Relativistic superfluidity at arbitrary temperature, chemical potential and
(uniform) superflow is discussed within a self-consistent field-theoretical
approach. Our starting point is a complex scalar field with a $\varphi^4$
interaction, for which we calculate the 2-particle-irreducible effective action
in the Hartree approximation. With this underlying microscopic theory, we can
obtain the two-fluid picture of a superfluid, and compute properties such as
the superfluid density and the entrainment coefficient for all temperatures
below the critical temperature for superfluidity. We compute the critical
velocity, taking into account the full self-consistent effect of the
temperature and superflow on the quasiparticle dispersion. We also discuss
first and second sound modes and how first (second) sound evolves from a
density (temperature) wave at low temperatures to a temperature (density) wave
at high temperatures. This role reversal is investigated for ultra-relativistic
and near-non-relativistic systems for zero and nonzero superflow. For nonzero
superflow, we also observe a role reversal as a function of the direction of
the sound wave.Comment: 32 pages, 9 figures, v2: expanded discussion of renormalization,
conclusions unchanged, version to appear in Phys. Rev.