.dirname(fileName))
             gitOutput, _ = gitProcess.communicate()
             if gitProcess.returncode == 0:
-                return gitOutput.rstrip('\r\n')
+                return gitOutput.decode(encoding='UTF-8').rstrip('\r\n')
         except OSError:
             cprint("[ERROR] Failed to run 'git rev-parse --show-toplevel' for " + fileName, "red")
         return None
@@ -322,7 +329,7 @@ class CodeFormat:
                                           cwd=os.path.dirname(fileName))
             gitOutput, _ = gitProcess.communicate()
             if gitProcess.returncode == 0:
-                return gitOutput.rstrip('\r\n') == "true"
+                return gitOutput.decode(encoding='UTF-8').rstrip('\r\n') == "true"
         except OSError:
             cprint("[ERROR] Failed to run 'git rev-parse --is-inside-work-tree' for " + fileName, "red")
         return False
@@ -400,13 +407,19 @@ class CodeFormat:
         elif (not self.args.verify) and (not self.args.yes) and self.numberOfInputFiles() > 1:
             for formatterInstance in self.codeFormatterInstances:
                 formatterInstance.printInputFiles()
-            answer = raw_input("Are you sure to code format " + str(self.numberOfInputFiles()) + " files? (y/N)")
+            answer = input("Are you sure to code format " + str(self.numberOfInputFiles()) + " files? (y/N)")
             if answer != "y":
                 sys.exit(1)
 
+    def checkPythonVersion(self):
+        if sys.version_info.major != 3:
+            cprint("[ERROR] Code Formatter runs in Python3 ", "red")
+            sys.exit(1)
+
 
 def main():
     codeFormat = CodeFormat()
+    codeFormat.checkPythonVersion()
     codeFormat.parseCommandLine()
     codeFormat.printMode()
 
@@ -425,5 +438,6 @@ def main():
         cprint("SUCCESS", "green")
         sys.exit(0)
 
+
 if __name__ == "__main__":
     main()

Util/InstallersWin/install_chrono.bat

@@ -14,6 +14,7 @@ echo %FILE_N% [Batch params]: %*
 rem ============================================================================
 rem -- Parse arguments ---------------------------------------------------------
 rem ============================================================================
+set GENERATOR=""
 
 :arg-parse
 if not "%1"=="" (
@@ -39,6 +40,11 @@ rem If not set set the build dir to the current dir
 if "%BUILD_DIR%" == "" set BUILD_DIR=%~dp0
 if not "%BUILD_DIR:~-1%"=="\" set BUILD_DIR=%BUILD_DIR%\
 if %GENERATOR% == "" set GENERATOR="Visual Studio 16 2019"
+echo.%GENERATOR% | findstr /C:"Visual Studio" >nul && (
+    set PLATFORM=-A x64
+) || (
+    set PLATFORM=
+)
 
 rem ============================================================================
 rem -- Get Eigen (Chrono dependency) -------------------------------------------
@@ -101,12 +107,6 @@ if not exist %CHRONO_INSTALL_DIR% (
 
     cd "%CHRONO_BUILD_DIR%"
 
-    echo.%GENERATOR% | findstr /C:"Visual Studio" >nul && (
-        set PLATFORM=-A x64
-    ) || (
-        set PLATFORM=
-    )
-
     echo %FILE_N% Compiling Chrono.
     cmake -G %GENERATOR% %PLATFORM%^
         -DCMAKE_BUILD_TYPE=Release^

Util/InstallersWin/install_eigen.bat

@@ -74,8 +74,18 @@ if not exist "%EIGEN_INSTALL_DIR%" (
 
 xcopy /q /Y /S /I /d "%EIGEN_SRC_DIR%\Eigen" "%EIGEN_INCLUDE%\Eigen"
 xcopy /q /Y /S /I /d "%EIGEN_SRC_DIR%\unsupported\Eigen" "%EIGEN_INCLUDE%\unsupported\Eigen"
-copy "%BUILD_DIR%..\Util\Patches\Eigen3.1.0\Macros.h" "%EIGEN_INCLUDE%\Eigen\src\Core\util\Macros.h"
+copy "%BUILD_DIR%..\Util\Patches\Eigen3.1.0\Functors.h" "%EIGEN_INCLUDE%\Eigen\src\Core\Functors.h"
 copy "%BUILD_DIR%..\Util\Patches\Eigen3.1.0\VectorBlock.h" "%EIGEN_INCLUDE%\Eigen\src\Core\VectorBlock.h"
+copy "%BUILD_DIR%..\Util\Patches\Eigen3.1.0\PacketMath.h" "%EIGEN_INCLUDE%\Eigen\src\Core\arch\SSE\PacketMath.h"
+copy "%BUILD_DIR%..\Util\Patches\Eigen3.1.0\SelfadjointMatrixVector.h" "%EIGEN_INCLUDE%\Eigen\src\Core\products\SelfadjointMatrixVector.h"
+copy "%BUILD_DIR%..\Util\Patches\Eigen3.1.0\Macros.h" "%EIGEN_INCLUDE%\Eigen\src\Core\util\Macros.h"
+copy "%BUILD_DIR%..\Util\Patches\Eigen3.1.0\ArrayCwiseUnaryOps.h" "%EIGEN_INCLUDE%\Eigen\src\plugins\ArrayCwiseUnaryOps.h"
+copy "%BUILD_DIR%..\Util\Patches\Eigen3.1.0\MatrixCwiseUnaryOps.h" "%EIGEN_INCLUDE%\Eigen\src\plugins\MatrixCwiseUnaryOps.h"
+
+  cp $CARLA_ROOT_FOLDER/Util/Patches/Eigen${EIGEN_VERSION}/Macros.h "${EIGEN_BASENAME}-source/Eigen/src/Core/util/Macros.h"
+  cp $CARLA_ROOT_FOLDER/Util/Patches/Eigen${EIGEN_VERSION}/ArrayCwiseUnaryOps.h "${EIGEN_BASENAME}-source/Eigen/src/plugins/ArrayCwiseUnaryOps.h"
+  cp $CARLA_ROOT_FOLDER/Util/Patches/Eigen${EIGEN_VERSION}/MatrixCwiseUnaryOps.h "${EIGEN_BASENAME}-source/Eigen/src/plugins/MatrixCwiseUnaryOps.h"
+
 
 goto success
 

Util/InstallersWin/install_fastDDS.bat

@@ -14,7 +14,11 @@ rem ============================================================================
 rem -- Parse arguments ---------------------------------------------------------
 rem ============================================================================
 
+
 set DEL_SRC=false
+set BOOST_VERSION="unknown"
+set FASTDDS_INSTALL_DIR=""
+set GENERATOR=""
 
 :arg-parse
 if not "%1"=="" (
@@ -27,20 +31,48 @@ if not "%1"=="" (
         set DEL_SRC=true
     )
 
+    if "%1"=="--boost-version" (
+        set BOOST_VERSION=%2
+        shift
+    )
+
+    if "%1"=="--install-dir" (
+        set FASTDDS_INSTALL_DIR=%2
+        shift
+    )
+
+    if "%1"=="--generator" (
+        set GENERATOR=%2
+        shift
+    )
+
     shift
     goto :arg-parse
 )
 
+if %GENERATOR% == "" set GENERATOR="Visual Studio 16 2019"
+echo.%GENERATOR% | findstr /C:"Visual Studio" >nul && (
+    set PLATFORM=-A x64
+) || (
+    set PLATFORM=
+)
+echo "%GENERATOR%" "%PLATFORM%"
+
 rem If not set set the build dir to the current dir
 if "%BUILD_DIR%" == "" set BUILD_DIR=%~dp0
 if not "%BUILD_DIR:~-1%"=="\" set BUILD_DIR=%BUILD_DIR%\
 
 set FASTDDS_SRC=fastDDS-src
 set FASTDDS_SRC_DIR=%BUILD_DIR%%FASTDDS_SRC%\
-set FASTDDS_INSTALL=fastDDS-install
-set FASTDDS_INSTALL_DIR=%BUILD_DIR%%FASTDDS_INSTALL%\
-set FASTDDS_BUILD_DIR=%FASTDDS_SRC_DIR%build\
+if "%FASTDDS_INSTALL_DIR%" == "" (
+    set FASTDDS_INSTALL=fastDDS-install
+    set FASTDDS_INSTALL_DIR=%BUILD_DIR%%FASTDDS_INSTALL%\
+)
+set FASTDDS_BUILD_DIR=%FASTDDS_SRC_DIR%build\fastdds
 set FASTDDS_BASENAME=%FASTDDS_SRC%
+set FOONATHAN_MEMORY_VENDOR_BASENAME=foonathan-memory-vendor
+set FOONATHAN_MEMORY_VENDOR_SOURCE_DIR=%FASTDDS_SRC_DIR%\thirdparty\foonathan-memory-vendor
+set FOONATHAN_MEMORY_VENDOR_BUILD_DIR=%FASTDDS_SRC_DIR%build\foonathan-memory-vendor
 
 if exist "%FASTDDS_INSTALL_DIR%" (
     goto already_build
@@ -49,86 +81,86 @@ if exist "%FASTDDS_INSTALL_DIR%" (
 if not exist "%FASTDDS_SRC_DIR%" (
     echo %FILE_N% Cloning "Fast-DDS"
 
-    call git clone https://github.com/eProsima/Fast-DDS.git "%FASTDDS_SRC_DIR:~0,-1%"
-    call git submodule init
-    call git submodule update
+    git clone --depth 1 --branch 2.11.3 https://github.com/eProsima/Fast-DDS.git "%FASTDDS_SRC_DIR:~0,-1%"
     if %errorlevel% neq 0 goto error_git
+    git submodule init
+    if %errorlevel% neq 0 goto error_git
+    git submodule update
+    if %errorlevel% neq 0 goto error_git
+    git clone --depth 1 --branch master https://github.com/eProsima/foonathan_memory_vendor.git "%FOONATHAN_MEMORY_VENDOR_SOURCE_DIR%"
 ) else (
     echo %FILE_N% Not cloning "Fast-DDS" because already exists a folder called "%FASTDDS_SRC%".
 )
 
-echo Compiling fastCDR dependency...
-
-if not exist "%FASTDDS_SRC_DIR%/thirdparty/fastcdr/build" (
-    echo %FILE_N% Creating "%FASTDDS_SRC_DIR%/thirdparty/fastcdr/build"
-    cd "%FASTDDS_SRC_DIR%/thirdparty/fastcdr"
-    mkdir build
-    cd ../../
+if not exist "%FOONATHAN_MEMORY_VENDOR_BUILD_DIR%" (
+    echo %FILE_N% Creating "%FOONATHAN_MEMORY_VENDOR_BUILD_DIR%"
+    mkdir "%FOONATHAN_MEMORY_VENDOR_BUILD_DIR%"
 )
+cd "%FOONATHAN_MEMORY_VENDOR_BUILD_DIR%"
 
-cd "%FASTDDS_SRC_DIR%/thirdparty/fastcdr/build"
-echo %FILE_N% Generating build...
-
-cmake .. -G "Visual Studio 16 2019" -A x64^
+echo %FILE_N% Generating build: foonathan memory vendor ...
+cmake -G %GENERATOR% %PLATFORM%^
     -DCMAKE_BUILD_TYPE=Release^
     -DCMAKE_CXX_FLAGS_RELEASE="/MD /MP"^
     -DCMAKE_INSTALL_PREFIX="%FASTDDS_INSTALL_DIR:\=/%"^
-    -DCMAKE_CXX_FLAGS=/D_SILENCE_TR1_NAMESPACE_DEPRECATION_WARNING
+    -DBUILD_STATIC_LIBS=ON^
+    -DBUILD_SHARED_LIBS=OFF^
+    -DCMAKE_CXX_FLAGS="/DBOOST_NO_EXCEPTIONS /DASIO_NO_EXCEPTIONS"^
+    "%FOONATHAN_MEMORY_VENDOR_SOURCE_DIR%"
 if %errorlevel%  neq 0 goto error_cmake
 
-echo %FILE_N% Building...
+echo %FILE_N% Building foonathan memory vendor... 
 cmake --build . --config Release --target install
 
-if errorlevel  neq 0 goto error_install
+if exist "%FASTDDS_SRC_DIR%\thirdparty\boost\include\boost" (
+    echo %FILE_N% Preparing fastdds boost ... 
+    @REM remove their boost includes, but keep their entry point
+    rd /s /q "%FASTDDS_SRC_DIR%\thirdparty\boost\include\boost"
+    @REM  ensure the find boost compiles without exceptions
+    sed -i s/"CXX_STANDARD 11"/"CXX_STANDARD 11\n         COMPILE_DEFINITIONS \"-DBOOST_NO_EXCEPTIONS\""/ "%FASTDDS_SRC_DIR%\cmake\modules\FindThirdpartyBoost.cmake"
+    sed -i s/"class ThirdpartyBoostCompileTest"/"#ifdef BOOST_NO_EXCEPTIONS\nnamespace boost {void throw_exception(std::exception const \& e) {}}\n#endif\nclass ThirdpartyBoostCompileTest"/ "%FASTDDS_SRC_DIR%\thirdparty\boost\test\ThirdpartyBoostCompile_test.cpp"
+)
 
-cd ../../..
-
-@REM echo Compiling asio dependency...
-
-@REM if not exist "%FASTDDS_SRC_DIR%/thirdparty/asio/asio/build" (
-@REM     echo %FILE_N% Creating "%FASTDDS_SRC_DIR%/thirdparty/asio/asio/build"
-@REM     cd "%FASTDDS_SRC_DIR%/thirdparty/asio/asio"
-@REM     mkdir build
-@REM     cd ../../
-@REM )
-
-@REM cd "%FASTDDS_SRC_DIR%/thirdparty/asio/asio/build"
-@REM echo %FILE_N% Generating build...
-
-@REM cmake .. -G "Visual Studio 16 2019" -A x64^
-@REM     -DCMAKE_BUILD_TYPE=Release^
-@REM     -DCMAKE_CXX_FLAGS_RELEASE="/MD /MP"^
-@REM     -DCMAKE_INSTALL_PREFIX="%FASTDDS_INSTALL_DIR:\=/%"^
-@REM     -DCMAKE_CXX_FLAGS=/D_SILENCE_TR1_NAMESPACE_DEPRECATION_WARNING
-@REM if %errorlevel%  neq 0 goto error_cmake
-
-@REM echo %FILE_N% Building...
-@REM cmake --build . --config Release --target install
-
-@REM if errorlevel  neq 0 goto error_install
-
-@REM cd ../../../..
+if exist "%FASTDDS_SRC_DIR%\src\cpp\utils\StringMatching.cpp" (
+    echo %FILE_N% Patching fastdds ... 
+    sed -i s/"defined(__cplusplus_winrt)"/"(1)"/ "%FASTDDS_SRC_DIR%\src\cpp\utils\StringMatching.cpp"
+    sed -i s/"replace_all(pattern"/"replace_all(path"/ "%FASTDDS_SRC_DIR%\src\cpp\utils\StringMatching.cpp"
+)
 
 if not exist "%FASTDDS_BUILD_DIR%" (
     echo %FILE_N% Creating "%FASTDDS_BUILD_DIR%"
     mkdir "%FASTDDS_BUILD_DIR%"
 )
-
 cd "%FASTDDS_BUILD_DIR%"
-echo %FILE_N% Generating build...
+echo %FILE_N% Generating build: fastdds ...
 
-cmake .. -G "Visual Studio 16 2019" -A x64^
+cmake -G %GENERATOR% %PLATFORM%^
     -DCMAKE_BUILD_TYPE=Release^
     -DCMAKE_CXX_FLAGS_RELEASE="/MD /MP"^
     -DCMAKE_INSTALL_PREFIX="%FASTDDS_INSTALL_DIR:\=/%"^
-    -DCMAKE_CXX_FLAGS=/D_SILENCE_TR1_NAMESPACE_DEPRECATION_WARNING^
+    -DCMAKE_MODULE_PATH="%FASTDDS_INSTALL_DIR:\=/%"^
+    -DBUILD_STATIC_LIBS=ON^
+    -DBUILD_SHARED_LIBS=OFF^
+    -DBUILD_TESTING=OFF^
+    -DCOMPILE_EXAMPLES=OFF^
+    -DCOMPILE_TOOLS=OFF^
+    -DTHIRDPARTY_Asio=FORCE^
+    -DTHIRDPARTY_fastcdr=FORCE^
+    -DTHIRDPARTY_TinyXML2=FORCE^
+    -DTHIRDPARTY_BOOST_INCLUDE_DIR="%BUILD_DIR%boost-%BOOST_VERSION%-install\include;%FASTDDS_SRC_DIR%\thirdparty\boost\include"^
+    -DCMAKE_CXX_FLAGS="/D_SILENCE_TR1_NAMESPACE_DEPRECATION_WARNING /DBOOST_NO_EXCEPTIONS /DASIO_NO_EXCEPTIONS"^
     "%FASTDDS_SRC_DIR%"
 if %errorlevel%  neq 0 goto error_cmake
 
-echo %FILE_N% Building...
+echo %FILE_N% Building fastdds...
 cmake --build . --config Release --target install
 
-if errorlevel  neq 0 goto error_install
+if %errorlevel%  neq 0 goto error_install
+
+rem copy asio header files as they are not copied automatically by the above build, but we need those for handling the asio-exceptions
+copy %FASTDDS_SRC_DIR%thirdparty\asio\asio\include\asio.hpp %INSTALLATION_DIR%fastDDS-install\include\ > NUL
+xcopy /Y /S /I  %FASTDDS_SRC_DIR%thirdparty\asio\asio\include\asio\* %INSTALLATION_DIR%fastDDS-install\include\asio\* > NUL
+if %errorlevel%  neq 0 goto error_install
 
 rem Remove the downloaded Fast-DDS source because is no more needed
 if %DEL_SRC% == true (
@@ -179,7 +211,7 @@ rem ============================================================================
 
 :good_exit
     echo %FILE_N% Exiting...
-    endlocal & set install_recast=%FASTDDS_INSTALL_DIR%
+    endlocal & set install_dds=%FASTDDS_INSTALL_DIR%
     exit /b 0
 
 :bad_exit

Util/InstallersWin/install_gtest.bat

@@ -16,6 +16,7 @@ rem -- Parse arguments ---------------------------------------------------------
 rem ============================================================================
 
 set DEL_SRC=false
+set GENERATOR=""
 
 :arg-parse
 if not "%1"=="" (
@@ -36,6 +37,11 @@ if not "%1"=="" (
 )
 
 if %GENERATOR% == "" set GENERATOR="Visual Studio 16 2019"
+echo.%GENERATOR% | findstr /C:"Visual Studio" >nul && (
+    set PLATFORM=-A x64
+) || (
+    set PLATFORM=
+)
 
 rem If not set set the build dir to the current dir
 if "%BUILD_DIR%" == "" set BUILD_DIR=%~dp0
@@ -69,12 +75,6 @@ if not exist "%GT_BUILD_DIR%" (
 cd "%GT_BUILD_DIR%"
 echo %FILE_N% Generating build...
 
-echo.%GENERATOR% | findstr /C:"Visual Studio" >nul && (
-    set PLATFORM=-A x64
-) || (
-    set PLATFORM=
-)
-
 cmake .. -G %GENERATOR% %PLATFORM%^
     -DCMAKE_BUILD_TYPE=Release^
     -DCMAKE_CXX_FLAGS_RELEASE="/MD /MP"^

Util/InstallersWin/install_proj.bat

@@ -15,6 +15,8 @@ rem ============================================================================
 rem -- Parse arguments ---------------------------------------------------------
 rem ============================================================================
 
+set GENERATOR=""
+
 :arg-parse
 if not "%1"=="" (
     if "%1"=="--build-dir" (
@@ -36,6 +38,11 @@ if not "%1"=="" (
 )
 
 if %GENERATOR% == "" set GENERATOR="Visual Studio 16 2019"
+echo.%GENERATOR% | findstr /C:"Visual Studio" >nul && (
+    set PLATFORM=-A x64
+) || (
+    set PLATFORM=
+)
 
 rem If not set set the build dir to the current dir
 if "%BUILD_DIR%" == "" set BUILD_DIR=%~dp0
@@ -79,12 +86,6 @@ move %BUILD_DIR%%PROJ_BASE_NAME% %PROJ_SRC_DIR%
 mkdir %PROJ_BUILD_DIR%
 cd %PROJ_BUILD_DIR%
 
-echo.%GENERATOR% | findstr /C:"Visual Studio" >nul && (
-    set PLATFORM=-A x64
-) || (
-    set PLATFORM=
-)
-
 cmake .. -G %GENERATOR% %PLATFORM%^
     -DCMAKE_CXX_FLAGS_RELEASE="/MD /MP"^
     -DCMAKE_CXX_FLAGS="/MD /MP"^

Util/InstallersWin/install_recast.bat

@@ -15,6 +15,7 @@ rem -- Parse arguments ---------------------------------------------------------
 rem ============================================================================
 
 set DEL_SRC=false
+set GENERATOR=""
 
 :arg-parse
 if not "%1"=="" (
@@ -35,6 +36,11 @@ if not "%1"=="" (
 )
 
 if %GENERATOR% == "" set GENERATOR="Visual Studio 16 2019"
+echo.%GENERATOR% | findstr /C:"Visual Studio" >nul && (
+    set PLATFORM=-A x64
+) || (
+    set PLATFORM=
+)
 
 rem If not set set the build dir to the current dir
 if "%BUILD_DIR%" == "" set BUILD_DIR=%~dp0
@@ -71,12 +77,6 @@ if not exist "%RECAST_BUILD_DIR%" (
 cd "%RECAST_BUILD_DIR%"
 echo %FILE_N% Generating build...
 
-echo.%GENERATOR% | findstr /C:"Visual Studio" >nul && (
-    set PLATFORM=-A x64
-) || (
-    set PLATFORM=
-)
-
 cmake .. -G %GENERATOR% %PLATFORM%^
     -DCMAKE_BUILD_TYPE=Release^
     -DCMAKE_CXX_FLAGS_RELEASE="/MD /MP"^

Util/InstallersWin/install_rpclib.bat

@@ -16,6 +16,7 @@ rem -- Parse arguments ---------------------------------------------------------
 rem ============================================================================
 
 set DEL_SRC=false
+set GENERATOR=""
 
 :arg-parse
 if not "%1"=="" (

Util/InstallersWin/install_xercesc.bat

@@ -14,6 +14,7 @@ echo %FILE_N% [Batch params]: %*
 rem ============================================================================
 rem -- Parse arguments ---------------------------------------------------------
 rem ============================================================================
+set GENERATOR=""
 
 :arg-parse
 if not "%1"=="" (
@@ -36,6 +37,11 @@ if not "%1"=="" (
 )
 
 if %GENERATOR% == "" set GENERATOR="Visual Studio 16 2019"
+echo.%GENERATOR% | findstr /C:"Visual Studio" >nul && (
+    set PLATFORM=-A x64
+) || (
+    set PLATFORM=
+)
 
 rem If not set set the build dir to the current dir
 if "%BUILD_DIR%" == "" set BUILD_DIR=%~dp0
@@ -121,12 +127,6 @@ if not exist "%XERCESC_INSTALL_DIR%include" (
     mkdir "%XERCESC_INSTALL_DIR%include"
 )
 
-echo.%GENERATOR% | findstr /C:"Visual Studio" >nul && (
-    set PLATFORM=-A x64
-) || (
-    set PLATFORM=
-)
-
 cmake .. -G %GENERATOR% %PLATFORM%^
   -DCMAKE_INSTALL_PREFIX="%XERCESC_INSTALL_DIR:\=/%"^
   -DBUILD_SHARED_LIBS=OFF^

Util/Patches/Eigen3.1.0/ArrayCwiseUnaryOps.h

@@ -0,0 +1,205 @@
+
+
+/** \returns an expression of the coefficient-wise absolute value of \c *this
+  *
+  * Example: \include Cwise_abs.cpp
+  * Output: \verbinclude Cwise_abs.out
+  *
+  * \sa abs2()
+  */
+EIGEN_STRONG_INLINE const CwiseUnaryOp<internal::scalar_abs_op<Scalar>, const Derived>
+abs() const
+{
+  return derived();
+}
+
+/** \returns an expression of the coefficient-wise squared absolute value of \c *this
+  *
+  * Example: \include Cwise_abs2.cpp
+  * Output: \verbinclude Cwise_abs2.out
+  *
+  * \sa abs(), square()
+  */
+EIGEN_STRONG_INLINE const CwiseUnaryOp<internal::scalar_abs2_op<Scalar>, const Derived>
+abs2() const
+{
+  return derived();
+}
+
+/** \returns an expression of the coefficient-wise exponential of *this.
+  *
+  * Example: \include Cwise_exp.cpp
+  * Output: \verbinclude Cwise_exp.out
+  *
+  * \sa pow(), log(), sin(), cos()
+  */
+inline const CwiseUnaryOp<internal::scalar_exp_op<Scalar>, const Derived>
+exp() const
+{
+  return derived();
+}
+
+/** \returns an expression of the coefficient-wise logarithm of *this.
+  *
+  * Example: \include Cwise_log.cpp
+  * Output: \verbinclude Cwise_log.out
+  *
+  * \sa exp()
+  */
+inline const CwiseUnaryOp<internal::scalar_log_op<Scalar>, const Derived>
+log() const
+{
+  return derived();
+}
+
+/** \returns an expression of the coefficient-wise square root of *this.
+  *
+  * Example: \include Cwise_sqrt.cpp
+  * Output: \verbinclude Cwise_sqrt.out
+  *
+  * \sa pow(), square()
+  */
+inline const CwiseUnaryOp<internal::scalar_sqrt_op<Scalar>, const Derived>
+sqrt() const
+{
+  return derived();
+}
+
+/** \returns an expression of the coefficient-wise cosine of *this.
+  *
+  * Example: \include Cwise_cos.cpp
+  * Output: \verbinclude Cwise_cos.out
+  *
+  * \sa sin(), acos()
+  */
+inline const CwiseUnaryOp<internal::scalar_cos_op<Scalar>, const Derived>
+cos() const
+{
+  return derived();
+}
+
+
+/** \returns an expression of the coefficient-wise sine of *this.
+  *
+  * Example: \include Cwise_sin.cpp
+  * Output: \verbinclude Cwise_sin.out
+  *
+  * \sa cos(), asin()
+  */
+inline const CwiseUnaryOp<internal::scalar_sin_op<Scalar>, const Derived>
+sin() const
+{
+  return derived();
+}
+
+/** \returns an expression of the coefficient-wise arc cosine of *this.
+  *
+  * Example: \include Cwise_acos.cpp
+  * Output: \verbinclude Cwise_acos.out
+  *
+  * \sa cos(), asin()
+  */
+inline const CwiseUnaryOp<internal::scalar_acos_op<Scalar>, const Derived>
+acos() const
+{
+  return derived();
+}
+
+/** \returns an expression of the coefficient-wise arc sine of *this.
+  *
+  * Example: \include Cwise_asin.cpp
+  * Output: \verbinclude Cwise_asin.out
+  *
+  * \sa sin(), acos()
+  */
+inline const CwiseUnaryOp<internal::scalar_asin_op<Scalar>, const Derived>
+asin() const
+{
+  return derived();
+}
+
+/** \returns an expression of the coefficient-wise tan of *this.
+  *
+  * Example: \include Cwise_tan.cpp
+  * Output: \verbinclude Cwise_tan.out
+  *
+  * \sa cos(), sin()
+  */
+inline const CwiseUnaryOp<internal::scalar_tan_op<Scalar>, Derived>
+tan() const
+{
+  return derived();
+}
+
+
+/** \returns an expression of the coefficient-wise power of *this to the given exponent.
+  *
+  * Example: \include Cwise_pow.cpp
+  * Output: \verbinclude Cwise_pow.out
+  *
+  * \sa exp(), log()
+  */
+inline const CwiseUnaryOp<internal::scalar_pow_op<Scalar>, const Derived>
+pow(const Scalar& exponent) const
+{
+  return CwiseUnaryOp<internal::scalar_pow_op<Scalar>, const Derived>
+          (derived(), internal::scalar_pow_op<Scalar>(exponent));
+}
+
+
+/** \returns an expression of the coefficient-wise inverse of *this.
+  *
+  * Example: \include Cwise_inverse.cpp
+  * Output: \verbinclude Cwise_inverse.out
+  *
+  * \sa operator/(), operator*()
+  */
+inline const CwiseUnaryOp<internal::scalar_inverse_op<Scalar>, const Derived>
+inverse() const
+{
+  return derived();
+}
+
+/** \returns an expression of the coefficient-wise square of *this.
+  *
+  * Example: \include Cwise_square.cpp
+  * Output: \verbinclude Cwise_square.out
+  *
+  * \sa operator/(), operator*(), abs2()
+  */
+inline const CwiseUnaryOp<internal::scalar_square_op<Scalar>, const Derived>
+square() const
+{
+  return derived();
+}
+
+/** \returns an expression of the coefficient-wise cube of *this.
+  *
+  * Example: \include Cwise_cube.cpp
+  * Output: \verbinclude Cwise_cube.out
+  *
+  * \sa square(), pow()
+  */
+inline const CwiseUnaryOp<internal::scalar_cube_op<Scalar>, const Derived>
+cube() const
+{
+  return derived();
+}
+
+#if __cplusplus < 201703L
+
+#define EIGEN_MAKE_SCALAR_CWISE_UNARY_OP(METHOD_NAME,FUNCTOR) \
+  inline const CwiseUnaryOp<std::binder2nd<FUNCTOR<Scalar> >, const Derived> \
+  METHOD_NAME(const Scalar& s) const { \
+    return CwiseUnaryOp<std::binder2nd<FUNCTOR<Scalar> >, const Derived> \
+            (derived(), std::bind2nd(FUNCTOR<Scalar>(), s)); \
+  }
+
+EIGEN_MAKE_SCALAR_CWISE_UNARY_OP(operator==,  std::equal_to)
+EIGEN_MAKE_SCALAR_CWISE_UNARY_OP(operator!=,  std::not_equal_to)
+EIGEN_MAKE_SCALAR_CWISE_UNARY_OP(operator<,   std::less)
+EIGEN_MAKE_SCALAR_CWISE_UNARY_OP(operator<=,  std::less_equal)
+EIGEN_MAKE_SCALAR_CWISE_UNARY_OP(operator>,   std::greater)
+EIGEN_MAKE_SCALAR_CWISE_UNARY_OP(operator>=,  std::greater_equal)
+
+#endif

Util/Patches/Eigen3.1.0/MatrixCwiseUnaryOps.h

@@ -0,0 +1,85 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+// This file is a base class plugin containing matrix specifics coefficient wise functions.
+
+
+/** \returns an expression of the coefficient-wise absolute value of \c *this
+  *
+  * Example: \include MatrixBase_cwiseAbs.cpp
+  * Output: \verbinclude MatrixBase_cwiseAbs.out
+  *
+  * \sa cwiseAbs2()
+  */
+EIGEN_STRONG_INLINE const CwiseUnaryOp<internal::scalar_abs_op<Scalar>, const Derived>
+cwiseAbs() const { return derived(); }
+
+/** \returns an expression of the coefficient-wise squared absolute value of \c *this
+  *
+  * Example: \include MatrixBase_cwiseAbs2.cpp
+  * Output: \verbinclude MatrixBase_cwiseAbs2.out
+  *
+  * \sa cwiseAbs()
+  */
+EIGEN_STRONG_INLINE const CwiseUnaryOp<internal::scalar_abs2_op<Scalar>, const Derived>
+cwiseAbs2() const { return derived(); }
+
+/** \returns an expression of the coefficient-wise square root of *this.
+  *
+  * Example: \include MatrixBase_cwiseSqrt.cpp
+  * Output: \verbinclude MatrixBase_cwiseSqrt.out
+  *
+  * \sa cwisePow(), cwiseSquare()
+  */
+inline const CwiseUnaryOp<internal::scalar_sqrt_op<Scalar>, const Derived>
+cwiseSqrt() const { return derived(); }
+
+/** \returns an expression of the coefficient-wise inverse of *this.
+  *
+  * Example: \include MatrixBase_cwiseInverse.cpp
+  * Output: \verbinclude MatrixBase_cwiseInverse.out
+  *
+  * \sa cwiseProduct()
+  */
+inline const CwiseUnaryOp<internal::scalar_inverse_op<Scalar>, const Derived>
+cwiseInverse() const { return derived(); }
+
+#if __cplusplus < 201703L
+/** \returns an expression of the coefficient-wise == operator of \c *this and a scalar \a s
+  *
+  * \warning this performs an exact comparison, which is generally a bad idea with floating-point types.
+  * In order to check for equality between two vectors or matrices with floating-point coefficients, it is
+  * generally a far better idea to use a fuzzy comparison as provided by isApprox() and
+  * isMuchSmallerThan().
+  *
+  * \sa cwiseEqual(const MatrixBase<OtherDerived> &) const
+  */
+inline const CwiseUnaryOp<std::binder1st<std::equal_to<Scalar> >, const Derived>
+cwiseEqual(const Scalar& s) const
+{
+  return CwiseUnaryOp<std::binder1st<std::equal_to<Scalar> >,const Derived>
+          (derived(), std::bind1st(std::equal_to<Scalar>(), s));
+}
+#endif

Util/Patches/Eigen3.1.0/PacketMath.h

@@ -0,0 +1,647 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_PACKET_MATH_SSE_H
+#define EIGEN_PACKET_MATH_SSE_H
+
+namespace Eigen {
+
+namespace internal {
+
+#ifndef EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD
+#define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 8
+#endif
+
+#ifndef EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS
+#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS (2*sizeof(void*))
+#endif
+
+typedef __m128  Packet4f;
+typedef __m128i Packet4i;
+typedef __m128d Packet2d;
+
+template<> struct is_arithmetic<__m128>  { enum { value = true }; };
+template<> struct is_arithmetic<__m128i> { enum { value = true }; };
+template<> struct is_arithmetic<__m128d> { enum { value = true }; };
+
+#define vec4f_swizzle1(v,p,q,r,s) \
+  (_mm_castsi128_ps(_mm_shuffle_epi32( _mm_castps_si128(v), ((s)<<6|(r)<<4|(q)<<2|(p)))))
+
+#define vec4i_swizzle1(v,p,q,r,s) \
+  (_mm_shuffle_epi32( v, ((s)<<6|(r)<<4|(q)<<2|(p))))
+
+#define vec2d_swizzle1(v,p,q) \
+  (_mm_castsi128_pd(_mm_shuffle_epi32( _mm_castpd_si128(v), ((q*2+1)<<6|(q*2)<<4|(p*2+1)<<2|(p*2)))))
+  
+#define vec4f_swizzle2(a,b,p,q,r,s) \
+  (_mm_shuffle_ps( (a), (b), ((s)<<6|(r)<<4|(q)<<2|(p))))
+
+#define vec4i_swizzle2(a,b,p,q,r,s) \
+  (_mm_castps_si128( (_mm_shuffle_ps( _mm_castsi128_ps(a), _mm_castsi128_ps(b), ((s)<<6|(r)<<4|(q)<<2|(p))))))
+
+#define _EIGEN_DECLARE_CONST_Packet4f(NAME,X) \
+  const Packet4f p4f_##NAME = pset1<Packet4f>(X)
+
+#define _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(NAME,X) \
+  const Packet4f p4f_##NAME = _mm_castsi128_ps(pset1<Packet4i>(X))
+
+#define _EIGEN_DECLARE_CONST_Packet4i(NAME,X) \
+  const Packet4i p4i_##NAME = pset1<Packet4i>(X)
+
+
+template<> struct packet_traits<float>  : default_packet_traits
+{
+  typedef Packet4f type;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size=4,
+
+    HasDiv    = 1,
+    HasSin  = EIGEN_FAST_MATH,
+    HasCos  = EIGEN_FAST_MATH,
+    HasLog  = 1,
+    HasExp  = 1,
+    HasSqrt = 1
+  };
+};
+template<> struct packet_traits<double> : default_packet_traits
+{
+  typedef Packet2d type;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size=2,
+
+    HasDiv    = 1
+  };
+};
+template<> struct packet_traits<int>    : default_packet_traits
+{
+  typedef Packet4i type;
+  enum {
+    // FIXME check the Has*
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size=4
+  };
+};
+
+template<> struct unpacket_traits<Packet4f> { typedef float  type; enum {size=4}; };
+template<> struct unpacket_traits<Packet2d> { typedef double type; enum {size=2}; };
+template<> struct unpacket_traits<Packet4i> { typedef int    type; enum {size=4}; };
+
+#if defined(_MSC_VER) && (_MSC_VER==1500)
+// Workaround MSVC 9 internal compiler error.
+// TODO: It has been detected with win64 builds (amd64), so let's check whether it also happens in 32bits+SSE mode
+// TODO: let's check whether there does not exist a better fix, like adding a pset0() function. (it crashed on pset1(0)).
+template<> EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float&  from) { return _mm_set_ps(from,from,from,from); }
+template<> EIGEN_STRONG_INLINE Packet2d pset1<Packet2d>(const double& from) { return _mm_set_pd(from,from); }
+template<> EIGEN_STRONG_INLINE Packet4i pset1<Packet4i>(const int&    from) { return _mm_set_epi32(from,from,from,from); }
+#else
+template<> EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float&  from) { return _mm_set1_ps(from); }
+template<> EIGEN_STRONG_INLINE Packet2d pset1<Packet2d>(const double& from) { return _mm_set1_pd(from); }
+template<> EIGEN_STRONG_INLINE Packet4i pset1<Packet4i>(const int&    from) { return _mm_set1_epi32(from); }
+#endif
+
+template<> EIGEN_STRONG_INLINE Packet4f plset<float>(const float& a) { return _mm_add_ps(pset1<Packet4f>(a), _mm_set_ps(3,2,1,0)); }
+template<> EIGEN_STRONG_INLINE Packet2d plset<double>(const double& a) { return _mm_add_pd(pset1<Packet2d>(a),_mm_set_pd(1,0)); }
+template<> EIGEN_STRONG_INLINE Packet4i plset<int>(const int& a) { return _mm_add_epi32(pset1<Packet4i>(a),_mm_set_epi32(3,2,1,0)); }
+
+template<> EIGEN_STRONG_INLINE Packet4f padd<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_add_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d padd<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_add_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i padd<Packet4i>(const Packet4i& a, const Packet4i& b) { return _mm_add_epi32(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f psub<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_sub_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d psub<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_sub_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i psub<Packet4i>(const Packet4i& a, const Packet4i& b) { return _mm_sub_epi32(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pnegate(const Packet4f& a)
+{
+  const Packet4f mask = _mm_castsi128_ps(_mm_setr_epi32(0x80000000,0x80000000,0x80000000,0x80000000));
+  return _mm_xor_ps(a,mask);
+}
+template<> EIGEN_STRONG_INLINE Packet2d pnegate(const Packet2d& a)
+{
+  const Packet2d mask = _mm_castsi128_pd(_mm_setr_epi32(0x0,0x80000000,0x0,0x80000000));
+  return _mm_xor_pd(a,mask);
+}
+template<> EIGEN_STRONG_INLINE Packet4i pnegate(const Packet4i& a)
+{
+  return psub(_mm_setr_epi32(0,0,0,0), a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pmul<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_mul_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d pmul<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_mul_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pmul<Packet4i>(const Packet4i& a, const Packet4i& b)
+{
+#ifdef EIGEN_VECTORIZE_SSE4_1
+  return _mm_mullo_epi32(a,b);
+#else
+  // this version is slightly faster than 4 scalar products
+  return vec4i_swizzle1(
+            vec4i_swizzle2(
+              _mm_mul_epu32(a,b),
+              _mm_mul_epu32(vec4i_swizzle1(a,1,0,3,2),
+                            vec4i_swizzle1(b,1,0,3,2)),
+              0,2,0,2),
+            0,2,1,3);
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pdiv<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_div_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d pdiv<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_div_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pdiv<Packet4i>(const Packet4i& /*a*/, const Packet4i& /*b*/)
+{ eigen_assert(false && "packet integer division are not supported by SSE");
+  return pset1<Packet4i>(0);
+}
+
+// for some weird raisons, it has to be overloaded for packet of integers
+template<> EIGEN_STRONG_INLINE Packet4i pmadd(const Packet4i& a, const Packet4i& b, const Packet4i& c) { return padd(pmul(a,b), c); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pmin<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_min_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d pmin<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_min_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pmin<Packet4i>(const Packet4i& a, const Packet4i& b)
+{
+  // after some bench, this version *is* faster than a scalar implementation
+  Packet4i mask = _mm_cmplt_epi32(a,b);
+  return _mm_or_si128(_mm_and_si128(mask,a),_mm_andnot_si128(mask,b));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pmax<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_max_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d pmax<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_max_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pmax<Packet4i>(const Packet4i& a, const Packet4i& b)
+{
+  // after some bench, this version *is* faster than a scalar implementation
+  Packet4i mask = _mm_cmpgt_epi32(a,b);
+  return _mm_or_si128(_mm_and_si128(mask,a),_mm_andnot_si128(mask,b));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pand<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_and_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d pand<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_and_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pand<Packet4i>(const Packet4i& a, const Packet4i& b) { return _mm_and_si128(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f por<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_or_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d por<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_or_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i por<Packet4i>(const Packet4i& a, const Packet4i& b) { return _mm_or_si128(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pxor<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_xor_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d pxor<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_xor_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pxor<Packet4i>(const Packet4i& a, const Packet4i& b) { return _mm_xor_si128(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pandnot<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_andnot_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d pandnot<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_andnot_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pandnot<Packet4i>(const Packet4i& a, const Packet4i& b) { return _mm_andnot_si128(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pload<Packet4f>(const float*   from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm_load_ps(from); }
+template<> EIGEN_STRONG_INLINE Packet2d pload<Packet2d>(const double*  from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm_load_pd(from); }
+template<> EIGEN_STRONG_INLINE Packet4i pload<Packet4i>(const int*     from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm_load_si128(reinterpret_cast<const Packet4i*>(from)); }
+
+#if defined(_MSC_VER)
+  template<> EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f>(const float*  from) {
+    EIGEN_DEBUG_UNALIGNED_LOAD
+    #if (_MSC_VER==1600)
+    // NOTE Some version of MSVC10 generates bad code when using _mm_loadu_ps
+    // (i.e., it does not generate an unaligned load!!
+    // TODO On most architectures this version should also be faster than a single _mm_loadu_ps
+    // so we could also enable it for MSVC08 but first we have to make this later does not generate crap when doing so...
+    __m128 res = _mm_loadl_pi(_mm_set1_ps(0.0f), (const __m64*)(from));
+    res = _mm_loadh_pi(res, (const __m64*)(from+2));
+    return res;
+    #else
+    return _mm_loadu_ps(from);
+    #endif
+  }
+  template<> EIGEN_STRONG_INLINE Packet2d ploadu<Packet2d>(const double* from) { EIGEN_DEBUG_UNALIGNED_LOAD return _mm_loadu_pd(from); }
+  template<> EIGEN_STRONG_INLINE Packet4i ploadu<Packet4i>(const int*    from) { EIGEN_DEBUG_UNALIGNED_LOAD return _mm_loadu_si128(reinterpret_cast<const Packet4i*>(from)); }
+#else
+// Fast unaligned loads. Note that here we cannot directly use intrinsics: this would
+// require pointer casting to incompatible pointer types and leads to invalid code
+// because of the strict aliasing rule. The "dummy" stuff are required to enforce
+// a correct instruction dependency.
+// TODO: do the same for MSVC (ICC is compatible)
+// NOTE: with the code below, MSVC's compiler crashes!
+
+#if defined(__GNUC__) && defined(__i386__)
+  // bug 195: gcc/i386 emits weird x87 fldl/fstpl instructions for _mm_load_sd
+  #define EIGEN_AVOID_CUSTOM_UNALIGNED_LOADS 1
+#elif defined(__clang__)
+  // bug 201: Segfaults in __mm_loadh_pd with clang 2.8
+  #define EIGEN_AVOID_CUSTOM_UNALIGNED_LOADS 1
+#else
+  #define EIGEN_AVOID_CUSTOM_UNALIGNED_LOADS 0
+#endif
+
+template<> EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f>(const float* from)
+{
+  EIGEN_DEBUG_UNALIGNED_LOAD
+#if EIGEN_AVOID_CUSTOM_UNALIGNED_LOADS
+  return _mm_loadu_ps(from);
+#else
+  __m128d res;
+  res =  _mm_load_sd((const double*)(from)) ;
+  res =  _mm_loadh_pd(res, (const double*)(from+2)) ;
+  return _mm_castpd_ps(res);
+#endif
+}
+template<> EIGEN_STRONG_INLINE Packet2d ploadu<Packet2d>(const double* from)
+{
+  EIGEN_DEBUG_UNALIGNED_LOAD
+#if EIGEN_AVOID_CUSTOM_UNALIGNED_LOADS
+  return _mm_loadu_pd(from);
+#else
+  __m128d res;
+  res = _mm_load_sd(from) ;
+  res = _mm_loadh_pd(res,from+1);
+  return res;
+#endif
+}
+template<> EIGEN_STRONG_INLINE Packet4i ploadu<Packet4i>(const int* from)
+{
+  EIGEN_DEBUG_UNALIGNED_LOAD
+#if EIGEN_AVOID_CUSTOM_UNALIGNED_LOADS
+  return _mm_loadu_si128(reinterpret_cast<const Packet4i*>(from));
+#else
+  __m128d res;
+  res =  _mm_load_sd((const double*)(from)) ;
+  res =  _mm_loadh_pd(res, (const double*)(from+2)) ;
+  return _mm_castpd_si128(res);
+#endif
+}
+#endif
+
+template<> EIGEN_STRONG_INLINE Packet4f ploaddup<Packet4f>(const float*   from)
+{
+  return vec4f_swizzle1(_mm_castpd_ps(_mm_load_sd(reinterpret_cast<const double*>(from))), 0, 0, 1, 1);
+}
+template<> EIGEN_STRONG_INLINE Packet2d ploaddup<Packet2d>(const double*  from)
+{ return pset1<Packet2d>(from[0]); }
+template<> EIGEN_STRONG_INLINE Packet4i ploaddup<Packet4i>(const int*     from)
+{
+  Packet4i tmp;
+  tmp = _mm_loadl_epi64(reinterpret_cast<const Packet4i*>(from));
+  return vec4i_swizzle1(tmp, 0, 0, 1, 1);
+}
+
+template<> EIGEN_STRONG_INLINE void pstore<float>(float*   to, const Packet4f& from) { EIGEN_DEBUG_ALIGNED_STORE _mm_store_ps(to, from); }
+template<> EIGEN_STRONG_INLINE void pstore<double>(double* to, const Packet2d& from) { EIGEN_DEBUG_ALIGNED_STORE _mm_store_pd(to, from); }
+template<> EIGEN_STRONG_INLINE void pstore<int>(int*       to, const Packet4i& from) { EIGEN_DEBUG_ALIGNED_STORE _mm_store_si128(reinterpret_cast<Packet4i*>(to), from); }
+
+template<> EIGEN_STRONG_INLINE void pstoreu<double>(double* to, const Packet2d& from) {
+  EIGEN_DEBUG_UNALIGNED_STORE
+  _mm_storel_pd((to), from);
+  _mm_storeh_pd((to+1), from);
+}
+template<> EIGEN_STRONG_INLINE void pstoreu<float>(float*  to, const Packet4f& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu(reinterpret_cast<double*>(to), _mm_castps_pd(from)); }
+template<> EIGEN_STRONG_INLINE void pstoreu<int>(int*      to, const Packet4i& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu(reinterpret_cast<double*>(to), _mm_castsi128_pd(from)); }
+
+// some compilers might be tempted to perform multiple moves instead of using a vector path.
+template<> EIGEN_STRONG_INLINE void pstore1<Packet4f>(float* to, const float& a)
+{
+  Packet4f pa = _mm_set_ss(a);
+  pstore(to, vec4f_swizzle1(pa,0,0,0,0));
+}
+// some compilers might be tempted to perform multiple moves instead of using a vector path.
+template<> EIGEN_STRONG_INLINE void pstore1<Packet2d>(double* to, const double& a)
+{
+  Packet2d pa = _mm_set_sd(a);
+  pstore(to, vec2d_swizzle1(pa,0,0));
+}
+
+template<> EIGEN_STRONG_INLINE void prefetch<float>(const float*   addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
+template<> EIGEN_STRONG_INLINE void prefetch<double>(const double* addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
+template<> EIGEN_STRONG_INLINE void prefetch<int>(const int*       addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
+
+#if defined(_MSC_VER) && defined(_WIN64) && !defined(__INTEL_COMPILER)
+// The temporary variable fixes an internal compilation error in vs <= 2008 and a wrong-result bug in vs 2010
+// Direct of the struct members fixed bug #62.
+template<> EIGEN_STRONG_INLINE float  pfirst<Packet4f>(const Packet4f& a) { return a.m128_f32[0]; }
+template<> EIGEN_STRONG_INLINE double pfirst<Packet2d>(const Packet2d& a) { return a.m128d_f64[0]; }
+template<> EIGEN_STRONG_INLINE int    pfirst<Packet4i>(const Packet4i& a) { int x = _mm_cvtsi128_si32(a); return x; }
+#elif defined(_MSC_VER) && !defined(__INTEL_COMPILER)
+// The temporary variable fixes an internal compilation error in vs <= 2008 and a wrong-result bug in vs 2010
+template<> EIGEN_STRONG_INLINE float  pfirst<Packet4f>(const Packet4f& a) { float x = _mm_cvtss_f32(a); return x; }
+template<> EIGEN_STRONG_INLINE double pfirst<Packet2d>(const Packet2d& a) { double x = _mm_cvtsd_f64(a); return x; }
+template<> EIGEN_STRONG_INLINE int    pfirst<Packet4i>(const Packet4i& a) { int x = _mm_cvtsi128_si32(a); return x; }
+#else
+template<> EIGEN_STRONG_INLINE float  pfirst<Packet4f>(const Packet4f& a) { return _mm_cvtss_f32(a); }
+template<> EIGEN_STRONG_INLINE double pfirst<Packet2d>(const Packet2d& a) { return _mm_cvtsd_f64(a); }
+template<> EIGEN_STRONG_INLINE int    pfirst<Packet4i>(const Packet4i& a) { return _mm_cvtsi128_si32(a); }
+#endif
+
+template<> EIGEN_STRONG_INLINE Packet4f preverse(const Packet4f& a)
+{ return _mm_shuffle_ps(a,a,0x1B); }
+template<> EIGEN_STRONG_INLINE Packet2d preverse(const Packet2d& a)
+{ return _mm_shuffle_pd(a,a,0x1); }
+template<> EIGEN_STRONG_INLINE Packet4i preverse(const Packet4i& a)
+{ return _mm_shuffle_epi32(a,0x1B); }
+
+
+template<> EIGEN_STRONG_INLINE Packet4f pabs(const Packet4f& a)
+{
+  const Packet4f mask = _mm_castsi128_ps(_mm_setr_epi32(0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF));
+  return _mm_and_ps(a,mask);
+}
+template<> EIGEN_STRONG_INLINE Packet2d pabs(const Packet2d& a)
+{
+  const Packet2d mask = _mm_castsi128_pd(_mm_setr_epi32(0xFFFFFFFF,0x7FFFFFFF,0xFFFFFFFF,0x7FFFFFFF));
+  return _mm_and_pd(a,mask);
+}
+template<> EIGEN_STRONG_INLINE Packet4i pabs(const Packet4i& a)
+{
+  #ifdef EIGEN_VECTORIZE_SSSE3
+  return _mm_abs_epi32(a);
+  #else
+  Packet4i aux = _mm_srai_epi32(a,31);
+  return _mm_sub_epi32(_mm_xor_si128(a,aux),aux);
+  #endif
+}
+
+EIGEN_STRONG_INLINE void punpackp(Packet4f* vecs)
+{
+  vecs[1] = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(vecs[0]), 0x55));
+  vecs[2] = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(vecs[0]), 0xAA));
+  vecs[3] = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(vecs[0]), 0xFF));
+  vecs[0] = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(vecs[0]), 0x00));
+}
+
+#ifdef EIGEN_VECTORIZE_SSE3
+// TODO implement SSE2 versions as well as integer versions
+template<> EIGEN_STRONG_INLINE Packet4f preduxp<Packet4f>(const Packet4f* vecs)
+{
+  return _mm_hadd_ps(_mm_hadd_ps(vecs[0], vecs[1]),_mm_hadd_ps(vecs[2], vecs[3]));
+}
+template<> EIGEN_STRONG_INLINE Packet2d preduxp<Packet2d>(const Packet2d* vecs)
+{
+  return _mm_hadd_pd(vecs[0], vecs[1]);
+}
+// SSSE3 version:
+// EIGEN_STRONG_INLINE Packet4i preduxp(const Packet4i* vecs)
+// {
+//   return _mm_hadd_epi32(_mm_hadd_epi32(vecs[0], vecs[1]),_mm_hadd_epi32(vecs[2], vecs[3]));
+// }
+
+template<> EIGEN_STRONG_INLINE float predux<Packet4f>(const Packet4f& a)
+{
+  Packet4f tmp0 = _mm_hadd_ps(a,a);
+  return pfirst(_mm_hadd_ps(tmp0, tmp0));
+}
+
+template<> EIGEN_STRONG_INLINE double predux<Packet2d>(const Packet2d& a) { return pfirst(_mm_hadd_pd(a, a)); }
+
+// SSSE3 version:
+// EIGEN_STRONG_INLINE float predux(const Packet4i& a)
+// {
+//   Packet4i tmp0 = _mm_hadd_epi32(a,a);
+//   return pfirst(_mm_hadd_epi32(tmp0, tmp0));
+// }
+#else
+// SSE2 versions
+template<> EIGEN_STRONG_INLINE float predux<Packet4f>(const Packet4f& a)
+{
+  Packet4f tmp = _mm_add_ps(a, _mm_movehl_ps(a,a));
+  return pfirst(_mm_add_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
+}
+template<> EIGEN_STRONG_INLINE double predux<Packet2d>(const Packet2d& a)
+{
+  return pfirst(_mm_add_sd(a, _mm_unpackhi_pd(a,a)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f preduxp<Packet4f>(const Packet4f* vecs)
+{
+  Packet4f tmp0, tmp1, tmp2;
+  tmp0 = _mm_unpacklo_ps(vecs[0], vecs[1]);
+  tmp1 = _mm_unpackhi_ps(vecs[0], vecs[1]);
+  tmp2 = _mm_unpackhi_ps(vecs[2], vecs[3]);
+  tmp0 = _mm_add_ps(tmp0, tmp1);
+  tmp1 = _mm_unpacklo_ps(vecs[2], vecs[3]);
+  tmp1 = _mm_add_ps(tmp1, tmp2);
+  tmp2 = _mm_movehl_ps(tmp1, tmp0);
+  tmp0 = _mm_movelh_ps(tmp0, tmp1);
+  return _mm_add_ps(tmp0, tmp2);
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d preduxp<Packet2d>(const Packet2d* vecs)
+{
+  return _mm_add_pd(_mm_unpacklo_pd(vecs[0], vecs[1]), _mm_unpackhi_pd(vecs[0], vecs[1]));
+}
+#endif  // SSE3
+
+template<> EIGEN_STRONG_INLINE int predux<Packet4i>(const Packet4i& a)
+{
+  Packet4i tmp = _mm_add_epi32(a, _mm_unpackhi_epi64(a,a));
+  return pfirst(tmp) + pfirst(_mm_shuffle_epi32(tmp, 1));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i preduxp<Packet4i>(const Packet4i* vecs)
+{
+  Packet4i tmp0, tmp1, tmp2;
+  tmp0 = _mm_unpacklo_epi32(vecs[0], vecs[1]);
+  tmp1 = _mm_unpackhi_epi32(vecs[0], vecs[1]);
+  tmp2 = _mm_unpackhi_epi32(vecs[2], vecs[3]);
+  tmp0 = _mm_add_epi32(tmp0, tmp1);
+  tmp1 = _mm_unpacklo_epi32(vecs[2], vecs[3]);
+  tmp1 = _mm_add_epi32(tmp1, tmp2);
+  tmp2 = _mm_unpacklo_epi64(tmp0, tmp1);
+  tmp0 = _mm_unpackhi_epi64(tmp0, tmp1);
+  return _mm_add_epi32(tmp0, tmp2);
+}
+
+// Other reduction functions:
+
+// mul
+template<> EIGEN_STRONG_INLINE float predux_mul<Packet4f>(const Packet4f& a)
+{
+  Packet4f tmp = _mm_mul_ps(a, _mm_movehl_ps(a,a));
+  return pfirst(_mm_mul_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
+}
+template<> EIGEN_STRONG_INLINE double predux_mul<Packet2d>(const Packet2d& a)
+{
+  return pfirst(_mm_mul_sd(a, _mm_unpackhi_pd(a,a)));
+}
+template<> EIGEN_STRONG_INLINE int predux_mul<Packet4i>(const Packet4i& a)
+{
+  // after some experiments, it is seems this is the fastest way to implement it
+  // for GCC (eg., reusing pmul is very slow !)
+  // TODO try to call _mm_mul_epu32 directly
+  EIGEN_ALIGN16 int aux[4];
+  pstore(aux, a);
+  return  (aux[0] * aux[1]) * (aux[2] * aux[3]);;
+}
+
+// min
+template<> EIGEN_STRONG_INLINE float predux_min<Packet4f>(const Packet4f& a)
+{
+  Packet4f tmp = _mm_min_ps(a, _mm_movehl_ps(a,a));
+  return pfirst(_mm_min_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
+}
+template<> EIGEN_STRONG_INLINE double predux_min<Packet2d>(const Packet2d& a)
+{
+  return pfirst(_mm_min_sd(a, _mm_unpackhi_pd(a,a)));
+}
+template<> EIGEN_STRONG_INLINE int predux_min<Packet4i>(const Packet4i& a)
+{
+  // after some experiments, it is seems this is the fastest way to implement it
+  // for GCC (eg., it does not like using std::min after the pstore !!)
+  EIGEN_ALIGN16 int aux[4];
+  pstore(aux, a);
+  int aux0 = aux[0]<aux[1] ? aux[0] : aux[1];
+  int aux2 = aux[2]<aux[3] ? aux[2] : aux[3];
+  return aux0<aux2 ? aux0 : aux2;
+}
+
+// max
+template<> EIGEN_STRONG_INLINE float predux_max<Packet4f>(const Packet4f& a)
+{
+  Packet4f tmp = _mm_max_ps(a, _mm_movehl_ps(a,a));
+  return pfirst(_mm_max_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
+}
+template<> EIGEN_STRONG_INLINE double predux_max<Packet2d>(const Packet2d& a)
+{
+  return pfirst(_mm_max_sd(a, _mm_unpackhi_pd(a,a)));
+}
+template<> EIGEN_STRONG_INLINE int predux_max<Packet4i>(const Packet4i& a)
+{
+  // after some experiments, it is seems this is the fastest way to implement it
+  // for GCC (eg., it does not like using std::min after the pstore !!)
+  EIGEN_ALIGN16 int aux[4];
+  pstore(aux, a);
+  int aux0 = aux[0]>aux[1] ? aux[0] : aux[1];
+  int aux2 = aux[2]>aux[3] ? aux[2] : aux[3];
+  return aux0>aux2 ? aux0 : aux2;
+}
+
+#if (defined __GNUC__)
+// template <> EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f&  a, const Packet4f&  b, const Packet4f&  c)
+// {
+//   Packet4f res = b;
+//   asm("mulps %[a], %[b] \n\taddps %[c], %[b]" : [b] "+x" (res) : [a] "x" (a), [c] "x" (c));
+//   return res;
+// }
+// EIGEN_STRONG_INLINE Packet4i _mm_alignr_epi8(const Packet4i&  a, const Packet4i&  b, const int i)
+// {
+//   Packet4i res = a;
+//   asm("palignr %[i], %[a], %[b] " : [b] "+x" (res) : [a] "x" (a), [i] "i" (i));
+//   return res;
+// }
+#endif
+
+#ifdef EIGEN_VECTORIZE_SSSE3
+// SSSE3 versions
+template<int Offset>
+struct palign_impl<Offset,Packet4f>
+{
+  static EIGEN_STRONG_INLINE void run(Packet4f& first, const Packet4f& second)
+  {
+    if (Offset!=0)
+      first = _mm_castsi128_ps(_mm_alignr_epi8(_mm_castps_si128(second), _mm_castps_si128(first), Offset*4));
+  }
+};
+
+template<int Offset>
+struct palign_impl<Offset,Packet4i>
+{
+  static EIGEN_STRONG_INLINE void run(Packet4i& first, const Packet4i& second)
+  {
+    if (Offset!=0)
+      first = _mm_alignr_epi8(second,first, Offset*4);
+  }
+};
+
+template<int Offset>
+struct palign_impl<Offset,Packet2d>
+{
+  static EIGEN_STRONG_INLINE void run(Packet2d& first, const Packet2d& second)
+  {
+    if (Offset==1)
+      first = _mm_castsi128_pd(_mm_alignr_epi8(_mm_castpd_si128(second), _mm_castpd_si128(first), 8));
+  }
+};
+#else
+// SSE2 versions
+template<int Offset>
+struct palign_impl<Offset,Packet4f>
+{
+  static EIGEN_STRONG_INLINE void run(Packet4f& first, const Packet4f& second)
+  {
+    if (Offset==1)
+    {
+      first = _mm_move_ss(first,second);
+      first = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(first),0x39));
+    }
+    else if (Offset==2)
+    {
+      first = _mm_movehl_ps(first,first);
+      first = _mm_movelh_ps(first,second);
+    }
+    else if (Offset==3)
+    {
+      first = _mm_move_ss(first,second);
+      first = _mm_shuffle_ps(first,second,0x93);
+    }
+  }
+};
+
+template<int Offset>
+struct palign_impl<Offset,Packet4i>
+{
+  static EIGEN_STRONG_INLINE void run(Packet4i& first, const Packet4i& second)
+  {
+    if (Offset==1)
+    {
+      first = _mm_castps_si128(_mm_move_ss(_mm_castsi128_ps(first),_mm_castsi128_ps(second)));
+      first = _mm_shuffle_epi32(first,0x39);
+    }
+    else if (Offset==2)
+    {
+      first = _mm_castps_si128(_mm_movehl_ps(_mm_castsi128_ps(first),_mm_castsi128_ps(first)));
+      first = _mm_castps_si128(_mm_movelh_ps(_mm_castsi128_ps(first),_mm_castsi128_ps(second)));
+    }
+    else if (Offset==3)
+    {
+      first = _mm_castps_si128(_mm_move_ss(_mm_castsi128_ps(first),_mm_castsi128_ps(second)));
+      first = _mm_castps_si128(_mm_shuffle_ps(_mm_castsi128_ps(first),_mm_castsi128_ps(second),0x93));
+    }
+  }
+};
+
+template<int Offset>
+struct palign_impl<Offset,Packet2d>
+{
+  static EIGEN_STRONG_INLINE void run(Packet2d& first, const Packet2d& second)
+  {
+    if (Offset==1)
+    {
+      first = _mm_castps_pd(_mm_movehl_ps(_mm_castpd_ps(first),_mm_castpd_ps(first)));
+      first = _mm_castps_pd(_mm_movelh_ps(_mm_castpd_ps(first),_mm_castpd_ps(second)));
+    }
+  }
+};
+#endif
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_PACKET_MATH_SSE_H

Util/Patches/Eigen3.1.0/SelfadjointMatrixVector.h

@@ -0,0 +1,289 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SELFADJOINT_MATRIX_VECTOR_H
+#define EIGEN_SELFADJOINT_MATRIX_VECTOR_H
+
+namespace Eigen { 
+
+namespace internal {
+
+/* Optimized selfadjoint matrix * vector product:
+ * This algorithm processes 2 columns at onces that allows to both reduce
+ * the number of load/stores of the result by a factor 2 and to reduce
+ * the instruction dependency.
+ */
+
+template<typename Scalar, typename Index, int StorageOrder, int UpLo, bool ConjugateLhs, bool ConjugateRhs, int Version=Specialized>
+struct selfadjoint_matrix_vector_product;
+
+template<typename Scalar, typename Index, int StorageOrder, int UpLo, bool ConjugateLhs, bool ConjugateRhs, int Version>
+struct selfadjoint_matrix_vector_product
+
+{
+static EIGEN_DONT_INLINE void run(
+  Index size,
+  const Scalar*  lhs, Index lhsStride,
+  const Scalar* _rhs, Index rhsIncr,
+  Scalar* res,
+  Scalar alpha)
+{
+  typedef typename packet_traits<Scalar>::type Packet;
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  const Index PacketSize = sizeof(Packet)/sizeof(Scalar);
+
+  enum {
+    IsRowMajor = StorageOrder==RowMajor ? 1 : 0,
+    IsLower = UpLo == Lower ? 1 : 0,
+    FirstTriangular = IsRowMajor == IsLower
+  };
+
+  conj_helper<Scalar,Scalar,NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(ConjugateLhs,  IsRowMajor), ConjugateRhs> cj0;
+  conj_helper<Scalar,Scalar,NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(ConjugateLhs, !IsRowMajor), ConjugateRhs> cj1;
+  conj_helper<Scalar,Scalar,NumTraits<Scalar>::IsComplex, ConjugateRhs> cjd;
+
+  conj_helper<Packet,Packet,NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(ConjugateLhs,  IsRowMajor), ConjugateRhs> pcj0;
+  conj_helper<Packet,Packet,NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(ConjugateLhs, !IsRowMajor), ConjugateRhs> pcj1;
+
+  Scalar cjAlpha = ConjugateRhs ? conj(alpha) : alpha;
+
+  // FIXME this copy is now handled outside product_selfadjoint_vector, so it could probably be removed.
+  // if the rhs is not sequentially stored in memory we copy it to a temporary buffer,
+  // this is because we need to extract packets
+  ei_declare_aligned_stack_constructed_variable(Scalar,rhs,size,rhsIncr==1 ? const_cast<Scalar*>(_rhs) : 0);  
+  if (rhsIncr!=1)
+  {
+    const Scalar* it = _rhs;
+    for (Index i=0; i<size; ++i, it+=rhsIncr)
+      rhs[i] = *it;
+  }
+
+  Index bound = (std::max)(Index(0),size-8) & 0xfffffffe;
+  if (FirstTriangular)
+    bound = size - bound;
+
+  for (Index j=FirstTriangular ? bound : 0;
+       j<(FirstTriangular ? size : bound);j+=2)
+  {
+    const Scalar* EIGEN_RESTRICT A0 = lhs + j*lhsStride;
+    const Scalar* EIGEN_RESTRICT A1 = lhs + (j+1)*lhsStride;
+
+    Scalar t0 = cjAlpha * rhs[j];
+    Packet ptmp0 = pset1<Packet>(t0);
+    Scalar t1 = cjAlpha * rhs[j+1];
+    Packet ptmp1 = pset1<Packet>(t1);
+
+    Scalar t2(0);
+    Packet ptmp2 = pset1<Packet>(t2);
+    Scalar t3(0);
+    Packet ptmp3 = pset1<Packet>(t3);
+
+    size_t starti = FirstTriangular ? 0 : j+2;
+    size_t endi   = FirstTriangular ? j : size;
+    size_t alignedStart = (starti) + internal::first_aligned(&res[starti], endi-starti);
+    size_t alignedEnd = alignedStart + ((endi-alignedStart)/(PacketSize))*(PacketSize);
+
+    // TODO make sure this product is a real * complex and that the rhs is properly conjugated if needed
+    res[j]   += cjd.pmul(internal::real(A0[j]), t0);
+    res[j+1] += cjd.pmul(internal::real(A1[j+1]), t1);
+    if(FirstTriangular)
+    {
+      res[j]   += cj0.pmul(A1[j],   t1);
+      t3       += cj1.pmul(A1[j],   rhs[j]);
+    }
+    else
+    {
+      res[j+1] += cj0.pmul(A0[j+1],t0);
+      t2 += cj1.pmul(A0[j+1], rhs[j+1]);
+    }
+
+    for (size_t i=starti; i<alignedStart; ++i)
+    {
+      res[i] += t0 * A0[i] + t1 * A1[i];
+      t2 += conj(A0[i]) * rhs[i];
+      t3 += conj(A1[i]) * rhs[i];
+    }
+    // Yes this an optimization for gcc 4.3 and 4.4 (=> huge speed up)
+    // gcc 4.2 does this optimization automatically.
+    const Scalar* EIGEN_RESTRICT a0It  = A0  + alignedStart;
+    const Scalar* EIGEN_RESTRICT a1It  = A1  + alignedStart;
+    const Scalar* EIGEN_RESTRICT rhsIt = rhs + alignedStart;
+          Scalar* EIGEN_RESTRICT resIt = res + alignedStart;
+    for (size_t i=alignedStart; i<alignedEnd; i+=PacketSize)
+    {
+      Packet A0i = ploadu<Packet>(a0It);  a0It  += PacketSize;
+      Packet A1i = ploadu<Packet>(a1It);  a1It  += PacketSize;
+      Packet Bi  = ploadu<Packet>(rhsIt); rhsIt += PacketSize; // FIXME should be aligned in most cases
+      Packet Xi  = pload <Packet>(resIt);
+
+      Xi    = pcj0.pmadd(A0i,ptmp0, pcj0.pmadd(A1i,ptmp1,Xi));
+      ptmp2 = pcj1.pmadd(A0i,  Bi, ptmp2);
+      ptmp3 = pcj1.pmadd(A1i,  Bi, ptmp3);
+      pstore(resIt,Xi); resIt += PacketSize;
+    }
+    for (size_t i=alignedEnd; i<endi; i++)
+    {
+      res[i] += cj0.pmul(A0[i], t0) + cj0.pmul(A1[i],t1);
+      t2 += cj1.pmul(A0[i], rhs[i]);
+      t3 += cj1.pmul(A1[i], rhs[i]);
+    }
+
+    res[j]   += alpha * (t2 + predux(ptmp2));
+    res[j+1] += alpha * (t3 + predux(ptmp3));
+  }
+  for (Index j=FirstTriangular ? 0 : bound;j<(FirstTriangular ? bound : size);j++)
+  {
+    const Scalar* EIGEN_RESTRICT A0 = lhs + j*lhsStride;
+
+    Scalar t1 = cjAlpha * rhs[j];
+    Scalar t2(0);
+    // TODO make sure this product is a real * complex and that the rhs is properly conjugated if needed
+    res[j] += cjd.pmul(internal::real(A0[j]), t1);
+    for (Index i=FirstTriangular ? 0 : j+1; i<(FirstTriangular ? j : size); i++)
+    {
+      res[i] += cj0.pmul(A0[i], t1);
+      t2 += cj1.pmul(A0[i], rhs[i]);
+    }
+    res[j] += alpha * t2;
+  }
+}
+};
+
+} // end namespace internal 
+
+/***************************************************************************
+* Wrapper to product_selfadjoint_vector
+***************************************************************************/
+
+namespace internal {
+template<typename Lhs, int LhsMode, typename Rhs>
+struct traits<SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,0,true> >
+  : traits<ProductBase<SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,0,true>, Lhs, Rhs> >
+{};
+}
+
+template<typename Lhs, int LhsMode, typename Rhs>
+struct SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,0,true>
+  : public ProductBase<SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,0,true>, Lhs, Rhs >
+{
+  EIGEN_PRODUCT_PUBLIC_INTERFACE(SelfadjointProductMatrix)
+
+  enum {
+    LhsUpLo = LhsMode&(Upper|Lower)
+  };
+
+  SelfadjointProductMatrix(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs) {}
+
+  template<typename Dest> void scaleAndAddTo(Dest& dest, Scalar alpha) const
+  {
+    typedef typename Dest::Scalar ResScalar;
+    typedef typename Base::RhsScalar RhsScalar;
+    typedef Map<Matrix<ResScalar,Dynamic,1>, Aligned> MappedDest;
+    
+    eigen_assert(dest.rows()==m_lhs.rows() && dest.cols()==m_rhs.cols());
+
+    typename internal::add_const_on_value_type<ActualLhsType>::type lhs = LhsBlasTraits::extract(m_lhs);
+    typename internal::add_const_on_value_type<ActualRhsType>::type rhs = RhsBlasTraits::extract(m_rhs);
+
+    Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(m_lhs)
+                               * RhsBlasTraits::extractScalarFactor(m_rhs);
+
+    enum {
+      EvalToDest = (Dest::InnerStrideAtCompileTime==1),
+      UseRhs = (_ActualRhsType::InnerStrideAtCompileTime==1)
+    };
+    
+    internal::gemv_static_vector_if<ResScalar,Dest::SizeAtCompileTime,Dest::MaxSizeAtCompileTime,!EvalToDest> static_dest;
+    internal::gemv_static_vector_if<RhsScalar,_ActualRhsType::SizeAtCompileTime,_ActualRhsType::MaxSizeAtCompileTime,!UseRhs> static_rhs;
+
+    ei_declare_aligned_stack_constructed_variable(ResScalar,actualDestPtr,dest.size(),
+                                                  EvalToDest ? dest.data() : static_dest.data());
+                                                  
+    ei_declare_aligned_stack_constructed_variable(RhsScalar,actualRhsPtr,rhs.size(),
+        UseRhs ? const_cast<RhsScalar*>(rhs.data()) : static_rhs.data());
+    
+    if(!EvalToDest)
+    {
+      #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+      int size = dest.size();
+      EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+      #endif
+      MappedDest(actualDestPtr, dest.size()) = dest;
+    }
+      
+    if(!UseRhs)
+    {
+      #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+      int size = rhs.size();
+      EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+      #endif
+      Map<typename _ActualRhsType::PlainObject>(actualRhsPtr, rhs.size()) = rhs;
+    }
+      
+      
+    internal::selfadjoint_matrix_vector_product<Scalar, Index, (internal::traits<_ActualLhsType>::Flags&RowMajorBit) ? RowMajor : ColMajor, int(LhsUpLo), bool(LhsBlasTraits::NeedToConjugate), bool(RhsBlasTraits::NeedToConjugate)>::run
+      (
+        lhs.rows(),                             // size
+        &lhs.coeffRef(0,0),  lhs.outerStride(), // lhs info
+        actualRhsPtr, 1,                        // rhs info
+        actualDestPtr,                          // result info
+        actualAlpha                             // scale factor
+      );
+    
+    if(!EvalToDest)
+      dest = MappedDest(actualDestPtr, dest.size());
+  }
+};
+
+namespace internal {
+template<typename Lhs, typename Rhs, int RhsMode>
+struct traits<SelfadjointProductMatrix<Lhs,0,true,Rhs,RhsMode,false> >
+  : traits<ProductBase<SelfadjointProductMatrix<Lhs,0,true,Rhs,RhsMode,false>, Lhs, Rhs> >
+{};
+}
+
+template<typename Lhs, typename Rhs, int RhsMode>
+struct SelfadjointProductMatrix<Lhs,0,true,Rhs,RhsMode,false>
+  : public ProductBase<SelfadjointProductMatrix<Lhs,0,true,Rhs,RhsMode,false>, Lhs, Rhs >
+{
+  EIGEN_PRODUCT_PUBLIC_INTERFACE(SelfadjointProductMatrix)
+
+  enum {
+    RhsUpLo = RhsMode&(Upper|Lower)
+  };
+
+  SelfadjointProductMatrix(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs) {}
+
+  template<typename Dest> void scaleAndAddTo(Dest& dest, Scalar alpha) const
+  {
+    // let's simply transpose the product
+    Transpose<Dest> destT(dest);
+    SelfadjointProductMatrix<Transpose<const Rhs>, int(RhsUpLo)==Upper ? Lower : Upper, false,
+                             Transpose<const Lhs>, 0, true>(m_rhs.transpose(), m_lhs.transpose()).scaleAndAddTo(destT, alpha);
+  }
+};
+
+} // end namespace Eigen
+
+#endif // EIGEN_SELFADJOINT_MATRIX_VECTOR_H