Editing pcl_recorder CMakeLists.txt for successful catkin build.

.github/workflows/ci.yml

@@ -0,0 +1,115 @@
+name: CI
+
+on: [push, pull_request]
+
+jobs:
+  check:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - name: Set up Python 3.8
+        uses: actions/setup-python@v1
+        with:
+          python-version: 3.8
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install -r requirements.txt
+      - name: Check
+        run: make check_format
+
+  ros:
+    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
+
+          - 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
+      - uses: actions/checkout@v1
+        with:
+          fetch-depth: 1
+          submodules: true
+      - name: Setup
+        run: |
+          ./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

.gitignore

@@ -2,3 +2,12 @@
 build.gradle
 /CMakeLists.txt
 .catkin_workspace
+
+# IDE
+.vscode
+.idea
+
+#colcon
+build/
+install/
+log/

.gitmodules

@@ -0,0 +1,4 @@
+[submodule "carla_msgs"]
+	path = carla_msgs
+	url = https://github.com/carla-simulator/ros-carla-msgs
+	branch = master

.pylintrc

@@ -1,6 +1,6 @@
 [TYPECHECK]
 ignored-modules=numpy,carla,pygame,agents
-disable=logging-format-interpolation,locally-disabled,cyclic-import,too-many-instance-attributes,invalid-name,no-else-return
+disable=logging-format-interpolation,locally-disabled,cyclic-import,too-many-instance-attributes,invalid-name,no-else-return,too-many-statements
 
 [SIMILARITIES]
-min-similarity-lines=9
+min-similarity-lines=20

.readthedocs.yml

@@ -0,0 +1,14 @@
+# Read the Docs configuration file
+# See https://docs.readthedocs.io/en/stable/config-file/v2.html for details
+
+version: 2
+
+mkdocs:
+  configuration: mkdocs.yml
+
+formats: all
+
+python:
+  version: 3.7
+  install:
+    - requirements: docs/requirements.txt

CHANGELOG.md

@@ -1,51 +1,108 @@
-## Latest changed
-
-* publish odometry for all traffic participants
-* support drawing markers in CARLA
-* replace /carla/map (msg: CarlaMapInfo) by /carla/world_info (msg: CarlaWorldInfo)
-* added option to reload the CARLA world
-* added node to spawn infrastructure sensors
-* rename /carla/vehicle_marker to /carla/marker (and include walkers)
-* support walkers
-* create rqt plugin to control synchronous mode
-* support synchronous mode
-* publish CarlaStatus
-* remove global_id mapping
-* publish /carla/actor_list
-* carla_ego_vehicle: support sensor_tick within camera/lidar definition
-* support twist_cmd to set velocity of ego vehicle (without respecting the vehicle constraints)
+## Latest
+
+## CARLA-ROS-Bridge 0.9.12
+
+*   Fixed scenario runner node shutdown for foxy
+*   Fixed actor synchronization creation
+*   Fix of scenario runner status
+
+## CARLA-ROS-Bridge 0.9.11
+
+*   Added static markers for carla environment objects.
+*   Added hybrid ROS1/ROS2 bridge.
+*   Added passive mode. Wordl configuration and ticking are performed by other clients.
+*   Support spawning of pseudo-actors through service
+*   Use new spawning service to combine carla_infrastructure and carla_ego_vehicle into carla_spawn_objects
+*   Reworked ROS topics
+*   rework tf in sync mode to represent attachment of sensors to a vehicle
+*   Updated debian packaging pipeline
+
+## CARLA-ROS-Bridge 0.9.10.1
+
+*   Support noetic and python 3
+*   Have all sensor types in sensors.json
+*   Update ad-demo rviz config to visualize more sensor types
+*   Remove CarlaRadarMeasurement message publishing (radar data is published as PointCloud2 only)
+*   Remove sensors.json from carla_ad_demo. Use example from carla_ego_vehicle instead
+*   Add radar PointCloud2 publisher
+*   Add DVS camera sensor
+*   Fix rgb camera attributes
+*   Add intensity value to point cloud message
+*   Fixed wrong TF for ego_vehicle
+*   Improve version check
+*   Fix cleanup
+*   Rework tf frame names
+*   ObjectSensor: Fix object twist
+*   Support loading OpenDRIVE map
+*   Traffic Lights: Only publish to /carla/traffic_lights on change
+*   Traffic Lights: Publish /carla/traffic_lights_info, containing the location and the trigger volume
+*   Added ROS Parameter to set the CARLA client timeout value for all nodes consistently
+
+## CARLA-ROS-Bridge 0.9.8
+
+*   change Lidar range in meters
+*   add new attributes for Gnss and Camera sensor
+*   add IMU and Radar sensor
+*   Fix tf publishing in synchronous mode
+*   Add node to convert a twist to a vehicle control command
+*   Add node carla_spectator_camera
+*   Update carla_waypoint_publisher
+*   Add carla_ros_scenario_runner
+*   Add rviz_carla_plugin
+*   Add carla_ad_agent
+*   Add carla_ad_demo
+
+## CARLA-ROS-Bridge 0.9.6
+
+*   remove launchfile check from rqt_carla_control
+*   Add roslaunch check to all nodes
+*   support kinetic and melodic
+*   added possibility to connect to an existing ego vehicle
+*   support different ego vehicle rolenames in pclrecorder
+*   publish odometry for all traffic participants
+*   support drawing markers in CARLA
+*   replace /carla/map (msg: CarlaMapInfo) by /carla/world_info (msg: CarlaWorldInfo)
+*   added option to reload the CARLA world
+*   added node to spawn infrastructure sensors
+*   rename /carla/vehicle_marker to /carla/marker (and include walkers)
+*   support walkers
+*   create rqt plugin to control synchronous mode
+*   support synchronous mode
+*   publish CarlaStatus
+*   remove global_id mapping
+*   publish /carla/actor_list
+*   carla_ego_vehicle: support sensor_tick within camera/lidar definition
+*   support twist_cmd to set velocity of ego vehicle (without respecting the vehicle constraints)
 
 ## CARLA-ROS-Bridge 0.9.5.1
 
-* add id to CarlaEgoVehicleInfo datatype
-* rename carla_ros_bridge_msgs to carla_msgs
-* remove 'challenge' mode
+*   add id to CarlaEgoVehicleInfo datatype
+*   rename carla_ros_bridge_msgs to carla_msgs
+*   remove 'challenge' mode
 
 ## CARLA-ROS-Bridge 0.9.5
 
-* rename gnss topic from '../gnss' to '../fix'
-* Add lane invasion sensor
-* Add collision sensor
-* Rename CarlaVehicleControl to CarlaEgoVehicleControl (and add some more message types)
-* move PID controller into separate ROS node
-* Add challenge mode
-* Split actor-monitoring + data publishing
-* Use sensor data timestamp
-* support simple-pid 0.1.5
-
+*   rename gnss topic from '../gnss' to '../fix'
+*   Add lane invasion sensor
+*   Add collision sensor
+*   Rename CarlaVehicleControl to CarlaEgoVehicleControl (and add some more message types)
+*   move PID controller into separate ROS node
+*   Add challenge mode
+*   Split actor-monitoring + data publishing
+*   Use sensor data timestamp
+*   support simple-pid 0.1.5
 
 ## CARLA-ROS-Bridge 0.9.3
 
-* Send vehicle commands to CARLA, only when a ROS command provider is available
-* Added interface for GNSS sensor
-
+*   Send vehicle commands to CARLA, only when a ROS command provider is available
+*   Added interface for GNSS sensor
 
 ## CARLA-ROS-Bridge 0.9.2
 
-* Updated ROS-bridge to PythonAPI of CARLA 0.9.x
-  * Supported sensors: LiDAR, RGB camera, depth camera, segmentation camera
-  * Vehicle control options: Ackermann-command or Throttle/Brake/Steering
-  * Added PID controller to convert Ackermann-command into Throttle/Brake/Steering
-  * RViz support
-  * Publish TF tree, map, CARLA clock
-  * Separate ROS topic for each vehicle
+*   Updated ROS-bridge to PythonAPI of CARLA 0.9.x
+*   Supported sensors: LiDAR, RGB camera, depth camera, segmentation camera
+*   Vehicle control options: Ackermann-command or Throttle/Brake/Steering
+*   Added PID controller to convert Ackermann-command into Throttle/Brake/Steering
+*   RViz support
+*   Publish TF tree, map, CARLA clock
+*   Separate ROS topic for each vehicle

Makefile

@@ -0,0 +1,20 @@
+file_finder = find . -type f $(1) -not \( -path './venv/*' -o -path './carla_msgs/*' -o -path './packaging/build/*' -o -path './build/*' -o -path './log/*' -o -path './install/*' \)
+
+CMAKE_FILES = $(call file_finder,\( -name "*.cmake" -o -name "CMakeLists.txt" \))
+PY_FILES = $(call file_finder,-name "*.py")
+
+check: check_format pylint
+
+format:
+	$(PY_FILES) | xargs autopep8 --in-place --max-line-length=100
+	$(CMAKE_FILES) | xargs cmake-format -i
+
+check_format:
+	$(PY_FILES) | xargs autopep8 --diff --max-line-length=100
+	$(CMAKE_FILES) | xargs cmake-format --check
+
+pylint:
+	$(PY_FILES) | xargs pylint --rcfile=.pylintrc
+
+deb:
+	./packaging/build-deb.sh