feat(ros2): native map and ego vehicle status publishers with durability QoS - #14
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feat(ros2): native map and ego vehicle status publishers with durability QoS#14youtalk wants to merge 1 commit into
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…ity QoS Port the ue4-dev native ROS 2 work from upstream PRs carla-simulator#9786 and carla-simulator#9787 to the ue5-dev native ROS 2 stack (TF tree publishing excluded): * Publisher durability QoS: introduce PublisherQos descriptors and thread them through IPublisherMiddleware and the CycloneDDS, Fast DDS, and Zenoh backends, so publishers can request reliability/durability beyond the previous hardcoded defaults. * Latched map topic: CarlaMapPublisher publishes the OpenDRIVE map on /carla/map with TRANSIENT_LOCAL durability so late-joining subscribers still receive it. * Ego vehicle status/info and odometry: CarlaEgoVehicleStatusPublisher, CarlaEgoVehicleInfoPublisher, and CarlaOdometryPublisher with the carla_msgs CDR message types (CarlaEgoVehicleStatus/Info/InfoWheel, Accel), UE-to-ROS unit/frame conversions (UeToRosConversions.h), and DDS type hashes covered by test_type_hash.cpp. * Define the ego vehicle publisher constructors in the Ros2Native translation unit so middleware creation succeeds instead of failing at link/creation time. * Log a failed DDS writer creation at log_error in the new publishers, matching the severity every existing publisher uses for the identical condition; a nullptr DDS writer is a silent-failure risk. * Glob LibCarla test sources with CONFIGURE_DEPENDS so a newly added test file cannot be silently omitted by a stale CMake configure while gtest still exits 0 with a lower test count. Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
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Closing, but with a correction to the reason and one part explicitly preserved. This PR is not superseded by an in-tree port. It is closed for two different reasons, one per half:
Closing the PR rather than leaving it open against |
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Ports the ue4-dev native ROS 2 work from carla-simulator#9786/carla-simulator#9787 to ue5-dev: publisher durability QoS descriptors threaded through the CycloneDDS/Fast DDS/Zenoh middleware backends, a latched TRANSIENT_LOCAL
/carla/mapOpenDRIVE topic for late-joining subscribers, and ego vehicle status/info/odometry publishers with carla_msgs-compatible CDR types whose DDS type hashes are pinned by a unit test. Also globs test sources with CONFIGURE_DEPENDS so a stale CMake cache cannot silently drop a new test file. Squashed from the previous #14+#15 pair; the fork-demo pipeline and maintainer tooling were removed to keep the upstream diff minimal.