carla::ros2 Namespace Reference

Namespaces
namespace	autoware_steering_compensation
	Ported verbatim from tier4/autoware-support (commit 63e831e85 lineage).
namespace	msg

Classes
struct	AckermannControl
class	AckermannControlSubscriber
struct	AckermannControlTraits
struct	AutowareControlCmdTraits
struct	AutowareControlModeReportTraits
class	AutowareControlSubscriber
struct	AutowareEmergencyCmdTraits
struct	AutowareEngageTraits
struct	AutowareGearCmdTraits
struct	AutowareGearReportTraits
struct	AutowareGnssPoseTraits
struct	AutowareGnssPoseWithCovarianceTraits
class	AutowareGNSSPublisher
struct	AutowareHazardLightsCmdTraits
struct	AutowareHazardLightsReportTraits
struct	AutowareSteeringReportTraits
struct	AutowareTurnIndicatorsCmdTraits
struct	AutowareTurnIndicatorsReportTraits
class	AutowareVehicleStatusPublisher
struct	AutowareVelocityReportTraits
class	BasePublisher
class	BaseSubscriber
class	BasicListener
class	BasicListenerImpl
class	BasicPublisher
struct	BasicPublisherMsgTraits
class	BasicSubscriber
struct	BasicSubscriberImpl
struct	CameraIntrinsics
struct	CarlaCameraImageMsgTraits
struct	CarlaCameraInfoMsgTraits
class	CarlaCameraPublisher
struct	CarlaClockMsgTraits
class	CarlaClockPublisher
struct	CarlaCollisionMsgTraits
class	CarlaCollisionPublisher
class	CarlaDVSCameraPublisher
class	CarlaDVSImagePublisher
class	CarlaDVSPointCloudPublisher
class	CarlaEgoVehicleControlSubscriber
struct	CarlaEgoVehicleControlTraits
struct	CarlaGnssMsgTraits
class	CarlaGNSSPublisher
struct	CarlaImuMsgTraits
class	CarlaIMUPublisher
class	CarlaLidarPublisher
class	CarlaOpticalFlowCameraPublisher
struct	CarlaPointCloudMsgTraits
class	CarlaPointCloudPublisher
class	CarlaRadarPublisher
class	CarlaRGBCameraPublisher
class	CarlaSemanticLidarPublisher
class	CarlaSubscriber
struct	CarlaTransformMsgTraits
class	CarlaTransformPublisher
struct	CdrTopicInfo
	Per-type metadata needed by the middleware layer. More...
struct	CdrTopicInfo< msg::AckermannDrive >
struct	CdrTopicInfo< msg::AckermannDriveStamped >
struct	CdrTopicInfo< msg::CameraInfo >
struct	CdrTopicInfo< msg::CarlaCollisionEvent >
struct	CdrTopicInfo< msg::CarlaEgoVehicleControl >
struct	CdrTopicInfo< msg::CarlaLineInvasion >
struct	CdrTopicInfo< msg::Clock >
struct	CdrTopicInfo< msg::Control >
struct	CdrTopicInfo< msg::ControlModeReport >
struct	CdrTopicInfo< msg::Engage >
struct	CdrTopicInfo< msg::Float32 >
struct	CdrTopicInfo< msg::GearCommand >
struct	CdrTopicInfo< msg::GearReport >
struct	CdrTopicInfo< msg::HazardLightsCommand >
struct	CdrTopicInfo< msg::HazardLightsReport >
struct	CdrTopicInfo< msg::Header >
struct	CdrTopicInfo< msg::Image >
struct	CdrTopicInfo< msg::Imu >
struct	CdrTopicInfo< msg::Lateral >
struct	CdrTopicInfo< msg::Longitudinal >
struct	CdrTopicInfo< msg::NavSatFix >
struct	CdrTopicInfo< msg::NavSatStatus >
struct	CdrTopicInfo< msg::Odometry >
struct	CdrTopicInfo< msg::Point >
struct	CdrTopicInfo< msg::Point32 >
struct	CdrTopicInfo< msg::PointCloud2 >
struct	CdrTopicInfo< msg::PointField >
struct	CdrTopicInfo< msg::Pose >
struct	CdrTopicInfo< msg::PoseStamped >
struct	CdrTopicInfo< msg::PoseWithCovariance >
struct	CdrTopicInfo< msg::PoseWithCovarianceStamped >
struct	CdrTopicInfo< msg::Quaternion >
struct	CdrTopicInfo< msg::RegionOfInterest >
struct	CdrTopicInfo< msg::SteeringReport >
struct	CdrTopicInfo< msg::String >
struct	CdrTopicInfo< msg::TF2Error >
struct	CdrTopicInfo< msg::TFMessage >
struct	CdrTopicInfo< msg::Time >
struct	CdrTopicInfo< msg::Transform >
struct	CdrTopicInfo< msg::TransformStamped >
struct	CdrTopicInfo< msg::TurnIndicatorsCommand >
struct	CdrTopicInfo< msg::TurnIndicatorsReport >
struct	CdrTopicInfo< msg::Twist >
struct	CdrTopicInfo< msg::TwistWithCovariance >
struct	CdrTopicInfo< msg::Vector3 >
struct	CdrTopicInfo< msg::VehicleEmergencyStamped >
struct	CdrTopicInfo< msg::VelocityReport >
struct	DvsEvent
class	FastDDSPublisherMiddleware
	FastDDS implementation of IPublisherMiddleware. More...
class	FastDDSSharedParticipant
	Refcounted singleton DomainParticipant shared across all FastDDS publishers and subscribers in the process. More...
class	FastDDSSubscriberMiddleware
	FastDDS implementation of ISubscriberMiddleware. More...
class	GenericCdrPubSubType
	Generic FastDDS TopicDataType that serializes carla::ros2::msg::* POD structs directly to CDR via CdrSerialization.h, without needing fastddsgen-generated per-type PubSubType classes. More...
class	IPublisherMiddleware
	Type-erased abstract interface for a publisher middleware. More...
class	ISubscriberMiddleware
	Type-erased abstract interface for a subscriber middleware. More...
struct	MessageControl
class	MiddlewareConfig
	Process-wide runtime configuration shared by every ROS 2 middleware implementation (FastDDS, CycloneDDS, and future ones such as Zenoh). More...
class	MiddlewareFactory
	Factory that creates publisher/subscriber middleware based on the active middleware selection. More...
struct	MiddlewareParseResult
	Result of parsing a middleware name string. More...
struct	PointFieldDescriptor
class	PublisherImpl
struct	QosProfile
	Middleware-neutral QoS profile passed to IPublisherMiddleware::Init / ISubscriberMiddleware::Init when a topic needs QoS different from the vendor defaults (e.g. More...
struct	ResolvedDomainId
	The resolved domain id together with the source it came from. More...
class	ROS2
class	SubscriberImpl
struct	TransformQuaternion
struct	VehicleAccelerationControl
	Control decoded from Autoware's /control/command/control_cmd: longitudinal acceleration [m/s^2] + steering (CARLA sign convention, already passed through the AutowareSteeringCompensation LUT). More...
struct	VehicleControl

Typedefs
using	ActorCallback = std::function< void(void *actor, ROS2CallbackData data)>
using	ActorMessageCallback = std::function< void(void *actor, ROS2MessageCallbackData data)>
using	CarlaDepthCameraPublisher = CarlaRGBCameraPublisher
using	CarlaISCameraPublisher = CarlaRGBCameraPublisher
using	CarlaNormalsCameraPublisher = CarlaRGBCameraPublisher
using	CarlaSSCameraPublisher = CarlaRGBCameraPublisher
using	erc = eprosima::fastrtps::types::ReturnCode_t
using	ROS2CallbackData = std::variant< VehicleControl, AckermannControl, VehicleAccelerationControl >
using	ROS2MessageCallbackData = std::variant< MessageControl >

Enumerations
enum class	ControlMode {   NO_COMMAND , AUTONOMOUS , AUTONOMOUS_STEER_ONLY , AUTONOMOUS_VELOCITY_ONLY ,   MANUAL , DISENGAGED , NOT_READY }
enum class	DomainIdSource { CommandLine , Environment , Default }
	Where the effective domain id came from, in priority order. More...
enum	ESensors {   CollisionSensor , DepthCamera , NormalsCamera , DVSCamera ,   GnssSensor , InertialMeasurementUnit , LaneInvasionSensor , ObstacleDetectionSensor ,   OpticalFlowCamera , Radar , RayCastSemanticLidar , RayCastLidar ,   RssSensor , SceneCaptureCamera , SemanticSegmentationCamera , InstanceSegmentationCamera ,   WorldObserver , SceneCaptureCamera_WideAngleLens , DepthCamera_WideAngleLens , InstanceSegmentationCamera_WideAngleLens ,   SemanticSegmentationCamera_WideAngleLens , CameraGBufferUint8 , CameraGBufferFloat , HSSLidar ,   VehicleStatusSensor , AutowareGnssSensor }
enum class	Gear {   NONE , NEUTRAL , DRIVE , DRIVE_2 ,   DRIVE_3 , DRIVE_4 , DRIVE_5 , DRIVE_6 ,   DRIVE_7 , DRIVE_8 , DRIVE_9 , DRIVE_10 ,   DRIVE_11 , DRIVE_12 , DRIVE_13 , DRIVE_14 ,   DRIVE_15 , DRIVE_16 , DRIVE_17 , DRIVE_18 ,   REVERSE , REVERSE_2 , PARK , LOW ,   LOW_2 }
enum class	Middleware { FastDDS , CycloneDDS , Zenoh }
	Enumeration of available middleware implementations. More...
enum class	PointFieldDataType : std::uint8_t {   Int8 = 1 , UInt8 = 2 , Int16 = 3 , UInt16 = 4 ,   Int32 = 5 , UInt32 = 6 , Float32 = 7 , Float64 = 8 }
enum class	TurnIndicatorsStatus { OFF , LEFT , RIGHT }

Functions
std::array< float, 3 >	AccelToRos (float ax, float ay, float az)
std::vector< uint8_t >	build_user_data (const char *type_hash)
	Builds the REP-2016 endpoint USER_DATA payload encoding a REP-2011 type hash.
template<typename T >
std::vector< uint8_t >	build_user_data_for ()
	Convenience: build user_data from the CdrTopicInfo<T>::type_hash() of T.
template<typename T >
uint32_t	cdr_serialized_size (const T &msg)
	Return the exact CDR-serialized size in bytes for a message instance, including the 4-byte DDS encapsulation header.
CameraIntrinsics	ComputeIntrinsics (uint32_t width, uint32_t height, float fov_degrees) noexcept
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::AckermannDrive &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::AckermannDriveStamped &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::CameraInfo &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::CarlaCollisionEvent &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::CarlaEgoVehicleControl &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::CarlaLineInvasion &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::Clock &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::Control &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::ControlModeReport &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::Engage &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::Float32 &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::GearCommand &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::GearReport &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::HazardLightsCommand &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::HazardLightsReport &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::Header &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::Image &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::Imu &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::Lateral &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::Longitudinal &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::NavSatFix &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::NavSatStatus &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::Odometry &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::Point &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::Point32 &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::PointCloud2 &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::PointField &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::Pose &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::PoseStamped &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::PoseWithCovariance &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::PoseWithCovarianceStamped &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::Quaternion &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::RegionOfInterest &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::SteeringReport &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::String &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::TF2Error &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::TFMessage &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::Time &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::Transform &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::TransformStamped &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::TurnIndicatorsCommand &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::TurnIndicatorsReport &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::Twist &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::TwistWithCovariance &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::Vector3 &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::VehicleEmergencyStamped &m)
void	deserialize_cdr (eprosima::fastcdr::Cdr &cdr, msg::VelocityReport &m)
template<typename T >
bool	deserialize_from_cdr (const uint8_t *data, size_t size, T &msg)
	Deserialize a msg::X from a CDR byte buffer that was produced by serialize_to_cdr() or by any ROS2-compatible DDS middleware.
std::vector< std::uint8_t >	EncodeDvsEventsToBgr (std::uint32_t height, std::uint32_t width, const DvsEvent *events, std::size_t event_count)
std::vector< std::uint8_t >	EncodeDvsEventsToBgr (std::uint32_t height, std::uint32_t width, const std::uint8_t *raw_events, std::size_t event_count, std::size_t event_stride)
std::vector< std::uint8_t >	EncodeDvsEventsToPointCloud (const DvsEvent *events, std::size_t event_count)
std::vector< std::uint8_t >	EncodeDvsEventsToPointCloud (const std::uint8_t *raw_events, std::size_t event_count, std::size_t event_stride)
std::vector< uint8_t >	EncodeFlowImageToBgra (uint32_t height, uint32_t width, const float *data)
std::array< uint8_t, 4 >	EncodeFlowPixelToBgra (float vx, float vy) noexcept
AckermannControl	FromAckermannDrive (float steering_angle, float steering_angle_velocity, float speed, float acceleration, float jerk)
std::string	GetAvailableMiddleware ()
std::string	GetAvailableMiddlewareString ()
	Return a readable list of middleware implementations compiled into this binary.
std::array< float, 3 >	GyroToRos (float gx, float gy, float gz)
bool	IsValidDomainId (int id)
MiddlewareParseResult	MiddlewareFromString (const std::string &name)
	Parse a middleware name string (lowercase).
const char *	MiddlewareToString (Middleware middleware)
	Convert a Middleware enum value to a readable string.
std::array< float, 4 >	OrientationFromCompass (float compass)
std::array< float, 3 >	RadarPolarToCartesian (float depth, float azimuth, float altitude) noexcept
ResolvedDomainId	ResolveDomainId (int cli_value, const char *env_value)
	Resolve the effective domain id from a command line value and an environment value, in priority order:
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::AckermannDrive &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::AckermannDriveStamped &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::CameraInfo &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::CarlaCollisionEvent &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::CarlaEgoVehicleControl &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::CarlaLineInvasion &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::Clock &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::Control &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::ControlModeReport &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::Engage &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::Float32 &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::GearCommand &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::GearReport &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::HazardLightsCommand &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::HazardLightsReport &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::Header &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::Image &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::Imu &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::Lateral &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::Longitudinal &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::NavSatFix &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::NavSatStatus &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::Odometry &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::Point &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::Point32 &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::PointCloud2 &m)
	PointCloud2::fields is a sequence of structs; FastCDR's generic vector operator calls serialize() on each element, which our POD types don't provide.
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::PointField &m)
	PointField: name is a string; offset, datatype, count are primitives.
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::Pose &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::PoseStamped &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::PoseWithCovariance &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::PoseWithCovarianceStamped &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::Quaternion &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::RegionOfInterest &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::SteeringReport &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::String &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::TF2Error &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::TFMessage &m)
	TFMessage::transforms is a sequence of TransformStamped structs.
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::Time &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::Transform &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::TransformStamped &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::TurnIndicatorsCommand &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::TurnIndicatorsReport &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::Twist &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::TwistWithCovariance &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::Vector3 &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::VehicleEmergencyStamped &m)
void	serialize_cdr (eprosima::fastcdr::Cdr &cdr, const msg::VelocityReport &m)
template<typename T >
std::vector< uint8_t >	serialize_to_cdr (const T &msg)
	Serialize a msg::X to a CDR byte buffer including the DDS encapsulation header (Classic CDR, encoding version 1, little-endian).
ResolvedDomainId	SetActiveDomainId (int domain_id)
	Store the domain id in the shared library's MiddlewareConfig and return the effective domain id resolved there, so carla-server can log the value the middlewares will actually use.
bool	SetActiveMiddleware (Middleware requested)
	DDS-free bridge for selecting the active middleware across the shared-library boundary.
std::string	ToROS2TypeName (const std::string &type_name)
	Mangle a type name into the ROS2-compatible format.
TransformQuaternion	TransformFromCarlaRotation (float tx, float ty, float tz, float pitch_deg, float yaw_deg, float roll_deg) noexcept
bool	TryParseDomainId (const char *text, int &out)
	Parse a ROS_DOMAIN_ID-style string into a valid domain id.

Variables
constexpr int	kDefaultDomainId = 0
	Domain id used when neither the command line nor the environment provides one.
constexpr std::array< PointFieldDescriptor, 4 >	kDvsFields
constexpr std::array< PointFieldDescriptor, 4 >	kLidarFields
constexpr std::array< PointFieldDescriptor, 10 >	kLidarFieldsEx
static constexpr uint32_t	kMaxCdrSequenceElements = 1u << 20
	Sanity cap for the length field of a CDR sequence read from the wire.
constexpr int	kMaxDomainId = 232
	Highest valid ROS 2 domain id (RTPS maximum).
constexpr int	kMinDomainId = 0
	Lowest valid ROS 2 domain id.
constexpr std::array< PointFieldDescriptor, 7 >	kRadarFields
constexpr char	kRosDomainIdEnvVar [] = "ROS_DOMAIN_ID"
	Name of the standard ROS 2 environment variable that selects the domain id.
constexpr std::array< PointFieldDescriptor, 6 >	kSemanticLidarFields
constexpr int	kUnsetDomainId = -1
	Sentinel domain id meaning "no domain id was configured on the command line"; each middleware falls back to its own native default.

Typedef Documentation

ActorCallback

using carla::ros2::ActorCallback = typedef std::function<void(void *actor, ROS2CallbackData data)>

Definition at line 55 of file ROS2CallbackData.h.

ActorMessageCallback

using carla::ros2::ActorMessageCallback = typedef std::function<void(void *actor, ROS2MessageCallbackData data)>

Definition at line 56 of file ROS2CallbackData.h.

CarlaDepthCameraPublisher

using carla::ros2::CarlaDepthCameraPublisher = typedef CarlaRGBCameraPublisher

Definition at line 20 of file CarlaDepthCameraPublisher.h.

CarlaISCameraPublisher

using carla::ros2::CarlaISCameraPublisher = typedef CarlaRGBCameraPublisher

Definition at line 14 of file CarlaISCameraPublisher.h.

CarlaNormalsCameraPublisher

using carla::ros2::CarlaNormalsCameraPublisher = typedef CarlaRGBCameraPublisher

Definition at line 14 of file CarlaNormalsCameraPublisher.h.

CarlaSSCameraPublisher

using carla::ros2::CarlaSSCameraPublisher = typedef CarlaRGBCameraPublisher

Definition at line 14 of file CarlaSSCameraPublisher.h.

erc

typedef eprosima::fastrtps::types::ReturnCode_t carla::ros2::erc

Definition at line 18 of file FastDDSAliases.h.

ROS2CallbackData

using carla::ros2::ROS2CallbackData = typedef std::variant<VehicleControl, AckermannControl, VehicleAccelerationControl>

Definition at line 51 of file ROS2CallbackData.h.

ROS2MessageCallbackData

using carla::ros2::ROS2MessageCallbackData = typedef std::variant<MessageControl>

Definition at line 53 of file ROS2CallbackData.h.

Enumeration Type Documentation

ControlMode

enum class carla::ros2::ControlMode

strong

Enumerator
NO_COMMAND
AUTONOMOUS
AUTONOMOUS_STEER_ONLY
AUTONOMOUS_VELOCITY_ONLY
MANUAL
DISENGAGED
NOT_READY

Definition at line 32 of file AutowareVehicleStatusPublisher.h.

DomainIdSource

enum class carla::ros2::DomainIdSource

strong

Where the effective domain id came from, in priority order.

Enumerator
CommandLine	From the –ros-domain-id command line option.
Environment	From the ROS_DOMAIN_ID environment variable.
Default	Neither was set; the default domain (0) is used.

Definition at line 35 of file MiddlewareConfig.h.

ESensors

enum carla::ros2::ESensors

Enumerator
CollisionSensor
DepthCamera
NormalsCamera
DVSCamera
GnssSensor
InertialMeasurementUnit
LaneInvasionSensor
ObstacleDetectionSensor
OpticalFlowCamera
Radar
RayCastSemanticLidar
RayCastLidar
RssSensor
SceneCaptureCamera
SemanticSegmentationCamera
InstanceSegmentationCamera
WorldObserver
SceneCaptureCamera_WideAngleLens
DepthCamera_WideAngleLens
InstanceSegmentationCamera_WideAngleLens
SemanticSegmentationCamera_WideAngleLens
CameraGBufferUint8
CameraGBufferFloat
HSSLidar
VehicleStatusSensor
AutowareGnssSensor

Definition at line 65 of file ROS2.cpp.

Gear

enum class carla::ros2::Gear

strong

Enumerator
NONE
NEUTRAL
DRIVE
DRIVE_2
DRIVE_3
DRIVE_4
DRIVE_5
DRIVE_6
DRIVE_7
DRIVE_8
DRIVE_9
DRIVE_10
DRIVE_11
DRIVE_12
DRIVE_13
DRIVE_14
DRIVE_15
DRIVE_16
DRIVE_17
DRIVE_18
REVERSE
REVERSE_2
PARK
LOW
LOW_2

Definition at line 43 of file AutowareVehicleStatusPublisher.h.

Middleware

enum class carla::ros2::Middleware

strong

Enumeration of available middleware implementations.

Passed to ROS2::Enable() to select the middleware at startup. Once set, the middleware cannot be changed without restarting.

Enumerator
FastDDS
CycloneDDS
Zenoh

Definition at line 15 of file Middleware.h.

PointFieldDataType

enum class carla::ros2::PointFieldDataType : std::uint8_t

strong

Enumerator
Int8
UInt8
Int16
UInt16
Int32
UInt32
Float32
Float64

Definition at line 22 of file PointCloudFieldsLayout.h.

TurnIndicatorsStatus

enum class carla::ros2::TurnIndicatorsStatus

strong

Enumerator
OFF
LEFT
RIGHT

Definition at line 71 of file AutowareVehicleStatusPublisher.h.

Function Documentation

AccelToRos()

std::array< float, 3 > carla::ros2::AccelToRos ( float  ax, float  ay, float  az  )

inline

Definition at line 34 of file ImuMath.h.

Referenced by TEST(), and carla::ros2::CarlaIMUPublisher::Write().

build_user_data()

std::vector< uint8_t > carla::ros2::build_user_data ( const char *  type_hash )

inline

Builds the REP-2016 endpoint USER_DATA payload encoding a REP-2011 type hash.

Per OMG DDSI-RTPS v2.5 §9.6.2.2.2, PID_USER_DATA (0x002c) carries the DDS UserDataQosPolicy octet sequence. ROS 2 REP-2016 defines the payload as a set of ASCII key=value pairs separated by semicolons, e.g.:

typehash=RIHS01_<64 lowercase hex>;

rmw_cyclonedds_cpp and rmw_fastrtps_cpp on Iron / Jazzy parse this string from PID_USER_DATA during SEDP endpoint discovery to perform REP-2011 type-hash-based matching. When it is absent (null), Jazzy rmws emit: [WARN] Failed to parse type hash ... from USER_DATA '(null)'.

This helper is vendor-agnostic; the resulting byte vector is fed to: FastDDS : DataWriterQos::user_data().data_vec() DataReaderQos::user_data().data_vec() CycloneDDS: dds_qset_userdata(qos, data, size)

If type_hash is nullptr (used for types whose hash is unknown), an empty vector is returned and user_data should NOT be set.

Definition at line 37 of file UserDataFormat.h.

Referenced by build_user_data_for().

build_user_data_for()

template<typename T >

std::vector< uint8_t > carla::ros2::build_user_data_for ( )

inline

Convenience: build user_data from the CdrTopicInfo<T>::type_hash() of T.

Returns an empty vector (and the caller must skip setting user_data) when CdrTopicInfo<T>::type_hash() returns nullptr.

Definition at line 59 of file UserDataFormat.h.

References build_user_data().

cdr_serialized_size()

template<typename T >

uint32_t carla::ros2::cdr_serialized_size

(

const T &

msg

)

Return the exact CDR-serialized size in bytes for a message instance, including the 4-byte DDS encapsulation header.

Used by GenericCdrPubSubType to tell FastDDS the actual payload size before write(), so the payload buffer is sized correctly for variable-length fields (e.g. Image::data, PointCloud2::data). The result is provably equal to serialize_to_cdr(msg).size().

Definition at line 942 of file CdrSerialization.h.

References serialize_cdr().

Referenced by carla::ros2::GenericCdrPubSubType< MsgType >::getSerializedSizeProvider(), TEST(), TEST(), and TEST().

ComputeIntrinsics()

CameraIntrinsics carla::ros2::ComputeIntrinsics ( uint32_t  width, uint32_t  height, float  fov_degrees  )

inlinenoexcept

Definition at line 38 of file CameraIntrinsics.h.

Referenced by TEST(), TEST(), TEST(), TEST(), TEST(), and carla::ros2::CarlaCameraPublisher::WriteCameraInfo().

deserialize_cdr() [1/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::AckermannDrive &  m  )

inline

Definition at line 224 of file CdrSerialization.h.

References carla::ros2::msg::AckermannDrive::acceleration, carla::ros2::msg::AckermannDrive::jerk, carla::ros2::msg::AckermannDrive::speed, carla::ros2::msg::AckermannDrive::steering_angle, and carla::ros2::msg::AckermannDrive::steering_angle_velocity.

deserialize_cdr() [2/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::AckermannDriveStamped &  m  )

inline

Definition at line 490 of file CdrSerialization.h.

References deserialize_cdr(), carla::ros2::msg::AckermannDriveStamped::drive, and carla::ros2::msg::AckermannDriveStamped::header.

deserialize_cdr() [3/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::CameraInfo &  m  )

inline

Definition at line 817 of file CdrSerialization.h.

References carla::ros2::msg::CameraInfo::binning_x, carla::ros2::msg::CameraInfo::binning_y, carla::ros2::msg::CameraInfo::d, deserialize_cdr(), carla::ros2::msg::CameraInfo::distortion_model, carla::ros2::msg::CameraInfo::header, carla::ros2::msg::CameraInfo::height, carla::ros2::msg::CameraInfo::k, carla::ros2::msg::CameraInfo::p, carla::ros2::msg::CameraInfo::r, carla::ros2::msg::CameraInfo::roi, and carla::ros2::msg::CameraInfo::width.

deserialize_cdr() [4/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::CarlaCollisionEvent &  m  )

inline

Definition at line 663 of file CdrSerialization.h.

References deserialize_cdr(), carla::ros2::msg::CarlaCollisionEvent::header, carla::ros2::msg::CarlaCollisionEvent::normal_impulse, and carla::ros2::msg::CarlaCollisionEvent::other_actor_id.

deserialize_cdr() [5/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::CarlaEgoVehicleControl &  m  )

inline

Definition at line 732 of file CdrSerialization.h.

References carla::ros2::msg::CarlaEgoVehicleControl::brake, deserialize_cdr(), carla::ros2::msg::CarlaEgoVehicleControl::gear, carla::ros2::msg::CarlaEgoVehicleControl::hand_brake, carla::ros2::msg::CarlaEgoVehicleControl::header, carla::ros2::msg::CarlaEgoVehicleControl::manual_gear_shift, carla::ros2::msg::CarlaEgoVehicleControl::reverse, carla::ros2::msg::CarlaEgoVehicleControl::steer, and carla::ros2::msg::CarlaEgoVehicleControl::throttle.

deserialize_cdr() [6/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::CarlaLineInvasion &  m  )

inline

Definition at line 752 of file CdrSerialization.h.

References carla::ros2::msg::CarlaLineInvasion::crossed_lane_markings, deserialize_cdr(), and carla::ros2::msg::CarlaLineInvasion::header.

deserialize_cdr() [7/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::Clock &  m  )

inline

Definition at line 393 of file CdrSerialization.h.

References carla::ros2::msg::Clock::clock, and deserialize_cdr().

deserialize_cdr() [8/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::Control &  m  )

inline

Definition at line 336 of file CdrSerialization.h.

References carla::ros2::msg::Control::control_time, deserialize_cdr(), carla::ros2::msg::Control::lateral, carla::ros2::msg::Control::longitudinal, and carla::ros2::msg::Control::stamp.

deserialize_cdr() [9/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::ControlModeReport &  m  )

inline

Definition at line 602 of file CdrSerialization.h.

References deserialize_cdr(), carla::ros2::msg::ControlModeReport::mode, and carla::ros2::msg::ControlModeReport::stamp.

deserialize_cdr() [10/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::Engage &  m  )

inline

Definition at line 546 of file CdrSerialization.h.

References deserialize_cdr(), carla::ros2::msg::Engage::engage, and carla::ros2::msg::Engage::stamp.

deserialize_cdr() [11/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::Float32 &  m  )

inline

Definition at line 208 of file CdrSerialization.h.

References carla::ros2::msg::Float32::data.

deserialize_cdr() [12/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::GearCommand &  m  )

inline

Definition at line 504 of file CdrSerialization.h.

References carla::ros2::msg::GearCommand::command, deserialize_cdr(), and carla::ros2::msg::GearCommand::stamp.

deserialize_cdr() [13/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::GearReport &  m  )

inline

Definition at line 588 of file CdrSerialization.h.

References deserialize_cdr(), carla::ros2::msg::GearReport::report, and carla::ros2::msg::GearReport::stamp.

deserialize_cdr() [14/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::HazardLightsCommand &  m  )

inline

Definition at line 532 of file CdrSerialization.h.

References carla::ros2::msg::HazardLightsCommand::command, deserialize_cdr(), and carla::ros2::msg::HazardLightsCommand::stamp.

deserialize_cdr() [15/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::HazardLightsReport &  m  )

inline

Definition at line 630 of file CdrSerialization.h.

References deserialize_cdr(), carla::ros2::msg::HazardLightsReport::report, and carla::ros2::msg::HazardLightsReport::stamp.

deserialize_cdr() [16/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::Header &  m  )

inline

Definition at line 276 of file CdrSerialization.h.

References deserialize_cdr(), carla::ros2::msg::Header::frame_id, and carla::ros2::msg::Header::stamp.

deserialize_cdr() [17/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::Image &  m  )

inline

Definition at line 789 of file CdrSerialization.h.

References carla::ros2::msg::Image::data, deserialize_cdr(), carla::ros2::msg::Image::encoding, carla::ros2::msg::Image::header, carla::ros2::msg::Image::height, carla::ros2::msg::Image::is_bigendian, carla::ros2::msg::Image::step, and carla::ros2::msg::Image::width.

deserialize_cdr() [18/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::Imu &  m  )

inline

Definition at line 707 of file CdrSerialization.h.

References carla::ros2::msg::Imu::angular_velocity, carla::ros2::msg::Imu::angular_velocity_covariance, deserialize_cdr(), carla::ros2::msg::Imu::header, carla::ros2::msg::Imu::linear_acceleration, carla::ros2::msg::Imu::linear_acceleration_covariance, carla::ros2::msg::Imu::orientation, and carla::ros2::msg::Imu::orientation_covariance.

deserialize_cdr() [19/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::Lateral &  m  )

inline

Definition at line 293 of file CdrSerialization.h.

References carla::ros2::msg::Lateral::control_time, deserialize_cdr(), carla::ros2::msg::Lateral::is_defined_steering_tire_rotation_rate, carla::ros2::msg::Lateral::stamp, carla::ros2::msg::Lateral::steering_tire_angle, and carla::ros2::msg::Lateral::steering_tire_rotation_rate.

deserialize_cdr() [20/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::Longitudinal &  m  )

inline

Definition at line 315 of file CdrSerialization.h.

References carla::ros2::msg::Longitudinal::acceleration, carla::ros2::msg::Longitudinal::control_time, deserialize_cdr(), carla::ros2::msg::Longitudinal::is_defined_acceleration, carla::ros2::msg::Longitudinal::is_defined_jerk, carla::ros2::msg::Longitudinal::jerk, carla::ros2::msg::Longitudinal::stamp, and carla::ros2::msg::Longitudinal::velocity.

deserialize_cdr() [21/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::NavSatFix &  m  )

inline

Definition at line 683 of file CdrSerialization.h.

References carla::ros2::msg::NavSatFix::altitude, deserialize_cdr(), carla::ros2::msg::NavSatFix::header, carla::ros2::msg::NavSatFix::latitude, carla::ros2::msg::NavSatFix::longitude, carla::ros2::msg::NavSatFix::position_covariance, carla::ros2::msg::NavSatFix::position_covariance_type, and carla::ros2::msg::NavSatFix::status.

deserialize_cdr() [22/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::NavSatStatus &  m  )

inline

Definition at line 175 of file CdrSerialization.h.

References carla::ros2::msg::NavSatStatus::service, and carla::ros2::msg::NavSatStatus::status.

deserialize_cdr() [23/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::Odometry &  m  )

inline

Definition at line 768 of file CdrSerialization.h.

References carla::ros2::msg::Odometry::child_frame_id, deserialize_cdr(), carla::ros2::msg::Odometry::header, carla::ros2::msg::Odometry::pose, and carla::ros2::msg::Odometry::twist.

deserialize_cdr() [24/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::Point &  m  )

inline

Definition at line 144 of file CdrSerialization.h.

References carla::ros2::msg::Point::x, carla::ros2::msg::Point::y, and carla::ros2::msg::Point::z.

deserialize_cdr() [25/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::Point32 &  m  )

inline

Definition at line 160 of file CdrSerialization.h.

References carla::ros2::msg::Point32::x, carla::ros2::msg::Point32::y, and carla::ros2::msg::Point32::z.

deserialize_cdr() [26/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::PointCloud2 &  m  )

inline

Definition at line 854 of file CdrSerialization.h.

References carla::ros2::msg::PointCloud2::data, deserialize_cdr(), carla::ros2::msg::PointCloud2::fields, carla::ros2::msg::PointCloud2::header, carla::ros2::msg::PointCloud2::height, carla::ros2::msg::PointCloud2::is_bigendian, carla::ros2::msg::PointCloud2::is_dense, kMaxCdrSequenceElements, carla::ros2::msg::PointCloud2::point_step, carla::ros2::msg::PointCloud2::row_step, and carla::ros2::msg::PointCloud2::width.

deserialize_cdr() [27/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::PointField &  m  )

inline

Definition at line 244 of file CdrSerialization.h.

References carla::ros2::msg::PointField::count, carla::ros2::msg::PointField::datatype, carla::ros2::msg::PointField::name, and carla::ros2::msg::PointField::offset.

deserialize_cdr() [28/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::Pose &  m  )

inline

Definition at line 380 of file CdrSerialization.h.

References deserialize_cdr(), carla::ros2::msg::Pose::orientation, and carla::ros2::msg::Pose::position.

deserialize_cdr() [29/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::PoseStamped &  m  )

inline

Definition at line 462 of file CdrSerialization.h.

References deserialize_cdr(), carla::ros2::msg::PoseStamped::header, and carla::ros2::msg::PoseStamped::pose.

deserialize_cdr() [30/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::PoseWithCovariance &  m  )

inline

Definition at line 448 of file CdrSerialization.h.

References carla::ros2::msg::PoseWithCovariance::covariance, deserialize_cdr(), and carla::ros2::msg::PoseWithCovariance::pose.

deserialize_cdr() [31/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::PoseWithCovarianceStamped &  m  )

inline

Definition at line 476 of file CdrSerialization.h.

References deserialize_cdr(), carla::ros2::msg::PoseWithCovarianceStamped::header, and carla::ros2::msg::PoseWithCovarianceStamped::pose.

deserialize_cdr() [32/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::Quaternion &  m  )

inline

Definition at line 127 of file CdrSerialization.h.

References carla::ros2::msg::Quaternion::w, carla::ros2::msg::Quaternion::x, carla::ros2::msg::Quaternion::y, and carla::ros2::msg::Quaternion::z.

deserialize_cdr() [33/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::RegionOfInterest &  m  )

inline

Definition at line 192 of file CdrSerialization.h.

References carla::ros2::msg::RegionOfInterest::do_rectify, carla::ros2::msg::RegionOfInterest::height, carla::ros2::msg::RegionOfInterest::width, carla::ros2::msg::RegionOfInterest::x_offset, and carla::ros2::msg::RegionOfInterest::y_offset.

deserialize_cdr() [34/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::SteeringReport &  m  )

inline

Definition at line 574 of file CdrSerialization.h.

References deserialize_cdr(), carla::ros2::msg::SteeringReport::stamp, and carla::ros2::msg::SteeringReport::steering_tire_angle.

deserialize_cdr() [35/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::String &  m  )

inline

Definition at line 405 of file CdrSerialization.h.

References carla::ros2::msg::String::data.

deserialize_cdr() [36/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::TF2Error &  m  )

inline

Definition at line 260 of file CdrSerialization.h.

References carla::ros2::msg::TF2Error::error, and carla::ros2::msg::TF2Error::error_string.

deserialize_cdr() [37/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::TFMessage &  m  )

inline

Definition at line 889 of file CdrSerialization.h.

References deserialize_cdr(), kMaxCdrSequenceElements, and carla::ros2::msg::TFMessage::transforms.

deserialize_cdr() [38/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::Time &  m  )

inline

Definition at line 95 of file CdrSerialization.h.

References carla::ros2::msg::Time::nanosec, and carla::ros2::msg::Time::sec.

Referenced by carla::ros2::GenericCdrPubSubType< MsgType >::deserialize(), deserialize_cdr(), deserialize_cdr(), deserialize_cdr(), deserialize_cdr(), deserialize_cdr(), deserialize_cdr(), deserialize_cdr(), deserialize_cdr(), deserialize_cdr(), deserialize_cdr(), deserialize_cdr(), deserialize_cdr(), deserialize_cdr(), deserialize_cdr(), deserialize_cdr(), deserialize_cdr(), deserialize_cdr(), deserialize_cdr(), deserialize_cdr(), deserialize_cdr(), deserialize_cdr(), deserialize_cdr(), deserialize_cdr(), deserialize_cdr(), deserialize_cdr(), deserialize_cdr(), deserialize_cdr(), deserialize_cdr(), deserialize_cdr(), deserialize_cdr(), deserialize_cdr(), deserialize_cdr(), deserialize_cdr(), deserialize_cdr(), deserialize_cdr(), and deserialize_from_cdr().

deserialize_cdr() [39/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::Transform &  m  )

inline

Definition at line 366 of file CdrSerialization.h.

References deserialize_cdr(), carla::ros2::msg::Transform::rotation, and carla::ros2::msg::Transform::translation.

deserialize_cdr() [40/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::TransformStamped &  m  )

inline

Definition at line 419 of file CdrSerialization.h.

References carla::ros2::msg::TransformStamped::child_frame_id, deserialize_cdr(), carla::ros2::msg::TransformStamped::header, and carla::ros2::msg::TransformStamped::transform.

deserialize_cdr() [41/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::TurnIndicatorsCommand &  m  )

inline

Definition at line 518 of file CdrSerialization.h.

References carla::ros2::msg::TurnIndicatorsCommand::command, deserialize_cdr(), and carla::ros2::msg::TurnIndicatorsCommand::stamp.

deserialize_cdr() [42/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::TurnIndicatorsReport &  m  )

inline

Definition at line 616 of file CdrSerialization.h.

References deserialize_cdr(), carla::ros2::msg::TurnIndicatorsReport::report, and carla::ros2::msg::TurnIndicatorsReport::stamp.

deserialize_cdr() [43/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::Twist &  m  )

inline

Definition at line 352 of file CdrSerialization.h.

References carla::ros2::msg::Twist::angular, deserialize_cdr(), and carla::ros2::msg::Twist::linear.

deserialize_cdr() [44/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::TwistWithCovariance &  m  )

inline

Definition at line 434 of file CdrSerialization.h.

References carla::ros2::msg::TwistWithCovariance::covariance, deserialize_cdr(), and carla::ros2::msg::TwistWithCovariance::twist.

deserialize_cdr() [45/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::Vector3 &  m  )

inline

Definition at line 110 of file CdrSerialization.h.

References carla::ros2::msg::Vector3::x, carla::ros2::msg::Vector3::y, and carla::ros2::msg::Vector3::z.

deserialize_cdr() [46/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::VehicleEmergencyStamped &  m  )

inline

Definition at line 560 of file CdrSerialization.h.

References deserialize_cdr(), carla::ros2::msg::VehicleEmergencyStamped::emergency, and carla::ros2::msg::VehicleEmergencyStamped::stamp.

deserialize_cdr() [47/47]

void carla::ros2::deserialize_cdr ( eprosima::fastcdr::Cdr &  cdr, msg::VelocityReport &  m  )

inline

Definition at line 646 of file CdrSerialization.h.

References deserialize_cdr(), carla::ros2::msg::VelocityReport::header, carla::ros2::msg::VelocityReport::heading_rate, carla::ros2::msg::VelocityReport::lateral_velocity, and carla::ros2::msg::VelocityReport::longitudinal_velocity.

deserialize_from_cdr()

template<typename T >

bool carla::ros2::deserialize_from_cdr	(	const uint8_t *	data,
		size_t	size,
		T &	msg
	)

Deserialize a msg::X from a CDR byte buffer that was produced by serialize_to_cdr() or by any ROS2-compatible DDS middleware.

Returns true on success, false on any Fast-CDR error (truncated buffer, malformed encapsulation header, sequence length exceeding the sanity cap, etc.). The buffer must include the 4-byte DDS encapsulation header.

Definition at line 959 of file CdrSerialization.h.

References deserialize_cdr().

Referenced by TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), and TEST().

EncodeDvsEventsToBgr() [1/2]

std::vector< std::uint8_t > carla::ros2::EncodeDvsEventsToBgr ( std::uint32_t  height, std::uint32_t  width, const DvsEvent *  events, std::size_t  event_count  )

inline

Definition at line 40 of file DvsEventEncoding.h.

Referenced by TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), and carla::ros2::CarlaDVSImagePublisher::WriteImageFromEvents().

EncodeDvsEventsToBgr() [2/2]

std::vector< std::uint8_t > carla::ros2::EncodeDvsEventsToBgr ( std::uint32_t  height, std::uint32_t  width, const std::uint8_t *  raw_events, std::size_t  event_count, std::size_t  event_stride  )

inline

Definition at line 64 of file DvsEventEncoding.h.

EncodeDvsEventsToPointCloud() [1/2]

std::vector< std::uint8_t > carla::ros2::EncodeDvsEventsToPointCloud ( const DvsEvent *  events, std::size_t  event_count  )

inline

Definition at line 91 of file DvsEventEncoding.h.

References carla::ros2::DvsEvent::pol.

Referenced by carla::ros2::CarlaDVSPointCloudPublisher::ComputePointCloud(), TEST(), TEST(), TEST(), and TEST().

EncodeDvsEventsToPointCloud() [2/2]

std::vector< std::uint8_t > carla::ros2::EncodeDvsEventsToPointCloud ( const std::uint8_t *  raw_events, std::size_t  event_count, std::size_t  event_stride  )

inline

Definition at line 112 of file DvsEventEncoding.h.

EncodeFlowImageToBgra()

std::vector< uint8_t > carla::ros2::EncodeFlowImageToBgra ( uint32_t  height, uint32_t  width, const float *  data  )

inline

Definition at line 106 of file OpticalFlowEncoding.h.

References EncodeFlowPixelToBgra().

Referenced by carla::ros2::CarlaOpticalFlowCameraPublisher::ComputeImage(), TEST(), and TEST().

EncodeFlowPixelToBgra()

std::array< uint8_t, 4 > carla::ros2::EncodeFlowPixelToBgra ( float  vx, float  vy  )

inlinenoexcept

Definition at line 34 of file OpticalFlowEncoding.h.

References intensity, and x.

Referenced by EncodeFlowImageToBgra(), TEST(), TEST(), TEST(), TEST(), TEST(), and TEST().

FromAckermannDrive()

AckermannControl carla::ros2::FromAckermannDrive ( float  steering_angle, float  steering_angle_velocity, float  speed, float  acceleration, float  jerk  )

inline

Definition at line 19 of file AckermannControlConversion.h.

References carla::ros2::AckermannControl::steer.

Referenced by carla::ros2::AckermannControlSubscriber::GetMessage(), TEST(), TEST(), TEST(), TEST(), TEST(), and TEST().

GetAvailableMiddleware()

std::string carla::ros2::GetAvailableMiddleware

(

)

Returns

A readable list of the middleware implementations compiled into the shared library. Must be resolved inside the shared library because the CARLA_ROS2_MIDDLEWARE_* macros are defined only on the carla-ros2-native target, not on carla-server.

Definition at line 19 of file ActiveMiddleware.cpp.

References carla::ros2::MiddlewareFactory::GetAvailableMiddlewareString().

Referenced by carla::ros2::ROS2::Enable(), and FCarlaEngine::NotifyInitGame().

GetAvailableMiddlewareString()

std::string carla::ros2::GetAvailableMiddlewareString ( )

inline

Return a readable list of middleware implementations compiled into this binary.

Definition at line 56 of file Middleware.h.

Referenced by carla::ros2::MiddlewareFactory::GetAvailableMiddlewareString(), and TEST().

GyroToRos()

std::array< float, 3 > carla::ros2::GyroToRos ( float  gx, float  gy, float  gz  )

inline

Definition at line 51 of file ImuMath.h.

Referenced by TEST(), TEST(), and carla::ros2::CarlaIMUPublisher::Write().

IsValidDomainId()

bool carla::ros2::IsValidDomainId ( int  id )

inline

Returns

true if id is a valid ROS 2 domain id (0..232). The unset sentinel is intentionally NOT valid: callers test for it explicitly.

Definition at line 30 of file MiddlewareConfig.h.

References kMaxDomainId, and kMinDomainId.

Referenced by FCarlaEngine::NotifyInitGame(), ResolveDomainId(), TEST(), TEST(), TEST(), TEST(), and TEST().

MiddlewareFromString()

MiddlewareParseResult carla::ros2::MiddlewareFromString ( const std::string &  name )

inline

Parse a middleware name string (lowercase).

Returns {true, middleware} on match, {false, FastDDS} for unrecognized values.

Definition at line 42 of file Middleware.h.

References CycloneDDS, FastDDS, and Zenoh.

Referenced by FCarlaEngine::NotifyInitGame(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), and TEST().

MiddlewareToString()

const char * carla::ros2::MiddlewareToString ( Middleware  middleware )

inline

Convert a Middleware enum value to a readable string.

Definition at line 22 of file Middleware.h.

References CycloneDDS, FastDDS, and Zenoh.

Referenced by carla::ros2::ROS2::Enable(), TEST(), TEST(), and TEST().

OrientationFromCompass()

std::array< float, 4 > carla::ros2::OrientationFromCompass ( float  compass )

inline

Definition at line 23 of file ImuMath.h.

Referenced by TEST(), TEST(), TEST(), TEST(), TEST(), and carla::ros2::CarlaIMUPublisher::Write().

RadarPolarToCartesian()

std::array< float, 3 > carla::ros2::RadarPolarToCartesian ( float  depth, float  azimuth, float  altitude  )

inlinenoexcept

Definition at line 25 of file RadarPolarToCartesian.h.

References azimuth.

Referenced by carla::ros2::CarlaRadarPublisher::ComputePointCloud(), TEST(), TEST(), TEST(), TEST(), TEST(), and TEST().

ResolveDomainId()

ResolvedDomainId carla::ros2::ResolveDomainId ( int  cli_value, const char *  env_value  )

inline

Resolve the effective domain id from a command line value and an environment value, in priority order:

1. cli_value, when it is a valid domain id (0..232).
2. env_value (e.g. ROS_DOMAIN_ID), when it parses to a valid domain id.
3. kDefaultDomainId (0). This function is pure (no environment access), so the precedence rules can be unit-tested by passing the environment value as a string.

Definition at line 80 of file MiddlewareConfig.h.

References CommandLine, Default, Environment, IsValidDomainId(), kDefaultDomainId, and TryParseDomainId().

Referenced by carla::ros2::MiddlewareConfig::ResolveEffective(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), and TEST().

serialize_cdr() [1/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::AckermannDrive &  m  )

inline

Definition at line 215 of file CdrSerialization.h.

References carla::ros2::msg::AckermannDrive::acceleration, carla::ros2::msg::AckermannDrive::jerk, carla::ros2::msg::AckermannDrive::speed, carla::ros2::msg::AckermannDrive::steering_angle, and carla::ros2::msg::AckermannDrive::steering_angle_velocity.

serialize_cdr() [2/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::AckermannDriveStamped &  m  )

inline

Definition at line 484 of file CdrSerialization.h.

References carla::ros2::msg::AckermannDriveStamped::drive, carla::ros2::msg::AckermannDriveStamped::header, and serialize_cdr().

serialize_cdr() [3/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::CameraInfo &  m  )

inline

Definition at line 802 of file CdrSerialization.h.

References carla::ros2::msg::CameraInfo::binning_x, carla::ros2::msg::CameraInfo::binning_y, carla::ros2::msg::CameraInfo::d, carla::ros2::msg::CameraInfo::distortion_model, carla::ros2::msg::CameraInfo::header, carla::ros2::msg::CameraInfo::height, carla::ros2::msg::CameraInfo::k, carla::ros2::msg::CameraInfo::p, carla::ros2::msg::CameraInfo::r, carla::ros2::msg::CameraInfo::roi, serialize_cdr(), and carla::ros2::msg::CameraInfo::width.

serialize_cdr() [4/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::CarlaCollisionEvent &  m  )

inline

Definition at line 656 of file CdrSerialization.h.

References carla::ros2::msg::CarlaCollisionEvent::header, carla::ros2::msg::CarlaCollisionEvent::normal_impulse, carla::ros2::msg::CarlaCollisionEvent::other_actor_id, and serialize_cdr().

serialize_cdr() [5/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::CarlaEgoVehicleControl &  m  )

inline

Definition at line 720 of file CdrSerialization.h.

References carla::ros2::msg::CarlaEgoVehicleControl::brake, carla::ros2::msg::CarlaEgoVehicleControl::gear, carla::ros2::msg::CarlaEgoVehicleControl::hand_brake, carla::ros2::msg::CarlaEgoVehicleControl::header, carla::ros2::msg::CarlaEgoVehicleControl::manual_gear_shift, carla::ros2::msg::CarlaEgoVehicleControl::reverse, serialize_cdr(), carla::ros2::msg::CarlaEgoVehicleControl::steer, and carla::ros2::msg::CarlaEgoVehicleControl::throttle.

serialize_cdr() [6/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::CarlaLineInvasion &  m  )

inline

Definition at line 746 of file CdrSerialization.h.

References carla::ros2::msg::CarlaLineInvasion::crossed_lane_markings, carla::ros2::msg::CarlaLineInvasion::header, and serialize_cdr().

serialize_cdr() [7/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::Clock &  m  )

inline

Definition at line 388 of file CdrSerialization.h.

References carla::ros2::msg::Clock::clock, and serialize_cdr().

serialize_cdr() [8/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::Control &  m  )

inline

Definition at line 328 of file CdrSerialization.h.

References carla::ros2::msg::Control::control_time, carla::ros2::msg::Control::lateral, carla::ros2::msg::Control::longitudinal, serialize_cdr(), and carla::ros2::msg::Control::stamp.

serialize_cdr() [9/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::ControlModeReport &  m  )

inline

Definition at line 596 of file CdrSerialization.h.

References carla::ros2::msg::ControlModeReport::mode, serialize_cdr(), and carla::ros2::msg::ControlModeReport::stamp.

serialize_cdr() [10/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::Engage &  m  )

inline

Definition at line 540 of file CdrSerialization.h.

References carla::ros2::msg::Engage::engage, serialize_cdr(), and carla::ros2::msg::Engage::stamp.

serialize_cdr() [11/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::Float32 &  m  )

inline

Definition at line 203 of file CdrSerialization.h.

References carla::ros2::msg::Float32::data.

serialize_cdr() [12/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::GearCommand &  m  )

inline

Definition at line 498 of file CdrSerialization.h.

References carla::ros2::msg::GearCommand::command, serialize_cdr(), and carla::ros2::msg::GearCommand::stamp.

serialize_cdr() [13/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::GearReport &  m  )

inline

Definition at line 582 of file CdrSerialization.h.

References carla::ros2::msg::GearReport::report, serialize_cdr(), and carla::ros2::msg::GearReport::stamp.

serialize_cdr() [14/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::HazardLightsCommand &  m  )

inline

Definition at line 526 of file CdrSerialization.h.

References carla::ros2::msg::HazardLightsCommand::command, serialize_cdr(), and carla::ros2::msg::HazardLightsCommand::stamp.

serialize_cdr() [15/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::HazardLightsReport &  m  )

inline

Definition at line 624 of file CdrSerialization.h.

References carla::ros2::msg::HazardLightsReport::report, serialize_cdr(), and carla::ros2::msg::HazardLightsReport::stamp.

serialize_cdr() [16/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::Header &  m  )

inline

Definition at line 270 of file CdrSerialization.h.

References carla::ros2::msg::Header::frame_id, serialize_cdr(), and carla::ros2::msg::Header::stamp.

serialize_cdr() [17/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::Image &  m  )

inline

Definition at line 778 of file CdrSerialization.h.

References carla::ros2::msg::Image::data, carla::ros2::msg::Image::encoding, carla::ros2::msg::Image::header, carla::ros2::msg::Image::height, carla::ros2::msg::Image::is_bigendian, serialize_cdr(), carla::ros2::msg::Image::step, and carla::ros2::msg::Image::width.

serialize_cdr() [18/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::Imu &  m  )

inline

Definition at line 696 of file CdrSerialization.h.

References carla::ros2::msg::Imu::angular_velocity, carla::ros2::msg::Imu::angular_velocity_covariance, carla::ros2::msg::Imu::header, carla::ros2::msg::Imu::linear_acceleration, carla::ros2::msg::Imu::linear_acceleration_covariance, carla::ros2::msg::Imu::orientation, carla::ros2::msg::Imu::orientation_covariance, and serialize_cdr().

serialize_cdr() [19/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::Lateral &  m  )

inline

Definition at line 284 of file CdrSerialization.h.

References carla::ros2::msg::Lateral::control_time, carla::ros2::msg::Lateral::is_defined_steering_tire_rotation_rate, serialize_cdr(), carla::ros2::msg::Lateral::stamp, carla::ros2::msg::Lateral::steering_tire_angle, and carla::ros2::msg::Lateral::steering_tire_rotation_rate.

serialize_cdr() [20/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::Longitudinal &  m  )

inline

Definition at line 304 of file CdrSerialization.h.

References carla::ros2::msg::Longitudinal::acceleration, carla::ros2::msg::Longitudinal::control_time, carla::ros2::msg::Longitudinal::is_defined_acceleration, carla::ros2::msg::Longitudinal::is_defined_jerk, carla::ros2::msg::Longitudinal::jerk, serialize_cdr(), carla::ros2::msg::Longitudinal::stamp, and carla::ros2::msg::Longitudinal::velocity.

serialize_cdr() [21/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::NavSatFix &  m  )

inline

Definition at line 672 of file CdrSerialization.h.

References carla::ros2::msg::NavSatFix::altitude, carla::ros2::msg::NavSatFix::header, carla::ros2::msg::NavSatFix::latitude, carla::ros2::msg::NavSatFix::longitude, carla::ros2::msg::NavSatFix::position_covariance, carla::ros2::msg::NavSatFix::position_covariance_type, serialize_cdr(), and carla::ros2::msg::NavSatFix::status.

serialize_cdr() [22/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::NavSatStatus &  m  )

inline

Definition at line 169 of file CdrSerialization.h.

References carla::ros2::msg::NavSatStatus::service, and carla::ros2::msg::NavSatStatus::status.

serialize_cdr() [23/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::Odometry &  m  )

inline

Definition at line 760 of file CdrSerialization.h.

References carla::ros2::msg::Odometry::child_frame_id, carla::ros2::msg::Odometry::header, carla::ros2::msg::Odometry::pose, serialize_cdr(), and carla::ros2::msg::Odometry::twist.

serialize_cdr() [24/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::Point &  m  )

inline

Definition at line 137 of file CdrSerialization.h.

References carla::ros2::msg::Point::x, carla::ros2::msg::Point::y, and carla::ros2::msg::Point::z.

serialize_cdr() [25/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::Point32 &  m  )

inline

Definition at line 153 of file CdrSerialization.h.

References carla::ros2::msg::Point32::x, carla::ros2::msg::Point32::y, and carla::ros2::msg::Point32::z.

serialize_cdr() [26/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::PointCloud2 &  m  )

inline

PointCloud2::fields is a sequence of structs; FastCDR's generic vector operator calls serialize() on each element, which our POD types don't provide.

Write length + elements manually.

Definition at line 837 of file CdrSerialization.h.

References carla::ros2::msg::PointCloud2::data, carla::ros2::msg::PointCloud2::fields, carla::ros2::msg::PointCloud2::header, carla::ros2::msg::PointCloud2::height, carla::ros2::msg::PointCloud2::is_bigendian, carla::ros2::msg::PointCloud2::is_dense, carla::ros2::msg::PointCloud2::point_step, carla::ros2::msg::PointCloud2::row_step, serialize_cdr(), and carla::ros2::msg::PointCloud2::width.

serialize_cdr() [27/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::PointField &  m  )

inline

PointField: name is a string; offset, datatype, count are primitives.

Definition at line 236 of file CdrSerialization.h.

References carla::ros2::msg::PointField::count, carla::ros2::msg::PointField::datatype, carla::ros2::msg::PointField::name, and carla::ros2::msg::PointField::offset.

serialize_cdr() [28/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::Pose &  m  )

inline

Definition at line 374 of file CdrSerialization.h.

References carla::ros2::msg::Pose::orientation, carla::ros2::msg::Pose::position, and serialize_cdr().

serialize_cdr() [29/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::PoseStamped &  m  )

inline

Definition at line 456 of file CdrSerialization.h.

References carla::ros2::msg::PoseStamped::header, carla::ros2::msg::PoseStamped::pose, and serialize_cdr().

serialize_cdr() [30/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::PoseWithCovariance &  m  )

inline

Definition at line 442 of file CdrSerialization.h.

References carla::ros2::msg::PoseWithCovariance::covariance, carla::ros2::msg::PoseWithCovariance::pose, and serialize_cdr().

serialize_cdr() [31/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::PoseWithCovarianceStamped &  m  )

inline

Definition at line 470 of file CdrSerialization.h.

References carla::ros2::msg::PoseWithCovarianceStamped::header, carla::ros2::msg::PoseWithCovarianceStamped::pose, and serialize_cdr().

serialize_cdr() [32/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::Quaternion &  m  )

inline

Definition at line 119 of file CdrSerialization.h.

References carla::ros2::msg::Quaternion::w, carla::ros2::msg::Quaternion::x, carla::ros2::msg::Quaternion::y, and carla::ros2::msg::Quaternion::z.

serialize_cdr() [33/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::RegionOfInterest &  m  )

inline

Definition at line 183 of file CdrSerialization.h.

References carla::ros2::msg::RegionOfInterest::do_rectify, carla::ros2::msg::RegionOfInterest::height, carla::ros2::msg::RegionOfInterest::width, carla::ros2::msg::RegionOfInterest::x_offset, and carla::ros2::msg::RegionOfInterest::y_offset.

serialize_cdr() [34/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::SteeringReport &  m  )

inline

Definition at line 568 of file CdrSerialization.h.

References serialize_cdr(), carla::ros2::msg::SteeringReport::stamp, and carla::ros2::msg::SteeringReport::steering_tire_angle.

serialize_cdr() [35/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::String &  m  )

inline

Definition at line 400 of file CdrSerialization.h.

References carla::ros2::msg::String::data.

serialize_cdr() [36/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::TF2Error &  m  )

inline

Definition at line 254 of file CdrSerialization.h.

References carla::ros2::msg::TF2Error::error, and carla::ros2::msg::TF2Error::error_string.

serialize_cdr() [37/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::TFMessage &  m  )

inline

TFMessage::transforms is a sequence of TransformStamped structs.

Write length + elements manually.

Definition at line 880 of file CdrSerialization.h.

References serialize_cdr(), and carla::ros2::msg::TFMessage::transforms.

serialize_cdr() [38/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::Time &  m  )

inline

Definition at line 89 of file CdrSerialization.h.

References carla::ros2::msg::Time::nanosec, and carla::ros2::msg::Time::sec.

Referenced by cdr_serialized_size(), carla::ros2::GenericCdrPubSubType< MsgType >::serialize(), serialize_cdr(), serialize_cdr(), serialize_cdr(), serialize_cdr(), serialize_cdr(), serialize_cdr(), serialize_cdr(), serialize_cdr(), serialize_cdr(), serialize_cdr(), serialize_cdr(), serialize_cdr(), serialize_cdr(), serialize_cdr(), serialize_cdr(), serialize_cdr(), serialize_cdr(), serialize_cdr(), serialize_cdr(), serialize_cdr(), serialize_cdr(), serialize_cdr(), serialize_cdr(), serialize_cdr(), serialize_cdr(), serialize_cdr(), serialize_cdr(), serialize_cdr(), serialize_cdr(), serialize_cdr(), serialize_cdr(), serialize_cdr(), serialize_cdr(), serialize_cdr(), serialize_cdr(), and serialize_to_cdr().

serialize_cdr() [39/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::Transform &  m  )

inline

Definition at line 360 of file CdrSerialization.h.

References carla::ros2::msg::Transform::rotation, serialize_cdr(), and carla::ros2::msg::Transform::translation.

serialize_cdr() [40/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::TransformStamped &  m  )

inline

Definition at line 412 of file CdrSerialization.h.

References carla::ros2::msg::TransformStamped::child_frame_id, carla::ros2::msg::TransformStamped::header, serialize_cdr(), and carla::ros2::msg::TransformStamped::transform.

serialize_cdr() [41/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::TurnIndicatorsCommand &  m  )

inline

Definition at line 512 of file CdrSerialization.h.

References carla::ros2::msg::TurnIndicatorsCommand::command, serialize_cdr(), and carla::ros2::msg::TurnIndicatorsCommand::stamp.

serialize_cdr() [42/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::TurnIndicatorsReport &  m  )

inline

Definition at line 610 of file CdrSerialization.h.

References carla::ros2::msg::TurnIndicatorsReport::report, serialize_cdr(), and carla::ros2::msg::TurnIndicatorsReport::stamp.

serialize_cdr() [43/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::Twist &  m  )

inline

Definition at line 346 of file CdrSerialization.h.

References carla::ros2::msg::Twist::angular, carla::ros2::msg::Twist::linear, and serialize_cdr().

serialize_cdr() [44/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::TwistWithCovariance &  m  )

inline

Definition at line 428 of file CdrSerialization.h.

References carla::ros2::msg::TwistWithCovariance::covariance, serialize_cdr(), and carla::ros2::msg::TwistWithCovariance::twist.

serialize_cdr() [45/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::Vector3 &  m  )

inline

Definition at line 103 of file CdrSerialization.h.

References carla::ros2::msg::Vector3::x, carla::ros2::msg::Vector3::y, and carla::ros2::msg::Vector3::z.

serialize_cdr() [46/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::VehicleEmergencyStamped &  m  )

inline

Definition at line 554 of file CdrSerialization.h.

References carla::ros2::msg::VehicleEmergencyStamped::emergency, serialize_cdr(), and carla::ros2::msg::VehicleEmergencyStamped::stamp.

serialize_cdr() [47/47]

void carla::ros2::serialize_cdr ( eprosima::fastcdr::Cdr &  cdr, const msg::VelocityReport &  m  )

inline

Definition at line 638 of file CdrSerialization.h.

References carla::ros2::msg::VelocityReport::header, carla::ros2::msg::VelocityReport::heading_rate, carla::ros2::msg::VelocityReport::lateral_velocity, carla::ros2::msg::VelocityReport::longitudinal_velocity, and serialize_cdr().

serialize_to_cdr()

template<typename T >

std::vector< uint8_t > carla::ros2::serialize_to_cdr

(

const T &

msg

)

Serialize a msg::X to a CDR byte buffer including the DDS encapsulation header (Classic CDR, encoding version 1, little-endian).

The returned buffer is wire-compatible with all ROS2 distros and can be passed to FastDDS write_serialized_payload() or CycloneDDS dds_writecdr(). Returns an empty vector if Fast-CDR raises an exception (e.g. out of memory while growing the internal FastBuffer).

Definition at line 914 of file CdrSerialization.h.

References serialize_cdr().

Referenced by TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), and TEST().

SetActiveDomainId()

ResolvedDomainId carla::ros2::SetActiveDomainId

(

int

domain_id

)

Store the domain id in the shared library's MiddlewareConfig and return the effective domain id resolved there, so carla-server can log the value the middlewares will actually use.

Pass kUnsetDomainId to keep each middleware's native default. Like the other exports here, this is DDS-free and its definition is compiled into the shared library, so MiddlewareConfig's process-wide storage lives on the shared-library side that the middlewares read.

Definition at line 23 of file ActiveMiddleware.cpp.

References carla::ros2::MiddlewareConfig::ResolveEffective(), and carla::ros2::MiddlewareConfig::SetDomainId().

Referenced by carla::ros2::ROS2::Enable().

SetActiveMiddleware()

bool carla::ros2::SetActiveMiddleware

(

Middleware

requested

)

DDS-free bridge for selecting the active middleware across the shared-library boundary.

ROS2.cpp is the only ROS 2 translation unit compiled into carla-server; every other ROS 2 source (including MiddlewareFactory.h and the vendor middleware headers) is compiled exclusively into libcarla-ros2-native.so. These declarations include only Middleware.h, so carla-server can select the middleware without any DDS header crossing the boundary. The definitions are compiled into the shared library. Resolve and select the requested middleware.

Returns

true if the middleware was compiled into the shared library and is now active, false if it is unavailable (in which case the active middleware is left unchanged).

Definition at line 11 of file ActiveMiddleware.cpp.

References carla::ros2::MiddlewareFactory::ResolveMiddleware(), and carla::ros2::MiddlewareFactory::SetMiddleware().

Referenced by carla::ros2::ROS2::Enable().

ToROS2TypeName()

std::string carla::ros2::ToROS2TypeName ( const std::string &  type_name )

inline

Mangle a type name into the ROS2-compatible format.

"sensor_msgs::msg::Image" becomes "sensor_msgs::msg::dds_::Image_". A bare name like "Image" becomes "dds_::Image_".

Definition at line 82 of file Middleware.h.

Referenced by TEST(), TEST(), TEST(), and TEST().

TransformFromCarlaRotation()

TransformQuaternion carla::ros2::TransformFromCarlaRotation ( float  tx, float  ty, float  tz, float  pitch_deg, float  yaw_deg, float  roll_deg  )

inlinenoexcept

Definition at line 43 of file TransformQuaternion.h.

Referenced by TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), carla::ros2::CarlaTransformPublisher::Write(), and carla::ros2::AutowareGNSSPublisher::Write().

TryParseDomainId()

bool carla::ros2::TryParseDomainId ( const char *  text, int &  out  )

inline

Parse a ROS_DOMAIN_ID-style string into a valid domain id.

Returns

true and writes out only when text is a base-10 integer that is a valid domain id (0..232). nullptr, empty, non-numeric, trailing-garbage and out-of-range inputs return false and leave out untouched.

Definition at line 51 of file MiddlewareConfig.h.

References kMaxDomainId.

Referenced by ResolveDomainId(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), and TEST().

Variable Documentation

kDefaultDomainId

constexpr int carla::ros2::kDefaultDomainId = 0

constexpr

Domain id used when neither the command line nor the environment provides one.

Definition at line 23 of file MiddlewareConfig.h.

Referenced by ResolveDomainId(), TEST(), TEST(), TEST(), and TEST_F().

kDvsFields

constexpr std::array<PointFieldDescriptor, 4> carla::ros2::kDvsFields

inlineconstexpr

Initial value:

= {{
    {"x",   0u,  PointFieldDataType::UInt16,  1u},
    {"y",   2u,  PointFieldDataType::UInt16,  1u},
    {"t",   4u,  PointFieldDataType::Float64, 1u},
    {"pol", 12u, PointFieldDataType::Int8,    1u},
}}

Definition at line 94 of file PointCloudFieldsLayout.h.

Referenced by carla::ros2::CarlaDVSPointCloudPublisher::GetFieldDescriptorCount(), carla::ros2::CarlaDVSPointCloudPublisher::GetFieldDescriptors(), TEST(), and TEST().

kLidarFields

constexpr std::array<PointFieldDescriptor, 4> carla::ros2::kLidarFields

inlineconstexpr

Initial value:

= {{
    {"x",         0u,  PointFieldDataType::Float32, 1u},
    {"y",         4u,  PointFieldDataType::Float32, 1u},
    {"z",         8u,  PointFieldDataType::Float32, 1u},
    {"intensity", 12u, PointFieldDataType::Float32, 1u},
}}

Definition at line 41 of file PointCloudFieldsLayout.h.

Referenced by carla::ros2::CarlaLidarPublisher::GetFieldDescriptorCount(), carla::ros2::CarlaLidarPublisher::GetFieldDescriptors(), TEST(), and TEST().

kLidarFieldsEx

constexpr std::array<PointFieldDescriptor, 10> carla::ros2::kLidarFieldsEx

inlineconstexpr

Initial value:

= {{
    {"x",           0u,  PointFieldDataType::Float32, 1u},
    {"y",           4u,  PointFieldDataType::Float32, 1u},
    {"z",           8u,  PointFieldDataType::Float32, 1u},
    {"intensity",   12u, PointFieldDataType::UInt8,   1u},
    {"return_type", 13u, PointFieldDataType::UInt8,   1u},
    {"channel",     14u, PointFieldDataType::UInt16,  1u},
    {"azimuth",     16u, PointFieldDataType::Float32, 1u},
    {"elevation",   20u, PointFieldDataType::Float32, 1u},
    {"distance",    24u, PointFieldDataType::Float32, 1u},
    {"time_stamp",  28u, PointFieldDataType::UInt32,  1u},
}}

Definition at line 53 of file PointCloudFieldsLayout.h.

Referenced by carla::ros2::CarlaLidarPublisher::GetFieldDescriptorCount(), carla::ros2::CarlaLidarPublisher::GetFieldDescriptors(), TEST(), and TEST().

kMaxCdrSequenceElements

constexpr uint32_t carla::ros2::kMaxCdrSequenceElements = 1u << 20

staticconstexpr

Sanity cap for the length field of a CDR sequence read from the wire.

Protects against malformed/hostile payloads claiming a multi-GB sequence, which would otherwise OOM-abort the process inside std::vector::resize(). 1,048,576 elements is far above any realistic ROS2 message (PointCloud2 rarely has more than a dozen fields; TFMessage rarely has more than a few hundred transforms) while bounding the worst-case allocation to ~80 MiB.

Definition at line 83 of file CdrSerialization.h.

Referenced by deserialize_cdr(), and deserialize_cdr().

kMaxDomainId

constexpr int carla::ros2::kMaxDomainId = 232

constexpr

Highest valid ROS 2 domain id (RTPS maximum).

Definition at line 20 of file MiddlewareConfig.h.

Referenced by IsValidDomainId(), FCarlaEngine::NotifyInitGame(), TEST(), TEST(), TEST(), and TryParseDomainId().

kMinDomainId

constexpr int carla::ros2::kMinDomainId = 0

constexpr

Lowest valid ROS 2 domain id.

Definition at line 17 of file MiddlewareConfig.h.

Referenced by IsValidDomainId(), and FCarlaEngine::NotifyInitGame().

kRadarFields

constexpr std::array<PointFieldDescriptor, 7> carla::ros2::kRadarFields

inlineconstexpr

Initial value:

= {{
    {"x",        0u,  PointFieldDataType::Float32, 1u},
    {"y",        4u,  PointFieldDataType::Float32, 1u},
    {"z",        8u,  PointFieldDataType::Float32, 1u},
    {"velocity", 12u, PointFieldDataType::Float32, 1u},
    {"azimuth",  16u, PointFieldDataType::Float32, 1u},
    {"altitude", 20u, PointFieldDataType::Float32, 1u},
    {"depth",    24u, PointFieldDataType::Float32, 1u},
}}

Definition at line 80 of file PointCloudFieldsLayout.h.

Referenced by carla::ros2::CarlaRadarPublisher::GetFieldDescriptorCount(), carla::ros2::CarlaRadarPublisher::GetFieldDescriptors(), TEST(), and TEST().

kRosDomainIdEnvVar

constexpr char carla::ros2::kRosDomainIdEnvVar[] = "ROS_DOMAIN_ID"

constexpr

Name of the standard ROS 2 environment variable that selects the domain id.

Definition at line 26 of file MiddlewareConfig.h.

Referenced by carla::ros2::MiddlewareConfig::ResolveEffective(), RosDomainIdEnvFixture::SetUp(), RosDomainIdEnvFixture::TearDown(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), and TEST_F().

kSemanticLidarFields

constexpr std::array<PointFieldDescriptor, 6> carla::ros2::kSemanticLidarFields

inlineconstexpr

Initial value:

= {{
    {"x",             0u,  PointFieldDataType::Float32, 1u},
    {"y",             4u,  PointFieldDataType::Float32, 1u},
    {"z",             8u,  PointFieldDataType::Float32, 1u},
    {"cos_inc_angle", 12u, PointFieldDataType::Float32, 1u},
    {"object_idx",    16u, PointFieldDataType::UInt32,  1u},
    {"object_tag",    20u, PointFieldDataType::UInt32,  1u},
}}

Definition at line 68 of file PointCloudFieldsLayout.h.

Referenced by carla::ros2::CarlaSemanticLidarPublisher::GetFieldDescriptorCount(), carla::ros2::CarlaSemanticLidarPublisher::GetFieldDescriptors(), TEST(), and TEST().

kUnsetDomainId

constexpr int carla::ros2::kUnsetDomainId = -1

constexpr

Sentinel domain id meaning "no domain id was configured on the command line"; each middleware falls back to its own native default.

Definition at line 14 of file MiddlewareConfig.h.

Referenced by FCarlaEngine::NotifyInitGame(), RosDomainIdEnvFixture::SetUp(), MiddlewareConfigFixture::TearDown(), RosDomainIdEnvFixture::TearDown(), TEST(), TEST(), TEST(), TEST(), TEST(), and TEST_F().