Extended ROS2 interfaces

- Remove "Ego" from messages, as there is no dedicated ego vehicle
anymore. Any vehicle can be controlled via the ROS2 interface if
desired.
- Adding topic_prefix to CarlaActorInfo.msg to be able to identify the
corresponding available actor interfaces. And filled with other
blueprint strings (rosname, object_type, base_type).
- Extended the reporting on the last applied control to the
CarlaVehicleStatus interface.
- Extended the CarlaVehicleInfo interface by the shape i.e. of the
vertices of the UE-Mesh of the actor.
- Add header to CarlaWalkerControl, CarlaTrafficLightStatus, CarlaStatus
- Remove last applied control timestamp from VehicleStatus
- Added CarlaSynchronizationWindow message
- Added CaralV2XCustom* messages
- Add LoadMap.srv GetAvailableMaps.srv
- Made GetBlueprints.srv to return the complete blueprint information
- Use CarlaActorBlueprint type in SpawnObject
- Added CarlaEpisodeSettings.msg, SetEpisodeSettings.srv and use that
one in CarlaStatus.idl for reporting
- Added CarlaSynchronizationWindowParticipantState and report in
CarlaStatus and rename synchronous_mode_running -> game_running
- Make time entries double to be able to express exact game times
- Extend CarlaVehicleStatus.msg to provide also the child_frame_id as
Odometry.msg and provide defaults for CarlaVehicleControl.msg
- Split CarlaVehicleStatus into Speed, Odometry,
CarlaVehicleControlStatus (provides the pseudo.speedometer and
pseudo.odom sensors for better backward compatibility and usability)
- Add CarlaVehicleTelemetryData.msg

Author: berndgassmann

CMakeLists.txt

@@ -1,46 +1,70 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 2.8.12)
 project(carla_msgs)
 
 find_package(ros_environment REQUIRED)
 
 set(ROS_VERSION $ENV{ROS_VERSION})
+if (NOT ROS_VERSION)
+  message(FATAL_ERROR "ROS_VERSION not set. Please source the respective ROS environment before building this component")
+  return()
+endif()
 
-set(SERVICE_FILES SpawnObject.srv DestroyObject.srv GetBlueprints.srv)
+set(SERVICE_FILES
+    DestroyObject.srv
+    GetAvailableMaps.srv
+    GetBlueprints.srv
+    LoadMap.srv
+    SetEpisodeSettings.srv
+    SpawnObject.srv
+    )
 
 set(MSG_FILES
-    CarlaBoundingBox.msg
-    CarlaEgoVehicleControl.msg
-    CarlaEgoVehicleStatus.msg
-    CarlaEgoVehicleInfoWheel.msg
-    CarlaEgoVehicleInfo.msg
-    CarlaCollisionEvent.msg
-    CarlaLaneInvasionEvent.msg
-    CarlaWorldInfo.msg
+    CarlaActorBlueprint.msg
     CarlaActorInfo.msg
     CarlaActorList.msg
+    CarlaBoundingBox.msg
+    CarlaCollisionEvent.msg
     CarlaControl.msg
+    CarlaEpisodeSettings.msg
+    CarlaVehicleControl.msg
+    CarlaVehicleInfo.msg
+    CarlaVehicleInfoWheel.msg
+    CarlaVehicleTelemetryData.msg
+    CarlaVehicleTelemetryDataWheel.msg
+    CarlaVehicleControlStatus.msg
+    CarlaLaneInvasionEvent.msg
     CarlaStatus.msg
     CarlaTrafficLightInfo.msg
     CarlaTrafficLightInfoList.msg
     CarlaTrafficLightStatus.msg
     CarlaTrafficLightStatusList.msg
+    CarlaSynchronizationWindow.msg
+    CarlaSynchronizationWindowParticipantState.msg
+    CarlaV2XByteArray.msg
+    CarlaV2XCustomData.msg
+    CarlaV2XCustomDataList.msg
+    CarlaV2XCustomMessage.msg
+    CarlaV2XData.msg
+    CarlaV2XDataList.msg
     CarlaWalkerControl.msg
-    CarlaWeatherParameters.msg)
+    CarlaWeatherParameters.msg
+    CarlaWorldInfo.msg
+    )
 
 if(${ROS_VERSION} EQUAL 1)
   cmake_minimum_required(VERSION 2.8.3)
 
   # Find catkin macros and libraries
   find_package(catkin REQUIRED COMPONENTS message_generation std_msgs
-                                          geometry_msgs diagnostic_msgs)
+                                          geometry_msgs diagnostic_msgs shape_msgs ackermann_msgs etsi_its_cam_msgs)
 
   add_service_files(DIRECTORY srv FILES ${SERVICE_FILES})
 
   add_message_files(DIRECTORY msg FILES ${MSG_FILES})
 
-  generate_messages(DEPENDENCIES std_msgs geometry_msgs diagnostic_msgs)
+  generate_messages(DEPENDENCIES std_msgs geometry_msgs diagnostic_msgs shape_msgs ackermann_msgs etsi_its_cam_msgs)
 
-  catkin_package(CATKIN_DEPENDS message_runtime std_msgs geometry_msgs diagnostic_msgs)
+  catkin_package(CATKIN_DEPENDS message_runtime std_msgs geometry_msgs diagnostic_msgs shape_msgs ackermann_msgs etsi_its_cam_msgs)
 
 elseif(${ROS_VERSION} EQUAL 2)
 
@@ -58,8 +82,11 @@ elseif(${ROS_VERSION} EQUAL 2)
   find_package(ament_cmake REQUIRED)
   find_package(builtin_interfaces REQUIRED)
   find_package(std_msgs REQUIRED)
+  find_package(shape_msgs REQUIRED)
   find_package(geometry_msgs REQUIRED)
+  find_package(ackermann_msgs REQUIRED)
   find_package(diagnostic_msgs REQUIRED)
+  find_package(etsi_its_cam_msgs REQUIRED)
   find_package(rosidl_default_generators REQUIRED)
 
   # Apend "msg/" to each file name
@@ -83,8 +110,11 @@ elseif(${ROS_VERSION} EQUAL 2)
     DEPENDENCIES
     builtin_interfaces
     std_msgs
+    shape_msgs
     geometry_msgs
+    ackermann_msgs
     diagnostic_msgs
+    etsi_its_cam_msgs
     ADD_LINTER_TESTS)
 
   ament_export_dependencies(rosidl_default_runtime)

msg/CarlaActorBlueprint.idl

@@ -0,0 +1,23 @@
+// generated from rosidl_adapter/resource/msg.idl.em
+// with input from carla_msgs/msg/CarlaActorBlueprint.msg
+// generated code does not contain a copyright notice
+#pragma once
+
+#include "diagnostic_msgs/msg/KeyValue.idl"
+
+module carla_msgs {
+  module msg {
+    @verbatim (language="comment", text=
+      "Copyright (c) 2024 Intel Corporation." "\n"
+      "" "\n"
+      "This work is licensed under the terms of the MIT license." "\n"
+      "For a copy, see <https://opensource.org/licenses/MIT>.")
+    struct CarlaActorBlueprint {
+      string id;
+
+      sequence<string> tags;
+
+      sequence<diagnostic_msgs::msg::KeyValue> attributes;
+    };
+  };
+};

msg/CarlaActorBlueprint.msg

@@ -0,0 +1,10 @@
+#
+# Copyright (c) 2024 Intel Corporation.
+#
+# This work is licensed under the terms of the MIT license.
+# For a copy, see <https://opensource.org/licenses/MIT>.
+#
+
+string id
+string[] tags
+diagnostic_msgs/KeyValue[] attributes

msg/CarlaActorInfo.idl

@@ -0,0 +1,34 @@
+// generated from rosidl_adapter/resource/msg.idl.em
+// with input from carla_msgs/msg/CarlaActorInfo.msg
+// generated code does not contain a copyright notice
+#pragma once
+
+
+module carla_msgs {
+  module msg {
+    @verbatim (language="comment", text=
+      "Copyright (c) 2019 Intel Corporation." "\n"
+      "" "\n"
+      "This work is licensed under the terms of the MIT license." "\n"
+      "For a copy, see <https://opensource.org/licenses/MIT>.")
+    struct CarlaActorInfo {
+      uint32 id;
+
+      @verbatim (language="comment", text=
+        "0 if no parent available")
+      uint32 parent_id;
+
+      string type;
+
+      string rosname;
+
+      string rolename;
+
+      string object_type;
+
+      string base_type;
+
+      string topic_prefix;
+    };
+  };
+};

msg/CarlaActorInfo.msg

@@ -8,5 +8,10 @@
 uint32 id
 uint32 parent_id # 0 if no parent available
 string type
+string rosname
 string rolename
+string object_type
+string base_type
+string topic_prefix
+
 

msg/CarlaActorList.idl

@@ -0,0 +1,19 @@
+// generated from rosidl_adapter/resource/msg.idl.em
+// with input from carla_msgs/msg/CarlaActorList.msg
+// generated code does not contain a copyright notice
+#pragma once
+
+#include "carla_msgs/msg/CarlaActorInfo.idl"
+
+module carla_msgs {
+  module msg {
+    @verbatim (language="comment", text=
+      "Copyright (c) 2019 Intel Corporation." "\n"
+      "" "\n"
+      "This work is licensed under the terms of the MIT license." "\n"
+      "For a copy, see <https://opensource.org/licenses/MIT>.")
+    struct CarlaActorList {
+      sequence<carla_msgs::msg::CarlaActorInfo> actors;
+    };
+  };
+};

msg/CarlaActorList.msg

@@ -5,5 +5,5 @@
 # For a copy, see <https://opensource.org/licenses/MIT>.
 #
 
-CarlaActorInfo[] actors
+carla_msgs/CarlaActorInfo[] actors
 

msg/CarlaBoundingBox.idl

@@ -0,0 +1,21 @@
+// generated from rosidl_adapter/resource/msg.idl.em
+// with input from carla_msgs/msg/CarlaBoundingBox.msg
+// generated code does not contain a copyright notice
+#pragma once
+
+#include "geometry_msgs/msg/Vector3.idl"
+
+module carla_msgs {
+  module msg {
+    @verbatim (language="comment", text=
+      "Copyright (c) 2020 Intel Corporation." "\n"
+      "" "\n"
+      "This work is licensed under the terms of the MIT license." "\n"
+      "For a copy, see <https://opensource.org/licenses/MIT>.")
+    struct CarlaBoundingBox {
+      geometry_msgs::msg::Vector3 center;
+
+      geometry_msgs::msg::Vector3 size;
+    };
+  };
+};

msg/CarlaCollisionEvent.idl

@@ -0,0 +1,26 @@
+// generated from rosidl_adapter/resource/msg.idl.em
+// with input from carla_msgs/msg/CarlaCollisionEvent.msg
+// generated code does not contain a copyright notice
+#pragma once
+
+#include "geometry_msgs/msg/Vector3.idl"
+#include "std_msgs/msg/Header.idl"
+
+module carla_msgs {
+  module msg {
+    @verbatim (language="comment", text=
+      "Copyright (c) 2019 Intel Corporation." "\n"
+      "" "\n"
+      "This work is licensed under the terms of the MIT license." "\n"
+      "For a copy, see <https://opensource.org/licenses/MIT>." "\n"
+      "" "\n"
+      "A collision event")
+    struct CarlaCollisionEvent {
+      std_msgs::msg::Header header;
+
+      uint32 other_actor_id;
+
+      geometry_msgs::msg::Vector3 normal_impulse;
+    };
+  };
+};

msg/CarlaControl.idl

@@ -0,0 +1,23 @@
+// generated from rosidl_adapter/resource/msg.idl.em
+// with input from carla_msgs/msg/CarlaControl.msg
+// generated code does not contain a copyright notice
+#pragma once
+
+
+module carla_msgs {
+  module msg {
+    module CarlaControl_Constants {
+      const int8 PLAY = 0;
+      const int8 PAUSE = 1;
+      const int8 STEP_ONCE = 2;
+    };
+    @verbatim (language="comment", text=
+      "Copyright (c) 2019 Intel Corporation." "\n"
+      "" "\n"
+      "This work is licensed under the terms of the MIT license." "\n"
+      "For a copy, see <https://opensource.org/licenses/MIT>.")
+    struct CarlaControl {
+      int8 command;
+    };
+  };
+};