Adapt to built-in ROS2 interface

.github/workflows/ci.yml

@@ -23,27 +23,15 @@ jobs:
     strategy:
       matrix:
         include:
-          #- docker_image: melodic-robot
-          #  ros_distro: melodic
-          #  ros_python_version: 2
-          #  ros_version: 1
-
-          - docker_image: noetic-robot
-            ros_distro: noetic
-            ros_python_version: 3
-            ros_version: 1
-
           - docker_image: foxy
             ros_distro: foxy
             ros_python_version: 3
-            ros_version: 2
     container:
       image: ros:${{ matrix.docker_image }}
     env:
       SCENARIO_RUNNER_PATH: ""
       DEBIAN_FRONTEND: "noninteractive"
       ROS_DISTRO: ${{ matrix.ros_distro }}
-      ROS_VERSION: ${{ matrix.ros_version }}
       ROS_PYTHON_VERSION: ${{ matrix.ros_python_version }}
     steps:
       # We currently cannot use checkout@v2 because git version on ros images is below 2.18
@@ -56,60 +44,11 @@ jobs:
           ./install_dependencies.sh
           sudo apt-get install --no-install-recommends -y python3-rospkg
       - name: ROS2 Build, Test, Lint
-        if: ${{ matrix.ros_version == 2 }}
         shell: bash
         run: |
           source /opt/ros/$(rosversion -d)/setup.bash
           colcon build --continue-on-error
           # colcon test && colcon test-result
           source install/setup.bash
-      - name: ROS1 Build, Test, Lint
-        if: ${{ matrix.ros_version == 1 }}
-        shell: bash
-        run: |
-          mkdir -p $GITHUB_WORKSPACE/../catkin_ws/src
-          cd $GITHUB_WORKSPACE/../catkin_ws/src
-          ln -s $GITHUB_WORKSPACE
-          cd ..
-          source /opt/ros/$(rosversion -d)/setup.bash
-          catkin init
-          cd $GITHUB_WORKSPACE/../catkin_ws &&
-          catkin build --summarize --no-status --force-color
-          catkin run_tests --no-status --force-color && catkin_test_results
-          source devel/setup.bash
-          cd $GITHUB_WORKSPACE
         #  make pylint
         # TODO enable pylint
-
-  debian:
-    runs-on: ubuntu-latest
-    strategy:
-      matrix:
-        include:
-          - docker_image: melodic-robot
-            ros_distro: melodic
-            ros_python_version: 2
-            ros_version: 1
-
-          - docker_image: noetic-robot
-            ros_distro: noetic
-            ros_python_version: 3
-            ros_version: 1
-    container:
-      image: ros:${{ matrix.docker_image }}
-    env:
-      SCENARIO_RUNNER_PATH: ""
-      DEBIAN_FRONTEND: "noninteractive"
-      ROS_DISTRO: ${{ matrix.ros_distro }}
-      ROS_VERSION: ${{ matrix.ros_version }}
-      ROS_PYTHON_VERSION: ${{ matrix.ros_python_version }}
-    steps:
-      # We currently cannot use checkout@v2 because git version on ros images is below 2.18
-      - uses: actions/checkout@v1
-        with:
-          fetch-depth: 1
-          submodules: true
-      - name: Setup
-        run: ./install_dependencies.sh
-      - name: Build Debian Package
-        run: make deb

.gitmodules

@@ -1,4 +1,4 @@
 [submodule "carla_msgs"]
 	path = carla_msgs
-	url = https://github.com/carla-simulator/ros-carla-msgs
-	branch = master
+	url = https://github.com/Motor-Ai/carla-simulator-ros-carla-msgs
+	branch = ue4-extend-ros2

CHANGELOG.md

@@ -1,5 +1,28 @@
 ## Latest
 
+## CARLA-ROS-Bridge 0.9.16-dev
+*   Adapt to built-in ROS2 interface
+*   Removed not required parts of the old ros-bridge implementation as those
+    are covered by the ROS2 enabled CARLA server directly
+*   Added derived_objects_visualizer to replace /carla/markers published by
+    the old ros bridge
+*   carla_ad_agent: 
+    - make local_planner subscription to CarlaEgoVehicleStatus best effort
+    - don't execute planner step if no odometry message was received
+*   ros_compatibility:
+    - Allows use of multiple carla_ad_agents within a scenario
+    - Extend ros compatibility qos setting
+    - Fix use of duplicated topic names for different message types in ROS2
+*   carla_spawn_objects:
+    - remove not existing pseudo sensors
+    - remove not available control_id
+*   carla_control_panel:
+    - allow dynamic selection of vehicle to be controlled
+*   carla_twist_to_control:
+    - allow setting control_priority
+*   Known issues:
+    - carla_manual_control: set_autopilot and lane_invastion sensor are not available yet in CARLA server since these are client based functions at the moment 
+
 ## CARLA-ROS-Bridge 0.9.12
 
 *   Fixed scenario runner node shutdown for foxy