refactor(LibCarla, Carla): rename DDS middleware abstraction to Middleware

CHANGELOG.md

@@ -1,4 +1,5 @@
 ## Latest Changes
+ * Renamed the ROS2 abstraction layer from dds/DDS* to generic middleware/Middleware* naming to support future non-DDS backends like Zenoh. FastDDS and CycloneDDS vendor classes are unchanged.
  * Added NumPy 2 compatibility to the PythonAPI: replaced removed aliases (`np.bool`, `np.matrix`) in example scripts and upgraded Boost to 1.90.0, which ships the upstream NumPy 2 C ABI fix (boostorg/python#432) so the C extension builds against both NumPy 1.x (>=1.18.4) and NumPy 2.x
  * Fixed North/South latitude inversion in geo-coordinate conversion for Transverse Mercator and UTM projections
  * Decoupled ROS2 DDS middleware from a hard FastDDS dependency to an agnostic strategy-pattern abstraction supporting both FastDDS and CycloneDDS, selectable at runtime via `--rmw=` CLI flag

LibCarla/cmake/cyclone_dds/CMakeLists.txt

@@ -9,22 +9,22 @@ file(GLOB libcarla_carla_subscribers_headers "${libcarla_source_path}/carla/ros2
 file(GLOB libcarla_carla_listeners_headers   "${libcarla_source_path}/carla/ros2/listeners/*.h")
 file(GLOB libcarla_carla_types_headers       "${libcarla_source_path}/carla/ros2/types/*.h")
 file(GLOB libcarla_carla_types_msg_headers   "${libcarla_source_path}/carla/ros2/types/msg/*.h")
-file(GLOB libcarla_carla_dds_headers         "${libcarla_source_path}/carla/ros2/dds/*.h")
-file(GLOB libcarla_carla_dds_cyclonedds_headers "${libcarla_source_path}/carla/ros2/dds/cyclonedds/*.h")
+file(GLOB libcarla_carla_ros2_middleware_headers         "${libcarla_source_path}/carla/ros2/middleware/*.h")
+file(GLOB libcarla_carla_ros2_middleware_cyclonedds_headers "${libcarla_source_path}/carla/ros2/middleware/cyclonedds/*.h")
 
 install(FILES ${libcarla_carla_ros2_headers}          DESTINATION include/carla/ros2)
 install(FILES ${libcarla_carla_publishers_headers}    DESTINATION include/carla/ros2/publishers)
 install(FILES ${libcarla_carla_subscribers_headers}   DESTINATION include/carla/ros2/subscribers)
 install(FILES ${libcarla_carla_listeners_headers}     DESTINATION include/carla/ros2/listeners)
 install(FILES ${libcarla_carla_types_headers}         DESTINATION include/carla/ros2/types)
 install(FILES ${libcarla_carla_types_msg_headers}     DESTINATION include/carla/ros2/types/msg)
-install(FILES ${libcarla_carla_dds_headers}           DESTINATION include/carla/ros2/dds)
-install(FILES ${libcarla_carla_dds_cyclonedds_headers} DESTINATION include/carla/ros2/dds/cyclonedds)
+install(FILES ${libcarla_carla_ros2_middleware_headers}           DESTINATION include/carla/ros2/middleware)
+install(FILES ${libcarla_carla_ros2_middleware_cyclonedds_headers} DESTINATION include/carla/ros2/middleware/cyclonedds)
 
 file(GLOB cyclonedds_dependencies "${CYCLONEDDS_LIB_PATH}/*.a")
 install(FILES ${cyclonedds_dependencies} DESTINATION lib)
 install(DIRECTORY "${CYCLONEDDS_INCLUDE_PATH}/dds"   DESTINATION include)
 install(DIRECTORY "${CYCLONEDDS_INCLUDE_PATH}/ddsc"  DESTINATION include)
 
-# Note: dds/cyclonedds/ compiled sources (CycloneDDSSertype.cpp) are included
+# Note: middleware/cyclonedds/ compiled sources (CycloneDDSSertype.cpp) are included
 # in cmake/ros2/ (carla_ros2), compiled once with both middleware macros defined.

LibCarla/cmake/fast_dds/CMakeLists.txt

@@ -9,25 +9,25 @@ file(GLOB libcarla_carla_subscribers_headers "${libcarla_source_path}/carla/ros2
 file(GLOB libcarla_carla_listeners_headers  "${libcarla_source_path}/carla/ros2/listeners/*.h")
 file(GLOB libcarla_carla_types_headers      "${libcarla_source_path}/carla/ros2/types/*.h")
 file(GLOB libcarla_carla_types_msg_headers  "${libcarla_source_path}/carla/ros2/types/msg/*.h")
-file(GLOB libcarla_carla_dds_headers        "${libcarla_source_path}/carla/ros2/dds/*.h")
-file(GLOB libcarla_carla_dds_fastdds_headers "${libcarla_source_path}/carla/ros2/dds/fastdds/*.h")
+file(GLOB libcarla_carla_ros2_middleware_headers        "${libcarla_source_path}/carla/ros2/middleware/*.h")
+file(GLOB libcarla_carla_ros2_middleware_fastdds_headers "${libcarla_source_path}/carla/ros2/middleware/fastdds/*.h")
 
 install(FILES ${libcarla_carla_ros2_headers}       DESTINATION include/carla/ros2)
 install(FILES ${libcarla_carla_publishers_headers}  DESTINATION include/carla/ros2/publishers)
 install(FILES ${libcarla_carla_subscribers_headers} DESTINATION include/carla/ros2/subscribers)
 install(FILES ${libcarla_carla_listeners_headers}   DESTINATION include/carla/ros2/listeners)
 install(FILES ${libcarla_carla_types_headers}       DESTINATION include/carla/ros2/types)
 install(FILES ${libcarla_carla_types_msg_headers}   DESTINATION include/carla/ros2/types/msg)
-install(FILES ${libcarla_carla_dds_headers}         DESTINATION include/carla/ros2/dds)
-install(FILES ${libcarla_carla_dds_fastdds_headers} DESTINATION include/carla/ros2/dds/fastdds)
+install(FILES ${libcarla_carla_ros2_middleware_headers}         DESTINATION include/carla/ros2/middleware)
+install(FILES ${libcarla_carla_ros2_middleware_fastdds_headers} DESTINATION include/carla/ros2/middleware/fastdds)
 
 file(GLOB fast_dds_dependencies "${FASTDDS_LIB_PATH}/*.a")
 install(FILES ${fast_dds_dependencies} DESTINATION lib)
 install(DIRECTORY "${FASTDDS_INCLUDE_PATH}/fastcdr"   DESTINATION include)
 install(DIRECTORY "${FASTDDS_INCLUDE_PATH}/fastdds"   DESTINATION include)
 install(DIRECTORY "${FASTDDS_INCLUDE_PATH}/fastrtps"  DESTINATION include)
 
-# Note: dds/fastdds/ headers are installed here.  The one .cpp source
+# Note: middleware/fastdds/ headers are installed here.  The one .cpp source
 # (FastDDSSharedParticipant.cpp) is compiled via cmake/ros2/ (carla_ros2),
 # together with all other ros2 sources, once with both
-# CARLA_ROS2_DDS_FASTDDS and CARLA_ROS2_DDS_CYCLONEDDS defined.
+# CARLA_ROS2_MIDDLEWARE_FASTDDS and CARLA_ROS2_MIDDLEWARE_CYCLONEDDS defined.

LibCarla/cmake/ros2/CMakeLists.txt

@@ -2,9 +2,9 @@ cmake_minimum_required(VERSION 3.5.1)
 project(libcarla_ros2)
 
 # All ros2 source files compiled ONCE with both middleware macros defined.
-# This ensures ROS2::Enable, DDSMiddlewareFactory::IsMiddlewareAvailable,
+# This ensures ROS2::Enable, MiddlewareFactory::IsMiddlewareAvailable,
 # and all CreatePublisher<T>/CreateSubscriber<S> instantiations see both
-# CARLA_ROS2_DDS_FASTDDS and CARLA_ROS2_DDS_CYCLONEDDS at compile time.
+# CARLA_ROS2_MIDDLEWARE_FASTDDS and CARLA_ROS2_MIDDLEWARE_CYCLONEDDS at compile time.
 # cmake/fast_dds and cmake/cyclone_dds are install-only (no library targets);
 # all compiled code lives here.
 
@@ -14,8 +14,8 @@ file(GLOB libcarla_ros2_sources
   "${libcarla_source_path}/carla/ros2/subscribers/*.cpp"
   "${libcarla_source_path}/carla/ros2/listeners/*.cpp"
   "${libcarla_source_path}/carla/ros2/types/*.cpp"
-  "${libcarla_source_path}/carla/ros2/dds/fastdds/*.cpp"
-  "${libcarla_source_path}/carla/ros2/dds/cyclonedds/*.cpp")
+  "${libcarla_source_path}/carla/ros2/middleware/fastdds/*.cpp"
+  "${libcarla_source_path}/carla/ros2/middleware/cyclonedds/*.cpp")
 
 # ==============================================================================
 # Create targets for debug and release in the same build type.
@@ -25,8 +25,8 @@ if (LIBCARLA_BUILD_RELEASE)
   add_library(carla_ros2 STATIC ${libcarla_ros2_sources})
 
   target_compile_definitions(carla_ros2 PRIVATE
-      CARLA_ROS2_DDS_FASTDDS
-      CARLA_ROS2_DDS_CYCLONEDDS)
+      CARLA_ROS2_MIDDLEWARE_FASTDDS
+      CARLA_ROS2_MIDDLEWARE_CYCLONEDDS)
   target_compile_options(carla_ros2 PRIVATE -fexceptions)
 
   target_include_directories(carla_ros2 SYSTEM PRIVATE
@@ -47,8 +47,8 @@ if (LIBCARLA_BUILD_DEBUG)
   add_library(carla_ros2_debug STATIC ${libcarla_ros2_sources})
 
   target_compile_definitions(carla_ros2_debug PRIVATE
-      CARLA_ROS2_DDS_FASTDDS
-      CARLA_ROS2_DDS_CYCLONEDDS)
+      CARLA_ROS2_MIDDLEWARE_FASTDDS
+      CARLA_ROS2_MIDDLEWARE_CYCLONEDDS)
   target_compile_options(carla_ros2_debug PRIVATE -fexceptions)
 
   target_include_directories(carla_ros2_debug SYSTEM PRIVATE

LibCarla/cmake/server/CMakeLists.txt

@@ -24,7 +24,7 @@ foreach(dir ""
             "sensor/" "sensor/data/" "sensor/s11n/"
             "streaming/" "streaming/detail/" "streaming/detail/tcp/" "streaming/low_level/"
             "multigpu/"
-            "ros2/" "ros2/dds/")
+            "ros2/" "ros2/middleware/")
 
   file(GLOB headers "${libcarla_source_path}/carla/${dir}*.h")
   install(FILES ${headers} DESTINATION include/carla/${dir})

LibCarla/cmake/test/CMakeLists.txt

@@ -28,7 +28,7 @@ file(GLOB libcarla_test_sources
 
 if (NOT LIBCARLA_WITH_ROS2)
   list(REMOVE_ITEM libcarla_test_sources
-      "${libcarla_source_path}/test/server/test_dds_middleware.cpp")
+      "${libcarla_source_path}/test/server/test_ros2_middleware.cpp")
 endif()
 
 file(GLOB libcarla_test_client_sources "")

LibCarla/source/carla/ros2/ROS2.cpp

@@ -7,7 +7,7 @@
 #include "carla/ros2/ROS2.h"
 
 #include "carla/Logging.h"
-#include "carla/ros2/dds/DDSMiddlewareFactory.h"
+#include "carla/ros2/middleware/MiddlewareFactory.h"
 #include "carla/geom/GeoLocation.h"
 #include "carla/geom/Vector3D.h"
 #include "carla/sensor/data/DVSEvent.h"
@@ -70,18 +70,18 @@ enum ESensors {
   HSSLidar
 };
 
-bool ROS2::Enable(bool enable, DDSMiddleware middleware) {
+bool ROS2::Enable(bool enable, Middleware middleware) {
   std::lock_guard<std::recursive_mutex> lock(_mutex);
   if (enable) {
-    auto resolve = DDSMiddlewareFactory::ResolveMiddleware(middleware);
+    auto resolve = MiddlewareFactory::ResolveMiddleware(middleware);
     if (!resolve.success) {
-      log_error("ROS2: middleware '", DDSMiddlewareToString(middleware),
+      log_error("ROS2: middleware '", MiddlewareToString(middleware),
           "' is not compiled into this binary. ROS2 is DISABLED.");
       return false;
     }
-    DDSMiddlewareFactory::SetMiddleware(middleware);
-    log_info("ROS2: using DDS middleware: ",
-        DDSMiddlewareToString(middleware));
+    MiddlewareFactory::SetMiddleware(middleware);
+    log_info("ROS2: using middleware: ",
+        MiddlewareToString(middleware));
     _clock_publisher = std::make_shared<CarlaClockPublisher>();
   }
   _enabled = enable;

LibCarla/source/carla/ros2/ROS2.h

@@ -10,7 +10,7 @@
 #include "carla/BufferView.h"
 #include "carla/geom/Transform.h"
 #include "carla/ros2/ROS2CallbackData.h"
-#include "carla/ros2/dds/DDSMiddleware.h"
+#include "carla/ros2/middleware/Middleware.h"
 #include "carla/streaming/detail/Types.h"
 
 #include <mutex>
@@ -59,7 +59,7 @@ class ROS2
     // General
     // Returns true when enabling succeeds (middleware compiled in), false otherwise.
     // Callers pass enable=false to shut down; the return value is always true in that case.
-    bool Enable(bool enable, DDSMiddleware middleware = DDSMiddleware::FastDDS);
+    bool Enable(bool enable, Middleware middleware = Middleware::FastDDS);
     void Shutdown();
 
     bool IsEnabled() { return _enabled; }

LibCarla/source/carla/ros2/dds/IDDSPublisherMiddleware.h → LibCarla/source/carla/ros2/middleware/IPublisherMiddleware.h

@@ -9,27 +9,27 @@
 namespace carla {
 namespace ros2 {
 
-/// Type-erased abstract interface for a DDS publisher middleware.
-/// Concrete implementations handle all vendor-specific DDS entity creation,
+/// Type-erased abstract interface for a publisher middleware.
+/// Concrete implementations handle all vendor-specific entity creation,
 /// type registration, and data writing.
-class IDDSPublisherMiddleware {
+class IPublisherMiddleware {
  public:
-  virtual ~IDDSPublisherMiddleware() = default;
+  virtual ~IPublisherMiddleware() = default;
 
-  /// Initialize DDS entities (participant, publisher, topic, writer).
-  /// @param topic_name  Full DDS topic name including "rt/" prefix.
+  /// Initialize the underlying middleware entities.
+  /// @param topic_name  Full topic name including "rt/" prefix.
   /// @return true on success.
   virtual bool Init(const std::string& topic_name) = 0;
 
-  /// Serialize and write a message to the DDS network.
+  /// Serialize and write a message to the network.
   /// @param message_data  Pointer to the message object (type-erased, cast internally).
   /// @return true if the write succeeded.
   virtual bool Publish(void* message_data) = 0;
 
   /// @return true if at least one subscriber is matched.
   virtual bool IsAlive() const = 0;
 
-  /// @return The DDS topic name this publisher is bound to.
+  /// @return The topic name this publisher is bound to.
   virtual std::string GetTopicName() const = 0;
 };
 

LibCarla/source/carla/ros2/dds/IDDSSubscriberMiddleware.h → LibCarla/source/carla/ros2/middleware/ISubscriberMiddleware.h

@@ -9,16 +9,16 @@
 namespace carla {
 namespace ros2 {
 
-/// Type-erased abstract interface for a DDS subscriber middleware.
+/// Type-erased abstract interface for a subscriber middleware.
 /// Concrete implementations write received messages directly into the caller-provided
 /// storage (message_ptr / new_message_flag) to avoid an extra copy.
-class IDDSSubscriberMiddleware {
+class ISubscriberMiddleware {
  public:
-  virtual ~IDDSSubscriberMiddleware() = default;
+  virtual ~ISubscriberMiddleware() = default;
 
-  /// Initialize DDS entities (participant, subscriber, topic, reader).
+  /// Initialize the underlying middleware entities.
   /// The middleware writes incoming messages to *message_ptr and sets *new_message_flag = true.
-  /// @param topic_name       Full DDS topic name.
+  /// @param topic_name       Full topic name.
   /// @param message_ptr      Pointer to the message storage owned by SubscriberImpl<S>.
   /// @param new_message_flag Pointer to the new-message flag owned by SubscriberImpl<S>.
   /// @return true on success.
@@ -30,7 +30,7 @@ class IDDSSubscriberMiddleware {
   /// @return true if at least one publisher is matched.
   virtual bool IsAlive() const = 0;
 
-  /// @return The DDS topic name this subscriber is bound to.
+  /// @return The topic name this subscriber is bound to.
   virtual std::string GetTopicName() const = 0;
 };