Cleanup and harmonize Carla build

Ensure that actually only the unreal sysroot is deployed for all C as
well C++ compilations including dependencies. That ensures the server is
NOT anymore linked against the system glibc (which is in Ubuntu22.04
incompatible with the Unreal one). As a consequence no local clang
installation required anymore to build under Linux.

Harmonized naming split into client/server (instead of libcpp and
libstdcpp) to ensure nothing mixed up (and there were things mixed up
before!)

Refactor C# Unreal build using CarlaRules base class to provide common
functionality. Fixing windows build without ROS2 and added intitial
windows build with ROS2

Restrict to one DDS-Domain-Participant for carla-server (Fixes bind
address already in use exception on with ROS2).

Due to continued segfaults in reallocations of MallocBinned2 in
conjunction with ROS2 enforce using AnsiMalloc calls under Linux (see
https://forums.unrealengine.com/t/dealing-with-allocator-mismatches-with-external-libraries/1416830)

Use C++20 to allow for more robust struct initialization (see
https://en.cppreference.com/w/cpp/language/aggregate_initialization),
added Eigen C++20 patches and required CARLA changes to cope with C++20
compilation errors
Be aware: This change requires the Unreal PR
(CarlaUnreal/UnrealEngine#23)

Move forward to g++-13

Minors:
- Fix make clean call
- Update osm2odr commit with build fix
(carla-simulator/sumo#6)
- Update ad-rss to 4.4.5 (supports boost 1.80)
- Fix windows install scripts and forward arguments for building
libcarla
- Adapt codeformat.py to python3 using clang-format-14

CHANGELOG.md

@@ -12,13 +12,11 @@
  * Fixed bug in python agents when vehicle list was empty causing a check on all vehicles (BasicAgent.py) and detected pedestrians as vehicles if no pedestrains are present (BehaviourAgent.py) 
  * Extended debug drawing functions to allow drawing primitives on HUD layer
  * Added possibility to change gravity variable in imui sensor for the accelerometer
- * Fixed ROS2 native extension build error when ROS2 is installed in the system.
- * ROS2Native: Force fast-dds dependencies download to avoid build crash when boost_asio and tinyxml2 are not installed in Linux.
  * Added API function `get_telemetry_data` to the vehicle actor.
  * PythonAPI `Sensor.is_listening` was defined twice (property and method), cleaned and clarified it as a method.
  * Added V2X sensors for cooperative awareness message and custom user-defined messages to support vehicle-to-vehicle communication
  * Added named tuples for BasicAgent.py's detection result to allow for type-hints and better semantics.
-
+ * Cleaned up the client/server build and respective naming
 
 ## CARLA 0.9.15
 

Docs/build_linux.md

@@ -40,7 +40,7 @@ CARLA requires many different kinds of software to run. Some are built during th
 sudo apt-get update &&
 sudo apt-get install wget software-properties-common &&
 sudo add-apt-repository ppa:ubuntu-toolchain-r/test &&
-wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key|sudo apt-key add
+sudo apt-get update
 ```
 
 !!! Warning
@@ -50,53 +50,37 @@ To avoid compatibility issues between Unreal Engine and the CARLA dependencies,
 
 __Ubuntu 22.04__.
 ```sh
-sudo apt-add-repository "deb http://archive.ubuntu.com/ubuntu focal main universe"
-sudo apt-get update
-sudo apt-get install build-essential clang-10 lld-10 g++-7 cmake ninja-build libvulkan1 python python3 python3-dev python3-pip libpng-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git git-lfs
-sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-10/bin/clang++ 180 &&
-sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-10/bin/clang 180 &&
-sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-7 180
+sudo apt-get install build-essential g++-13 cmake ninja-build libvulkan1 python3 python3-dev python3-pip libpng-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git git-lfs
+sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-13 180
 ```
 
 __Ubuntu 20.04__.
 ```sh
-sudo apt-add-repository "deb http://apt.llvm.org/focal/ llvm-toolchain-focal main"
-sudo apt-get update
-sudo apt-get install build-essential clang-10 lld-10 g++-7 cmake ninja-build libvulkan1 python python-dev python3-dev python3-pip libpng-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
-sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-10/bin/clang++ 180 &&
-sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-10/bin/clang 180
+sudo apt-get install build-essential g++-13 cmake ninja-build libvulkan1 python python-dev python3-dev python3-pip libpng-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
+sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-13 180
 ```
 
 __Ubuntu 18.04__.
 
 ```sh
-sudo apt-add-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic main"
-sudo apt-get update
-sudo apt-get install build-essential clang-8 lld-8 g++-7 cmake ninja-build libvulkan1 python python-pip python-dev python3-dev python3-pip libpng-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
-sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-8/bin/clang++ 180 &&
-sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-8/bin/clang 180
+sudo apt-get install build-essential g++-13 cmake ninja-build libvulkan1 python python-pip python-dev python3-dev python3-pip libpng-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
+sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-13 180
 ```
 
 __Ubuntu 16.04__.
 
 ```sh
-sudo apt-add-repository "deb http://apt.llvm.org/xenial/ llvm-toolchain-xenial-8 main" &&
-sudo apt-get update
-sudo apt-get install build-essential clang-8 lld-8 g++-7 cmake ninja-build libvulkan1 python python-pip python-dev python3-dev python3-pip libpng16-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
-sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-8/bin/clang++ 180 &&
-sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-8/bin/clang 180
+sudo apt-get install build-essential g++-13 cmake ninja-build libvulkan1 python python-pip python-dev python3-dev python3-pip libpng16-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
+sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-13 180
 ```
 
 __Previous Ubuntu versions__.
 
 We strongly advise using Ubuntu 18.04 or later to build CARLA. However, you may attempt to build CARLA on older versions of Ubuntu with the following commands:
 
 ```sh
-sudo apt-add-repository "deb http://apt.llvm.org/<code_name>/ llvm-toolchain-<code_name>-8 main" &&
-sudo apt-get update
-sudo apt-get install build-essential clang-8 lld-8 g++-7 cmake ninja-build libvulkan1 python python-pip python-dev python3-dev python3-pip libpng16-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
-sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-8/bin/clang++ 180 &&
-sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-8/bin/clang 180
+sudo apt-get install build-essential g++-13 cmake ninja-build libvulkan1 python python-pip python-dev python3-dev python3-pip libpng16-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
+sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-13 180
 ```
 
 __All Ubuntu systems__.

Examples/CppClient/Makefile

@@ -4,8 +4,8 @@ BINDIR=$(CURDIR)/bin
 INSTALLDIR=$(CURDIR)/libcarla-install
 TOOLCHAIN=$(CURDIR)/ToolChain.cmake
 
-CC=/usr/bin/gcc-7
-CXX=/usr/bin/g++-7
+CC=/usr/bin/gcc-13
+CXX=/usr/bin/g++-13
 CXXFLAGS=-std=c++14 -pthread -fPIC -O3 -DNDEBUG -Werror -Wall -Wextra
 
 define log

LibCarla/cmake/CMakeLists.txt

@@ -4,10 +4,12 @@ project(libcarla)
 option(LIBCARLA_BUILD_DEBUG "Build debug configuration" ON)
 option(LIBCARLA_BUILD_RELEASE "Build release configuration" ON)
 option(LIBCARLA_BUILD_TEST "Build unit tests" ON)
+option(LIBCARLA_USE_ROS "Build ROS variant" OFF)
 
 message(STATUS "Build debug:   ${LIBCARLA_BUILD_DEBUG}")
 message(STATUS "Build release: ${LIBCARLA_BUILD_RELEASE}")
 message(STATUS "Build test:    ${LIBCARLA_BUILD_TEST}")
+message(STATUS "Enable ROS:    ${LIBCARLA_USE_ROS}")
 
 set(libcarla_source_path "${PROJECT_SOURCE_DIR}/../source")
 set(libcarla_source_thirdparty_path "${libcarla_source_path}/third-party")
@@ -24,14 +26,12 @@ if (CMAKE_BUILD_TYPE STREQUAL "Client")
 elseif (CMAKE_BUILD_TYPE STREQUAL "Server")
   add_subdirectory("server")
 elseif (CMAKE_BUILD_TYPE STREQUAL "Pytorch")
-add_subdirectory("pytorch")
-elseif (CMAKE_BUILD_TYPE STREQUAL "ros2")
-add_subdirectory("fast_dds")
+  add_subdirectory("pytorch")
 else ()
   message(FATAL_ERROR "Unknown build type '${CMAKE_BUILD_TYPE}'")
 endif ()
 
 # GTest is not compiled on Windows.
-if ((LIBCARLA_BUILD_TEST) AND (NOT WIN32) AND (NOT (CMAKE_BUILD_TYPE STREQUAL "Pytorch")) AND (NOT (CMAKE_BUILD_TYPE STREQUAL "ros2")))
+if ((LIBCARLA_BUILD_TEST) AND (NOT WIN32) AND (NOT (CMAKE_BUILD_TYPE STREQUAL "Pytorch")))
   add_subdirectory("test")
 endif()

LibCarla/cmake/client/CMakeLists.txt

@@ -21,8 +21,8 @@ if (BUILD_RSS_VARIANT)
   install(FILES ${spdlog_file} DESTINATION lib)
   list(APPEND ADRSS_LIBS ${spdlog_file})
 
-  set(proj_include_dir ${ADRSS_INSTALL_DIR}/../../proj-install/include)
-  set(proj_lib ${ADRSS_INSTALL_DIR}/../../proj-install/lib/libproj.a)
+  set(proj_include_dir ${PROJ_INCLUDE_PATH})
+  set(proj_lib ${PROJ_LIBPATH}/libproj.a)
   install(DIRECTORY ${proj_include_dir} DESTINATION include/system)
   list(APPEND ADRSS_INCLUDE_DIRS ${proj_include_dir})
   install(FILES ${proj_lib} DESTINATION lib)
@@ -98,6 +98,12 @@ file(GLOB libcarla_carla_sources
 set(libcarla_sources "${libcarla_sources};${libcarla_carla_sources}")
 install(FILES ${libcarla_carla_sources} DESTINATION include/carla)
 
+file(GLOB libcarla_carla_actors_sources
+    "${libcarla_source_path}/carla/actors/*.cpp"
+    "${libcarla_source_path}/carla/actors/*.h")
+set(libcarla_sources "${libcarla_sources};${libcarla_carla_actors_sources}")
+install(FILES ${libcarla_carla_actors_sources} DESTINATION include/carla/actors)
+
 file(GLOB libcarla_carla_client_sources
     "${libcarla_source_path}/carla/client/*.cpp"
     "${libcarla_source_path}/carla/client/*.h")
@@ -266,11 +272,10 @@ file(GLOB libcarla_carla_trafficmanager_sources
 set(libcarla_sources "${libcarla_sources};${libcarla_carla_trafficmanager_sources}")
 install(FILES ${libcarla_carla_trafficmanager_sources} DESTINATION include/carla/trafficmanager)
 
-file(GLOB libcarla_carla_ros2_sources
-    "${libcarla_source_path}/carla/ros2/*.cpp"
-    "${libcarla_source_path}/carla/ros2/*.h")
-set(libcarla_sources "${libcarla_sources};${libcarla_carla_ros2_sources}")
-install(FILES ${libcarla_carla_ros2_sources} DESTINATION include/carla/ros2)
+  file(GLOB libcarla_carla_ros2_public_headers
+    "${libcarla_source_path}/carla/ros2/*.h"
+  )
+  install(FILES ${libcarla_carla_ros2_public_headers} DESTINATION include/carla/ros2)
 
 # ==============================================================================
 # Create targets for debug and release in the same build type.