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* fix(LibCarla): resolve all 282 compiler warnings across 27 files Mechanical, zero-behavior-change refactoring that eliminates every compiler warning emitted during LibCarla server and client builds. Each warning category corresponds to a concrete defect class: silent integer truncation on large maps, NRVO-preventing moves, deep copies in parser loops, discarded ROS2 command responses, and C-style casts that bypass type checking. Fixing them removes the noise that masks real issues and establishes the baseline needed to enforce -Werror in CI. Changes by category: - Fix misleading indentation in FIleTransfer.cpp (brace correction) - Eliminate unnecessary deep-copies in range-for loops (parsers) - Remove pessimizing std::move() on return statements (NRVO) - Reorder constructor initializer lists to match declaration order - Remove unused variables, lambda captures, and dead code - Annotate unused parameters with /*name*/ comment syntax (C++14) - Replace implicit signed/unsigned conversions with size_t or static_cast - Replace implicit double-to-float with explicit static_cast<float> or float literals - Replace C-style casts with static_cast / reinterpret_cast - Fix third-party headers: namespace pollution, bitfield sign, duplicate macros Files changed (27): carla/Exception.cpp carla/client/FIleTransfer.cpp carla/client/detail/Simulator.cpp carla/geom/Mesh.cpp carla/geom/Simplification.cpp carla/multigpu/primary.cpp carla/multigpu/primaryCommands.cpp carla/multigpu/router.cpp carla/multigpu/secondary.cpp carla/opendrive/parser/GeoReferenceParser.cpp carla/opendrive/parser/GeometryParser.cpp carla/opendrive/parser/RoadParser.cpp carla/road/Deformation.h carla/road/Map.cpp carla/road/MapBuilder.cpp carla/road/MeshFactory.cpp carla/road/element/Geometry.cpp carla/trafficmanager/ALSM.cpp carla/trafficmanager/LocalizationStage.cpp test/client/test_image.cpp test/client/test_opendrive.cpp test/common/test_geom.cpp test/server/test_benchmark_streaming.cpp third-party/marchingcube/Cube.h third-party/marchingcube/MeshReconstruction.h third-party/marchingcube/Triangulation.h third-party/simplify/Simplify.h Result: make LibCarla.server.release and make LibCarla.client.release produce 0 warnings from LibCarla code. 44/45 unit tests pass; the single failure (vector3D.make_unit_vec) is pre-existing. * Added log record of the PR changes to CHANGELOG.md Description This PR removes all compiler warnings emitted from LibCarla code during make LibCarla.server.release and make LibCarla.client.release. The changes are mechanical and focused on warning cleanup only. No new features were added and no intended runtime behavior was changed. Main categories addressed in this PR: Added braces where indentation was misleading Replaced unnecessary copies in range-based loops with references Removed dead code and unused variables Marked unused parameters in a C++14-compatible way Made integer and size conversions explicit Made float narrowing conversions explicit Replaced old-style C casts with C++ casts Reordered constructor initializer lists to match declaration order Completed or silenced switch handling where appropriate Applied minimal warning fixes in a few third-party bundled headers This PR also helps establish a zero-warning baseline for LibCarla, making future regressions easier to detect. Additional notes: make LibCarla.server.release finished with 0 warnings from LibCarla code make LibCarla.client.release finished with 0 warnings from LibCarla code make check.LibCarla passed 44/45 tests The only failing test was vector3D.make_unit_vec, which is pre-existing and unrelated to this PR Related documentation added in docs/: docs/libcarla_warnings_refactoring.md docs/libcarla_warnings_pr_report.md docs/memory_leak_analysis_libcarla_cpp.md Fixes # Where has this been tested? Platform(s): Linux Python version(s): N/A Unreal Engine version(s): N/A Possible Drawbacks Although the changes are intended to be behavior-preserving, this PR touches multiple files across LibCarla and bundled third-party code, so any future merge conflict in these areas may be slightly harder to review. Some fixes in bundled third-party files may need to be re-applied if those sources are updated upstream in the future.
…em, and enabling parallel make
#9573
Description
This PR improves the OSM renderer build process in Util/BuildTools/BuildOSMRenderer.sh to make it more reliable and faster.
The following changes were introduced:
Replaced make with make -j$(nproc) in all build steps to enable parallel compilation and reduce build time.
Pinned lunasvg to v2.3.8 using a shallow clone:
git clone -b v2.3.8 --depth 1 ${LUNASVG_REPO} ${LUNASVG_SOURCE_FOLDER}
Added explicit Boost linker flags when building the OSM renderer:
-DCMAKE_EXE_LINKER_FLAGS="-L${CARLA_BUILD_FOLDER}/boost-1.84.0-c10-install/lib -lboost_system"
These changes are intended to improve reproducibility and reduce build failures in the OSM renderer toolchain.
The lunasvg change avoids pulling the latest upstream state, which may introduce incompatibilities over time. Pinning a known release makes the dependency more stable and predictable.
The Boost linker flag was added to address build/link errors reported by the community when compiling the OSM renderer.
Using parallel make also improves developer experience by reducing compilation time during setup.
Fixes #6913
Where has this been tested?
Platform(s): Linux
Python version(s): N/A
Unreal Engine version(s): UE4
Possible Drawbacks
Using make -j$(nproc) increases CPU usage during compilation and may be too aggressive on low-memory systems.
Pinning lunasvg to a fixed release reduces exposure to upstream regressions, but it also means future fixes in newer versions will not be picked up automatically unless the version is updated manually.
Adding explicit linker flags may need adjustment in the future if the Boost build layout changes.
#7982 Description Included in this PR are Doc changes Rolled back two changes from changed get_required_files docs #7763: Re added "identifiers" in this docstring, as the sentence is incomplete currently. - Defines the of each GBuffer texture (See the method + Defines the identifiers of each GBuffer texture (See the method Removed the accidentally re added reference to the removed carla.Sensor.is_listening property. See Corrected information that Sensor.is_listening is (currently) a method #7439 fixes of spelling mistakes (docstring and documentation) Corrected wrong literal wrapping instead of linking in [old:] Defines the of each GBuffer texture (See the method [carla.Sensor.listen_to_gbuffer](#carla.Sensor.listen_to_gbuffer)). Added Missing __init__ documentation for OpendriveGenerationParameters Client.replay_file: replay_sensors was not declared as default value World.[try_]spawn_actor parameter is named attachment_type and not attachment Added documentation for Transform.inverse_transform from Added inverse transform #7999 added WorldSnapshot.elapsed_seconds to API description. Fixed missing/wrong parameter for Client.apply_batch[_sync] Needs decision: TrafficManager.set_boundaries_respawn_dormant_vehicles has no default values. Current default values are annotations that describe the bounds but are not really default values. I am not sure how to address this. Changes in non-documentation files: Added space after # Heading when docs are generated #Python API references -> # Python API references to be correct markdown. I am not sure if this is intentionally or an old oversight, but haven't seen anything where this could be relevant Changed in python examples: on_world_tick(self, timestamp -> world_snapshot) to better reflect correct API usage. Where has this been tested? Platform(s): Ubuntu Python version(s): 3.7 & 3.10 (should be irrelevant) Unreal Engine version(s): 4.26 Possible Drawbacks Does 4 have any side effects? Concerning 11): Are there sideeffects to consider with the parameter renaming of def on_world_tick(self, timestamp -> world_snapshot): in the examples? Note: Currently pending changes to snippets and blueprint library (bp_libarary.md) from make PythonAPI.docs not included
…stream refactor
PR #9431 ("Extend ROS2 support Step 1") refactored EnableForROS from
a simple boolean to a per-actor set but removed the ROS2 enablement
check from AreClientsListening(). This caused Sensor::Tick() to exit
early when no Python stream client was connected, preventing sensors
from generating data for ROS2 topics.
Restore the invariant by checking !_enable_for_ros.empty() in
AreClientsListening(), matching the 0.9.16 behavior where
_enabled_for_ros kept sensors active for ROS2 publishing.
Also downgrade log_error to log_debug in EnableForROS/DisableForROS
since these are informational messages, not errors.
The traffic manager PID controller used fixed delta time values. In case the simulation was not running at exact the fixed_delta_seconds of 0.05, the PID controller overreacted or underreacted massively. Using the actual delta time between the control steps improved the PID controller behaviour on different timings. To ensure that the controller is not degenerating because of the inverse of the delta time on time steps close to zero (which should rarely happen in practice -- if at all), just the previous signals are returned.
After 7b2ef1d only the python unit tests were adapted. This commit adapts the C++ tests to the changed behavior. After 7b2ef1d only the python unit tests were adapted. This commit adapts the C++ tests to the changed behavior. Interestingly, this missing adaption wasn't detected by the CI run: When looking into the respective run, I only found that the make check.PythonAPI is called and the C++ ones seem to be switched off...
#9582 Description This PR fixes compile-time warnings in the LibCarla ROS2 module by applying targeted, warning-focused changes across the ROS2 bridge, publishers, subscribers, and generated PubSub type headers. The goal of this PR is to improve build hygiene and compatibility with stricter compiler settings without changing runtime behavior or public APIs. Main changes included in this PR: Added a missing return path in GetOrCreateSensor() to fix -Wreturn-type Added virtual destructors to BasePublisher and BaseSubscriber Replaced old-style C casts with static_cast and reinterpret_cast Added explicit conversions to fix integer narrowing warnings Marked unused parameters to silence -Wunused-parameter Removed redundant const qualifiers from by-value return types Reordered members in base classes to match constructor initialization order More specifically: LibCarla/source/carla/ros2/ROS2.cpp Added return nullptr; at the end of GetOrCreateSensor() Replaced C-style pointer casts with explicit C++ casts Added explicit static_cast conversions for sensor type and width/height values Marked several unused parameters in sensor processing functions LibCarla/source/carla/ros2/publishers/BasePublisher.h Added virtual ~BasePublisher() = default; Removed redundant const from by-value getters Reordered protected members to match constructor initialization order LibCarla/source/carla/ros2/subscribers/BaseSubscriber.h Added virtual ~BaseSubscriber() = default; Removed redundant const from by-value getters Reordered protected members to match constructor initialization order LibCarla/source/carla/ros2/publishers/PublisherImpl.h Replaced listener cast with static_cast Marked unused callback parameter LibCarla/source/carla/ros2/subscribers/SubscriberImpl.h Replaced listener cast with static_cast Marked unused callback parameter LibCarla/source/carla/ros2/publishers/CarlaTransformPublisher.cpp Replaced structured binding syntax with a C++14-compatible alternative LibCarla/source/carla/ros2/publishers/CarlaPointCloudPublisher.cpp Added explicit casts for point_step and row_step LibCarla/source/carla/ros2/publishers/CarlaDVSPublisher.cpp Removed redundant const from GetPointSize() Added explicit conversion in DVS event point-cloud generation LibCarla/source/carla/ros2/publishers/CarlaLidarPublisher.* LibCarla/source/carla/ros2/publishers/CarlaRadarPublisher.* LibCarla/source/carla/ros2/publishers/CarlaSemanticLidarPublisher.* LibCarla/source/carla/ros2/publishers/CarlaPointCloudPublisher.h Removed redundant const from GetPointSize() return types LibCarla/source/carla/ros2/types/*PubSubTypes.h Replaced old-style casts in offset helper templates with explicit C++ casts These changes are intended to be mechanical and warning-oriented only. No ROS2 message schema, public interface, or expected runtime data flow was intentionally changed. Fixes # Where has this been tested? Platform(s): Linux Ubuntu 22.04 Python version(s): N/A Unreal Engine version(s): UE4 Possible Drawbacks This PR touches multiple ROS2-related files, including generated PubSub type headers, so future upstream syncs in these files may require reapplying or reconciling some of these warning fixes. Although the changes are intended to be behavior-preserving, any warning cleanup involving casts or base class definitions should still be reviewed carefully in case a downstream component depended on previous implicit behavior. - Add missing return path in GetOrCreateSensor (fix -Wreturn-type) - Add virtual destructors to BasePublisher and BaseSubscriber - Replace C-style casts with reinterpret_cast/static_cast - Fix integer narrowing with explicit static_cast for size_t/uint64_t - Mark unused parameters to silence -Wunused-parameter - Remove const from by-value return types (-Wignored-qualifiers) - Replace C++17 structured bindings for C++14 compatibility - Reorder constructor initializers to match member declaration order Made-with: Cursor
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Description
Fixes #
Where has this been tested?
Possible Drawbacks