Initial version

.github/workflows/ci.yml

@@ -1,6 +1,6 @@
 name: CI
 
-on: [push, pull_request]
+# on: [push, pull_request]
 
 jobs:
   check:

.github/workflows/docker.yml

@@ -0,0 +1,49 @@
+name: Docker
+
+on: [push, pull_request]
+
+jobs:
+
+  clean-up:
+    name: Clean up
+    runs-on: ubuntu-latest
+    steps:
+
+      - name: Clean up
+        run: rm -rf *
+
+  docker-ros:
+    runs-on: ubuntu-latest
+    needs: clean-up
+    steps:
+      - uses: actions/checkout@v4
+        name: Checkout repository
+        with:
+          submodules: true
+
+      - uses: robinraju/[email protected]
+        name: Download PythonAPI
+        with:
+          repository: carla-compose/carla-simulator
+          latest: true
+          fileName: PythonAPI.tar.gz
+          extract: true
+          out-file-path: docker/additional-files
+
+      - name: Remove PythonAPI.tar.gz
+        run: rm docker/additional-files/PythonAPI.tar.gz
+
+      - uses: ika-rwth-aachen/[email protected]
+        name: Run docker-ros pipeline
+        with:
+          base-image: rwthika/ros2:humble
+          command: ros2 launch carla_ros_bridge carla_ros_bridge.launch.py
+          target: run
+          platform: amd64
+          registry: docker.io
+          registry-user: ${{ secrets.DOCKER_USERNAME }}
+          registry-password: ${{ secrets.DOCKER_PASSWORD }}
+          image-name: rwthika/carla-ros-bridge
+          image-tag: ros2
+          enable-push-as-latest: true
+          enable-checkout: false

CARLOS_CHANGELOG.md

@@ -0,0 +1,14 @@
+## Latest : 1.0.0
+
+## 1.0.0 - Initial Release
+
+### Major changes
+
+*   Created GitHub workflow to automatically build Docker images using [docker-ros](https://github.com/ika-rwth-aachen/docker-ros) (supports ROS 2 Humble distribution)
+*   Update to [CARLA 0.9.15](https://carla.org/2023/11/10/release-0.9.15/)
+*   Update to Ubuntu 22.04 and Python 3.10 including corresponding pip versions
+
+### Minor changes
+
+*   Small fixes related to version updates
+*   Move original Docker related content to `docker_original_folder/`

README.md

@@ -1,4 +1,33 @@
-# ROS/ROS2 bridge for CARLA simulator
+# Communication Actor: *carla-ros-bridge*
+
+<p align="left">
+  <img src="https://img.shields.io/github/v/release/ika-rwth-aachen/carla-ros-bridge"/>
+  <img src="https://img.shields.io/github/license/ika-rwth-aachen/carla-ros-bridge"/>
+  <a href="https://github.com/ika-rwth-aachen/carla-ros-bridge/actions/workflows/docker.yml">
+  <img src="https://github.com/ika-rwth-aachen/carla-ros-bridge/actions/workflows/docker.yml/badge.svg"/></a>
+  <img src="https://img.shields.io/badge/Ubuntu-22.04-E95420"/>
+  <img src="https://img.shields.io/badge/ROS 2-humble-blueviolet"/>
+  <img src="https://img.shields.io/badge/Python-3.10-blueviolet"/>
+  <img src="https://img.shields.io/github/stars/ika-rwth-aachen/carla-ros-bridge?style=social"/>
+</p>
+
+> [!IMPORTANT]
+> This repository is a minimal fork of the official [ros-bridge](https://github.com/carla-simulator/ros-bridge)! All initial and following modifications to the original repository are documented in [CARLOS_CHANGELOG.md](./CARLOS_CHANGELOG.md).
+
+> [!TIP]
+> We recommend to use the *carla-ros-bridge* as **communication actor** in our open, modular and scalable simulation framework <a href="https://github.com/ika-rwth-aachen/carlos">**CARLOS**. <img src="https://img.shields.io/github/stars/ika-rwth-aachen/carlos?style=social"/></a> 
+>
+> Here, it is the component that facilitates the powerful combination of CARLA and ROS. The component retrieves data from the simulation to publish it over ROS topics while simultaneously listening on different topics for requested actions, which are translated to commands to be executed in CARLA. It does this by using both the ROS communication standard DDS, as well as RPC via the CARLA Python API, in tandem, effectively bridging the two.
+
+> [!TIP]
+> Please also have look to the ROS specific [README](./docker/README.md) giving detailed insights about available ROS nodes, topics and services but also useful information about the containerization. Here, [docker-ros](https://github.com/ika-rwth-aachen/docker-ros) enables a continual building of container images with recent versions of ROS, Python, and Ubuntu.
+
+> [!NOTE]
+> We set up a Continous Integration (CI) pipeline as [GitHub workflow](./github/workflows/docker.yml) to continously build Docker images for the `carla-ros-bridge`, publicly available on [Docker Hub](https://hub.docker.com/r/rwthika/carla-ros-bridge).
+
+---
+---
+## Original README
 
 [![Actions Status](https://github.com/carla-simulator/ros-bridge/workflows/CI/badge.svg)](https://github.com/carla-simulator/ros-bridge)
 [![Documentation](https://readthedocs.org/projects/carla/badge/?version=latest)](http://carla.readthedocs.io)

carla_ackermann_control/src/carla_ackermann_control/carla_ackermann_control_node.py

@@ -55,7 +55,7 @@ def __init__(self):
         # To prevent "float division by zero" within PID controller initialize it with
         # a previous point in time (the error happens because the time doesn't
         # change between initialization and first call, therefore dt is 0)
-        sys.modules['simple_pid.PID']._current_time = (       # pylint: disable=protected-access
+        sys.modules['simple_pid.pid']._current_time = (       # pylint: disable=protected-access
             lambda: self.get_time() - 0.1)
 
         # we might want to use a PID controller to reach the final target speed
@@ -71,7 +71,7 @@ def __init__(self):
                                     output_limits=(-1, 1))
 
         # use the correct time for further calculations
-        sys.modules['simple_pid.PID']._current_time = (       # pylint: disable=protected-access
+        sys.modules['simple_pid.pid']._current_time = (       # pylint: disable=protected-access
             lambda: self.get_time())
 
         if ROS_VERSION == 1:

carla_ros_bridge/src/carla_ros_bridge/CARLA_VERSION

@@ -1 +1 @@
-0.9.13
+0.9.15

carla_ros_bridge/src/carla_ros_bridge/bridge.py

@@ -18,7 +18,6 @@
 except ImportError:
     import Queue as queue
 import sys
-from distutils.version import LooseVersion
 from threading import Thread, Lock, Event
 
 import carla
@@ -413,13 +412,13 @@ def main(args=None):
 
         # check carla version
         dist = pkg_resources.get_distribution("carla")
-        if LooseVersion(dist.version) != LooseVersion(CarlaRosBridge.CARLA_VERSION):
+        if dist.version != CarlaRosBridge.CARLA_VERSION:
             carla_bridge.logfatal("CARLA python module version {} required. Found: {}".format(
                 CarlaRosBridge.CARLA_VERSION, dist.version))
             sys.exit(1)
 
-        if LooseVersion(carla_client.get_server_version()) != \
-           LooseVersion(carla_client.get_client_version()):
+        if carla_client.get_server_version() != \
+           carla_client.get_client_version():
             carla_bridge.logwarn(
                 "Version mismatch detected: You are trying to connect to a simulator that might be incompatible with this API. Client API version: {}. Simulator API version: {}"
                 .format(carla_client.get_client_version(),

docker/README.md

@@ -0,0 +1,75 @@
+# Containerization of the carla-ros-bridge
+
+- [ROS-Bridge](#ros-bridge)
+  - [Nodes](#nodes)
+    - [carla\_ros\_bridge/bridge.py](#carla_ros_bridgebridgepy)
+      - [Subscribed Topics](#subscribed-topics)
+      - [Published Topics](#published-topics)
+      - [Services](#services)
+  - [Usage of docker-ros Images](#usage-of-docker-ros-images)
+    - [Available Images](#available-images)
+    - [Default Command](#default-command)
+    - [Launch Files](#launch-files)
+  - [Official Documentation](#official-documentation)
+
+## Nodes
+
+| Package | Node | Description |
+| --- | --- | --- |
+| `carla_ros_bridge` | `bridge.py` | Enables two-way communication between ROS and CARLA via ROS topics and commands applied to the CARLA server |
+
+### carla_ros_bridge/bridge.py
+
+Also see the [official documentation](https://carla.readthedocs.io/projects/ros-bridge/en/latest/)
+
+#### Subscribed Topics
+
+| Topic | Type | Description |
+| --- | --- | --- |
+| `/carla/debug_marker` | `visualization_msgs/MarkerArray` | Draws markers in the CARLA world. |
+| `/carla/weather_control` | `carla_msgs/CarlaWeatherParameters` | Set the CARLA weather parameters |
+| `/clock` | `rosgraph_msgs/Clock` | Publishes simulated time in ROS. |
+
+#### Published Topics
+
+| Topic | Type | Description |
+| --- | --- | --- |
+| `/carla/status` | `carla_msgs/CarlaStatus` | Read the current status of CARLA |
+| `/carla/world_info` | `carla_msgs/CarlaWorldInfo` | Information about the current CARLA map. |
+| `/clock` | `rosgraph_msgs/Clock` | Publishes simulated time in ROS. |
+| `/rosout` | `rosgraph_msgs/Log` | ROS logging. |
+
+#### Services
+
+| Service | Type | Description |
+| --- | --- | --- |
+| `/carla/destroy_object` | `carla_msgs/DestroyObject.srv` | Destroys an object |
+| `/carla/get_blueprints` | `carla_msgs/GetBlueprints.srv` | Gets blueprints |
+| `/carla/spawn_object` | `carla_msgs/SpawnObject.srv` | Spawn an object |
+
+
+## Usage of docker-ros Images
+
+### Available Images
+
+| Tag | Description |
+| --- | --- |
+| `latest-dev_main_ci-amd64 ` | latest dev version |
+| `latest_main_ci-amd64 ` | latest run version |
+
+### Default Command
+
+```bash
+bash -ic "roslaunch carla_ros_bridge carla_ros_bridge.launch"
+```
+**Note:** The `-i` flag is used to invoke an interactive shell so any additions/changes to the `.bashrc` are effective when running the command.
+
+### Launch Files
+
+| Package | File | Path | Description |
+| --- | --- | --- | --- |
+| `carla_ros_bridge` | `carla_ros_bridge(launch/py)` | `/docker-ros/ws/install/share/carla_ros_bridge` | Creates ROS bridge node and connects it to the CARLA server |
+
+## Official Documentation
+
+- [ROS Bridge](https://carla.readthedocs.io/projects/ros-bridge/en/latest/)

docker/additional-debs.txt

@@ -0,0 +1,15 @@
+python3-pip
+python3-osrf-pycommon
+python3-rosdep
+python3-wstool
+python3-opencv
+ros-$ROS_DISTRO-ackermann-msgs
+ros-$ROS_DISTRO-cv-bridge
+ros-$ROS_DISTRO-vision-opencv
+ros-$ROS_DISTRO-rqt-image-view
+ros-$ROS_DISTRO-rqt-gui-py
+ros-$ROS_DISTRO-derived-object-msgs
+ros-$ROS_DISTRO-pcl-conversions
+wget
+qtbase5-dev
+qt5-qmake

docker/additional-pip-requirements.txt

@@ -0,0 +1,10 @@
+pep8==1.7.1
+autopep8==2.0.4
+cmake_format==0.6.11
+pylint==3.0.3
+transforms3d==0.4.1
+pygame==2.5.2
+pexpect==4.9.0
+simple-pid==2.0.0
+networkx==3.2.1
+pyproj==3.6.1

docker/custom.sh

@@ -0,0 +1,27 @@
+export DOCKER_ROS_FILES_PATH=/docker-ros/additional-files
+# Install ROS version dependent apt packages
+if [ "$ROS_DISTRO" = "noetic" ]; then
+  ADDITIONAL_PACKAGES="ros-$ROS_DISTRO-rviz
+  ros-$ROS_DISTRO-opencv-apps
+  ros-$ROS_DISTRO-rospy
+  ros-$ROS_DISTRO-rospy-message-converter
+  ros-$ROS_DISTRO-pcl-ros
+  python3-catkin-tools
+  python3-catkin-pkg
+  python3-catkin-pkg-modules"
+else
+  ADDITIONAL_PACKAGES="ros-$ROS_DISTRO-rviz2"
+fi
+apt-get install --no-install-recommends -y $ADDITIONAL_PACKAGES
+# Check if user provided CARLA PythonAPI. If not, exit
+mkdir -p /opt/carla
+if [ -d "$DOCKER_ROS_FILES_PATH/artifacts/PythonAPI" ]; then
+    mv $DOCKER_ROS_FILES_PATH/artifacts/PythonAPI /opt/carla/PythonAPI
+else
+    echo "CARLA PythonAPI not found in $DOCKER_ROS_FILES_PATH/artifacts/PythonAPI ...Exiting"
+    exit 1
+fi
+# Create a script to append necessary paths to PYTHONPATH and make .bashrc source it
+echo "export PYTHONPATH=\$PYTHONPATH:/opt/carla/PythonAPI/carla/dist/$(ls /opt/carla/PythonAPI/carla/dist | grep py$PYTHON_VERSION_SHORT.)" >> /opt/carla/setup.bash
+echo "export PYTHONPATH=\$PYTHONPATH:/opt/carla/PythonAPI/carla" >> /opt/carla/setup.bash
+echo "source /opt/carla/setup.bash" >> /root/.bashrc

pcl_recorder/include/PclRecorderROS2.h

@@ -8,10 +8,10 @@
 
 #include "rclcpp/rclcpp.hpp"
 #include <pcl_conversions/pcl_conversions.h>
+#include <rclcpp/time_source.hpp>
+#include <tf2_eigen/tf2_eigen/tf2_eigen.hpp>
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
-#include <tf2_eigen/tf2_eigen.h>
-#include <rclcpp/time_source.hpp>
 
 class PclRecorderROS2 : public rclcpp::Node
 {

rviz_carla_plugin/src/carla_control_panel_ROS2.cpp

@@ -23,6 +23,7 @@
 #include <iomanip>
 
 #include <tf2/utils.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
 #include <OgreCamera.h>
 #include <OgreVector3.h>