Merge release/k900 for 4.4.0 release (#205)

<!-- Thanks for the contribution, this is awesome. -->
This PR is to merge release branch into master for release process of
k900
# PR Details
## Description

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## Related Issue

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issue first -->
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## Motivation and Context

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## How Has This Been Tested?

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## Types of changes

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the boxes that apply: -->

- [ ] Defect fix (non-breaking change that fixes an issue)
- [ ] New feature (non-breaking change that adds functionality)
- [ ] Breaking change (fix or feature that cause existing functionality
to change)

## Checklist:

<!--- Go over all the following points, and put an `x` in all the boxes
that apply. -->
<!--- If you're unsure about any of these, don't hesitate to ask. We're
here to help! -->

- [ ] I have added any new packages to the sonar-scanner.properties file
- [ ] My change requires a change to the documentation.
- [ ] I have updated the documentation accordingly.
- [ ] I have read the
[**CONTRIBUTING**](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/Contributing.md)
document.
- [ ] I have added tests to cover my changes.
- [ ] All new and existing tests passed.

.circleci/config.yml

@@ -3,7 +3,7 @@ jobs:
   build:
     # Setup docker
     docker:
-      - image: usdotfhwastol/carma-base:carma-system-4.3.0
+      - image: usdotfhwastol/carma-base:carma-system-4.4.0
         user: carma
         environment:
           TERM: xterm # use xterm to get full display output from build

.github/workflows/docker.yml

@@ -0,0 +1,14 @@
+name: Docker build
+
+on:
+  push:
+    branches-ignore:
+      - "develop"
+      - "master"
+      - "release/*"
+  pull_request:
+      types: [opened, synchronize, reopened]
+
+jobs:
+  docker:
+    uses: usdot-fhwa-stol/actions/.github/workflows/docker.yml@main

.github/workflows/dockerhub.yml

@@ -5,6 +5,7 @@ on:
     branches:
       - "develop"
       - "master"
+      - "release/*"
 
 jobs:
   dockerhub:

Dockerfile

@@ -1,4 +1,4 @@
-FROM usdotfhwastol/carma-base:carma-system-4.3.0 as base_image
+FROM usdotfhwastol/carma-base:carma-system-4.4.0 as base_image
 SHELL ["/bin/bash", "-c"]
 
 ARG DEBIAN_FRONTEND="noninteractive"

carma_planning_msgs/srv/GetEmergencyRoute.srv

@@ -0,0 +1,21 @@
+#
+# GetEmergencyRoute.srv
+# 
+# Provided by the EmergencyResponseVehicle node. Call the service to receive the name of 
+#   the node's current emergency route, if it was successfully loaded. 
+#   Responds with success boolean and name of loaded route. 
+#
+# @author Alex Frye
+# @version 0.1
+#
+
+# Request - No arguments
+
+---
+# Response
+
+# Success boolean
+bool is_successful
+
+# Name of route selected
+string route_name

carma_v2x_msgs/msg/EmergencyVehicleAck.msg

@@ -0,0 +1,10 @@
+# EmergencyVehicleAck.msg
+
+# This message is used by an emergency vehicle to acknowledge receipt of an 
+# EmergencyVehicleResponse message from a carma-equipped vehicle
+
+# standard header for all mobility messages
+carma_v2x_msgs/MobilityHeader m_header
+
+# True when the emergency vehicle has received the EmergencyVehicleResponse message. Currently this should never be false
+bool acknowledgement

carma_v2x_msgs/msg/ObstacleDetection.msg

@@ -28,9 +28,9 @@ uint16 HAS_DESCRIPTION = 1
 uint16 HAS_LOCATION_DETAILS = 2
 uint16 HAS_VERT_EVENT = 4
 
-j2735_v2x_msgs/ObstacleDistance ob_dist
+carma_v2x_msgs/ObstacleDistance ob_dist
 
-j2735_v2x_msgs/ObstacleDirection ob_direct
+carma_v2x_msgs/ObstacleDirection ob_direct
 
 j2735_v2x_msgs/DDateTime date_time
 

carma_v2x_msgs/msg/VehicleData.msg

@@ -26,10 +26,10 @@ uint16 HAS_MASS = 4
 uint16 HAS_TRAILER_WEIGHT = 8
 
 
-j2735_v2x_msgs/VehicleHeight height
+carma_v2x_msgs/VehicleHeight height
 
-j2735_v2x_msgs/BumperHeights bumpers
+carma_v2x_msgs/BumperHeights bumpers
 
-j2735_v2x_msgs/VehicleMass mass
+carma_v2x_msgs/VehicleMass mass
 
 carma_v2x_msgs/TrailerWeight trailer_weight

carma_v2x_msgs/msg/VehicleMass.msg

@@ -0,0 +1,23 @@
+#
+# VehicleMass.msg
+#
+# Modified J2735 2016 message format, adjusted to use base SI units (m,s, etc) in most case.
+#
+
+# VehicleMass ::= INTEGER (0..255)
+#     -- Values 000 to 080 in steps of 50kg
+#     -- Values 081 to 200 in steps of 500kg
+#     -- Values 201 to 253 in steps of 2000kg
+#     -- The Value 254 shall be used for weights above 170000 kg
+#     -- The Value 255 shall be used when the value is unknown or unavailable
+#     -- Encoded such that the values:
+#     --  81 represents   4500 kg
+#     -- 181 represents  54500 kg
+#     -- 253 represents 170000 kg
+uint32 vehicle_mass
+
+uint32 MASS_MIN=0
+uint32 MASS_MAX=170000
+
+# If true the vehicle mass is unset
+bool unavailable

cav_msgs/msg/EmergencyVehicleAck.msg

@@ -0,0 +1,10 @@
+# EmergencyVehicleAck.msg
+
+# This message is used by an emergency vehicle to acknowledge receipt of an 
+# EmergencyVehicleResponse message from a carma-equipped vehicle
+
+# standard header for all mobility messages
+cav_msgs/MobilityHeader m_header
+
+# True when the emergency vehicle has received the EmergencyVehicleResponse message. Currently this should never be false
+bool acknowledgement

cav_msgs/msg/ObstacleDetection.msg

@@ -28,9 +28,9 @@ uint16 HAS_DESCRIPTION = 1
 uint16 HAS_LOCATION_DETAILS = 2
 uint16 HAS_VERT_EVENT = 4
 
-j2735_msgs/ObstacleDistance ob_dist
+cav_msgs/ObstacleDistance ob_dist
 
-j2735_msgs/ObstacleDirection ob_direct
+cav_msgs/ObstacleDirection ob_direct
 
 j2735_msgs/DDateTime date_time
 

cav_msgs/msg/VehicleData.msg

@@ -26,10 +26,10 @@ uint16 HAS_MASS = 4
 uint16 HAS_TRAILER_WEIGHT = 8
 
 
-j2735_msgs/VehicleHeight height
+cav_msgs/VehicleHeight height
 
-j2735_msgs/BumperHeights bumpers
+cav_msgs/BumperHeights bumpers
 
-j2735_msgs/VehicleMass mass
+cav_msgs/VehicleMass mass
 
 cav_msgs/TrailerWeight trailer_weight

cav_msgs/msg/VehicleMass.msg

@@ -0,0 +1,23 @@
+#
+# VehicleMass.msg
+#
+# Modified J2735 2016 message format, adjusted to use base SI units (m,s, etc) in most case.
+#
+
+# VehicleMass ::= INTEGER (0..255)
+#     -- Values 000 to 080 in steps of 50kg
+#     -- Values 081 to 200 in steps of 500kg
+#     -- Values 201 to 253 in steps of 2000kg
+#     -- The Value 254 shall be used for weights above 170000 kg
+#     -- The Value 255 shall be used when the value is unknown or unavailable
+#     -- Encoded such that the values:
+#     --  81 represents   4500 kg
+#     -- 181 represents  54500 kg
+#     -- 253 represents 170000 kg
+uint32 vehicle_mass
+
+uint32 MASS_MIN=0
+uint32 MASS_MAX=170000
+
+# If true the vehicle mass is unset
+bool unavailable

cav_srvs/srv/GetEmergencyRoute.srv

@@ -0,0 +1,21 @@
+#
+# GetEmergencyRoute.srv
+# 
+# Provided by the EmergencyResponseVehicle node. Call the service to receive the name of 
+#   the node's current emergency route, if it was successfully loaded. 
+#   Responds with success boolean and name of loaded route. 
+#
+# @author Alex Frye
+# @version 0.1
+#
+
+# Request - No arguments
+
+---
+# Response
+
+# Success boolean
+bool is_successful
+
+# Name of route selected
+string route_name

docker/checkout.bash

@@ -42,12 +42,12 @@ cd ${dir}/src
 
 if [[ "$BRANCH" = "develop" ]]; then
       cd /home/carma/
-      git clone https://github.com/usdot-fhwa-stol/autoware.ai.git --depth 1 --branch carma-develop
+      git clone https://github.com/usdot-fhwa-stol/autoware.ai.git --depth 1 --branch release/k900
       cd ${dir}/src
-      git clone --depth 1 --branch develop  https://github.com/usdot-fhwa-stol/ros1_bridge.git
+      git clone --depth 1 --branch carma-system-4.4.0 https://github.com/usdot-fhwa-stol/ros1_bridge.git
 else
       cd /home/carma/
-      git clone --depth 1 --branch carma-system-4.3.0 https://github.com/usdot-fhwa-stol/autoware.ai.git
+      git clone https://github.com/usdot-fhwa-stol/autoware.ai.git --depth 1 --branch carma-develop
       cd ~/.base-image/workspace/src
-      git clone --depth 1 --branch carma-system-4.3.0 https://github.com/usdot-fhwa-stol/ros1_bridge.git
+      git clone --depth 1 --branch develop https://github.com/usdot-fhwa-stol/ros1_bridge.git
 fi

j2735_msgs/msg/AmbientAirPressure.msg

@@ -10,4 +10,5 @@
 uint8 pressure
 
 uint8 PRESSURE_MIN = 0
-uint8 PRESSURE_MAX = 255
+uint8 PRESSURE_MAX = 255
+uint8 PRESSURE_UNAVAILABLE = 0

j2735_msgs/msg/BumperHeight.msg

@@ -7,3 +7,6 @@
 # BumperHeight ::= INTEGER (0..127) 
 #    -- in units of 0.01 meters from ground surface.
 uint8 bumper_height
+
+uint8 BUMPER_HEIGHT_MIN=0
+uint8 BUMPER_HEIGHT_MAX=127

j2735_msgs/msg/CoefficientOfFriction.msg

@@ -9,4 +9,6 @@
 #    -- and  50 = 1.00 micro, in steps of 0.02
 uint8 coefficient
 
-uint8 COEFFICIENT_MAX=50
+uint8 COEFFICIENT_MIN=0
+uint8 COEFFICIENT_MAX=50
+uint8 COEFFICIENT_UNAVAILABLE=0

j2735_msgs/msg/DisabledVehicle.msg

@@ -33,5 +33,7 @@ uint16 presence_vector
 uint16 HAS_LOCATION_DETAILS = 1
 
 j2735_msgs/ITIScodes status_details
+uint16 STATUS_DETAILS_MIN = 532
+uint16 STATUS_DETAILS_MAX = 541
 
 j2735_msgs/ITISGenericLocations location_details

j2735_msgs/msg/EventDescription.msg

@@ -40,13 +40,10 @@ uint16 presence_vector
 uint16 HAS_PRIORITY = 1
 uint16 HAS_HEADING = 2
 uint16 HAS_EXTENT = 4
+uint16 HAS_DESCRIPTION = 8
 
 j2735_msgs/ITIScodes type_event
 
-j2735_msgs/ITIScodes[] description
-uint8 DESCRIPTION_SIZE_MIN = 1
-uint8 DESCRIPTION_SIZE_MAX = 8
-
 ####
 # OPTIONAL FIELDS
 # All fields below this section are optional.
@@ -59,4 +56,8 @@ j2735_msgs/HeadingSlice heading
 
 j2735_msgs/Extent extent
 
+j2735_msgs/ITIScodes[] description
+uint8 DESCRIPTION_SIZE_MIN = 1
+uint8 DESCRIPTION_SIZE_MAX = 8
+
 # regional #TODO: RegionalExtensions are not yet supported for this message type

j2735_msgs/msg/NodeXY24b.msg

@@ -20,5 +20,9 @@
 # reference, non-vehicle centric coordinate frames of reference, offset is positive to the East (X) and to the North (Y)
 # directions. The most negative value shall be used to indicate an unknown value.
 
-float32 x
-float32 y
+int16 x
+int16 y
+
+int16 UNKNOWN=-2048
+int16 MIN=-2047
+int16 MAX=2047

j2735_msgs/msg/ObstacleDetection.msg

@@ -41,6 +41,8 @@ j2735_msgs/DDateTime date_time
 ####
 
 j2735_msgs/ITIScodes description
+uint16 DESCRIPTION_MIN = 523
+uint16 DESCRIPTION_MAX = 541
 
 j2735_msgs/ITISGenericLocations location_details
 

j2735_msgs/msg/Priority.msg

@@ -6,4 +6,4 @@
 
 # Priority ::= OCTET STRING (SIZE(1))
 #  -- Follow J2735 2016 definition notes on setting these bits
-uint8[] priority
+uint8[1] priority