Use only UnrealSysroot clang

- no local clang installation required anymore

Author: Bernd Gassmann

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
@@ -50,43 +50,27 @@ 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++-13 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 apt-get install build-essential g++-13 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/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++-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/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++-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/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++-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/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
 ```
 
@@ -95,11 +79,7 @@ __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++-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/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
 ```
 

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_CLIENT_INCLUDE})
+  set(proj_lib ${PROJ_CLIENT_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)

Util/BuildTools/BuildCarlaUE4.sh

@@ -6,7 +6,7 @@
 
 DOC_STRING="Build and launch CarlaUE4."
 
-USAGE_STRING="Usage: $0 [-h|--help] [--build] [--rebuild] [--launch] [--clean] [--hard-clean] [--opengl]"
+USAGE_STRING="Usage: $0 [-h|--help] [--build] [--rebuild] [--launch] [--clean] [--hard-clean] [--opengl] [--ros2]"
 
 REMOVE_INTERMEDIATE=false
 HARD_CLEAN=false

Util/BuildTools/BuildPythonAPI.sh

@@ -48,8 +48,10 @@ while [[ $# -gt 0 ]]; do
   esac
 done
 
-export CC="clang"
-export CXX="clang++"
+UNREAL_SYSROOT="$UE4_ROOT/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu"
+export CC="${UNREAL_SYSROOT}/bin/clang"
+export CXX="${UNREAL_SYSROOT}/bin/clang++"
+export PATH="${UNREAL_SYSROOT}/bin:$PATH"
 
 source $(dirname "$0")/Environment.sh
 

Util/BuildTools/Package.sh

@@ -6,7 +6,7 @@
 
 DOC_STRING="Makes a packaged version of CARLA and other content packages ready for distribution."
 
-USAGE_STRING="Usage: $0 [-h|--help] [--config={Debug,Development,Shipping}] [--no-zip] [--clean-intermediate] [--packages=Name1,Name2,...] [--target-archive=] [--archive-sufix=]"
+USAGE_STRING="Usage: $0 [-h|--help] [--config={Debug,Development,Shipping}] [--no-zip] [--clean-intermediate] [--packages=Name1,Name2,...] [--target-archive=] [--archive-sufix=] [--ros2]"
 
 PACKAGES="Carla"
 DO_TARBALL=true
@@ -20,7 +20,7 @@ ARCHIVE_SUFIX=""
 EDITOR_ROS2_FLAGS=""
 
 
-OPTS=`getopt -o h --long help,config:,no-zip,clean-intermediate,carsim,packages:,python-version,target-archive:,archive-sufix:, -n 'parse-options' -- "$@"`
+OPTS=`getopt -o h --long help,config:,no-zip,clean-intermediate,carsim,packages:,python-version,target-archive:,archive-sufix:,ros2 -n 'parse-options' -- "$@"`
 
 eval set -- "$OPTS"
 

Util/BuildTools/Setup.sh

@@ -55,9 +55,11 @@ pushd ${CARLA_BUILD_FOLDER} >/dev/null
 
 LLVM_INCLUDE="${UE4_ROOT}/Engine/Source/ThirdParty/Linux/LibCxx/include/c++/v1"
 LLVM_LIBPATH="${UE4_ROOT}/Engine/Source/ThirdParty/Linux/LibCxx/lib/Linux/x86_64-unknown-linux-gnu"
-UNREAL_HOSTED_CFLAGS="--sysroot=$UE4_ROOT/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/ -isystem ${LLVM_INCLUDE}"
-UNREAL_SYSTEM_LIBPATH="$UE4_ROOT/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/usr/lib"
-UNREAL_HOSTED_LINKER_FLAGS="--sysroot=$UE4_ROOT/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/ -L${LLVM_LIBPATH} -L${UNREAL_SYSTEM_LIBPATH} -lc++ -lc++abi"
+UNREAL_SYSROOT="$UE4_ROOT/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu"
+UNREAL_HOSTED_CFLAGS="--sysroot=${UNREAL_SYSROOT} -isystem ${LLVM_INCLUDE}"
+UNREAL_SYSTEM_LIBPATH="${UNREAL_SYSROOT}/usr/lib"
+UNREAL_HOSTED_LINKER_FLAGS="--sysroot=${UNREAL_SYSROOT} -L${LLVM_LIBPATH} -L${UNREAL_SYSTEM_LIBPATH} -lc++ -lc++abi"
+
 
 CARLA_CFLAGS="-fPIC -w"
 CARLA_CXXFLAGS="-std=c++20 -DBOOST_ERROR_CODE_HEADER_ONLY"
@@ -66,9 +68,9 @@ CARLA_SERVER_CFLAGS="${UNREAL_HOSTED_CFLAGS} ${CARLA_CFLAGS}"
 CARLA_SERVER_CXXFLAGS="${CARLA_SERVER_CFLAGS} ${CARLA_CXXFLAGS} -stdlib=libc++ -DBOOST_NO_EXCEPTIONS -DASIO_NO_EXCEPTIONS"
 CARLA_SERVER_LINKER_FLAGS="${UNREAL_HOSTED_LINKER_FLAGS} -L${LIBCARLA_INSTALL_SERVER_FOLDER}/lib/"
 
-export CC="clang"
-export CXX="clang++"
-
+export CC="${UNREAL_SYSROOT}/bin/clang"
+export CXX="${UNREAL_SYSROOT}/bin/clang++"
+export PATH="${UNREAL_SYSROOT}/bin:$PATH"
 
 # ==============================================================================
 # -- Generate Version.h --------------------------------------------------------
@@ -755,8 +757,10 @@ PROJ_VERSION=7.2
 PROJ_REPO=https://github.com/OSGeo/PROJ
 
 PROJ_BASENAME=proj
-PROJ_CLIENT_LIB=${PROJ_BASENAME}-client-install/lib/libproj.a
+PROJ_CLIENT_LIBPATH=${PROJ_BASENAME}-client-install/lib
+PROJ_CLIENT_LIB=${PROJ_CLIENT_LIBPATH}/libproj.a
 PROJ_SERVER_LIB=${PROJ_BASENAME}-server-install/lib/libproj.a
+PROJ_CLIENT_INCLUDE=${PROJ_BASENAME}-client-install/include
 
 if [[ -d ${PROJ_BASENAME}-client-install && -d ${PROJ_BASENAME}-server-install ]] ; then
   log "PROJ already installed."
@@ -1092,6 +1096,8 @@ elseif (CMAKE_BUILD_TYPE STREQUAL "Pytorch")
 elseif (CMAKE_BUILD_TYPE STREQUAL "Client")
   set(BOOST_INCLUDE_PATH "${BOOST_CLIENT_INCLUDE}")
   set(BOOST_LIB_PATH "${BOOST_CLIENT_LIBPATH}")
+  set(PROJ_INCLUDE_PATH "${PROJ_CLIENT_INCLUDE}")
+  set(PROJ_LIBPATH "${PROJ_CLIENT_LIBPATH}")
   set(RPCLIB_INCLUDE_PATH "${RPCLIB_CLIENT_INCLUDE}")
   set(RPCLIB_LIB_PATH "${RPCLIB_CLIENT_LIBPATH}")
   set(GTEST_INCLUDE_PATH "${GTEST_CLIENT_INCLUDE}")