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Cleanup and harmonize Carla server build to use Unreal sysroot #7151

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1116b1c
Cleanup and harmonize Carla build
Feb 15, 2024
24d67ca
Remove deletion of Cdr.h until new ROS2 commit
Feb 15, 2024
9459d72
Revert not required changes in UE4 project settings
Feb 15, 2024
e3ad358
Merge branch 'dev' into berndgassmann/compile_ros2_against_unreal_dep…
Feb 28, 2024
3b411c0
Merge remote-tracking branch 'origin/dev' into berndgassmann/compile_…
Mar 11, 2024
31bd246
Merge remote-tracking branch 'origin/dev' into berndgassmann/compile_…
Mar 21, 2024
b176e85
Merge branch 'dev' into berndgassmann/compile_ros2_against_unreal_dep…
Blyron Mar 26, 2024
1e3168b
Update Linux Build instructions
berndgassmann Mar 27, 2024
c3cff03
Fix of docu
berndgassmann Mar 27, 2024
9bf02bc
Merge remote-tracking branch 'origin/dev' into berndgassmann/compile_…
berndgassmann Mar 27, 2024
71c4e95
Some cleanup
berndgassmann Mar 27, 2024
e06708d
Merge remote-tracking branch 'origin/dev' into berndgassmann/compile_…
Apr 15, 2024
ec94119
Cleanup and fixes
Apr 15, 2024
18cdc78
(Re-)Added g++13 to build_linux.md
Apr 15, 2024
cb2dc8a
Merge branch 'dev' into berndgassmann/compile_ros2_against_unreal_dep…
Blyron Apr 18, 2024
cdd9970
Squashed commit of the following:
Apr 18, 2024
843dde9
Merge branch 'dev' into berndgassmann/compile_ros2_against_unreal_dep…
Apr 30, 2024
940271a
Merge branch 'dev' into berndgassmann/compile_ros2_against_unreal_dep…
May 2, 2024
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1 change: 1 addition & 0 deletions CHANGELOG.md
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Expand Up @@ -14,6 +14,7 @@
* 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.
* The carla server build and all depending components use the clang compiler and sysroot provided by Unreal. Therefore, no additional clang or llvm local installation is required anymore under Linux.

## CARLA 0.9.15

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36 changes: 6 additions & 30 deletions Docs/build_linux.md
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Expand Up @@ -38,65 +38,41 @@ CARLA requires many different kinds of software to run. Some are built during th

```sh
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 install wget software-properties-common
```

!!! Warning
The following commands depend on your Ubuntu version. Make sure to choose accordingly.

To avoid compatibility issues between Unreal Engine and the CARLA dependencies, use the same compiler version and C++ runtime library to compile everything. The CARLA team uses clang-8 (or clang-10 in Ubuntu 20.04) and LLVM's libc++. Change the default clang version to compile 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 cmake ninja-build libvulkan1 python-is-python3 python3 python3-dev python3-pip libpng-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git git-lfs
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@xavisolesoft xavisolesoft Mar 27, 2024

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g++ is required to build modules like ROS2 and pytorch.
Why do you think we should remove it from package installation?

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@berndgassmann berndgassmann Mar 27, 2024

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only the additional g++-7 is removed (as not required) and the corresponding update alternatives call
build-essentials should bring already the default system g++ with it.

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@xavisolesoft xavisolesoft Mar 27, 2024

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Good catch about the build-essential package!

I have addicional worries about this change:
If we define the g++ version as system default one, this implies CARLA could be possibly build with huge number of g++ versions, as many users are building CARLA and we don't have any info about what distro are the using. On my understanding, define g++ version as system default adds the next risks:

  • Sometimes code built with different g++ versions my conclude on build errors or new defects.
  • Is not clear for CARLA contributors what is the minimum requiered version of g++ to mantain build backward compatibility when creating PRs.
  • I'm not sure if ROS2 and pytorch libraries have some restriction about what versions of the comipler to use.
  • It's pracmatic (usable) for the contributors to have a default version of g++ that is tested by us and we ensure is working. Otherwise, they could potentially have to deal with non desired build errors and this will take extra time for them. Anyway, I think we should provide a mechanism to the contributors to build with different versions of g++, but we also should provide a default stable g++ version for the contributors who don't expect to lose time dealing by unestable CARLA build sysmtem.

What are your thoughts about it?

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@berndgassmann berndgassmann Mar 30, 2024

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I see, yes your fears make sense.
I would then approach from that side. Standard supported linux system is Ubuntu. Then I would go with the active LTS versions and support their standard g++ versions. Taking their EOL dates as supporting dates might be a bit too much as Ubuntu 14.04 goes EOL right now. So taking their "End of Standard Support" as basis might be more meaningful:
Ubuntu 22.04 LTS: June 2027, gcc-11
Ubuntu 20.04 LTS: April 2025, gcc-9
Therefore, I'd either define gcc-9 or gcc-11 as gold standard for now.

On pytorch, I don't know since I have to admit that I never worked so far with it on my own. On ROS2 the respective Ubuntu default compiler for sure works.

But if CARLA supports both active Ubuntu systems (and maybe have a build job for both of them in the background to ensure), then you don't need to install a specific version here. One should then rewrite the docu in the sense that the two active Ubuntu systems are supported. And if someone else with nother Linux-Distro wants to compile CALRA he/she should install either gcc-9 or gcc-11 (at the current point in time for sure ;-)
Still, then you don't need to change the build instructions for 22.04 and 20.04, and why not making the live harder for the restistent guys who are still using 18.04 or older; If they do use such old systems they should be aware of that and be able to handle to install other gcc versions on their own if they run into problems. Or they should just upgrade their system -- which is from system security perspective in each case adviceable.
The supported clang version is in each case clear, since it's the Unreal one... which will also change soon when swithing to Unreal 5.xx engine.
So you see: you might want to extend the notes in the docu around that topic a bit and "degrade" also 18.04 to a not adviced Linux -Distro, since it has some years "on the back" (don't know if one says that also in UK like that ... it's some German slang ;-)

Please discuss with the team and adapt the commit as you decide on your own. You should have the rights to do so, I believe.

Ah, so now it's Easter in Germany: Happy searching of Easter Eggs.

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@xavisolesoft xavisolesoft Apr 2, 2024 •
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Happy Easter!
We also celebrate Easter here at Barcelona :)

```

__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 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
```

__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 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
```

__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 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
```

__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 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
```

__All Ubuntu systems__.
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4 changes: 2 additions & 2 deletions Examples/CppClient/Makefile
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Expand Up @@ -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
CXX=/usr/bin/g++
CXXFLAGS=-std=c++14 -pthread -fPIC -O3 -DNDEBUG -Werror -Wall -Wextra

define log
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95 changes: 95 additions & 0 deletions LibCarla/.clang-format
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@@ -0,0 +1,95 @@
---
Language: Cpp
# BasedOnStyle: Google
AccessModifierOffset: -2
AlignAfterOpenBracket: Align
AlignConsecutiveAssignments: false
AlignConsecutiveDeclarations: false
AlignEscapedNewlinesLeft: true
AlignOperands: true
AlignTrailingComments: true
AllowAllParametersOfDeclarationOnNextLine: true
AllowShortBlocksOnASingleLine: false
AllowShortCaseLabelsOnASingleLine: false
AllowShortFunctionsOnASingleLine: Empty
AllowShortIfStatementsOnASingleLine: true
AllowShortLoopsOnASingleLine: true
AlwaysBreakAfterDefinitionReturnType: None
AlwaysBreakAfterReturnType: None
AlwaysBreakBeforeMultilineStrings: true
AlwaysBreakTemplateDeclarations: true
BinPackArguments: true
BinPackParameters: true
BraceWrapping:
AfterClass: false
AfterControlStatement: false
AfterEnum: false
AfterFunction: false
AfterNamespace: false
AfterObjCDeclaration: false
AfterStruct: false
AfterUnion: false
BeforeCatch: false
BeforeElse: false
IndentBraces: false
BreakBeforeBinaryOperators: None
BreakBeforeBraces: Attach
BreakBeforeTernaryOperators: true
BreakConstructorInitializersBeforeComma: false
BreakAfterJavaFieldAnnotations: false
BreakStringLiterals: true
ColumnLimit: 120
CommentPragmas: '^ IWYU pragma:'
ConstructorInitializerAllOnOneLineOrOnePerLine: true
ConstructorInitializerIndentWidth: 2
ContinuationIndentWidth: 4
Cpp11BracedListStyle: true
DerivePointerAlignment: true
DisableFormat: false
ExperimentalAutoDetectBinPacking: false
ForEachMacros: [ foreach, Q_FOREACH, BOOST_FOREACH ]
IncludeCategories:
- Regex: '^<.*\.h>'
Priority: 1
- Regex: '^<.*'
Priority: 2
- Regex: '.*'
Priority: 3
IncludeIsMainRegex: '([-_](test|unittest))?$'
IndentCaseLabels: true
IndentWidth: 2
IndentWrappedFunctionNames: false
JavaScriptQuotes: Leave
JavaScriptWrapImports: true
KeepEmptyLinesAtTheStartOfBlocks: false
MacroBlockBegin: ''
MacroBlockEnd: ''
MaxEmptyLinesToKeep: 1
NamespaceIndentation: None
ObjCBlockIndentWidth: 2
ObjCSpaceAfterProperty: false
ObjCSpaceBeforeProtocolList: false
PenaltyBreakBeforeFirstCallParameter: 1
PenaltyBreakComment: 300
PenaltyBreakFirstLessLess: 120
PenaltyBreakString: 1000
PenaltyExcessCharacter: 1000000
PenaltyReturnTypeOnItsOwnLine: 200
PointerAlignment: Left
ReflowComments: true
SortIncludes: true
SpaceAfterCStyleCast: false
SpaceBeforeAssignmentOperators: true
SpaceBeforeParens: ControlStatements
SpaceInEmptyParentheses: false
SpacesBeforeTrailingComments: 2
SpacesInAngles: false
SpacesInContainerLiterals: true
SpacesInCStyleCastParentheses: false
SpacesInParentheses: false
SpacesInSquareBrackets: false
Standard: Auto
TabWidth: 8
UseTab: Never
...

8 changes: 4 additions & 4 deletions LibCarla/cmake/CMakeLists.txt
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Expand Up @@ -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")
Expand All @@ -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()
6 changes: 0 additions & 6 deletions LibCarla/cmake/client/CMakeLists.txt
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Expand Up @@ -266,12 +266,6 @@ 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)

# ==============================================================================
# Create targets for debug and release in the same build type.
# ==============================================================================
Expand Down
56 changes: 0 additions & 56 deletions LibCarla/cmake/fast_dds/CMakeLists.txt
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This file was deleted.

61 changes: 44 additions & 17 deletions LibCarla/cmake/server/CMakeLists.txt
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@@ -1,17 +1,6 @@
cmake_minimum_required(VERSION 3.5.1)
project(libcarla-server)

# Install libc++ shared libraries.
file(GLOB LibCXX_Libraries "${LLVM_LIB_PATH}/libc++*")
install(FILES ${LibCXX_Libraries} DESTINATION lib)

# Install rpclib.
install(DIRECTORY "${RPCLIB_INCLUDE_PATH}/rpc" DESTINATION include)
file(GLOB libcarla_carla_rpclib "${RPCLIB_LIB_PATH}/*.*")
install(FILES ${libcarla_carla_rpclib} DESTINATION lib)

# Install headers.

install(DIRECTORY "${libcarla_source_path}/compiler" DESTINATION include)

file(GLOB libcarla_carla_headers "${libcarla_source_path}/carla/*.h")
Expand Down Expand Up @@ -71,8 +60,19 @@ install(FILES ${libcarla_carla_streaming_low_level_headers} DESTINATION include/
file(GLOB libcarla_carla_multigpu_headers "${libcarla_source_path}/carla/multigpu/*.h")
install(FILES ${libcarla_carla_multigpu_headers} DESTINATION include/carla/multigpu)

file(GLOB libcarla_carla_ros2_headers "${libcarla_source_path}/carla/ros2/*.h")
install(FILES ${libcarla_carla_ros2_headers} DESTINATION include/carla/ros2)
if (LIBCARLA_USE_ROS)
# only install the required public interface headers
foreach(dir "/" "/types/" )
file(GLOB libcarla_carla_ros2_public_headers
"${libcarla_source_path}/carla/ros2${dir}*.h"
)
install(FILES ${libcarla_carla_ros2_public_headers} DESTINATION include/carla/ros2${dir})
endforeach()

if(NOT WIN32)
set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3" CACHE STRING "" FORCE)
endif()
endif()

install(DIRECTORY "${BOOST_INCLUDE_PATH}/boost" DESTINATION include)

Expand Down Expand Up @@ -118,22 +118,34 @@ file(GLOB libcarla_server_sources
"${libcarla_source_path}/carla/streaming/low_level/*.h"
"${libcarla_source_path}/carla/multigpu/*.h"
"${libcarla_source_path}/carla/multigpu/*.cpp"
"${libcarla_source_path}/carla/ros2/*.h"
"${libcarla_source_path}/carla/ros2/*.cpp"
"${libcarla_source_thirdparty_path}/odrSpiral/*.cpp"
"${libcarla_source_thirdparty_path}/odrSpiral/*.h"
"${libcarla_source_thirdparty_path}/moodycamel/*.cpp"
"${libcarla_source_thirdparty_path}/moodycamel/*.h"
"${libcarla_source_thirdparty_path}/pugixml/*.cpp"
"${libcarla_source_thirdparty_path}/pugixml/*.hpp")


set(libcarla_ros_sources "")
if (LIBCARLA_USE_ROS)
file(GLOB libcarla_ros_sources
"${libcarla_source_path}/carla/ros2/*.cpp"
"${libcarla_source_path}/carla/ros2/listeners/*.cpp"
"${libcarla_source_path}/carla/ros2/publishers/*.cpp"
"${libcarla_source_path}/carla/ros2/subscribers/*.cpp"
"${libcarla_source_path}/carla/ros2/types/*.cpp")
endif()

# ==============================================================================
# Create targets for debug and release in the same build type.
# ==============================================================================

if (LIBCARLA_BUILD_RELEASE)

add_library(carla_server STATIC ${libcarla_server_sources})
add_library(carla_server STATIC
${libcarla_server_sources}
${libcarla_ros_sources}
)

target_include_directories(carla_server SYSTEM PRIVATE
"${BOOST_INCLUDE_PATH}"
Expand All @@ -143,11 +155,20 @@ if (LIBCARLA_BUILD_RELEASE)

set_target_properties(carla_server PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_FLAGS_RELEASE}")

if (LIBCARLA_USE_ROS)
target_include_directories(carla_server SYSTEM PRIVATE
"${FASTDDS_INCLUDE_PATH}")
target_link_directories(carla_server PRIVATE ${FASTDDS_LIB_PATH})
target_link_libraries(carla_server fastrtps fastcdr)
endif()
endif()

if (LIBCARLA_BUILD_DEBUG)

add_library(carla_server_debug STATIC ${libcarla_server_sources})
add_library(carla_server_debug STATIC
${libcarla_server_sources}
${libcarla_ros_sources}
)

target_include_directories(carla_server_debug SYSTEM PRIVATE
"${BOOST_INCLUDE_PATH}"
Expand All @@ -158,4 +179,10 @@ if (LIBCARLA_BUILD_DEBUG)
set_target_properties(carla_server_debug PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_FLAGS_DEBUG}")
target_compile_definitions(carla_server_debug PUBLIC -DBOOST_ASIO_ENABLE_BUFFER_DEBUGGING)

if (LIBCARLA_USE_ROS)
target_include_directories(carla_server_debug SYSTEM PRIVATE
"${FASTDDS_INCLUDE_PATH}")
target_link_directories(carla_server_debug PRIVATE ${FASTDDS_LIB_PATH})
target_link_libraries(carla_server_debug fastrtps fastcdr)
endif()
endif()
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