Merge pull request #192 from usdot-fhwa-stol/release/cabin

Release/cabin

.circleci/config.yml

@@ -3,7 +3,7 @@ jobs:
   build:
     # Setup docker
     docker:
-      - image: usdotfhwastol/carma-base:carma-system-4.1.0
+      - image: usdotfhwastol/carma-base:carma-system-4.2.0
         user: carma
         environment:
           TERM: xterm # use xterm to get full display output from build

Dockerfile

@@ -1,4 +1,4 @@
-FROM usdotfhwastol/carma-base:carma-system-4.1.0 as base_image
+FROM usdotfhwastol/carma-base:carma-system-4.2.0 as base_image
 SHELL ["/bin/bash", "-c"]
 
 ARG DEBIAN_FRONTEND="noninteractive"
@@ -13,42 +13,10 @@ LABEL org.label-schema.vcs-url="https://github.com/usdot-fhwa-stol/carma-msgs"
 LABEL org.label-schema.vcs-ref=${VCS_REF}
 LABEL org.label-schema.build-date=${BUILD_DATE}
 
-# Clone autoware repo to access messages
-RUN cd /home/carma/ && git clone https://github.com/usdot-fhwa-stol/autoware.ai.git --depth 1 --branch carma-system-4.1.0
-
-# ROS 1 msgs setup
-RUN mkdir -p ~/.base-image/ros1_msgs_ws/src/carma_msgs
+RUN  mkdir -p ~/.base-image/ros1_msgs_ws/src/carma_msgs
+RUN  mkdir -p /home/carma/src
 COPY . /home/carma/.base-image/ros1_msgs_ws/src/carma_msgs/
-RUN cp -R /home/carma/autoware.ai/messages /home/carma/.base-image/ros1_msgs_ws/src/autoware.ai/
-RUN cp -R /home/carma/autoware.ai/jsk_common_msgs /home/carma/.base-image/ros1_msgs_ws/src/autoware.ai/
-RUN cp -R /home/carma/autoware.ai/jsk_recognition /home/carma/.base-image/ros1_msgs_ws/src/autoware.ai/
-
-
-# ROS 2 msgs setup
-RUN mkdir -p ~/.base-image/ros2_msgs_ws/src/carma_msgs
+RUN  mkdir -p ~/.base-image/ros2_msgs_ws/src/carma_msgs
 COPY . /home/carma/.base-image/ros2_msgs_ws/src/carma_msgs/
-RUN mkdir -p ~/.base-image/ros2_msgs_ws/src/autoware.ai
-RUN cp -R /home/carma/autoware.ai/messages /home/carma/.base-image/ros2_msgs_ws/src/autoware.ai/
-RUN cp -R /home/carma/autoware.ai/jsk_common_msgs /home/carma/.base-image/ros2_msgs_ws/src/autoware.ai/
-RUN cp -R /home/carma/autoware.ai/jsk_recognition /home/carma/.base-image/ros2_msgs_ws/src/autoware.ai/
-
-# Cleanup autoware repo once messages have been moved
-RUN rm -r /home/carma/autoware.ai/
-
-# ROS1 message setup
-RUN cd ~/.base-image/ros1_msgs_ws && source /opt/ros/noetic/setup.bash && colcon build --packages-up-to autoware_msgs cav_msgs cav_srvs j2735_msgs can_msgs carma_debug_msgs autoware_lanelet2_msgs
-
-# ROS2 message setup
-RUN cd ~/.base-image/ros2_msgs_ws && source /opt/ros/foxy/setup.bash && colcon build --packages-up-to autoware_msgs autoware_lanelet2_msgs can_msgs carma_debug_ros2_msgs carma_driver_msgs carma_localization_msgs carma_msgs carma_perception_msgs carma_planning_msgs carma_v2x_msgs j2735_v2x_msgs
+RUN /home/carma/.base-image/ros1_msgs_ws/src/carma_msgs/docker/install.sh
 
-# Build the bridge
-RUN source /opt/ros/noetic/setup.bash \
-&& source /opt/ros/foxy/setup.bash \
-&& source ~/.base-image/ros1_msgs_ws/install/local_setup.bash \
-&& source ~/.base-image/ros2_msgs_ws/install/local_setup.bash \
-&& cd ~/.base-image/workspace/src \
-&& git clone --depth 1 --branch carma-system-4.1.0  https://github.com/usdot-fhwa-stol/ros1_bridge.git \
-&& cd ../ \
-&& sudo apt-get update \
-&& colcon build --packages-select ros1_bridge --cmake-args "--debug-output" \
-&& sudo chmod -R ugo+x ~/.base-image/workspace/install

carma_planning_msgs/CMakeLists.txt

@@ -28,6 +28,7 @@ find_package(ament_cmake REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(builtin_interfaces REQUIRED)
 find_package(geometry_msgs REQUIRED)
+find_package(carma_v2x_msgs REQUIRED)
 
 ## Generate messages 
 file(GLOB msg_files msg/*.msg)
@@ -52,6 +53,7 @@ rosidl_generate_interfaces(
       std_msgs
       builtin_interfaces
       geometry_msgs
+      carma_v2x_msgs
 )
 
 ament_export_dependencies(rosidl_default_runtime)

carma_planning_msgs/msg/PlatooningInfo.msg

@@ -42,3 +42,21 @@ float32  host_cmd_speed
 
 # Desired gap with leader
 float32  desired_gap
+
+# Actual gap with leader
+float32 actual_gap
+
+# The time headway summation of all predecessors   
+float32  current_predecessor_time_headway_sum
+
+# The speed of the preceding vehicle, in m/s.
+float32  predecessor_speed
+
+# The position of the preceding vehicle, in m.
+float32  predecessor_position
+
+# The status of gap creation.
+bool is_create_gap
+
+# Ratio to increase desired gap
+float32 create_gap_adjuster

carma_planning_msgs/package.xml

@@ -30,6 +30,7 @@
   <depend>geometry_msgs</depend>
   <depend>std_msgs</depend>
   <depend>builtin_interfaces</depend>
+  <depend>carma_v2x_msgs</depend>
 
   <exec_depend>rosidl_default_runtime</exec_depend>
   <member_of_group>rosidl_interface_packages</member_of_group>

carma_planning_msgs/srv/SetActiveRoute.srv

@@ -9,8 +9,18 @@
 #
 
 # Request
+# Enumeration values for the method being used to provide the route destination points
+uint8 choice
+
+uint8 ROUTE_ID=0
+uint8 DESTINATION_POINTS_ARRAY=1
+
 # The id of the route to select
 string route_id
+
+# The array of destination points to be used for route generation 
+carma_v2x_msgs/Position3D[] destination_points
+
 ---
 # Response
 # An enumeration representing a service execution error as defined in the route design document.

carma_v2x_msgs/msg/MobilityReason.msg

@@ -0,0 +1,18 @@
+# MobilityReason.msg
+#
+#
+
+# Variable which can be used to store a specific reason value.
+uint8 reason
+
+# enumeration values for mobility reason:
+
+uint8       UNKNOWN=0 
+uint8       ACCEPTED=1 
+uint8       SAFETY_VIOLATION=2 
+uint8       INSUFFICIENT_TIME=3
+uint8       PLAN_CONFLICT=4
+uint8       OTHERWISE_ENGAGED=5
+uint8       INSUFFICIENT_URGENCY=6
+uint8       PLAN_UNCLEAR=7
+uint8       OTHER=8

carma_v2x_msgs/msg/MobilityRepeat.msg

@@ -0,0 +1,12 @@
+# MobilityRepeat.msg
+#
+#
+
+# Variable which can be used to store a specific repeat value.
+uint8 repeat
+
+# enumeration values for mobility repeat:
+
+uint8       UNKNOWN=0 
+uint8       REQUEST_AGAIN=1 
+uint8       NEVER_REQUEST_AGAIN=2 

carma_v2x_msgs/msg/MobilityResponse.msg

@@ -4,10 +4,19 @@
 # recevied a MobilityRequest from that CAV and decide to involve in that plan
 
 # standard header for all mobility messages
-carma_v2x_msgs/MobilityHeader  m_header
+carma_v2x_msgs/MobilityHeader   m_header
 
 # urgency of the current plan from 0 to 1000
-uint16                   urgency
+uint16                    urgency
 
 # the content of this response
-bool                     is_accepted
+bool                      is_accepted
+
+# type of the proposal being suggested to neighbors
+carma_v2x_msgs/PlanType plan_type
+
+# 
+carma_v2x_msgs/MobilityReason   reason         # OPTIONAL
+
+# Whether or not to repeat the MobilityRequest
+carma_v2x_msgs/MobilityRepeat   repeat         # OPTIONAL

carma_v2x_msgs/msg/PlanType.msg

@@ -12,6 +12,16 @@ uint8       CHANGE_LANE_LEFT = 1
 uint8       CHANGE_LANE_RIGHT = 2
 uint8       JOIN_PLATOON_AT_REAR = 3
 uint8       PLATOON_FOLLOWER_JOIN = 4
+uint8       JOIN_PLATOON_FROM_FRONT = 5
+uint8       PLATOON_FRONT_JOIN = 6
+uint8       CUT_IN_FROM_SIDE = 7
+uint8       PLATOON_CUT_IN_JOIN = 8
+uint8       STOP_CREATE_GAP = 9
+uint8       CUT_IN_FRONT_DONE = 10
+uint8       CUT_IN_MID_OR_REAR_DONE = 11
+uint8       PLATOON_DEPARTURE = 12
+uint8       DELETE_MEMBER = 13
+
 
 # ideas for future additions:
 # uint8       SEARCHING_FOR_PLATOON = 5
@@ -21,3 +31,6 @@ uint8       PLATOON_FOLLOWER_JOIN = 4
 # uint8       PASSING = 9 
 # pulling onto shoulder, need multi-lane change
 # join platoon in middle, merging platoons
+# MobilityPlanType.msg
+#
+#

carma_v2x_msgs/msg/TrafficControlDetail.msg

@@ -24,15 +24,17 @@
 #	lataffinity ENUMERATED {left, right},
 #	latperm SEQUENCE (SIZE(2)) OF ENUMERATED {none, permitted, passing-only, emergency-only},
 #	parking ENUMERATED {no, parallel, angled},
-#	minspeed INTEGER (0..1023), -- tenths of m/s
-#	maxspeed INTEGER (0..1023), -- tenths of m/s
-#	minhdwy INTEGER (0..2047), -- tenths of meters
-#	maxvehmass INTEGER (0..65535), -- kg
-#	maxvehheight INTEGER (0..127), -- tenths of meters
-#	maxvehwidth INTEGER (0..127), -- tenths of meters
-#	maxvehlength INTEGER (0..1023), -- tenths of meters
-#	maxvehaxles INTEGER (2..15),
-#	minvehocc INTEGER (1..15), 
+#	minspeed DOUBLE (0..1023), -- m/s
+#	maxspeed DOUBLE (0..1023), -- m/s
+#	minhdwy DOUBLE (0..2047), -- meters
+#	maxvehmass DOUBLE (0..65535), -- kg
+#	maxvehheight DOUBLE (0..127), -- meters
+#	maxvehwidth DOUBLE (0..127), -- meters
+#	maxvehlength DOUBLE (0..1023), -- meters
+#	maxvehaxles INTEGER (2..15), -- number of axles
+#	minvehocc INTEGER (1..15), -- vehicle passenger count
+#   maxplatoonsize INTEGER (1..63), -- vehicle count
+#   minplatoonhdwy DOUBLE (0..2047), -- meters
 #	...
 #}
 
@@ -61,6 +63,8 @@ uint8 MAXVEHWIDTH_CHOICE=16
 uint8 MAXVEHLENGTH_CHOICE=17
 uint8 MAXVEHAXLES_CHOICE=18
 uint8 MINVEHOCC_CHOICE=19
+uint8 MAXPLATOONSIZE_CHOICE=20
+uint8 MINPLATOONHDWY_CHOICE=21
 
 # signal ::= OCTET STRING SIZE(0..63)
 uint8[] signal
@@ -142,32 +146,35 @@ uint8 PARALLEL=1
 
 uint8 ANGLED=2
 
-#minspeed ::= INTEGER (0..1023), -- tenths of m/s
+#minspeed ::= INTEGER (0..1023), -- m/s
 float64 minspeed
 
-#maxspeed ::= INTEGER (0..1023), -- tenths of m/s
+#maxspeed ::= INTEGER (0..1023), -- m/s
 float64 maxspeed
 
-#minhdwy ::= INTEGER (0..2047), -- tenths of meters
+#minhdwy ::= INTEGER (0..2047), -- meters
 float64 minhdwy
 
 #maxvehmass ::= INTEGER (0..65535), -- kg
 float64 maxvehmass
 
-#maxvehheight ::= INTEGER (0..127), -- tenths of meters
+#maxvehheight ::= INTEGER (0..127), -- meters
 float64 maxvehheight
 
-#maxvehwidth ::= INTEGER (0..127), -- tenths of meters
+#maxvehwidth ::= INTEGER (0..127), -- meters
 float64 maxvehwidth
 
-#maxvehlength ::= INTEGER (0..1023), -- tenths of meters
+#maxvehlength ::= INTEGER (0..1023), -- meters
 float64 maxvehlength
 
-#maxvehaxles ::= INTEGER (2..15)
+#maxvehaxles ::= INTEGER (2..15), -- number of axles
 uint8 maxvehaxles
 
-#minvehocc ::= INTEGER (1..15)
+#minvehocc ::= INTEGER (1..15), -- vehicle passenger count
 uint8 minvehocc
 
+#maxplatoonsize ::= INTEGER (1..63), -- vehicle count
+uint8 maxplatoonsize
 
-
+#minplatoonhdwy ::= INTEGER (0..2047), -- meters
+float64 minplatoonhdwy

cav_msgs/msg/MobilityHeader.msg

@@ -24,4 +24,3 @@ string  plan_id
 # A UNIX timestamp in milliseconds, which indicates the time elapsed since UNIX epoch
 # Example: "9223372036854775807"
 uint64  timestamp
-

cav_msgs/msg/MobilityOperation.msg

@@ -12,4 +12,3 @@ string                   strategy
 # strategy parameters specified by each individual plugin/component
 # the maximum length of this string is 100
 string                   strategy_params
-

cav_msgs/msg/MobilityReason.msg

@@ -0,0 +1,18 @@
+# MobilityReason.msg
+#
+#
+
+# Variable which can be used to store a specific reason value.
+uint8 reason
+
+# enumeration values for mobility reason:
+
+uint8       UNKNOWN=0 
+uint8       ACCEPTED=1 
+uint8       SAFETY_VIOLATION=2 
+uint8       INSUFFICIENT_TIME=3
+uint8       PLAN_CONFLICT=4
+uint8       OTHERWISE_ENGAGED=5
+uint8       INSUFFICIENT_URGENCY=6
+uint8       PLAN_UNCLEAR=7
+uint8       OTHER=8

cav_msgs/msg/MobilityRepeat.msg

@@ -0,0 +1,12 @@
+# MobilityRepeat.msg
+#
+#
+
+# Variable which can be used to store a specific repeat value.
+uint8 repeat
+
+# enumeration values for mobility repeat:
+
+uint8       UNKNOWN=0 
+uint8       REQUEST_AGAIN=1 
+uint8       NEVER_REQUEST_AGAIN=2 

cav_msgs/msg/MobilityResponse.msg

@@ -4,10 +4,19 @@
 # recevied a MobilityRequest from that CAV and decide to involve in that plan
 
 # standard header for all mobility messages
-cav_msgs/MobilityHeader  m_header
+cav_msgs/MobilityHeader   m_header
 
 # urgency of the current plan from 0 to 1000
-uint16                   urgency
+uint16                    urgency
 
 # the content of this response
-bool                     is_accepted
+bool                      is_accepted
+
+# type of the proposal being suggested to neighbors
+cav_msgs/PlanType plan_type
+
+# 
+cav_msgs/MobilityReason   reason         # OPTIONAL
+
+# Whether or not to repeat the MobilityRequest
+cav_msgs/MobilityRepeat   repeat         # OPTIONAL

cav_msgs/msg/PlanType.msg

@@ -12,6 +12,16 @@ uint8       CHANGE_LANE_LEFT = 1
 uint8       CHANGE_LANE_RIGHT = 2
 uint8       JOIN_PLATOON_AT_REAR = 3
 uint8       PLATOON_FOLLOWER_JOIN = 4
+uint8       JOIN_PLATOON_FROM_FRONT = 5
+uint8       PLATOON_FRONT_JOIN = 6
+uint8       CUT_IN_FROM_SIDE = 7
+uint8       PLATOON_CUT_IN_JOIN = 8
+uint8       STOP_CREATE_GAP = 9
+uint8       CUT_IN_FRONT_DONE = 10
+uint8       CUT_IN_MID_OR_REAR_DONE = 11
+uint8       PLATOON_DEPARTURE = 12
+uint8       DELETE_MEMBER = 13
+
 
 # ideas for future additions:
 # uint8       SEARCHING_FOR_PLATOON = 5
@@ -21,3 +31,6 @@ uint8       PLATOON_FOLLOWER_JOIN = 4
 # uint8       PASSING = 9 
 # pulling onto shoulder, need multi-lane change
 # join platoon in middle, merging platoons
+# MobilityPlanType.msg
+#
+#