Keeping ROS 2 Extensions Modular in CARLA

[ZahraBoroujeni]

I have worked extensively with CARLA 0.9.15 using the ROS bridge and have extended it when needed, for example by adding obstacle sensors or instance segmentation sensors. With the integration of ROS 2 directly into CARLA 0.9.16, extending this functionality now appears more challenging, as it requires recompiling the entire CARLA project, which can be resource-intensive and time-consuming.

From my perspective, it may be beneficial to keep such a library independent. This could make it easier for users to adopt, extend, and compile it for newer Python versions or different Ubuntu distributions.