Port ue4-dev features and fixes to ue5-dev (tracking issue)

[youtalk]

Is your feature request related to a problem? Please describe.

Many useful bug fixes, features, and improvements have accumulated in ue4-dev but have not been ported to ue5-dev. This is the parent tracking issue for porting them as new implementations (not cherry-picks). Each category is tracked in its own sub-issue. See #9581 for the original discussion.

Describe the solution you'd like

Progress by Category

• Port ue4-dev bug fixes to ue5-dev (Category 1: Bug Fixes) #9583
• Port ue4-dev ROS2 enhancements to ue5-dev (Category 2: ROS2) #9627
• Port ue4-dev recorder/replay features to ue5-dev (Category 3: Recorder) #9628
• Port ue4-dev TrafficManager improvements to ue5-dev (Category 4: TM) #9629
• Port ue4-dev vehicle/physics/control API to ue5-dev (Category 5: Vehicle API) #9630
• Port ue4-dev new sensors to ue5-dev (Category 6: Sensors) #9631
• Port ue4-dev segmentation fixes to ue5-dev (Category 7: Segmentation) #9632
• Port ue4-dev left-hand traffic support to ue5-dev (Category 8: LHT) #9633
• Port ue4-dev misc improvements to ue5-dev (Category 9: OpenDrive, Traffic, Python) #9634

PR Status

Ref	PR	Category	Status
#0a	#9585	1	✅ merged
#0b	#9585	1	✅ merged
#0c	#9586	1	✅ merged
#0d	#9587	1	✅ merged
#0i	#9708	3	✅ merged
#0j	#9710	3	✅ merged
#0l	#9715	5	✅ merged
#0m	#9726	5	✅ merged
#0p	#9731	6	✅ merged
#0o	#9742	6	✅ merged
#0s	#9652	9	✅ merged
#0r	#8954	8	✅ already on ue5-dev (LHT shipped via #8954)
#0n	#9741	6	🟡 open — approved, ready to merge
#0k	#9712	4	🟡 open — changes requested
#0t	#9773	9	🟡 open — in review
#0u	#9774, #9775	9	🟡 open — in review
#0e–#0h	see ROS2 breakdown below	2	🟡 restructured into 8 stacked PRs
#0q	—	7	✅ no port needed — verified the six UE4 fixes no longer reproduce on ue5-dev (already covered by the #7935 instance-segmentation rework); #9632 closed as completed

Category 2 (ROS2) — PR breakdown

The ROS2 port (#9627) was restructured into 8 stacked, incremental PRs. These are dependent and must merge in order (unlike the other categories, whose PRs are independent).

PR	Title	Status
#9743	[1/8] correct IMU compass yaw + reorder actor disposal	🟢 approved, ready to merge
#9745	[2/8] template infrastructure + Ackermann subscriber + types	⬜ draft
#9746	[3/8] unify camera publishers under CarlaCameraPublisher	⬜ draft
#9748	[4/8] unify point-cloud + scalar publishers, retire legacy listeners	⬜ draft
#9751	[5/8] new geom types (Velocity, AngularVelocity, Acceleration, Quaternion, RightHandedVector3D) + pitch/roll fix	⬜ draft
#9756	[6/8] add ROS2TopicVisibility default-startup flag	⬜ draft
#9757	[7/8] add V2X sensor family (CAM service, path-loss, CustomV2X, V2I)	⬜ draft
#9758	[8/8] guard against null traffic light in WalkerManager	⬜ draft

Describe alternatives you've considered

Cherry-picking from ue4-dev was considered but rejected due to UE4→UE5 differences in build system, Unreal plugin structure, and rendering pipeline.

Additional context

Reference commits are from ue4-dev and serve as the basis for new ue5-dev implementations. All PRs within each phase are independent and can be reviewed in parallel unless noted otherwise (the Category 2 / ROS2 PRs are the exception — they are stacked and must merge in order).

[youtalk]

@Blyron cc @JesusAnaya Based on the feedback #9638 (comment), I have limited the following PRs to only fixing existing known bugs from ue4-dev, excluding any changes that would require major refactoring:

• fix(ros2): correct PointField descriptors in DVS camera publisher #9649
• fix(‎LibCarla): add buffer_map guard to prevent segfault on destroyed vehicles #9651
• fix(‎LibCarla): port lane marking, waypoint loop, lane corners, and pugixml null fixes #9652
• fix(Unreal): return traffic sign bounding box from first trigger volume #9653
• fix(LibCarla): add nullptr guard in LaneCrossingCalculator #9654
• fix(test): update MakeUnitVector test for zero-length vector behavior #9655
• fix(Unreal): remove duplicate include in BoundingBoxCalculator #9656
• fix(LibCarla): use double literal in Lane::GetWidth return #9657
• fix(ros2): replace non-standard M_PIf32 with portable alternative #9658

Since these reviews are all very straightforward, I would appreciate a quick review and merge.
Once these are complete, I will move on to the larger functional additions.

[JArmandoAnaya]

Hello @youtalk, I will try to start to help with the review today. I can take a look at the suggestion of GitHub to check if they are correct and validate the refactoring from my side.

[JArmandoAnaya]

@youtalk Once the series of PRs to finish the decoupling of FastDDS and implementing CycloneDDS in the branch ue4-dev will be done. I can help you to start the porting of those changes to ue5-dev.