Merge pull request #20 from carla-simulator/ros2

[ROS2] Hybrid ROS1/ROS2

CMakeLists.txt

@@ -1,57 +1,99 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(carla_msgs)
 
-## Find catkin macros and libraries
-find_package(catkin REQUIRED COMPONENTS
-  message_generation
-  std_msgs
-  geometry_msgs
-  diagnostic_msgs
-)
-
-add_service_files(
-  DIRECTORY srv
-  FILES 
-  SpawnObject.srv
-  DestroyObject.srv
-  GetBlueprints.srv
-)
-
-add_message_files(
-  DIRECTORY msg
-  FILES
-  CarlaBoundingBox.msg
-  CarlaEgoVehicleControl.msg
-  CarlaEgoVehicleStatus.msg
-  CarlaEgoVehicleInfoWheel.msg
-  CarlaEgoVehicleInfo.msg
-  CarlaCollisionEvent.msg
-  CarlaLaneInvasionEvent.msg
-  CarlaWorldInfo.msg
-  CarlaActorInfo.msg
-  CarlaActorList.msg
-  CarlaControl.msg
-  CarlaStatus.msg
-  CarlaTrafficLightInfo.msg
-  CarlaTrafficLightInfoList.msg
-  CarlaTrafficLightStatus.msg
-  CarlaTrafficLightStatusList.msg
-  CarlaWalkerControl.msg
-  CarlaWeatherParameters.msg
-)
-
-generate_messages(
-  DEPENDENCIES
-  std_msgs
-  geometry_msgs
-  diagnostic_msgs
-)
-
-
-catkin_package(
-  CATKIN_DEPENDS
-  message_runtime
-  std_msgs
-  geometry_msgs
-  diagnostic_msgs
-)
+find_package(ros_environment REQUIRED)
+
+set(ROS_VERSION $ENV{ROS_VERSION})
+
+set(SERVICE_FILES SpawnObject.srv DestroyObject.srv GetBlueprints.srv)
+
+set(MSG_FILES
+    CarlaBoundingBox.msg
+    CarlaEgoVehicleControl.msg
+    CarlaEgoVehicleStatus.msg
+    CarlaEgoVehicleInfoWheel.msg
+    CarlaEgoVehicleInfo.msg
+    CarlaCollisionEvent.msg
+    CarlaLaneInvasionEvent.msg
+    CarlaWorldInfo.msg
+    CarlaActorInfo.msg
+    CarlaActorList.msg
+    CarlaControl.msg
+    CarlaStatus.msg
+    CarlaTrafficLightInfo.msg
+    CarlaTrafficLightInfoList.msg
+    CarlaTrafficLightStatus.msg
+    CarlaTrafficLightStatusList.msg
+    CarlaWalkerControl.msg
+    CarlaWeatherParameters.msg)
+
+if(${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)
+
+  add_service_files(DIRECTORY srv FILES ${SERVICE_FILES})
+
+  add_message_files(DIRECTORY msg FILES ${MSG_FILES})
+
+  generate_messages(DEPENDENCIES std_msgs geometry_msgs diagnostic_msgs)
+
+  catkin_package(CATKIN_DEPENDS message_runtime std_msgs geometry_msgs diagnostic_msgs)
+
+elseif(${ROS_VERSION} EQUAL 2)
+
+  cmake_minimum_required(VERSION 3.5)
+
+  if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD_REQUIRED ON)
+    set(CMAKE_CXX_STANDARD 14)
+  endif()
+
+  if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+  endif()
+
+  find_package(ament_cmake REQUIRED)
+  find_package(builtin_interfaces REQUIRED)
+  find_package(std_msgs REQUIRED)
+  find_package(geometry_msgs REQUIRED)
+  find_package(diagnostic_msgs REQUIRED)
+  find_package(rosidl_default_generators REQUIRED)
+
+  # Apend "msg/" to each file name
+  set(TEMP_LIST "")
+  foreach(MSG_FILE ${MSG_FILES})
+    list(APPEND TEMP_LIST "msg/${MSG_FILE}")
+  endforeach()
+  set(MSG_FILES ${TEMP_LIST})
+
+  # Apend "srv/" to each file name
+  set(TEMP_LIST "")
+  foreach(SERVICE_FILE ${SERVICE_FILES})
+    list(APPEND TEMP_LIST "srv/${SERVICE_FILE}")
+  endforeach()
+  set(SERVICE_FILES ${TEMP_LIST})
+
+  rosidl_generate_interfaces(
+    ${PROJECT_NAME}
+    ${MSG_FILES}
+    ${SERVICE_FILES}
+    DEPENDENCIES
+    builtin_interfaces
+    std_msgs
+    geometry_msgs
+    diagnostic_msgs
+    ADD_LINTER_TESTS)
+
+  ament_export_dependencies(rosidl_default_runtime)
+
+  if(BUILD_TESTING)
+    find_package(ament_lint_auto REQUIRED)
+    ament_lint_auto_find_test_dependencies()
+  endif()
+
+  ament_package()
+
+endif()

CONTRIBUTING.md

@@ -0,0 +1,5 @@
+Contributing to CARLA
+=====================
+
+We are more than happy to accept contributions!
+

msg/CarlaCollisionEvent.msg

@@ -6,7 +6,7 @@
 #
 # A collision event
 
-Header header
+std_msgs/Header header
 
 uint32 other_actor_id
 geometry_msgs/Vector3 normal_impulse

msg/CarlaEgoVehicleControl.msg

@@ -6,7 +6,7 @@
 #
 # This represents a vehicle control message sent to CARLA simulator
 
-Header header
+std_msgs/Header header
 
 # The CARLA vehicle control data
 

msg/CarlaEgoVehicleStatus.msg

@@ -5,7 +5,7 @@
 # For a copy, see <https://opensource.org/licenses/MIT>.
 #
 
-Header header
+std_msgs/Header header
 
 float32 velocity
 geometry_msgs/Accel acceleration

msg/CarlaLaneInvasionEvent.msg

@@ -6,7 +6,7 @@
 #
 # A lane invasion event
 
-Header header
+std_msgs/Header header
 
 int32[] crossed_lane_markings
 

package.xml

@@ -1,17 +1,38 @@
 <?xml version="1.0"?>
-<package>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>carla_msgs</name>
-  <version>1.2.0</version>
+  <version>1.3.0</version>
   <description>The carla_msgs package</description>
   <maintainer email="carla.simulator@gmail.com">CARLA Simulator Team</maintainer>
   <license>MIT</license>
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>message_generation</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>diagnostic_msgs</build_depend>
-  <run_depend>message_runtime</run_depend>
-  <run_depend>std_msgs</run_depend>
-  <run_depend>geometry_msgs</run_depend>
-  <run_depend>diagnostic_msgs</run_depend>
+  <url type="website">http://carla.org/</url>
+  <url type="repository">https://github.com/carla-simulator/ros-carla-msgs</url>
+  <url type="bugtracker">https://github.com/carla-simulator/ros-carla-msgs/issues</url>
+  <author email="carla.simulator@gmail.com">CARLA Simulator Team</author>
+
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
+
+  <build_depend condition="$ROS_VERSION == 1">message_generation</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">rosidl_default_generators</build_depend>
+  <build_depend>ros_environment</build_depend>
+
+  <depend condition="$ROS_VERSION == 2">builtin_interfaces</depend>
+  <depend>std_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>diagnostic_msgs</depend>
+
+  <exec_depend condition="$ROS_VERSION == 1">message_runtime</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">rosidl_default_runtime</exec_depend>
+
+  <test_depend condition="$ROS_VERSION == 2">ament_lint_auto</test_depend>
+  <test_depend condition="$ROS_VERSION == 2">ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type condition="$ROS_VERSION == 1">catkin</build_type>
+    <build_type condition="$ROS_VERSION == 2">ament_cmake</build_type>
+  </export>
 </package>

srv/DestroyObject.srv

@@ -7,4 +7,4 @@
 
 int32 id
 ---
-bool success
+bool success