8ce4ca9ed3
* Adding ROS2 manager * Trying to compile fastDDS in windows, but have problems with dependencies * Camera sensors connected to ROS2, dependencies disabled temporaly * Including enum with sensors list * adding GNSS sensor capture * adding IMU sensor capture * adding DVS sensor capture * adding Lidar sensor capture * adding SemanticLidar and Radar capture * adding ObstacleDetector and some fixes * modify cmakelists, failed to find libatomic * fixed libatomic * compile fast-dds with libc++ * fixed compliation fast dds with libcxx * linked carla with fastdds * Fixed Fast-DDS lib Now its compiled to a intermediate lib with a bridge so libstdc++ can be used * moved all ros2 deps to ros2 folder renamed types from .cxx to .cpp * Finally FastDDS compiled and working inside CARLA * exposed publish function for testing * fixed code style * make ros2 optional * make ros2 optional * Added defines to compile ROS2 code * ros image publisher working * deleted some buffer copies * Added more topics and ROS2 types * Adding sensor Transform as argument, and add function to send buffer or serialize and send buffer * Removing empty buffer from DVS sensor * fixed lidar publisher * fixed lidar publisher * Fix buffer of RGB in ROS2 * adding timestamp of each frame into ROS2 manager * sending timestamps with frame to ROS2 * put apart timestamp from frame counter call * adding BufferView to share buffers * adding BufferView to share buffers * adding ros_name attribute to all actors * mapping ros_name for each actor * ROS2 is now published in a different thread Publishers now can be created on demand and be reused Added subscriber for ego vehicle Fixed build scripts * forgot to add this fix * add ros2 to windows scripts * fixed default ros topic names * fix topic name duplication * Adding functions for enable/disable sensors publishing without listen to it * Added Camera info and ROI types RGB Camera now publishes in both topics * move camera info immutable data to the constructor * Publish transform for all topics Create Camera DVS subtopics Fixed bug with Lidar * Added flip Y to semantic lidar * Adding callbacks for subscribers from Unreal * Adding camera info to ROS2 (resolution and FOV) * Finished ROS2 naming from python * Fixed bug with ros names * Delete topics when deleting the sensors * setting the rosname same as default no longer rewrites it * ROS transform fix * Added all camera topics with the image and camera info Added vehicle control Added clock publisher * Change ros2 topic names for vehicle subscriber and clock publisher * Rename vehicle control ros2 topic name * rename subscriber type to CarlaEgoVehicleControl * Fix semantic lidar default ros name Fix sizeof the semantic lidar data buffer * Changed controller stored as string to pointer * Back to previous version for default hero ros name Removed debug prints * Remvoe callback when ego publisher disconnects * Serializing DVS data before sending to ROS * dvs camera image and lidar * DVS Pointcloud publishing * Remove unnecessary fields * Send local transforms to ros * avoid transform recalculation if not needed * Optical Flow Camera fixed * Set fixed branch for Fast-DDS to avoid cmake version change issues * Finally Working on package * Fix style from FastDDS auto generated files * Added ros2 to ubuntu in jenkins * removed ros2 from jenkins, test * restore ros2 in jenkins * fix copy shareds, and removed server dependency from libcarla * test installing the fastdds dependencies in jenkins * move installing deps to separate stage * removed install deps * Fixing test_benchmark_streaming * Fixed imu orientation and camera info data * Fixing test_benchmark_streaming.cpp with BufferView * Removing DEBUG_ONLY() * publish collision sensor * Fixing unit-tests with the new BufferView * camera info is set once * Fix echo camera info * fix transform rotation * Fixing ros_name attribute creation * fixed camera info and region of interest publish * fix IMU compass * Forgot to add ros2 flag to jenkins package --------- Co-authored-by: bernatx <bernatx@gmail.com> |
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