feat(LibCarla/ros2): [5/7] add unified CDR serialization and GenericCdrPubSubType by JArmandoAnaya · Pull Request #9643 · carla-simulator/carla

JArmandoAnaya · 2026-04-05T01:53:29Z

Description

Relates to #9294 - DDS middleware decoupling PR series. Blocked on #9620.

What this PR does

Introduces a vendor-agnostic CDR serialization layer that bridges the 31
carla::ros2::msg::* POD structs to the DDS wire format used by ROS2.

New files (4):

File	Purpose
`LibCarla/source/carla/ros2/types/CdrSerialization.h`	`serialize_to_cdr<T>()` / `deserialize_from_cdr<T>()` for all 31 msg types. Uses Fast-CDR XCDR1 LE with DDS encapsulation header. Handles primitives, strings, arrays, vectors, and nested structs.
`LibCarla/source/carla/ros2/types/CdrTopicInfo.h`	`CdrTopicInfo<T>` template specializations: `type_name()` (ROS2-compatible DDS type name) and `max_serialized_size()` (conservative CDR payload bound without encapsulation).
`LibCarla/source/test/server/test_dds_middleware.cpp`	+14 CDR tests: `cdr_topic_info` (2) + `cdr_serialization` (12 round-trips).
`LibCarla/cmake/test/CMakeLists.txt`	Add FastCDR include path, `libfastcdr.a` link, and `-fexceptions` to the server test binary (Fast-CDR templates use `try/catch`).

Serialization architecture

carla::ros2::msg::X  (vendor-agnostic POD struct)
         |
         v
  CdrSerialization.h — serialize_to_cdr() / deserialize_from_cdr()
         |
    CDR byte buffer (XCDR1 LE, wire-compatible with all ROS2 distros)
         |
    +----+----+
    |         |
    v         v
FastDDS    CycloneDDS
write()    dds_writecdr()
(Pending PR)      (Pending PR)

Tests

Server: 97 to 111 tests (all pass)
Client: 56/56 (unchanged)

Run CDR tests only:

./Build/libcarla-server-build.debug/test/libcarla_test_server_debug \
  --gtest_filter='*cdr_*'

PR series

This PR is part of the DDS middleware decoupling series (#9294). Each PR in the chain inherits the commits of all prior PRs. The Commits column lists only the commits introduced by that PR, and the Files column counts only the files changed by those new commits.

#	PR	Title	Branch	Commits	Files
1/7	#9608	DDS middleware abstraction layer	`feature/dds-middleware-abstraction-layer`	`0ab35ee6`	10
2/7	#9612	POD message types, FastDDS conversions, and TypeMap specializations	`feature/ros2-pod-types-and-fastdds-conversions`	`e665d2af`	39
3/7	#9619	Migrate publishers and subscribers to POD message types	`feature/ros2-publishers-pod-types-migration`	`98b6f7aa`	27
4/7	#9620	CycloneDDS enum, factory, stubs, and tests	`feature/ros2-cyclonedds-enum-factory`	`2a4a8db3`	5
5/7	#9643	Unified CDR serialization + `GenericCdrPubSubType` (this PR)	`feature/ros2-cdr-serialization`	`5a9dd3b4`, `0a9ca585`	8
6/7	#9644	CycloneDDS CDR middleware, UE4 runtime selection, and correctness fixes	`feature/ros2-cyclonedds-cdr-middleware`	`d3f2a45b`, `2d80046b`	26
7/7	#9645	Remove legacy FastDDS-generated type files	`feature/ros2-remove-fastdds-generated-types`	`eea4e0a4`	125

Checklist

File count: 4 files added, 0 files modified, 0 files deleted
make LibCarla ARGS="--ros2" passes
make check.LibCarla passes (111 server + 56 client)

This change is

…ackend support Introduce a strategy-pattern abstraction that decouples PublisherImpl and SubscriberImpl from the FastDDS API, enabling future integration of additional DDS middleware implementations (e.g. CycloneDDS). New abstraction layer (LibCarla/source/carla/ros2/dds/): - DDSMiddleware enum and string conversion utilities - IDDSPublisherMiddleware / IDDSSubscriberMiddleware pure virtual interfaces - DDSMiddlewareFactory with thread-safe middleware selection and creation - FastDDSPublisherMiddleware<T> / FastDDSSubscriberMiddleware<S> template implementations behind the new interfaces - FastDDSTypeMap<T> identity-mapping type traits (to be replaced with real conversions when POD message types are introduced) Modified files: - PublisherImpl.h: replaced direct FastDDS inheritance and members with delegation to IDDSPublisherMiddleware via the factory (public API unchanged) - SubscriberImpl.h: same pattern for subscriber side - cmake/fast_dds/CMakeLists.txt: added CARLA_ROS2_DDS_FASTDDS compile definition, new header globs, and fixed missing include directories in the debug build target No behavior change — FastDDS remains the only compiled middleware. Concrete publishers and subscribers are unaffected.

…real TypeMap specializations Introduce backend-neutral POD message structs and to_fastdds/from_fastdds conversion functions, completing the type abstraction layer started in PR carla-simulator#1 without touching any concrete publisher or subscriber. New files (LibCarla/source/carla/ros2/types/): - 31 plain C++ structs in types/msg/ - one per ROS2 message type, no DDS dependency, standard library headers only, all members value-initialized - FastDDSConversions.h: inline to_fastdds/from_fastdds overload pairs for all 31 type pairs, ordered bottom-up so composites call primitives; move overloads for msg::Image and msg::PointCloud2 to avoid copying large data vectors New test file (LibCarla/source/test/server/test_dds_middleware.cpp): - 45 unit tests across 10 groups covering the middleware enum, factory, interfaces, PublisherImpl, and SubscriberImpl using hand-written mocks; no DDS daemon required (CARLA_ROS2_DDS_TESTING suppresses real includes) Modified files: - FastDDSTypeMap.h: 28 real specializations mapping msg::X to FastDDS types, coexisting with the existing identity specializations (different key types, no ODR conflict) - DDSMiddleware.h: add ToROS2DDSTypeName() for use in PR carla-simulator#3 - DDSMiddlewareFactory.h: add CARLA_ROS2_DDS_TESTING guard to FastDDS include/create blocks so test binary compiles without real DDS headers - PublisherImpl.h / SubscriberImpl.h: LIBCARLA_WITH_GTEST test seams for middleware injection and message simulation - cmake/fast_dds/CMakeLists.txt: added glob for types/msg/*.h install No behavior change - identity TypeMap specializations remain active; all concrete publishers and subscribers compile and work unchanged.

…e types Switch all concrete publishers and subscribers from FastDDS-generated types to middleware-neutral POD structs (carla::ros2::msg::*). Remove identity TypeMap specializations and generic identity converters from FastDDSTypeMap, leaving only real POD-to-FastDDS mappings. Convert FastDDS accessor syntax (.field(val) / .field()) to direct member access (.field = val / .field). Fix DVS descriptor4 bug where fields were set on descriptor3. Add log_warning on Init failure for all publishers and subscribers. Add missing copyright headers to subscriber CPP files.

…tests Register CycloneDDS as a recognized middleware option in DDSMiddleware enum, DDSMiddlewareToString, DDSMiddlewareFromString, and GetAvailableMiddlewareString. Add CycloneDDS case to DDSMiddlewareFactory for IsMiddlewareAvailable, CreatePublisher, and CreateSubscriber, all guarded by CARLA_ROS2_DDS_CYCLONEDDS. Add stub CycloneDDSPublisherMiddleware and CycloneDDSSubscriberMiddleware that compile and satisfy the factory interface but return failure on all operations until the real implementation lands. Add 7 new unit tests for CycloneDDS enum parsing, availability checks, and factory routing when the middleware is not compiled in.

…d-trip tests Add CdrSerialization.h with serialize_to_cdr() / deserialize_from_cdr() helpers for all 31 msg::* POD types using Fast-CDR (XCDR1 LE with DDS encapsulation header). The resulting buffers are wire-compatible with all ROS2 distros and can be handed directly to FastDDS write_serialized_payload() or CycloneDDS dds_writecdr(), removing the need for per-vendor generated type files. Add CdrTopicInfo.h with type_name() and max_serialized_size() template specializations for all 31 types, providing the metadata the DDS middleware layer needs to register topics and pre-allocate payload buffers. Add 14 CDR round-trip tests across two new groups (cdr_topic_info, cdr_serialization) covering fixed-size, string, array, and vector-of-struct types. Update cmake/test/CMakeLists.txt to link libfastcdr into the server test binary and enable exceptions, which Fast-CDR templates require. Server test count: 97 → 111. Blocked on: feature/ros2-cyclonedds-enum-factory (carla-simulator#9620)

update-docs · 2026-04-05T01:53:35Z

Thanks for opening this pull request! The maintainers of this repository would appreciate it if you would update our CHANGELOG.md based on your changes.

…e to CDR, add 6 tests Replace 30 fastddsgen-generated PubSubType classes (and FastDDSTypeMap.h) with a single GenericCdrPubSubType<T> template that implements TopicDataType by delegating serialize()/deserialize() to CdrSerialization.h, and type_name()/ m_typeSize to CdrTopicInfo<T>. Rewrite FastDDSPublisherMiddleware and FastDDSSubscriberMiddleware to use GenericCdrPubSubType instead of FastDDSTypeMap. Remove to_fastdds()/from_fastdds() conversion calls. Publishers now pass the POD msg pointer directly to DataWriter::write(); subscribers receive CDR payloads directly into _message_ptr. Add 6 generic_cdr_pubsubtype tests covering: type name contract, m_typeSize, serialize/deserialize round-trip via SerializedPayload_t (fixed-size and string types), createData/deleteData, and getKey(). Update cmake/test/CMakeLists.txt to also link libfastrtps.a and libfoonathan_memory (required by TopicDataType static initializers). Server test count: 111 to 117.

Delete 125 auto-generated FastDDS type files from LibCarla/source/carla/ros2/types/: 31 type-definition pairs ({TypeName}.h + {TypeName}.cpp), 31 PubSubType pairs ({TypeName}PubSubTypes.h + {TypeName}PubSubTypes.cpp), and FastDDSConversions.h. These files were generated by fastddsgen from IDL definitions and are no longer referenced anywhere in the codebase. GenericCdrPubSubType<T> (introduced in carla-simulator#9643) replaces all 31 hand-generated PubSubType classes by serializing carla::ros2::msg::* POD structs directly to CDR bytes via CdrSerialization.h, with no dependency on these files. Both cmake/fast_dds/CMakeLists.txt and cmake/cyclone_dds/CMakeLists.txt collect type files via file(GLOB) patterns (types/*.h, types/*.cpp), so no CMake changes are needed. The globs self-adjust on the next configure pass. After this change, LibCarla/source/carla/ros2/types/ contains only: CdrSerialization.h, CdrTopicInfo.h, and msg/ (31 POD struct headers). Tests: 120/120 server + 56/56 client + 2/2 smoke.

JArmandoAnaya · 2026-04-08T09:54:43Z

@LuisPovedaCano Thank you for your review. I'm going to check in depth the changes on this PR to be sure all of them are correctly aligned with the DDS standards. I will fix this ASAP and let you know when it is done.

…nd add 9 robustness tests Fix four spec-compliance issues in CdrSerialization.h and GenericCdrPubSubType.h flagged during a deep review against the OMG DDSI-RTPS v2.5 spec and DDS-XTypes 1.3 clause 7.4.1.1, plus a critical runtime bug that prevented large-payload sensors (Image, PointCloud2) from publishing at all. --- Spec-compliance fixes --- A. Sequence length type (DDS-XTypes 7.4.1.1 violation) PointCloud2::fields and TFMessage::transforms used int32_t for CDR sequence lengths. DDS-XTypes 1.3 clause 7.4.1.1 requires unsigned long (uint32_t). Changed four call sites: two serialize_cdr writes and two deserialize_cdr reads. B. Public API error contract (deserialize_from_cdr always returned true) Both serialize_to_cdr() and deserialize_from_cdr() now wrap Fast-CDR calls in try/catch(eprosima::fastcdr::exception::Exception). Returns empty vector / false on error. Previously, exceptions escaped through the bool-returning function, crashing the receive thread on the first malformed payload. C. Sanity cap on CDR sequence lengths Added kMaxCdrSequenceElements = 1u << 20 (1,048,576). Before each vector::resize(seq_len) in the manual sequence helpers, throws BadParamException if seq_len exceeds the cap. Prevents OOM-abort on hostile or corrupt buffers (relevant because PR carla-simulator#9644's CycloneDDS path hands raw network bytes to deserialize_from_cdr via dds_takecdr). D. Explicit LITTLE_ENDIANNESS Replaced Cdr::DEFAULT_ENDIAN with Cdr::LITTLE_ENDIANNESS in serialize_to_cdr(), deserialize_from_cdr(), GenericCdrPubSubType::serialize(), and GenericCdrPubSubType::deserialize(). Hardcode payload->encapsulation = CDR_LE in GenericCdrPubSubType::serialize(). Matches DDSI-RTPS v2.5 Table 10.3 (CDR_LE = {0x00, 0x01}). In deserialize(), LITTLE_ENDIANNESS is the initial hint only; read_encapsulation() still parses the actual byte order from the wire header. --- Large-message publish fix --- E. Fix FastDDSPublisherMiddleware::Publish returning RETCODE_ERROR (code 1) for Image and PointCloud2 topics. Root cause: getSerializedSizeProvider() returned the static CdrTopicInfo<T>::max_serialized_size() value (648 bytes for Image, 27597 bytes for PointCloud2). FastDDS pre-allocates the payload buffer at that size. serialize() then wrapped payload->data in a fixed-size FastBuffer and called serialize_cdr(), which threw NotEnoughMemoryException once the real payload (~1.4 MB for 800x600 RGB, 1-20 MB for LiDAR) exceeded the tiny pre-allocated buffer. RETCODE_ERROR propagated up to FastDDSPublisherMiddleware::Publish. Fix: - Add cdr_serialized_size<T>(msg) to CdrSerialization.h: performs a dry-run serialize_encapsulation() + serialize_cdr() into a heap FastBuffer and returns getSerializedDataLength(). Result is provably equal to serialize_to_cdr(msg).size(). - Change getSerializedSizeProvider() in GenericCdrPubSubType to capture the message pointer and return cdr_serialized_size(*msg), so FastDDS resizes payload->data to the actual size before calling serialize(). - Change serialize() to use an auto-growing FastBuffer (no size ceiling) and memcpy into payload->data after serialization. The post-copy len > payload->max_size guard is a safety net for non-resizing memory modes. - Update CdrTopicInfo::max_serialized_size() doc comment: it is now an initial preallocation hint, not a hard upper bound. --- New tests (Group 10: 12 -> 21 tests) --- Spec-compliance tests (6): - pointcloud2_multi_field_round_trip: 3 PointFields, exercises manual sequence loop - tfmessage_multi_transform_round_trip: 2 TransformStamped entries - deserialize_truncated_returns_false: half-buffer Header, expects false - deserialize_corrupt_encapsulation_returns_false: 2-byte garbage header, expects false - deserialize_pointcloud2_hostile_length_returns_false: 0xFFFFFFFF fields_size, expects false - deserialize_tfmessage_hostile_length_returns_false: 0xFFFFFFFF transforms_size, expects false Large-message regression tests (3): - cdr_serialized_size_matches_serialize_to_cdr: asserts cdr_serialized_size(msg) == serialize_to_cdr(msg).size() for Header, Image, PointCloud2, TFMessage - cdr_serialized_size_image_exceeds_static_max: 800x600 RGB (~1.44 MB) round-trip; asserts computed size > CdrTopicInfo<Image>::max_serialized_size() (648 B) - cdr_serialized_size_pointcloud2_exceeds_static_max: 22000-point cloud (~352 KB) round-trip; same assertion for PointCloud2 (27597 B static max) Server tests: 117 -> 126. Client tests: 56 (unchanged).

JArmandoAnaya · 2026-04-08T12:13:46Z

Hello @LuisPovedaCano , I already added a new commit with all the fixes. I also found that on this PR appears a bug that I was to resolve in the next PR #9644 [6/7], but it looks like it was already present here, so that's why I had to add extra code to port the fix to this branch. The PR is ready.

The changes have been applied

Delete 125 auto-generated FastDDS type files from LibCarla/source/carla/ros2/types/: 31 type-definition pairs ({TypeName}.h + {TypeName}.cpp), 31 PubSubType pairs ({TypeName}PubSubTypes.h + {TypeName}PubSubTypes.cpp), and FastDDSConversions.h. These files were generated by fastddsgen from IDL definitions and are no longer referenced anywhere in the codebase. GenericCdrPubSubType<T> (introduced in carla-simulator#9643) replaces all 31 hand-generated PubSubType classes by serializing carla::ros2::msg::* POD structs directly to CDR bytes via CdrSerialization.h, with no dependency on these files. Both cmake/fast_dds/CMakeLists.txt and cmake/cyclone_dds/CMakeLists.txt collect type files via file(GLOB) patterns (types/*.h, types/*.cpp), so no CMake changes are needed. The globs self-adjust on the next configure pass. After this change, LibCarla/source/carla/ros2/types/ contains only: CdrSerialization.h, CdrTopicInfo.h, and msg/ (31 POD struct headers). Tests: 120/120 server + 56/56 client + 2/2 smoke.

FastDDSTypeMap.h was replaced by GenericCdrPubSubType.h (introduced in carla-simulator#9643) and is no longer included anywhere in the codebase. It references 31 deleted PubSubTypes.h headers and the deleted FastDDSConversions.h, making it dead code that would cause a build error if ever included. This completes the cleanup started in the previous commit (125 files deleted from types/). Total legacy FastDDS files removed: 126.

…#9645) * feat(LibCarla/ros2): remove legacy FastDDS-generated type files Delete 125 auto-generated FastDDS type files from LibCarla/source/carla/ros2/types/: 31 type-definition pairs ({TypeName}.h + {TypeName}.cpp), 31 PubSubType pairs ({TypeName}PubSubTypes.h + {TypeName}PubSubTypes.cpp), and FastDDSConversions.h. These files were generated by fastddsgen from IDL definitions and are no longer referenced anywhere in the codebase. GenericCdrPubSubType<T> (introduced in #9643) replaces all 31 hand-generated PubSubType classes by serializing carla::ros2::msg::* POD structs directly to CDR bytes via CdrSerialization.h, with no dependency on these files. Both cmake/fast_dds/CMakeLists.txt and cmake/cyclone_dds/CMakeLists.txt collect type files via file(GLOB) patterns (types/*.h, types/*.cpp), so no CMake changes are needed. The globs self-adjust on the next configure pass. After this change, LibCarla/source/carla/ros2/types/ contains only: CdrSerialization.h, CdrTopicInfo.h, and msg/ (31 POD struct headers). Tests: 120/120 server + 56/56 client + 2/2 smoke. * docs(changelog): add ROS2 DDS middleware decoupling entry * feat(LibCarla/ros2): delete FastDDSTypeMap.h (missed in legacy cleanup) FastDDSTypeMap.h was replaced by GenericCdrPubSubType.h (introduced in #9643) and is no longer included anywhere in the codebase. It references 31 deleted PubSubTypes.h headers and the deleted FastDDSConversions.h, making it dead code that would cause a build error if ever included. This completes the cleanup started in the previous commit (125 files deleted from types/). Total legacy FastDDS files removed: 126.

Introduce the middleware-neutral type layer of the ROS 2 middleware decoupling series, ported from ue4-dev: - types/msg/*.h: 31 plain C++ structs, one per ROS 2 message type, no DDS dependency, standard library headers only, all members value-initialized (upstream ue4-dev #9612). - types/CdrSerialization.h: serialize_to_cdr(), deserialize_from_cdr() and cdr_serialized_size() for all msg::* types using Fast-CDR (classic CDR, little-endian, DDS encapsulation header). The buffers are wire-compatible with every ROS 2 distribution and can be handed directly to FastDDS write() paths or CycloneDDS dds_writecdr(), removing the need for per-vendor generated type files. A kMaxCdrSequenceElements cap rejects hostile sequence lengths during deserialization (upstream ue4-dev #9643). - types/CdrTopicInfo.h: per-type type_name(), REP-2011 RIHS01 type hash and max_serialized_size(); the hashes let ROS 2 Iron and newer RMWs parse the type hash CARLA advertises via USER_DATA (upstream ue4-dev #9681). - types/UserDataFormat.h: build_user_data() / build_user_data_for<T>() helpers producing the REP-2016 "typehash=RIHS01_<hex>;" key-value payload (upstream ue4-dev #9681). UE5 adaptation: ue5-dev pins FastDDS 2.11.2 with bundled Fast-CDR 1.x, so CdrSerialization.h keeps the Fast-CDR 1.x spellings (eprosima::fastcdr::Cdr::DDS_CDR, getSerializedDataLength()) instead of the Fast-CDR 2.x forms the ue4-dev tip carries since its Fast-DDS 2.14.6 upgrade (ue4-dev #9789). Five lines differ; the wire format is identical either way and is pinned by the golden-bytes test added in the follow-up test commit. The FastDDSConversions.h / FastDDSTypeMap.h files from #9612 are deliberately not ported; they were superseded by unified CDR upstream. The new headers are not referenced by any build target yet; they start compiling when the middleware abstraction lands in the next PR of the series. (adapted from ue4-dev 542959a) (adapted from ue4-dev f53144c) (adapted from ue4-dev c64e8f4) (adapted from ue4-dev b865088) (cherry picked from commit 5d0d578)

Introduce the vendor-neutral middleware strategy layer of the ROS 2 middleware decoupling series and its FastDDS implementation, compiled into libcarla-ros2-native.so. Ported from ue4-dev: - middleware/Middleware.h: the Middleware enum plus the string and ROS 2 type-name helpers; the CycloneDDS value and its availability branches are present but stay compiled out until the CycloneDDS middleware lands (upstream ue4-dev #9608). - middleware/IPublisherMiddleware.h, ISubscriberMiddleware.h: the type-erased publisher/subscriber strategy interfaces. Subscribers write received samples straight into caller-owned storage to avoid a copy (upstream ue4-dev #9608). - middleware/MiddlewareFactory.h: creates the active middleware for a traits type; each vendor arm is double-gated on its CARLA_ROS2_MIDDLEWARE_* macro and CARLA_ROS2_MIDDLEWARE_TESTING so the suite exercises the availability logic without linking DDS (upstream ue4-dev #9608). - middleware/ActiveMiddleware.{h,cpp}: a DDS-free bridge (SetActiveMiddleware) so ROS2.cpp, the only ROS 2 translation unit in carla-server, can select the middleware without any DDS header crossing the shared-library boundary. Nothing calls it until the cutover; the definition ships now so the shared lib has a translation unit that compiles MiddlewareFactory.h and the FastDDS headers with the real vendor macros. - middleware/fastdds/GenericCdrPubSubType.h: one FastDDS TopicDataType that serializes every carla::ros2::msg::* struct through the unified CdrSerialization.h path, replacing the generated per-type PubSubType classes; getSerializedSizeProvider reports the actual instance size so variable-length payloads (camera frames, point clouds) are not bounded by the static max size (upstream ue4-dev #9643). - middleware/fastdds/FastDDS{Publisher,Subscriber}Middleware.h: the FastDDS strategy implementations. Each endpoint advertises the REP-2016 "typehash=RIHS01_<hex>;" USER_DATA so Jazzy RMWs match on the REP-2011 type hash (upstream ue4-dev #9681). - middleware/fastdds/FastDDSSharedParticipant.{h,cpp}: a refcounted process-wide DomainParticipant shared across all FastDDS endpoints, avoiding the discovery storm that destroying N participants back to back caused on shutdown (upstream ue4-dev #9681). UE5 adaptation: ue5-dev pins FastDDS 2.11.2 with bundled Fast-CDR 1.x, so GenericCdrPubSubType.h keeps the Fast-CDR 1.x spellings (eprosima::fastcdr::Cdr::DDS_CDR, getSerializedDataLength()) matching CdrSerialization.h from the previous PR of the series. The wire format is classic CDR little-endian and is unchanged. The existing publishers keep using the generated FastDDS types; the cutover to this abstraction and the PublisherImpl/SubscriberImpl rewrite land in the next PR of the series. No behavior change. (adapted from ue4-dev 82c28e2) (adapted from ue4-dev f53144c) (adapted from ue4-dev 02a83ef) (adapted from ue4-dev c64e8f4) (cherry picked from commit f6d9a5b)

JArmandoAnaya added 5 commits March 27, 2026 02:01

JArmandoAnaya force-pushed the feature/ros2-cdr-serialization branch from 9e93214 to 0a9ca58 Compare April 5, 2026 02:57

JArmandoAnaya mentioned this pull request Apr 5, 2026

feat(LibCarla/ros2): [6/7] add CycloneDDS CDR middleware, UE4 runtime selection, and correctness fixes #9644

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JArmandoAnaya changed the title ~~feat(LibCarla/ros2): add unified CDR serialization layer (CdrSerialization + CdrTopicInfo)~~ feat(LibCarla/ros2): [5/7] add unified CDR serialization and GenericCdrPubSubType Apr 6, 2026

Merge branch 'ue4-dev' into feature/ros2-cdr-serialization

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JArmandoAnaya marked this pull request as ready for review April 8, 2026 08:57

JArmandoAnaya requested a review from a team as a code owner April 8, 2026 08:57

LuisPovedaCano previously requested changes Apr 8, 2026

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Comment thread LibCarla/source/carla/ros2/types/CdrSerialization.h Outdated

Comment thread LibCarla/source/carla/ros2/types/CdrSerialization.h Outdated

Comment thread LibCarla/source/carla/ros2/types/CdrSerialization.h

LuisPovedaCano approved these changes Apr 8, 2026

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LuisPovedaCano merged commit f53144c into carla-simulator:ue4-dev Apr 8, 2026

JArmandoAnaya mentioned this pull request May 27, 2026

Port the ROS 2 DDS-middleware decoupling (FastDDS + CycloneDDS + Zenoh, --rmw=) from ue4-dev to ue5-dev #9762

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This was referenced Jul 7, 2026

[1/9] Add ROS 2 message types and CDR serialization foundation #9807

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[2/9] Add ROS 2 middleware abstraction and FastDDS-on-CDR middleware #9808

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feat(LibCarla/ros2): [5/7] add unified CDR serialization and GenericCdrPubSubType - #9643

feat(LibCarla/ros2): [5/7] add unified CDR serialization and GenericCdrPubSubType#9643
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