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

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feat(ros2): [6/8] add ROS2TopicVisibility default-startup flag#9756
Blyron merged 2 commits into
carla-simulator:ue5-devfrom
JArmandoAnaya:feat/ros2-topic-visibility-default-flag

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Description

Blocked on PR #9751

Adds a ROS2TopicVisibility startup setting that controls whether sensor topics are visible to ROS 2
from the moment their stream is created. When true (the default), every topic offered by the
implementation publishes from startup without an explicit enable_for_ros call; when false, only the
sensors explicitly enabled through Sensor.enable_for_ros() are visible (useful for disabling interfaces,
for example on the leaderboard).

On ue5-dev a sensor only produces and publishes data while AreClientsListening() is true, which holds
when a TCP client is subscribed, the stream is force-active, or the stream is marked enabled-for-ros.
That ROS flag defaults to off per stream and today flips on only through the per-sensor
enable_sensor_for_ros RPC, so a freshly spawned sensor stays silent on ROS 2 until a client enables it.
This setting lets the server flip the default for every newly created stream at startup.

Lands the topic-visibility-default slice of upstream 3b938d718 (#9431), adapted to ue5-dev's existing
stream-level visibility model. The multistream and per-actor scaffolding from that commit
(RpcServerInterface, the Message.h relocation, the Session abstraction, the Dispatcher shared
pointer migration, per-actor visibility) is not included: it is groundwork for the out-of-scope DDS
middleware series and the ROS-2-as-RPC-client work, and has no consumer on ue5-dev.

Closes: #9627

Changes

  • Settings/CarlaSettings.h: new config UPROPERTY ROS2TopicVisibility (default true), bound to
    DefaultGame.ini like the existing ROS2 flag.
  • streaming/detail/Dispatcher.{h,cpp}: a _topic_visibility_default_enabled flag with a
    SetROS2TopicVisibilityDefaultEnabled(bool) setter; when set, every stream created through
    MakeStream() and through the GetToken() create-on-miss path starts enabled for ROS 2.
  • streaming/Server.h and streaming/low_level/Server.h: thin pass-throughs for the new setter. The
    existing stream-id based EnableForROS / DisableForROS / IsEnabledForROS surface is unchanged.
  • Game/CarlaEngine.cpp: inside the existing if (Settings.ROS2) block of NotifyInitGame, apply the
    configured default to the streaming server before any sensor stream is created. Gating on
    Settings.ROS2 keeps non-ROS-2 runs from forcing every sensor active each tick.
  • test/common/test_streaming.cpp: four new GTest cases covering the default-off behavior, the
    default-on behavior through both the GetToken and MakeStream stream-birth paths, and the manual
    enable/disable round-trip.

Where has this been tested?

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

libcarla_test_server and libcarla_test_client both pass the full streaming.* group (9/9: the 5
pre-existing cases plus the 4 new ros_topic_visibility_* cases). The Release package target builds
green with no new warnings on the files this PR touches.

Possible Drawbacks

  • With ROS2TopicVisibility = true (the default) and ROS 2 enabled, every sensor stream is active from
    creation, so sensors produce and publish data even when no client has subscribed and no explicit
    enable_for_ros was called. Set it to false to restore the opt-in behavior. Non-ROS-2 runs are
    unaffected, since the default is applied only when ROS 2 is enabled.
  • Propagation of the startup default to multigpu secondary servers is not included; the flag applies to
    the primary streaming server. Per-sensor enable_for_ros continues to work across the multigpu path
    as before.

Series status

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

Each sub-PR's branch is cut from the previous sub-PR's tip; the GitHub PR opens against the predecessor's
branch and is auto-retargeted to ue5-dev once the predecessor merges, at which point the diff narrows to
this PR's own commit.

Related

Part of the 8-PR port of ue4-dev ROS 2 enhancements to ue5-dev (issue #9627, discussion #9581
Category 2).

This change is Reviewable

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JArmandoAnaya requested a review from a team as a code owner May 26, 2026 09:13
Copilot AI review requested due to automatic review settings May 26, 2026 09:13
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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.

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Pull request overview

Note

Copilot was unable to run its full agentic suite in this review.

This PR refactors and expands CARLA’s ROS 2 “native” integration by introducing shared publisher/subscriber plumbing, adding new math/encoding seams with unit tests, and wiring a new ROS 2 topic-visibility default into Unreal startup.

Changes:

  • Add ROS2 topic-visibility startup setting and propagate it to the streaming server’s default behavior.
  • Add Ackermann control support (callback variant + Unreal handler + subscriber scaffolding) and refactor ROS2 pub/sub into Base* + *Impl templates.
  • Introduce/test ROS 2 math + encoding seams (TF quaternion conversion, IMU compass, optical flow/DVS encoding, point-cloud field layouts) and expose new geometry types (Quaternion/Velocity/Acceleration/AngularVelocity) to the Python API.

Reviewed changes

Copilot reviewed 113 out of 113 changed files in this pull request and generated no comments.

Show a summary per file
File Description
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Settings/CarlaSettings.h Adds a config setting for ROS2 default topic visibility on startup.
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Game/CarlaEngine.cpp Applies ROS2 topic-visibility default during engine init.
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Actor/ActorROS2Handler.h Adds AckermannControl visitor overload.
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Actor/ActorROS2Handler.cpp Implements Ackermann control -> vehicle control application.
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Actor/ActorDispatcher.cpp Switches ROS2 registration/unregistration wiring for actors and vehicles.
PythonAPI/examples/ros2/stack.json Updates example sensor configuration (resolution) and adds GNSS/IMU sensors.
PythonAPI/examples/ros2/rviz/ros2_native.rviz Updates RViz config (frames, lidar topic path) and adds GNSS/IMU visibility.
PythonAPI/carla/src/Geometry.cpp Exposes Quaternion/Velocity/AngularVelocity/Acceleration to Python.
PythonAPI/carla/include/PythonAPI.h Adds ostream formatting for new geometry types (incl. Quaternion).
LibCarla/source/test/common/test_transform_quaternion.cpp Adds unit tests for TF quaternion/translation conversion seam.
LibCarla/source/test/common/test_streaming.cpp Adds unit tests for ROS topic visibility default and toggles in streaming server.
LibCarla/source/test/common/test_radar_polar_to_cartesian.cpp Adds unit tests for radar polar->Cartesian conversion seam.
LibCarla/source/test/common/test_point_cloud_fields.cpp Adds unit tests for PointCloud2 field layouts/strides.
LibCarla/source/test/common/test_optical_flow_encoding.cpp Adds unit tests for optical flow HSV->BGRA encoding seam.
LibCarla/source/test/common/test_imu_compass.cpp Adds unit tests for compass->REP103 yaw quaternion seam.
LibCarla/source/test/common/test_dvs_event_encoding.cpp Adds unit tests for DVS event encoding to BGR image.
LibCarla/source/test/common/test_camera_intrinsics.cpp Adds unit tests for pinhole intrinsics computation seam.
LibCarla/source/test/common/test_ackermann_conversion.cpp Adds unit tests for AckermannDrive->AckermannControl mapping and variant visitation.
LibCarla/source/carla/trafficmanager/MotionPlanStage.cpp Updates to new vector normalization API.
LibCarla/source/carla/trafficmanager/LocalizationUtils.cpp Updates to new vector normalization API.
LibCarla/source/carla/trafficmanager/CollisionStage.cpp Updates to new vector normalization API.
LibCarla/source/carla/streaming/low_level/Server.h Adds forwarding API to set ROS2 topic-visibility default.
LibCarla/source/carla/streaming/detail/Dispatcher.h Adds ROS2 topic-visibility default flag + setter.
LibCarla/source/carla/streaming/detail/Dispatcher.cpp Applies topic-visibility default to newly created streams.
LibCarla/source/carla/streaming/Server.h Adds public API to set ROS2 topic-visibility default.
LibCarla/source/carla/ros2/types/CarlaLineInvasionPubSubTypes.h Repurposed to AckermannDriveStamped PubSubTypes declarations (potentially inconsistent).
LibCarla/source/carla/ros2/types/CarlaLineInvasionPubSubTypes.cpp Repurposed to AckermannDrive PubSubTypes implementation (potentially inconsistent).
LibCarla/source/carla/ros2/types/CarlaLineInvasion.h Repurposed to AckermannDriveStamped type declaration (potentially inconsistent).
LibCarla/source/carla/ros2/types/CarlaLineInvasion.cpp Removes old LaneInvasionEvent generated implementation.
LibCarla/source/carla/ros2/types/AckermannDriveStampedPubSubTypes.cpp Adds generated PubSubTypes implementation for AckermannDriveStamped.
LibCarla/source/carla/ros2/types/AckermannDriveStamped.cpp Adds generated type implementation for AckermannDriveStamped.
LibCarla/source/carla/ros2/types/AckermannDrivePubSubTypes.h Adds generated PubSubTypes header for AckermannDrive.
LibCarla/source/carla/ros2/subscribers/SubscriberImpl.h Adds shared FastDDS subscriber plumbing template.
LibCarla/source/carla/ros2/subscribers/CarlaEgoVehicleControlSubscriber.h Refactors subscriber to BaseSubscriber + SubscriberImpl pattern.
LibCarla/source/carla/ros2/subscribers/BaseSubscriber.h Introduces common subscriber base API.
LibCarla/source/carla/ros2/subscribers/AckermannControlSubscriber.h Adds Ackermann control subscriber interface.
LibCarla/source/carla/ros2/subscribers/AckermannControlSubscriber.cpp Implements Ackermann control subscriber using SubscriberImpl + conversion seam.
LibCarla/source/carla/ros2/subscribers/AckermannControlConversion.h Adds FastDDS-free Ackermann conversion helper for unit tests.
LibCarla/source/carla/ros2/publishers/TransformQuaternion.h Adds FastDDS-free TF quaternion conversion seam.
LibCarla/source/carla/ros2/publishers/RadarPolarToCartesian.h Adds FastDDS-free radar polar->Cartesian seam.
LibCarla/source/carla/ros2/publishers/PublisherImpl.h Adds shared FastDDS publisher plumbing template.
LibCarla/source/carla/ros2/publishers/PointCloudFieldsLayout.h Adds FastDDS-free point-cloud field layout descriptors.
LibCarla/source/carla/ros2/publishers/OpticalFlowEncoding.h Adds FastDDS-free optical-flow encoding seam.
LibCarla/source/carla/ros2/publishers/ImuMath.h Adds FastDDS-free compass->orientation seam.
LibCarla/source/carla/ros2/publishers/DvsEventEncoding.h Adds FastDDS-free DVS event->BGR encoding seam.
LibCarla/source/carla/ros2/publishers/CarlaTransformPublisher.h Refactors TF publisher interface to BasePublisher + caching.
LibCarla/source/carla/ros2/publishers/CarlaSpeedometerSensor.h Removes legacy per-type publisher header (refactor cleanup).
LibCarla/source/carla/ros2/publishers/CarlaSpeedometerSensor.cpp Removes legacy per-type publisher impl (refactor cleanup).
LibCarla/source/carla/ros2/publishers/CarlaSemanticLidarPublisher.h Refactors semantic lidar to CarlaPointCloudPublisher base.
LibCarla/source/carla/ros2/publishers/CarlaSSCameraPublisher.h Aliases SS camera publisher to common RGB camera publisher.
LibCarla/source/carla/ros2/publishers/CarlaRadarPublisher.h Refactors radar to CarlaPointCloudPublisher base.
LibCarla/source/carla/ros2/publishers/CarlaRGBCameraPublisher.h Refactors RGB camera to CarlaCameraPublisher base.
LibCarla/source/carla/ros2/publishers/CarlaPublisher.h Removes legacy publisher base.
LibCarla/source/carla/ros2/publishers/CarlaPointCloudPublisher.h Introduces shared PointCloud2 publisher base.
LibCarla/source/carla/ros2/publishers/CarlaPointCloudPublisher.cpp Implements shared PointCloud2 publisher base.
LibCarla/source/carla/ros2/publishers/CarlaOpticalFlowCameraPublisher.h Refactors optical flow camera, adds encoding seam hook.
LibCarla/source/carla/ros2/publishers/CarlaNormalsCameraPublisher.h Aliases normals camera publisher to common RGB camera publisher.
LibCarla/source/carla/ros2/publishers/CarlaMapSensorPublisher.h Removes legacy per-type publisher header (refactor cleanup).
LibCarla/source/carla/ros2/publishers/CarlaMapSensorPublisher.cpp Removes legacy per-type publisher impl (refactor cleanup).
LibCarla/source/carla/ros2/publishers/CarlaLineInvasionPublisher.h Removes legacy line invasion publisher header (refactor cleanup).
LibCarla/source/carla/ros2/publishers/CarlaLineInvasionPublisher.cpp Removes legacy line invasion publisher impl (refactor cleanup).
LibCarla/source/carla/ros2/publishers/CarlaLidarPublisher.h Refactors lidar to CarlaPointCloudPublisher base.
LibCarla/source/carla/ros2/publishers/CarlaISCameraPublisher.h Aliases IS camera publisher to common RGB camera publisher.
LibCarla/source/carla/ros2/publishers/CarlaIMUPublisher.h Refactors IMU publisher to BasePublisher + PublisherImpl pattern.
LibCarla/source/carla/ros2/publishers/CarlaGNSSPublisher.h Refactors GNSS publisher to BasePublisher + PublisherImpl pattern.
LibCarla/source/carla/ros2/publishers/CarlaDepthCameraPublisher.h Aliases depth camera publisher to common RGB camera publisher.
LibCarla/source/carla/ros2/publishers/CarlaDVSCameraPublisher.h Refactors DVS camera into image + pointcloud companion publishers + composite.
LibCarla/source/carla/ros2/publishers/CarlaCollisionPublisher.h Refactors collision publisher to BasePublisher + PublisherImpl pattern.
LibCarla/source/carla/ros2/publishers/CarlaClockPublisher.h Refactors clock publisher to BasePublisher + PublisherImpl pattern.
LibCarla/source/carla/ros2/publishers/CarlaCameraPublisher.h Introduces shared camera publisher base (Image + CameraInfo writers).
LibCarla/source/carla/ros2/publishers/CarlaCameraPublisher.cpp Implements shared camera publisher base.
LibCarla/source/carla/ros2/publishers/CameraIntrinsics.h Adds intrinsics computation seam for testing.
LibCarla/source/carla/ros2/publishers/BasicPublisher.h Refactors demo BasicPublisher to BasePublisher + PublisherImpl pattern.
LibCarla/source/carla/ros2/publishers/BasePublisher.h Introduces common publisher base API.
LibCarla/source/carla/ros2/listeners/CarlaSubscriberListener.h Removes legacy subscriber listener scaffolding (refactor cleanup).
LibCarla/source/carla/ros2/listeners/CarlaSubscriberListener.cpp Removes legacy subscriber listener scaffolding (refactor cleanup).
LibCarla/source/carla/ros2/listeners/CarlaListener.h Removes legacy publisher listener scaffolding (refactor cleanup).
LibCarla/source/carla/ros2/listeners/CarlaListener.cpp Removes legacy publisher listener scaffolding (refactor cleanup).
LibCarla/source/carla/ros2/ROS2CallbackData.h Adds AckermannControl type and extends callback variant.
LibCarla/source/carla/ros2/ROS2.h Refactors ROS2 actor registration and publisher/subscriber ownership model.
LibCarla/source/carla/road/element/LaneCrossingCalculator.cpp Updates to new vector normalization API.
LibCarla/source/carla/geom/Velocity.h Adds Velocity geom wrapper type.
LibCarla/source/carla/geom/Vector3D.h Changes normalization API (MakeUnitVector epsilon) and removes MakeSafeUnitVector.
LibCarla/source/carla/geom/Vector2D.h Changes normalization to return unchanged for small vectors (removes assert).
LibCarla/source/carla/geom/Transform.h Fixes rotation matrix sign convention to match corrected rotation math.
LibCarla/source/carla/geom/Rotation.h Fixes RotateVector/InverseRotateVector sign convention.
LibCarla/source/carla/geom/RightHandedVector3D.h Adds explicit handedness adapter helper.
LibCarla/source/carla/geom/Quaternion.h Adds Quaternion type with Rotation conversion + vector basis helpers.
LibCarla/source/carla/geom/Math.cpp Fixes GetForward/Right/Up vector sign convention.
LibCarla/source/carla/geom/AngularVelocity.h Adds AngularVelocity geom wrapper type.
LibCarla/source/carla/geom/Acceleration.h Adds Acceleration geom wrapper type.
LibCarla/source/carla/client/detail/Client.cpp Updates to new vector normalization API.
Comments suppressed due to low confidence (7)

Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Actor/ActorDispatcher.cpp:1

  • On actor destruction, this always calls UnregisterVehicle regardless of whether the actor was registered via RegisterSensor vs RegisterVehicle. Since ROS2.h exposes both UnregisterSensor and UnregisterVehicle, relying on UnregisterVehicle for sensors risks leaking sensor registrations/publishers if the implementation does not remove sensor state. A concrete fix is to call both UnregisterSensor(ActorKey) and UnregisterVehicle(ActorKey) (both should be idempotent), or introduce a single UnregisterActor API that clears both code paths.
    Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Actor/ActorDispatcher.cpp:1
  • On actor destruction, this always calls UnregisterVehicle regardless of whether the actor was registered via RegisterSensor vs RegisterVehicle. Since ROS2.h exposes both UnregisterSensor and UnregisterVehicle, relying on UnregisterVehicle for sensors risks leaking sensor registrations/publishers if the implementation does not remove sensor state. A concrete fix is to call both UnregisterSensor(ActorKey) and UnregisterVehicle(ActorKey) (both should be idempotent), or introduce a single UnregisterActor API that clears both code paths.
    Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Settings/CarlaSettings.h:1
  • The new setting defaults to true, which (together with the engine-init call) will make newly created streams ROS-visible by default whenever ROS2 is enabled. However, the newly added streaming tests and comments describe 'default off' as the out-of-the-box behavior. If out-of-the-box should remain 'off', change this default to false (and keep UI text consistent).
    Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Settings/CarlaSettings.h:1
  • The new setting defaults to true, which (together with the engine-init call) will make newly created streams ROS-visible by default whenever ROS2 is enabled. However, the newly added streaming tests and comments describe 'default off' as the out-of-the-box behavior. If out-of-the-box should remain 'off', change this default to false (and keep UI text consistent).
    LibCarla/source/carla/ros2/subscribers/SubscriberImpl.h:1
  • on_data_available only performs a single take_next_sample per callback invocation. FastDDS can deliver multiple samples before invoking the listener again, which can leave a backlog of unread samples and cause lag. Consider draining in a loop (taking until RETCODE_NO_DATA), and then only storing the most recent valid_data sample into _message before setting _new_message.
    LibCarla/source/carla/ros2/subscribers/SubscriberImpl.h:1
  • on_data_available only performs a single take_next_sample per callback invocation. FastDDS can deliver multiple samples before invoking the listener again, which can leave a backlog of unread samples and cause lag. Consider draining in a loop (taking until RETCODE_NO_DATA), and then only storing the most recent valid_data sample into _message before setting _new_message.
    LibCarla/source/carla/ros2/publishers/DvsEventEncoding.h:1
  • This encoder relies on bool pol being exactly 1 byte to match the 13-byte packed wire contract. bool size is implementation-defined, so the layout is less robust than using an explicit 1-byte type. To make the wire format unambiguous, use std::uint8_t pol (or similar) and treat nonzero as true.

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@JArmandoAnaya
JArmandoAnaya marked this pull request as draft May 26, 2026 09:20
This was referenced May 27, 2026
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JArmandoAnaya force-pushed the feat/ros2-topic-visibility-default-flag branch from 67e5d0d to 23aaa0c Compare May 27, 2026 09:03
@JArmandoAnaya JArmandoAnaya changed the title feat(ros2): [6/11] add ROS2TopicVisibility default-startup flag feat(ros2): [6/8] add ROS2TopicVisibility default-startup flag May 27, 2026
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JArmandoAnaya force-pushed the feat/ros2-topic-visibility-default-flag branch 2 times, most recently from f0fd6d4 to 149c317 Compare May 27, 2026 20:07
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Reviewed locally on a fresh worktree (LibCarla built with ENABLE_ROS2=ON; the new streaming tests and the full suite pass; carla-unreal-editor compiles+links clean). LGTM.

The flag plumbing is correct end-to-end — CarlaSettings::ROS2TopicVisibility → FCarlaEngine::NotifyInitGame → Server → low_level::Server → Dispatcher — and the boolean logic is not inverted (flag on ⇒ new streams auto-EnableForROS; off ⇒ legacy explicit-enable behavior). It's correctly gated on Settings.ROS2 and #if WITH_ROS2, and the example/rviz additions (GNSS + IMU) use attribute names and frame_ids that match the publishers.

@JArmandoAnaya
JArmandoAnaya force-pushed the feat/ros2-topic-visibility-default-flag branch from 149c317 to 2533bf8 Compare June 6, 2026 18:49
@youtalk youtalk mentioned this pull request Jun 9, 2026
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JArmandoAnaya and others added 2 commits June 18, 2026 01:54
@JArmandoAnaya @berndgassmann
feat(ros2): add ROS2TopicVisibility default-startup flag
70e6d49 
Adds a ROS2TopicVisibility startup setting that selects whether sensor
topics are visible to ROS 2 from the moment their stream is created. When
true (the default), every topic offered by the implementation publishes
from startup without an explicit enable_for_ros call; when false, only the
sensors explicitly enabled via enable_for_ros() are visible. The setting is
applied to the streaming server only when ROS 2 is enabled, so non-ROS-2
runs keep the previous behavior.

Ported slice: only the topic-visibility-default portion of the upstream
commit is brought to ue5-dev, adapted to its existing stream-level
visibility model. The multistream/per-actor scaffolding (RpcServerInterface,
the Message.h relocation, the Session abstraction, the Dispatcher shared_ptr
migration, per-actor visibility) is intentionally omitted: it is groundwork
for out-of-scope work and has no consumer on ue5-dev.

Upstream commit message:

Extend ROS2 support Step 1: Prepare for mulistream (carla-simulator#9431)

Prepare server for multistream support and ROS2 client calls

- Moved Blueprint handling sources to carla/actor from carla/client
  to allow using of that functionalilty within ROS2 server calls
- Moved streaming/detail/tcp/Message.h -> streaming/detail/Message.h
  to be deployed for non-tcp communication streams like ROS2
- Moved general (tcp-independent parts) from tcp/ServerSession to
  streaming/detail/Session.h to be used for ROS2 streams. Had to
  rename a Write() function to WriteMessage because of virtual
  function overloaded with template function not possible.
- Make Dispatcher a shared_pointer to be able to access from ROS2
- CarlaServer uses rpc::RpcServerInterface to communicate with
  TCP-Clients and upcoming DDS-Client
- Dynamic switching on ROS visibility is possible for all actors now
- Default startup behavior is selectable by ROS2TopicVisibility
  parameter in DefaultGame.ini: If true, then all and every topic that
  is currently offered by the implementation is visible from the
  beginning. If false, then only the sensors/actors created via the
  Client- or ROS-Interface are visible by defaults. Others can be
  activated via EnableForRos() calls (this allows for disabling
  interfaces e.g. for leaderboard)

(adapted from ue4-dev 3b938d7)

Co-Authored-By: berndgassmann <bernd.gassmann@motor-ai.com>
@JArmandoAnaya
feat(examples/ros2): add GNSS and IMU to the native stack and rviz co…
a7aee27 
…nfig

Add gnss and imu sensors to the native ROS 2 example stack alongside the
existing rgb camera and lidar, and surface them in the rviz config as TF
frames under the hero frame so their poses render next to the camera and
point-cloud displays.
@JArmandoAnaya
JArmandoAnaya force-pushed the feat/ros2-topic-visibility-default-flag branch from 2533bf8 to a7aee27 Compare June 18, 2026 08:58
@JArmandoAnaya
JArmandoAnaya marked this pull request as ready for review June 18, 2026 08:58
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JArmandoAnaya commented Jun 18, 2026

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This PR is ready for code review

@Blyron
Blyron merged commit 2c88529 into carla-simulator:ue5-dev Jun 24, 2026
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Port ue4-dev ROS2 enhancements to ue5-dev (Category 2: ROS2)

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