feat(ros2): [2/8] template infrastructure + Ackermann subscriber + types by JArmandoAnaya · Pull Request #9745 · carla-simulator/carla

JArmandoAnaya · 2026-05-22T04:49:51Z

Description

Blocked on PR #9743

Introduces the template-based publisher/subscriber infrastructure that PR-3 and PR-4 will use to migrate the existing ROS 2 publishers cohort by cohort, lands the missing AckermannControlSubscriber (with its 8 FastDDS-generated message-type files), and migrates CarlaEgoVehicleControlSubscriber to the new base as the proof-of-concept.

ROS2::RegisterSensor / UnregisterSensor / RegisterVehicle / UnregisterVehicle are added alongside the existing AddActorRosName / RemoveActorRosName / AddActorCallback / RemoveActorCallback so the chain can land without breaking publishers that have not yet migrated. The legacy AddActorCallback now delegates to RegisterVehicle, which means vehicles wired through the old entry point also receive the new Ackermann subscriber automatically.

The scalar-field-to-CARLA-struct conversion for the Ackermann message is extracted into a small header-only seam (AckermannControlConversion.h) so the numeric mapping is unit-testable from libcarla_test_server / libcarla_test_client without linking FastDDS. The Pimpl-via-forward-declaration pattern on the two concrete subscribers keeps <fastdds/...> includes inside the carla-ros2-native ExternalProject and out of the main carla-server compile unit, where FastDDS is not on the include path.

The orphaned CarlaSubscriberListener.{h,cpp} is deleted because the migrated CarlaEgoVehicleControlSubscriber no longer drives the legacy listener trampoline and no other code references it.

Closes: #9627

Changes

New template infrastructure under LibCarla/source/carla/ros2/: publishers/BasePublisher.h, publishers/PublisherImpl.h, subscribers/BaseSubscriber.h, subscribers/SubscriberImpl.h. PublisherImpl<> / SubscriberImpl<> inherit FastDDS's DataWriterListener / DataReaderListener so concrete publishers and subscribers no longer carry per-type listener trampolines.
New subscribers/AckermannControlSubscriber.{h,cpp} consuming the templates, plus the header-only subscribers/AckermannControlConversion.h seam used by the GTest.
8 FastDDS-generated types/AckermannDrive*.{h,cpp} and types/AckermannDriveStamped*.{h,cpp} files, matching the wire format of the 58 message-type families already on ue5-dev.
subscribers/CarlaEgoVehicleControlSubscriber.{h,cpp} migrated to BaseSubscriber + SubscriberImpl<CarlaEgoVehicleControlTraits> as the proof-of-concept. No behavioral change for ROS 2 vehicle command consumers; the topic name and field mapping are unchanged.
ROS2.{h,cpp} gains RegisterSensor / UnregisterSensor / RegisterVehicle / UnregisterVehicle. _subscribers becomes a per-actor multimap of std::shared_ptr<BaseSubscriber>; SetFrame iterates and dispatches via the bound ActorROS2Handler. _controller is gone.
ROS2CallbackData std::variant extended with AckermannControl; matching ActorROS2Handler::operator()(carla::ros2::AckermannControl&) overload routes commands into the existing ACarlaWheeledVehicle::ApplyVehicleAckermannControl(...) path.
listeners/CarlaSubscriberListener.{h,cpp} deleted (no remaining callers after the migration).
New LibCarla/source/test/common/test_ackermann_conversion.cpp with 5 conversion cases plus 2 variant-dispatch cases. Picks up automatically via the existing test/common/*.cpp GLOB.

Where has this been tested?

Platform: Ubuntu 24.04.
Python: 3.10.
UE: 5.5.

libcarla_test_server 80/80 and libcarla_test_client 94/94 pass; the 7 new AckermannConversion.* + ROS2CallbackData.* cases pass in both suites. carla-client, carla-python-api, carla-server and the Release package target build green with no new warnings on the files this PR touches.

Possible Drawbacks

Vehicles registered through the legacy AddActorCallback entry point now also instantiate an AckermannControlSubscriber, which opens a second FastDDS DataReader on the /ackermann_control_cmd topic. Idle cost is a participant subscription; functional cost is nil unless a publisher actively writes to that topic.
The orphaned CarlaSubscriberListener.{h,cpp} deletion is observable for any out-of-tree consumer that included those headers. Inside this repo nothing else references them.

Series status

PR	Theme	Status
1	IMU compass yaw + actor disposal order	#9743
2	Template infrastructure (publisher/subscriber) + Ackermann subscriber (this PR)	#9745
3	Camera publisher unification	#9746
4	Point-cloud + scalar publishers, listener cleanup	#9748
5	geom types + pitch/roll fix	#9751
6	ROS2TopicVisibility default-startup flag	#9756
7	V2X sensor family	#9757
8	WalkerManager null-guard + series CHANGELOG	#9758

Each sub-PR's branch is cut from the previous sub-PR's tip; the GitHub PR opens against ue5-dev and its diff initially includes the predecessor's commit until the predecessor merges, at which point the diff narrows to just the sub-PR's own commit.

Pull request overview

This PR advances the ROS 2 refactor by introducing template-based publisher/subscriber plumbing, adding an Ackermann control subscriber + generated message types, and migrating the ego vehicle control subscriber onto the new base. It also extends the callback dispatch path so vehicle control can be routed via either VehicleControl or the new AckermannControl variant alternative.

Changes:

Add reusable template infrastructure for FastDDS publishers/subscribers (PublisherImpl<>, SubscriberImpl<>) and new lightweight base classes (BasePublisher, BaseSubscriber).
Add AckermannControlSubscriber (plus AckermannControlConversion.h) and extend ROS2CallbackData + Unreal-side dispatch (ActorROS2Handler) to apply Ackermann control.
Refactor ROS2 registration to support multiple subscribers per actor, and add unit tests for IMU compass math + Ackermann conversion.

Reviewed changes

Copilot reviewed 29 out of 29 changed files in this pull request and generated 4 comments.

Show a summary per file

File	Description
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Actor/ActorROS2Handler.h	Adds AckermannControl overload for variant visitation.
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Actor/ActorROS2Handler.cpp	Applies Ackermann control to `ACarlaWheeledVehicle`.
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Actor/ActorDispatcher.cpp	Reorders deregistration around ROS2 cleanup on actor destruction.
LibCarla/source/test/common/test_imu_compass.cpp	Adds unit tests for `OrientationFromCompass`.
LibCarla/source/test/common/test_ackermann_conversion.cpp	Adds unit tests for Ackermann scalar-field conversion + variant dispatch.
LibCarla/source/carla/ros2/types/AckermannDrive.h	Adds generated FastDDS type for AckermannDrive.
LibCarla/source/carla/ros2/types/AckermannDrive.cpp	Adds generated FastDDS type implementation for AckermannDrive.
LibCarla/source/carla/ros2/types/AckermannDrivePubSubTypes.h	Adds generated FastDDS PubSub type for AckermannDrive.
LibCarla/source/carla/ros2/types/AckermannDrivePubSubTypes.cpp	Adds generated FastDDS PubSub type implementation for AckermannDrive.
LibCarla/source/carla/ros2/types/AckermannDriveStamped.h	Adds generated FastDDS type for AckermannDriveStamped.
LibCarla/source/carla/ros2/types/AckermannDriveStamped.cpp	Adds generated FastDDS type implementation for AckermannDriveStamped.
LibCarla/source/carla/ros2/types/AckermannDriveStampedPubSubTypes.h	Adds generated FastDDS PubSub type for AckermannDriveStamped.
LibCarla/source/carla/ros2/types/AckermannDriveStampedPubSubTypes.cpp	Adds generated FastDDS PubSub type implementation for AckermannDriveStamped.
LibCarla/source/carla/ros2/subscribers/SubscriberImpl.h	Introduces templated FastDDS DataReader listener implementation.
LibCarla/source/carla/ros2/subscribers/BaseSubscriber.h	Adds new base interface for per-actor subscribers.
LibCarla/source/carla/ros2/subscribers/CarlaEgoVehicleControlSubscriber.h	Migrates ego vehicle control subscriber to `BaseSubscriber` + `SubscriberImpl<>`.
LibCarla/source/carla/ros2/subscribers/CarlaEgoVehicleControlSubscriber.cpp	Implements new template-based ego vehicle control subscriber.
LibCarla/source/carla/ros2/subscribers/AckermannControlSubscriber.h	Adds Ackermann control subscriber interface.
LibCarla/source/carla/ros2/subscribers/AckermannControlSubscriber.cpp	Implements Ackermann control subscriber using generated types + conversion seam.
LibCarla/source/carla/ros2/subscribers/AckermannControlConversion.h	Adds header-only conversion seam for unit testing.
LibCarla/source/carla/ros2/ROS2CallbackData.h	Extends callback variant with `AckermannControl`.
LibCarla/source/carla/ros2/ROS2.h	Adds Register/Unregister APIs and replaces single controller with per-actor subscriber multimap.
LibCarla/source/carla/ros2/ROS2.cpp	Implements new registration APIs and per-frame dispatch across multiple subscribers.
LibCarla/source/carla/ros2/publishers/BasePublisher.h	Adds new base interface for publishers.
LibCarla/source/carla/ros2/publishers/PublisherImpl.h	Adds templated FastDDS DataWriter listener implementation.
LibCarla/source/carla/ros2/publishers/ImuMath.h	Extracts compass->yaw quaternion math into a testable helper.
LibCarla/source/carla/ros2/publishers/CarlaIMUPublisher.cpp	Uses `OrientationFromCompass` helper for IMU orientation.
LibCarla/source/carla/ros2/listeners/CarlaSubscriberListener.h	Deletes legacy subscriber listener trampoline.
LibCarla/source/carla/ros2/listeners/CarlaSubscriberListener.cpp	Deletes legacy subscriber listener trampoline implementation.

Comments suppressed due to low confidence (2)

LibCarla/source/carla/ros2/subscribers/SubscriberImpl.h:134

GetMessage() clears _new_message and returns _message by value without any synchronization. With on_data_available() potentially writing _message concurrently, this can return torn/partially-updated data. Guard the read+reset with the same synchronization used in the listener (e.g., lock around copy + flag reset, or swap an optional/message queue).

  msg_type GetMessage() {
    _new_message = false;
    return _message;
  }

  [[nodiscard]] bool HasNewMessage() const noexcept { return _new_message; }

LibCarla/source/carla/ros2/ROS2.cpp:240

RegisterVehicle unconditionally inserts two subscribers into _subscribers for the actor. If the actor is re-registered (or if cleanup is missed on destruction), this will accumulate duplicate subscribers/DataReaders for the same actor/topic. Consider erasing existing _subscribers entries for the actor before inserting new ones, or checking whether the expected subscribers already exist.

  const std::string base_topic_name = "rt/carla/" + ros_name;

  _subscribers.insert({actor, std::make_shared<CarlaEgoVehicleControlSubscriber>(actor, base_topic_name, frame_id)});
  _subscribers.insert({actor, std::make_shared<AckermannControlSubscriber>(actor, base_topic_name, frame_id)});

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Threading and lifecycle fixes for the template infrastructure landed on top of a1f3b52: * SubscriberImpl: protect _message with a std::mutex; promote _alive and _new_message to std::atomic<bool>; ignore samples with info.valid_data == false in on_data_available so dispose/unregister notifications no longer flip _new_message. * PublisherImpl: promote _alive to std::atomic<bool>. * ROS2::RegisterVehicle: erase the actor's existing _subscribers range before inserting, and use insert_or_assign for _actor_callbacks so re-registration is idempotent. Same insert_or_assign fix for AddBasicSubscriberCallback. * UActorDispatcher::OnActorDestroyed: call RemoveActorCallback and (in the WITH_ROS2_DEMO build) RemoveBasicSubscriberCallback before RemoveActorRosName, so per-actor subscribers and callbacks are torn down with the actor and SetFrame never dispatches to a dangling pointer.

Copilot

Pull request overview

Copilot reviewed 29 out of 29 changed files in this pull request and generated 5 comments.

Follow-up to 7e5d2d2 that closes the remaining races and semantics bugs surfaced by Copilot's second pass: * SubscriberImpl::GetMessage: clear _new_message under _message_mutex so on_data_available cannot drop a pending sample by racing the flag-clear against its own store(true). Same fix applied to the on_data_available side: the lock now spans both the _message write and the flag store. * SubscriberImpl::on_subscription_matched and PublisherImpl::on_publication_matched: derive _alive from info.current_count > 0, not info.total_count > 0. total_count is cumulative and never decrements, so the previous code latched IsAlive() to true forever after the first match. * ROS2::AddActorRosName: insert_or_assign so a re-registered actor actually picks up its new ros_name. The previous unordered_map ::insert silently kept the stale entry.

JArmandoAnaya · 2026-05-22T08:27:17Z

Ready for review.

Threading and lifecycle fixes for the template infrastructure landed on top of a1f3b52: * SubscriberImpl: protect _message with a std::mutex; promote _alive and _new_message to std::atomic<bool>; ignore samples with info.valid_data == false in on_data_available so dispose/unregister notifications no longer flip _new_message. * PublisherImpl: promote _alive to std::atomic<bool>. * ROS2::RegisterVehicle: erase the actor's existing _subscribers range before inserting, and use insert_or_assign for _actor_callbacks so re-registration is idempotent. Same insert_or_assign fix for AddBasicSubscriberCallback. * UActorDispatcher::OnActorDestroyed: call RemoveActorCallback and (in the WITH_ROS2_DEMO build) RemoveBasicSubscriberCallback before RemoveActorRosName, so per-actor subscribers and callbacks are torn down with the actor and SetFrame never dispatches to a dangling pointer.

Follow-up to 7e5d2d2 that closes the remaining races and semantics bugs surfaced by Copilot's second pass: * SubscriberImpl::GetMessage: clear _new_message under _message_mutex so on_data_available cannot drop a pending sample by racing the flag-clear against its own store(true). Same fix applied to the on_data_available side: the lock now spans both the _message write and the flag store. * SubscriberImpl::on_subscription_matched and PublisherImpl::on_publication_matched: derive _alive from info.current_count > 0, not info.total_count > 0. total_count is cumulative and never decrements, so the previous code latched IsAlive() to true forever after the first match. * ROS2::AddActorRosName: insert_or_assign so a re-registered actor actually picks up its new ros_name. The previous unordered_map ::insert silently kept the stale entry.

…actor deregistration Two small ROS 2 fixes on ue5-dev plus GTest coverage for the IMU math: * CarlaIMUPublisher::SetData computed yaw as (float(M_PI_2) / 2.0f) - compass, which equals pi/4 - compass and reported the IMU orientation rotated 45 degrees from the intended pi/2 - compass conversion of magnetic heading to REP-103 yaw. Extract the math into a header-only helper carla::ros2::OrientationFromCompass so the GTest can exercise it without a live FastDDS publisher. The helper uses static_cast<float>(M_PI) to stay compatible with the carla-ros2-native ExternalProject, which configures C++17 and therefore cannot include <numbers>. * UActorDispatcher::OnActorDestroyed now runs the ROS 2 unregister callback before the actor registry's Deregister(), and collapses the nested if (CarlaActor) / if (IsActive()) into a single predicate. Today on ue5-dev this is observably a no-op because RemoveActorRosName only consumes the raw AActor pointer; the reorder prepares for the upcoming UnregisterSensor / UnregisterVehicle API, which reads FCarlaActor::GetActorInfo()->Description and needs the actor alive at unregister time. Adds LibCarla/source/test/common/test_imu_compass.cpp with 5 GTest cases covering north, east, south, west, and a regression assertion against the previous pi/4 - compass spelling. Behavior change: clients that compensated for the previous 45-degree IMU yaw offset will see a corrected quaternion. (adapted from ue4-dev 201d375) Co-Authored-By: joel-mb <joel.moriana@gmail.com>

Use a 600x400 RGB camera in the ROS 2 native example stack so the published image has enough resolution for a useful preview in rviz.

…ubscriber, and dual registration API Lands the infrastructure half of upstream commit cd3d640 (ROS2 Refactor carla-simulator#9097) on ue5-dev: * BasePublisher / PublisherImpl<T> and BaseSubscriber / SubscriberImpl<T> template wrappers under LibCarla/source/carla/ros2/. The concrete publisher and subscriber headers forward-declare SubscriberImpl<> and the per-type traits struct so the FastDDS-heavy template definition only surfaces inside the carla-ros2-native ExternalProject build, keeping main carla-server (where FastDDS is not on the include path) compileable. * AckermannControlSubscriber.{h,cpp} consuming the new template, with the scalar-field-to-CARLA-struct mapping extracted into a header-only seam AckermannControlConversion.h so the math is unit-testable from libcarla_test_server / libcarla_test_client without FastDDS. * 8 FastDDS-generated Ackermann message-type files (AckermannDrive[.PubSubTypes][Stamped]) under types/, matching the wire format of the 58 message families ue5-dev already ships. * ROS2::RegisterSensor / UnregisterSensor / RegisterVehicle / UnregisterVehicle public API additions alongside the existing AddActorRosName / RemoveActorRosName / AddActorCallback / RemoveActorCallback. AddActorCallback now delegates to RegisterVehicle so vehicles wired through the legacy entry point receive the new Ackermann subscriber automatically. The dual-API design lets PR-3 (camera publishers) and PR-4 (point-cloud + scalar publishers + legacy listener removal) migrate sensor cohorts one at a time over the new entry point without breaking the chain at any commit. * CarlaEgoVehicleControlSubscriber migrated to BaseSubscriber + SubscriberImpl<> as the proof-of-concept; no behavioral change for ROS 2 vehicle command consumers (topic name and field mapping unchanged). * ROS2CallbackData std::variant extended with AckermannControl; matching ActorROS2Handler operator() overload dispatches Ackermann commands into the existing ACarlaWheeledVehicle::ApplyVehicleAckermannControl path. * Orphaned listeners/CarlaSubscriberListener.{h,cpp} deleted. Its only caller was the now-migrated CarlaEgoVehicleControlSubscriber. Also folds in the BasePublisher / BaseSubscriber virtual-destructor + cast cleanup from 2605780. Test coverage: LibCarla/source/test/common/test_ackermann_conversion.cpp exercises the conversion seam (5 cases) and the std::variant routing (2 cases). Both libcarla_test_server (80/80) and libcarla_test_client (94/94) pass with the new cases green. (adapted from ue4-dev cd3d640) Co-Authored-By: joel-mb <joel.moriana@gmail.com>

Threading and lifecycle fixes for the template infrastructure landed on top of a1f3b52: * SubscriberImpl: protect _message with a std::mutex; promote _alive and _new_message to std::atomic<bool>; ignore samples with info.valid_data == false in on_data_available so dispose/unregister notifications no longer flip _new_message. * PublisherImpl: promote _alive to std::atomic<bool>. * ROS2::RegisterVehicle: erase the actor's existing _subscribers range before inserting, and use insert_or_assign for _actor_callbacks so re-registration is idempotent. Same insert_or_assign fix for AddBasicSubscriberCallback. * UActorDispatcher::OnActorDestroyed: call RemoveActorCallback and (in the WITH_ROS2_DEMO build) RemoveBasicSubscriberCallback before RemoveActorRosName, so per-actor subscribers and callbacks are torn down with the actor and SetFrame never dispatches to a dangling pointer.

Follow-up to 7e5d2d2 that closes the remaining races and semantics bugs surfaced by Copilot's second pass: * SubscriberImpl::GetMessage: clear _new_message under _message_mutex so on_data_available cannot drop a pending sample by racing the flag-clear against its own store(true). Same fix applied to the on_data_available side: the lock now spans both the _message write and the flag store. * SubscriberImpl::on_subscription_matched and PublisherImpl::on_publication_matched: derive _alive from info.current_count > 0, not info.total_count > 0. total_count is cumulative and never decrements, so the previous code latched IsAlive() to true forever after the first match. * ROS2::AddActorRosName: insert_or_assign so a re-registered actor actually picks up its new ros_name. The previous unordered_map ::insert silently kept the stale entry.

JArmandoAnaya requested a review from a team as a code owner May 22, 2026 04:49

Copilot AI review requested due to automatic review settings May 22, 2026 04:49

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Comment thread LibCarla/source/carla/ros2/subscribers/SubscriberImpl.h

Comment thread Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Actor/ActorDispatcher.cpp Outdated

Comment thread LibCarla/source/carla/ros2/ROS2.cpp

Comment thread LibCarla/source/carla/ros2/publishers/PublisherImpl.h

JArmandoAnaya mentioned this pull request May 22, 2026

fix(ros2): [1/8] correct IMU compass yaw and reorder actor disposal #9743

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JArmandoAnaya requested a review from Copilot May 22, 2026 05:21

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JArmandoAnaya mentioned this pull request May 22, 2026

feat(ros2): [3/8] unify camera publishers under CarlaCameraPublisher #9746

Draft

This was referenced May 22, 2026

feat(ros2): [4/8] unify point-cloud + scalar publishers, retire legacy listeners #9748

Draft

feat(geom): [5/8] new geom types (Velocity, AngularVelocity, Acceleration, Quaternion, RightHandedVector3D) + pitch/roll fix #9751

Draft

JArmandoAnaya marked this pull request as draft May 23, 2026 01:14

JArmandoAnaya force-pushed the feat/ros2-template-infrastructure-and-ackermann branch from bd5ca4c to 656ec1a Compare May 26, 2026 06:18

JArmandoAnaya changed the title ~~feat(ros2): [2/12] template infrastructure + Ackermann subscriber + types~~ feat(ros2): [2/11] template infrastructure + Ackermann subscriber + types May 26, 2026

This was referenced May 26, 2026

feat(ros2): [6/8] add ROS2TopicVisibility default-startup flag #9756

Draft

feat(sensor): [7/8] add V2X sensor family (CAM service, path-loss, CustomV2X, V2I) #9757

Draft

fix(nav): [8/8] guard against null traffic light in WalkerManager #9758

Draft

JArmandoAnaya and others added 5 commits May 27, 2026 01:37

chore(examples/ros2): set native example camera resolution to 600x400

4d48c64

Use a 600x400 RGB camera in the ROS 2 native example stack so the published image has enough resolution for a useful preview in rviz.

JArmandoAnaya force-pushed the feat/ros2-template-infrastructure-and-ackermann branch from 656ec1a to 9fe297a Compare May 27, 2026 09:03

JArmandoAnaya changed the title ~~feat(ros2): [2/11] template infrastructure + Ackermann subscriber + types~~ feat(ros2): [2/8] template infrastructure + Ackermann subscriber + types May 27, 2026

JArmandoAnaya mentioned this pull request May 27, 2026

Port ue4-dev ROS2 enhancements to ue5-dev (Category 2: ROS2) #9627

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feat(ros2): [2/8] template infrastructure + Ackermann subscriber + types#9745

feat(ros2): [2/8] template infrastructure + Ackermann subscriber + types#9745
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JArmandoAnaya commented May 22, 2026 •

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JArmandoAnaya commented May 22, 2026 •

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