Merge pull request #148 from usdot-fhwa-stol/release/battista

Release/battista
usdot-fhwa-stol · Dec 4, 2021 · 97ccf10 · 97ccf10
2 parents 062fd84 + 0457842
commit 97ccf10
Show file tree

Hide file tree

Showing 28 changed files with 177 additions and 95 deletions.
diff --git a/carla_integration/carma_docker.launch b/carla_integration/carma_docker.launch
@@ -41,6 +41,15 @@
   <!-- Set the Frame of the Lidar(s) -->
   <arg name="combined_lidar_frame" value="velodyne"/>
 
+  <!-- Launch without Guidance Plugin Validator Node enabled -->
+  <arg name="enable_guidance_plugin_validator" value="false"/>
+  <!-- List of String: Guidance Strategic Plugins that will be validated by the Guidance Plugin Validator Node if enabled -->
+  <arg name="strategic_plugins_to_validate" value="[]"/>
+  <!-- List of String: Guidance Tactical Plugins that will be validated by the Guidance Plugin Validator Node if enabled -->
+  <arg name="tactical_plugins_to_validate" value="[]"/>
+  <!-- List of String: Guidance Control Plugins that will be validated by the Guidance Plugin Validator Node if enabled -->
+  <arg name="control_plugins_to_validate" value="[]"/>
+
   <!-- Launch without drivers as those will be launched as docker containers-->
   <arg name="launch_drivers" default="false"/>
 

diff --git a/carla_integration/docker-compose-background.yml b/carla_integration/docker-compose-background.yml
@@ -17,7 +17,7 @@ version: '2'
 
 services:
   web-ui:
-    image: usdotfhwastol/carma-web-ui:carma-system-3.8.0
+    image: usdotfhwastol/carma-web-ui:carma-system-3.9.0
     network_mode: host
     container_name: web-ui
     environment:

diff --git a/carla_integration/docker-compose.yml b/carla_integration/docker-compose.yml
@@ -17,7 +17,7 @@ version: '2'
 
 services:
   roscore:
-    image: usdotfhwastol/carma-base:carma-system-3.8.0
+    image: usdotfhwastol/carma-base:carma-system-3.9.0
     network_mode: host
     container_name: roscore
     volumes_from:
@@ -31,7 +31,7 @@ services:
     command: roscore
 
   platform:
-    image: usdotfhwastol/carma-platform:carma-system-3.8.2
+    image: usdotfhwastol/carma-platform:carma-system-3.9.0
     network_mode: host
     container_name: platform
     volumes_from:
@@ -49,7 +49,7 @@ services:
     command: bash -c 'wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/carma_docker.launch'
 
   carla_ackermann_control:
-    image: usdotfhwastol/carma-simulation:carma-system-3.8.0
+    image: usdotfhwastol/carma-simulation:carma-system-3.9.0
     container_name: carla-ackermann-control-driver
     network_mode: host
     volumes_from:
@@ -62,7 +62,7 @@ services:
     command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch'
 
   mock-gnss-driver:
-    image: usdotfhwastol/carma-platform:carma-system-3.8.0
+    image: usdotfhwastol/carma-platform:carma-system-3.9.0
     network_mode: host
     container_name: carma-mock-gnss-driver
     volumes_from: 
@@ -75,7 +75,7 @@ services:
     command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch carma mock_drivers.launch mock_drivers:=gnss'
 
   mock-lidar-driver:
-    image: usdotfhwastol/carma-platform:carma-system-3.8.0
+    image: usdotfhwastol/carma-platform:carma-system-3.9.0
     network_mode: host
     container_name: carma-mock-lidar-driver
     volumes_from: 

diff --git a/chrysler_pacifica_ehybrid_s_2019/carma_docker.launch b/chrysler_pacifica_ehybrid_s_2019/carma_docker.launch
@@ -38,7 +38,16 @@
 
   <!-- Set the Frame of the Lidar(s) -->
   <arg name="combined_lidar_frame" value="velodyne"/>
-
+
+  <!-- Launch without Guidance Plugin Validator Node enabled -->
+  <arg name="enable_guidance_plugin_validator" value="false"/>
+  <!-- List of String: Guidance Strategic Plugins that will be validated by the Guidance Plugin Validator Node if enabled -->
+  <arg name="strategic_plugins_to_validate" value="[]"/>
+  <!-- List of String: Guidance Tactical Plugins that will be validated by the Guidance Plugin Validator Node if enabled -->
+  <arg name="tactical_plugins_to_validate" value="[]"/>
+  <!-- List of String: Guidance Control Plugins that will be validated by the Guidance Plugin Validator Node if enabled -->
+  <arg name="control_plugins_to_validate" value="[]"/>
+
   <!-- Launch without drivers as those will be launched as docker containers-->
   <arg name="launch_drivers" default="false"/>
 
@@ -47,4 +56,4 @@
 
   <!-- Include the detailed launch file and pass in new arguments -->
   <include file="$(find carma)/launch/carma_src.launch" pass_all_args="true"/>
-</launch>
+</launch>
diff --git a/chrysler_pacifica_ehybrid_s_2019/docker-compose-background.yml b/chrysler_pacifica_ehybrid_s_2019/docker-compose-background.yml
@@ -17,7 +17,7 @@ version: '2'
 
 services:
   web-ui:
-    image: usdotfhwastol/carma-web-ui:carma-system-3.8.0
+    image: usdotfhwastol/carma-web-ui:carma-system-3.9.0
     network_mode: host
     container_name: web-ui
     environment:

diff --git a/chrysler_pacifica_ehybrid_s_2019/docker-compose.yml b/chrysler_pacifica_ehybrid_s_2019/docker-compose.yml
@@ -17,7 +17,7 @@ version: '2'
 
 services:
   roscore:
-    image: usdotfhwastol/carma-base:carma-system-3.8.0
+    image: usdotfhwastol/carma-base:carma-system-3.9.0
     network_mode: host
     container_name: roscore
     volumes_from:
@@ -31,7 +31,7 @@ services:
     command: roscore
 
   platform:
-    image: usdotfhwastol/carma-platform:carma-system-3.8.2
+    image: usdotfhwastol/carma-platform:carma-system-3.9.0
     network_mode: host
     container_name: platform
     runtime: nvidia
@@ -50,7 +50,7 @@ services:
     command: bash -c 'wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/carma_docker.launch'
 
   lightbar-driver:
-    image: usdotfhwastol/carma-lightbar-driver:carma-system-3.8.0
+    image: usdotfhwastol/carma-lightbar-driver:carma-system-3.9.0
     network_mode: host
     container_name: lightbar-driver
     volumes_from: 
@@ -64,7 +64,7 @@ services:
     command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=lightbar_driver'
 
   cohda_dsrc_driver:
-    image: usdotfhwastol/carma-cohda-dsrc-driver:carma-system-3.8.0
+    image: usdotfhwastol/carma-cohda-dsrc-driver:carma-system-3.9.0
     container_name: carma-cohda-dsrc-driver
     network_mode: host
     volumes_from:
@@ -77,7 +77,7 @@ services:
     command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=dsrc_driver'
 
   ssc_controller_driver:
-    image: usdotfhwastol/carma-ssc-interface-wrapper:carma-system-3.8.0
+    image: usdotfhwastol/carma-ssc-interface-wrapper:carma-system-3.9.0
     container_name: ssc_controller_driver
     network_mode: host
     privileged: true # Grant access to usb for can data
@@ -92,7 +92,7 @@ services:
     command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=ssc_interface_wrapper'
 
   novatel_gnss_imu_driver:
-    image: usdotfhwastol/carma-novatel-gps-driver:carma-system-3.8.0
+    image: usdotfhwastol/carma-novatel-gps-driver:carma-system-3.9.0
     container_name: novatel-gnss-imu-driver
     network_mode: host
     volumes_from:
@@ -105,7 +105,7 @@ services:
     command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=novatel_gps_driver'
 
   velodyne_lidar_driver:
-    image: usdotfhwastol/carma-velodyne-lidar-driver:carma-system-3.8.0
+    image: usdotfhwastol/carma-velodyne-lidar-driver:carma-system-3.9.0
     container_name: velodyne-lidar-driver
     network_mode: host
     volumes_from:
@@ -118,7 +118,7 @@ services:
     command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=velodyne_lidar_driver_wrapper'
 
   avt_vimba_camera_driver:
-    image: usdotfhwastol/carma-avt-vimba-driver:carma-system-3.8.0
+    image: usdotfhwastol/carma-avt-vimba-driver:carma-system-3.9.0
     container_name: avt-vimba-camera-driver
     network_mode: host
     volumes_from:

diff --git a/development/carma_docker.launch b/development/carma_docker.launch
@@ -41,6 +41,15 @@
   <!-- Set the Frame of the Lidar(s) -->
   <arg name="combined_lidar_frame" value="velodyne"/>
 
+  <!-- Launch with Guidance Plugin Validator Node enabled -->
+  <arg name="enable_guidance_plugin_validator" value="true"/>
+  <!-- List of String: Guidance Strategic Plugins that will be validated by the Guidance Plugin Validator Node if enabled -->
+  <arg name="strategic_plugins_to_validate" value="[RouteFollowing]"/>
+  <!-- List of String: Guidance Tactical Plugins that will be validated by the Guidance Plugin Validator Node if enabled -->
+  <arg name="tactical_plugins_to_validate" value="[InLaneCruisingPlugin, StopandWaitPlugin, CooperativeLaneChangePlugin, UnobstructedLaneChangePlugin, YieldPlugin]"/>
+  <!-- List of String: Guidance Control Plugins that will be validated by the Guidance Plugin Validator Node if enabled -->
+  <arg name="control_plugins_to_validate" value="[Pure Pursuit]"/>
+
   <!-- Launch without drivers as those will be launched as docker containers-->
   <arg name="launch_drivers" default="false"/>
 
@@ -50,4 +59,4 @@
 
   <!-- Include the detailed launch file and pass in new arguments -->
   <include file="$(find carma)/launch/carma_src.launch" pass_all_args="true"/>
-</launch>
+</launch>
diff --git a/development/carma_rosconsole.conf b/development/carma_rosconsole.conf
@@ -24,3 +24,4 @@ log4j.logger.ros.plan_delegator=INFO
 log4j.logger.ros.inlanecruising_plugin=INFO
 log4j.logger.ros.route_following_plugin=INFO
 log4j.logger.ros.pure_pursuit=INFO
+log4j.logger.ros.guidance_plugin_validator=ALL
diff --git a/development/docker-compose-background.yml b/development/docker-compose-background.yml
@@ -17,7 +17,7 @@ version: '2'
 
 services:
   web-ui:
-    image: usdotfhwastol/carma-web-ui:carma-system-3.8.0
+    image: usdotfhwastol/carma-web-ui:carma-system-3.9.0
     network_mode: host
     container_name: carma-web-ui
     environment:

diff --git a/development/docker-compose.yml b/development/docker-compose.yml
@@ -17,7 +17,7 @@ version: '2'
 
 services:
   roscore:
-    image: usdotfhwastol/carma-base:carma-system-3.8.0
+    image: usdotfhwastol/carma-base:carma-system-3.9.0
     network_mode: host
     container_name: roscore
     volumes_from: 
@@ -31,7 +31,7 @@ services:
     command: roscore
 
   platform:
-    image: usdotfhwastol/carma-platform:carma-system-3.8.2
+    image: usdotfhwastol/carma-platform:carma-system-3.9.0
     network_mode: host
     container_name: platform
     volumes_from: 
@@ -49,7 +49,7 @@ services:
     command: bash -c 'wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/carma_docker.launch'
 
   mock-lightbar-driver:
-    image: usdotfhwastol/carma-platform:carma-system-3.8.0
+    image: usdotfhwastol/carma-platform:carma-system-3.9.0
     network_mode: host
     container_name: carma-mock-lightbar-driver
     volumes_from: 
@@ -64,7 +64,7 @@ services:
     command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch carma mock_drivers.launch mock_drivers:="lightbar bag_parser"'
 
   mock-can-driver:
-    image: usdotfhwastol/carma-platform:carma-system-3.8.0
+    image: usdotfhwastol/carma-platform:carma-system-3.9.0
     network_mode: host
     container_name: carma-mock-can-driver
     volumes_from: 
@@ -78,7 +78,7 @@ services:
     command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch carma mock_drivers.launch mock_drivers:=can'
 
   mock-comms-driver:
-    image: usdotfhwastol/carma-platform:carma-system-3.8.0
+    image: usdotfhwastol/carma-platform:carma-system-3.9.0
     network_mode: host
     container_name: carma-mock-comms-driver
     volumes_from: 
@@ -92,7 +92,7 @@ services:
     command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch carma mock_drivers.launch mock_drivers:=comms'
 
   mock-controller-driver:
-    image: usdotfhwastol/carma-platform:carma-system-3.8.0
+    image: usdotfhwastol/carma-platform:carma-system-3.9.0
     network_mode: host
     container_name: carma-srx-controller-driver
     volumes_from: 
@@ -106,7 +106,7 @@ services:
     command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch carma mock_drivers.launch mock_drivers:=controller'
 
   mock-radar-driver:
-    image: usdotfhwastol/carma-platform:carma-system-3.8.0
+    image: usdotfhwastol/carma-platform:carma-system-3.9.0
     network_mode: host
     container_name: carma-mock-radar-driver
     volumes_from: 
@@ -120,7 +120,7 @@ services:
     command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch carma mock_drivers.launch mock_drivers:=radar'
 
   mock-gnss-driver:
-    image: usdotfhwastol/carma-platform:carma-system-3.8.0
+    image: usdotfhwastol/carma-platform:carma-system-3.9.0
     network_mode: host
     container_name: carma-mock-gnss-driver
     volumes_from: 
@@ -134,7 +134,7 @@ services:
     command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch carma mock_drivers.launch mock_drivers:=gnss'
 
   mock-imu-driver:
-    image: usdotfhwastol/carma-platform:carma-system-3.8.0
+    image: usdotfhwastol/carma-platform:carma-system-3.9.0
     network_mode: host
     container_name: carma-mock-imu-driver
     volumes_from: 
@@ -148,7 +148,7 @@ services:
     command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch carma mock_drivers.launch mock_drivers:=imu'
 
   mock-lidar-driver:
-    image: usdotfhwastol/carma-platform:carma-system-3.8.0
+    image: usdotfhwastol/carma-platform:carma-system-3.9.0
     network_mode: host
     container_name: carma-mock-lidar-driver
     volumes_from: 
@@ -162,7 +162,7 @@ services:
     command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch carma mock_drivers.launch mock_drivers:=lidar'
 
   mock-camera-driver:
-    image: usdotfhwastol/carma-platform:carma-system-3.8.0
+    image: usdotfhwastol/carma-platform:carma-system-3.9.0
     network_mode: host
     container_name: carma-mock-camera-driver
     volumes_from: 
@@ -176,7 +176,7 @@ services:
     command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch carma mock_drivers.launch mock_drivers:=camera'
 
   mock-roadway-sensor-driver:
-    image: usdotfhwastol/carma-platform:carma-system-3.8.0
+    image: usdotfhwastol/carma-platform:carma-system-3.9.0
     network_mode: host
     container_name: carma-mock-roadway-sensor-driver
     volumes_from: 

diff --git a/ford_fusion_sehybrid_2019/carma_docker.launch b/ford_fusion_sehybrid_2019/carma_docker.launch
@@ -38,7 +38,16 @@
 
   <!-- Set the Frame of the Lidar(s) -->
   <arg name="combined_lidar_frame" value="velodyne"/>
-
+
+  <!-- Launch without Guidance Plugin Validator Node enabled -->
+  <arg name="enable_guidance_plugin_validator" value="false"/>
+  <!-- List of String: Guidance Strategic Plugins that will be validated by the Guidance Plugin Validator Node if enabled -->
+  <arg name="strategic_plugins_to_validate" value="[]"/>
+  <!-- List of String: Guidance Tactical Plugins that will be validated by the Guidance Plugin Validator Node if enabled -->
+  <arg name="tactical_plugins_to_validate" value="[]"/>
+  <!-- List of String: Guidance Control Plugins that will be validated by the Guidance Plugin Validator Node if enabled -->
+  <arg name="control_plugins_to_validate" value="[]"/>
+
   <!-- Launch without drivers as those will be launched as docker containers-->
   <arg name="launch_drivers" default="false"/>
 
@@ -47,4 +56,4 @@
 
   <!-- Include the detailed launch file and pass in new arguments -->
   <include file="$(find carma)/launch/carma_src.launch" pass_all_args="true"/>
-</launch>
+</launch>
diff --git a/ford_fusion_sehybrid_2019/docker-compose-background.yml b/ford_fusion_sehybrid_2019/docker-compose-background.yml
@@ -17,7 +17,7 @@ version: '2'
 
 services:
   web-ui:
-    image: usdotfhwastol/carma-web-ui:carma-system-3.8.0
+    image: usdotfhwastol/carma-web-ui:carma-system-3.9.0
     network_mode: host
     container_name: web-ui
     environment: