carma-system-4.0.3

Summary:
Carma-platform release version 4.0.0 is first version that starts of the transition of system to ROS2 with V2X, Object Perception and some driver nodes transitioned to ROS2 and others still using ROS1 with communication enabled using ROS bridge. This release includes feature enhancements in support of the following proof-of-concept applications to demonstrate the following TSMO use cases:

• Cooperative Traffic Signaling (CTS), fixed signal traversal.
• Commercial Motor Vehicle (CMV) - Work Zone

Along with the above enhancements, several bug fixes are included in this release.
Note: V2X Hub release 7.2 includes CARMA streets plugin for following operations:
• Enhancement to receive, decode and forward the Traffic Control Message (TCM) and Mobility Operations Message (MOM) to enable lane restrictions by vehicle type and to record and notify the vehicle acknowledgement of receiving a TCM from infrastructure.

Carma Platform:

Enhancements in this release:

ROS2 - V2X, Object Perception, Drivers: Developed a ROS2 version of CARMA Platform capable of running on the Lexus RX450h with AutonomouStuff Pacmod3. Specifically, this milestone focused on the creation of a hybrid ROS1 and ROS2 system where the V2X, Object Perception, and core drivers are all ported to ROS2. This milestone included the following enhancements and defect fixes:

• Issue 1687: Updated the SSC Wrapper to support the ROS2 versions of SSC and Lexus Pacmod while preserving the ROS1 version as well.
• Issue 1500: Integrated driver_discovery and health_monitor behavior into subsystem_controllers/driver_controller
• Issue 1645: Launch ROS2 novatel GPS driver
• Issue 1580: ROS2 V2X Stack migration to ROS2
• Issue 1557: ROS2 Object Perception Stack migration to ROS2
• Issue 1277: CARMAWeb UI - Logout should issue a shutdown of the platform
• Issue 1689: Twist Filter node ms to mph speed limit
• Issue 1701: UI based remote launch (non-debug) fails to launch containers
• Issue 1703: UI appears to duplicate /system_alert notifications

Cooperative Traffic Signaling (CTS), fixed signal traversal: Upon receiving Signal Phase and Timing (SPaT) information (fixed plan information), a vehicle plans a maneuver to proceed through the intersection as efficiently as possible, or come to a safe stop if needed. This milestone include the following enhancements:

• Issue 1587: Signalized Intersection support in world model to handle SAE J2735 MAP and SPaT messages.
• Issue 1528 Feature/signalized intersection – Signalized Intersection regulatory element has been implemented to support the signalized intersection.

CMV Work Zone – Enhanced features to demonstrate CMV’s interaction with work zones to reduce speeds, adjust its trajectory to change lanes and adhere to lane use restrictions. The CMV will also demonstrate the capability to acknowledge receipt of work zone geofence information which will include the reduced speed and lane use restriction information.

• PR 1636: Update WMBroadcaster to process received TCM with a restricted lane
• PR 1682 & 1691: CMV broadcast acknowledgement after processing the incoming TCM

Fixes in this release:

• Issue 1608: The Web UI does not notify the user when the vehicle has left the route
• Issue 1634: Route is not selectable due to vehicle position not being set.
• Issue 1650: When CLC follows ILC in a trajectory plan, the first CLC TrajectoryPlanPoint has an abnormally high speed

Carma-Cloud:

Enhancement in this release:

• PR 12: CARMA Cloud sets up Lane Use Restriction to add, remove and update a lane use restriction for vehicles in a work zone area. Enhancement also has been made to receive TCM acknowledgement via the REST interface and log it in the logs.