Merge release/k900 for 4.4.0 release (#241)

usdot-fhwa-stol · May 5, 2023 · a356c1d · a356c1d
2 parents 1b909e4 + 5a85bc6
commit a356c1d
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Showing 45 changed files with 182 additions and 119 deletions.
diff --git a/carla_integration/.dockerignore → carla_ground_truth_integration/.dockerignore b/carla_integration/.dockerignore → carla_ground_truth_integration/.dockerignore
diff --git a/carla_integration/Dockerfile → carla_ground_truth_integration/Dockerfile b/carla_integration/Dockerfile → carla_ground_truth_integration/Dockerfile
diff --git a/...ntegration/SubsystemControllerParams.yaml → ...ntegration/SubsystemControllerParams.yaml b/...ntegration/SubsystemControllerParams.yaml → ...ntegration/SubsystemControllerParams.yaml
@@ -53,6 +53,7 @@ guidance:
         - /guidance/plugins/platooning_tactical_plugin_node
         - /guidance/plugins/yield_plugin
       ros2_initial_plugins:
+        - /guidance/plugins/lci_strategic_plugin
         - /guidance/plugins/inlanecruising_plugin          
         - /guidance/plugins/platoon_strategic_ihp_node
         - /guidance/plugins/stop_and_wait_plugin

diff --git a/carla_integration/VehicleConfigParams.yaml → ...ruth_integration/VehicleConfigParams.yaml b/carla_integration/VehicleConfigParams.yaml → ...ruth_integration/VehicleConfigParams.yaml
diff --git a/carla_integration/bridge.yml → carla_ground_truth_integration/bridge.yml b/carla_integration/bridge.yml → carla_ground_truth_integration/bridge.yml
diff --git a/carla_integration/build-image.sh → ...a_ground_truth_integration/build-image.sh b/carla_integration/build-image.sh → ...a_ground_truth_integration/build-image.sh
diff --git a/carla_integration/carma.config.js → ..._ground_truth_integration/carma.config.js b/carla_integration/carma.config.js → ..._ground_truth_integration/carma.config.js
@@ -41,16 +41,34 @@ CarmaJS.registerNamespace("CarmaJS.Config");
 
 CarmaJS.Config = (function () {
         //Private variables
-        var ip = '127.0.0.1';
-
+        var ip = '127.0.0.1'; //'192.168.88.10'; 192.168.32.146;
+        var refresh_interval = 30; //30 seconds
+        var ros_connect_wait = 5000; //5 miliseconds to wait for platform to launch and ros to connect.
+        var ros_connect_retry = 24; //# of times to wait. Total 2 minutes
+        var speed_limit = 30; //Default Speed Limit
         //Private methods
         //Creating functions to prevent access by reference to private variables
         var getIP = function() {
             return ip;
         };
-
+        var getRefreshInterval = function(){
+            return refresh_interval;
+        };
+        var getRosConnectionWaitTime = function() {
+            return ros_connect_wait;
+        };
+        var getRosConnectionRetry = function() {
+            return ros_connect_retry;
+        };
+        var getSPEEDLIMIT = function() {
+            return speed_limit;
+        };
         //Public API
         return {
-            getIP: getIP
+            getIP: getIP,
+            getRefreshInterval: getRefreshInterval,
+            getRosConnectionWaitTime:getRosConnectionWaitTime,
+            getRosConnectionRetry:getRosConnectionRetry,
+            getSPEEDLIMIT: getSPEEDLIMIT
         };
 })();
diff --git a/carla_integration/carma.env → carla_ground_truth_integration/carma.env b/carla_integration/carma.env → carla_ground_truth_integration/carma.env
diff --git a/carla_integration/carma_docker.launch → ...und_truth_integration/carma_docker.launch b/carla_integration/carma_docker.launch → ...und_truth_integration/carma_docker.launch
@@ -61,6 +61,6 @@
 
   <!-- Include the detailed launch file and pass in new arguments -->
   <include file="$(find carma)/launch/carma_src.launch" pass_all_args="true">
-    <arg name="simulation_mode" value="true"/>
+    <arg name='simulation_mode' value='$(arg simulation_mode)'/>
   </include>
 </launch>
diff --git a/carla_integration/carma_docker.launch.py → ..._truth_integration/carma_docker.launch.py b/carla_integration/carma_docker.launch.py → ..._truth_integration/carma_docker.launch.py
diff --git a/carla_integration/carma_rosconsole.conf → ...d_truth_integration/carma_rosconsole.conf b/carla_integration/carma_rosconsole.conf → ...d_truth_integration/carma_rosconsole.conf
diff --git a/...integration/docker-compose-background.yml → ...integration/docker-compose-background.yml b/...integration/docker-compose-background.yml → ...integration/docker-compose-background.yml
diff --git a/carla_integration/docker-compose.yml → ...ound_truth_integration/docker-compose.yml b/carla_integration/docker-compose.yml → ...ound_truth_integration/docker-compose.yml
@@ -46,7 +46,7 @@ services:
       - /opt/carma/maps:/opt/carma/maps
       - /opt/carma/routes:/opt/carma/routes
       - /opt/carma/yolo:/opt/carma/yolo
-    command: bash -c 'wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/carma_docker.launch'
+    command: bash -c 'wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/carma_docker.launch simulation_mode:="true" '
 
   platform_ros2:
     image: usdotfhwastol/carma-platform:carma-system-4.2.0

diff --git a/carla_integration/drivers.launch → ...a_ground_truth_integration/drivers.launch b/carla_integration/drivers.launch → ...a_ground_truth_integration/drivers.launch
diff --git a/carla_integration/hooks/pre_build → ..._ground_truth_integration/hooks/pre_build b/carla_integration/hooks/pre_build → ..._ground_truth_integration/hooks/pre_build
diff --git a/carla_integration/system_release.sh → ...round_truth_integration/system_release.sh b/carla_integration/system_release.sh → ...round_truth_integration/system_release.sh
diff --git a/chrysler_pacifica_ehybrid_s_2019/SubsystemControllerParams.yaml b/chrysler_pacifica_ehybrid_s_2019/SubsystemControllerParams.yaml
@@ -53,6 +53,7 @@ guidance:
         - /guidance/plugins/platooning_tactical_plugin_node
         - /guidance/plugins/yield_plugin
       ros2_initial_plugins:
+        - /guidance/plugins/lci_strategic_plugin
         - /guidance/plugins/inlanecruising_plugin          
         - /guidance/plugins/platoon_strategic_ihp_node
         - /guidance/plugins/stop_and_wait_plugin

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-4.3.0
+    image: usdotfhwastol/carma-web-ui:carma-system-4.4.0
     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-4.3.0
+    image: usdotfhwastol/carma-base:carma-system-4.4.0
     network_mode: host
     container_name: roscore
     volumes_from:
@@ -31,7 +31,7 @@ services:
     command: roscore
 
   platform:
-    image: usdotfhwastol/carma-platform:carma-system-4.3.0
+    image: usdotfhwastol/carma-platform:carma-system-4.4.0
     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'
 
   platform_ros2:
-    image: usdotfhwastol/carma-platform:carma-system-4.3.0
+    image: usdotfhwastol/carma-platform:carma-system-4.4.0
     network_mode: host
     container_name: platform_ros2
     volumes_from:
@@ -65,7 +65,7 @@ services:
     command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma_docker.launch.py'
 
   ros1_bridge:
-    image: usdotfhwastol/carma-msgs:carma-system-4.3.0
+    image: usdotfhwastol/carma-msgs:carma-system-4.4.0
     network_mode: host
     container_name: ros1_bridge
     volumes_from:
@@ -83,7 +83,7 @@ services:
     command: bash -c 'wait-for-it.sh localhost:11311 -- rosparam load /opt/carma/vehicle/config/bridge.yml && source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --multi-threads'
 
   lightbar-driver:
-    image: usdotfhwastol/carma-lightbar-driver:carma-system-4.3.0
+    image: usdotfhwastol/carma-lightbar-driver:carma-system-4.4.0
     network_mode: host
     container_name: lightbar-driver
     volumes_from: 
@@ -97,7 +97,7 @@ 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-4.3.0
+    image: usdotfhwastol/carma-cohda-dsrc-driver:carma-system-4.4.0
     container_name: carma-cohda-dsrc-driver
     network_mode: host
     volumes_from:
@@ -108,7 +108,7 @@ services:
     command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=dsrc_driver'
 
   ssc_controller_driver:
-    image: usdotfhwastol/carma-ssc-interface-wrapper:carma-system-4.3.0
+    image: usdotfhwastol/carma-ssc-interface-wrapper:carma-system-4.4.0
     container_name: ssc_controller_driver
     network_mode: host
     privileged: true # Grant access to usb for can data
@@ -123,7 +123,7 @@ 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-oem7-driver-wrapper:carma-system-4.3.0
+    image: usdotfhwastol/carma-novatel-oem7-driver-wrapper:carma-system-4.4.0
     container_name: carma-novatel-oem7-driver-wrapper
     network_mode: host
     volumes_from:
@@ -135,7 +135,7 @@ services:
     command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=carma_novatel_driver_wrapper'
 
   velodyne_lidar_driver:
-    image: usdotfhwastol/carma-velodyne-lidar-driver:carma-system-4.3.0
+    image: usdotfhwastol/carma-velodyne-lidar-driver:carma-system-4.4.0
     container_name: velodyne-lidar-driver
     network_mode: host
     volumes_from:
@@ -149,7 +149,7 @@ services:
   # It is being used instead as camera input is currently not supported in the Autoware.Auto
   # system integrated in release carma-system-4.0
   mock-camera-driver:
-    image: usdotfhwastol/carma-platform:carma-system-4.3.0
+    image: usdotfhwastol/carma-platform:carma-system-4.4.0
     network_mode: host
     container_name: carma-mock-camera-driver
     volumes_from: 

diff --git a/development/SubsystemControllerParams.yaml b/development/SubsystemControllerParams.yaml
@@ -51,6 +51,7 @@ guidance:
         - /guidance/plugins/platooning_tactical_plugin_node
         - /guidance/plugins/yield_plugin
       ros2_initial_plugins:
+        - /guidance/plugins/lci_strategic_plugin
         - /guidance/plugins/inlanecruising_plugin          
         - /guidance/plugins/platoon_strategic_ihp_node
         - /guidance/plugins/stop_and_wait_plugin

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-4.3.0
+    image: usdotfhwastol/carma-web-ui:carma-system-4.4.0
     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-4.3.0
+    image: usdotfhwastol/carma-base:carma-system-4.4.0
     network_mode: host
     container_name: roscore
     volumes_from: 
@@ -31,7 +31,7 @@ services:
     command: roscore
 
   platform:
-    image: usdotfhwastol/carma-platform:carma-system-4.3.0
+    image: usdotfhwastol/carma-platform:carma-system-4.4.0
     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'
 
   platform_ros2:
-    image: usdotfhwastol/carma-platform:carma-system-4.3.0
+    image: usdotfhwastol/carma-platform:carma-system-4.4.0
     network_mode: host
     container_name: platform_ros2
     volumes_from:
@@ -64,7 +64,7 @@ services:
     command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma_docker.launch.py'
 
   ros1_bridge:
-    image: usdotfhwastol/carma-msgs:carma-system-4.3.0    
+    image: usdotfhwastol/carma-msgs:carma-system-4.4.0
     network_mode: host
     container_name: ros1_bridge
     volumes_from:
@@ -82,7 +82,7 @@ services:
     command: bash -c 'wait-for-it.sh localhost:11311 -- rosparam load /opt/carma/vehicle/config/bridge.yml && source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --multi-threads'
 
   mock-lightbar-driver:
-    image: usdotfhwastol/carma-platform:carma-system-4.3.0
+    image: usdotfhwastol/carma-platform:carma-system-4.4.0
     network_mode: host
     container_name: carma-mock-lightbar-driver
     volumes_from: 
@@ -97,7 +97,7 @@ 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-4.3.0
+    image: usdotfhwastol/carma-platform:carma-system-4.4.0
     network_mode: host
     container_name: carma-mock-can-driver
     volumes_from: 
@@ -111,7 +111,7 @@ 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-4.3.0
+    image: usdotfhwastol/carma-platform:carma-system-4.4.0
     network_mode: host
     container_name: carma-mock-comms-driver
     volumes_from: 
@@ -125,7 +125,7 @@ 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-4.3.0
+    image: usdotfhwastol/carma-platform:carma-system-4.4.0
     network_mode: host
     container_name: carma-srx-controller-driver
     volumes_from: 
@@ -139,7 +139,7 @@ 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-4.3.0
+    image: usdotfhwastol/carma-platform:carma-system-4.4.0
     network_mode: host
     container_name: carma-mock-radar-driver
     volumes_from: 
@@ -153,7 +153,7 @@ 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-4.3.0
+    image: usdotfhwastol/carma-platform:carma-system-4.4.0
     network_mode: host
     container_name: carma-mock-gnss-driver
     volumes_from: 
@@ -167,7 +167,7 @@ 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-4.3.0
+    image: usdotfhwastol/carma-platform:carma-system-4.4.0
     network_mode: host
     container_name: carma-mock-imu-driver
     volumes_from: 
@@ -181,7 +181,7 @@ 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-4.3.0
+    image: usdotfhwastol/carma-platform:carma-system-4.4.0
     network_mode: host
     container_name: carma-mock-lidar-driver
     volumes_from: 
@@ -195,7 +195,7 @@ 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-4.3.0
+    image: usdotfhwastol/carma-platform:carma-system-4.4.0
     network_mode: host
     container_name: carma-mock-camera-driver
     volumes_from: 
@@ -209,7 +209,7 @@ 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-4.3.0
+    image: usdotfhwastol/carma-platform:carma-system-4.4.0
     network_mode: host
     container_name: carma-mock-roadway-sensor-driver
     volumes_from: 

diff --git a/ford_fusion_sehybrid_2019/SubsystemControllerParams.yaml b/ford_fusion_sehybrid_2019/SubsystemControllerParams.yaml
@@ -53,6 +53,7 @@ guidance:
         - /guidance/plugins/platooning_tactical_plugin_node
         - /guidance/plugins/yield_plugin
       ros2_initial_plugins:
+        - /guidance/plugins/lci_strategic_plugin
         - /guidance/plugins/inlanecruising_plugin          
         - /guidance/plugins/platoon_strategic_ihp_node
         - /guidance/plugins/stop_and_wait_plugin

diff --git a/ford_fusion_sehybrid_2019/carma.env b/ford_fusion_sehybrid_2019/carma.env
@@ -10,6 +10,9 @@ export RCUTILS_CONSOLE_OUTPUT_FORMAT='{time} | {severity} | {function_name}:{lin
 
 export ROS_LOG_DIR="/opt/carma/logs" # Variable used in both ROS 1 and ROS 2
 
+# configuration for CycloneDDS
+export CYCLONEDDS_URI=/opt/carma/vehicle/calibration/telematics/cyclone_config.xml
+
 ###
 # Namespaces
 ###

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-4.3.0
+    image: usdotfhwastol/carma-web-ui:carma-system-4.4.0
     network_mode: host
     container_name: web-ui
     environment: