Merge release Isetta (#202)

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# PR Details
This PR is to merge release branch isetta to master for release 4.3.0
## Description

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## Related Issue

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## Motivation and Context

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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
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## Checklist:

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- [ ] 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.
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[**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-4.2.0
+      - image: usdotfhwastol/carma-base:carma-system-4.3.0
         user: carma
         environment:
           TERM: xterm # use xterm to get full display output from build

.github/workflows/dockerhub.yml

@@ -0,0 +1,14 @@
+name: Docker Hub build
+
+on:
+  push:
+    branches:
+      - "develop"
+      - "master"
+
+jobs:
+  dockerhub:
+    uses: usdot-fhwa-stol/actions/.github/workflows/dockerhub.yml@main
+    secrets:
+      DOCKERHUB_USERNAME: ${{ secrets.DOCKERHUB_USERNAME }}
+      DOCKERHUB_TOKEN: ${{ secrets.DOCKERHUB_TOKEN }}

Dockerfile

@@ -1,4 +1,4 @@
-FROM usdotfhwastol/carma-base:carma-system-4.2.0 as base_image
+FROM usdotfhwastol/carma-base:carma-system-4.3.0 as base_image
 SHELL ["/bin/bash", "-c"]
 
 ARG DEBIAN_FRONTEND="noninteractive"

README.md

@@ -1,3 +1,8 @@
+| CicleCI Build Status | Sonar Code Quality | DockerHub Release | DockerHub Release Candidate | DockerHub Develop |
+|------|-----|-----|-----|-----|
+[![CircleCI](https://img.shields.io/circleci/build/gh/usdot-fhwa-stol/carma-msgs/develop?label=CircleCI)](https://app.circleci.com/pipelines/github/usdot-fhwa-stol/carma-msgs?branch=develop) | [![Quality Gate Status](https://sonarcloud.io/api/project_badges/measure?project=usdot-fhwa-stol_CARMAMsgs&metric=alert_status)](https://sonarcloud.io/dashboard?id=usdot-fhwa-stol_CARMAMsgs) | [![Docker Cloud Build Status](https://img.shields.io/docker/cloud/build/usdotfhwastol/carma-msgs?label=carma-msgs)](https://hub.docker.com/repository/docker/usdotfhwastol/carma-msgs) | [![Docker Cloud Build Status](https://img.shields.io/docker/cloud/build/usdotfhwastolcandidate/carma-msgs?label=carma-msgs)](https://hub.docker.com/repository/docker/usdotfhwastolcandidate/carma-msgs) | [![Docker Cloud Build Status](https://img.shields.io/docker/cloud/build/usdotfhwastoldev/carma-msgs?label=carma-msgs)](https://hub.docker.com/repository/docker/usdotfhwastoldev/carma-msgs)
+
+
 # CARMAMsgs
 CARMAMsgs contains all the CARMAPlatform-specific ROS message definitions used by the CARMAPlatform
 

carma_v2x_msgs/msg/AmbientAirPressure.msg

@@ -0,0 +1,14 @@
+#
+# AmbientAirPressure.msg
+#
+# Modified J2735 2016 message format, adjusted to use base SI units (m,s, etc) in most case.
+#
+
+# AmbientAirPressure in Pascals in range [58000..108800]
+float32 pressure
+
+float32 PRESSURE_MIN = 58000
+float32 PRESSURE_MAX = 108800
+
+# If true the ambient air pressure is unavailable
+bool unavailable

carma_v2x_msgs/msg/AmbientAirTemperature.msg

@@ -0,0 +1,14 @@
+#
+# AmbientAirTemperature.msg
+#
+# Modified J2735 2016 message format, adjusted to use base SI units (m,s, etc) in most case.
+#
+
+# AmbientAirTemperature in deg C in range (-40..150) deg C
+float32 temperature 
+
+float32 TERMPERATURE_MIN=-40
+float32 TEMPERATURE_MAX=150
+
+# If true the ambient air temperature is unavailable
+bool unavailable

carma_v2x_msgs/msg/Angle.msg

@@ -0,0 +1,18 @@
+#
+# Angle.msg
+#
+# Modified J2735 2016 message format, adjusted to use base SI units (m,s, etc) in most case.
+#
+
+# The current heading of the sending device is expressed in degrees from north. North shall be defined as the axis 
+# defined by the WGS-84 coordinate system and its reference ellipsoid. Any angle “to the east” is defined
+# as the positive direction. 
+
+# Angle in degrees in range (0..359.9875)
+float32 angle
+
+float32 ANGLE_MAX = 359.9875
+float32 ANGLE_MIN = 0.0
+
+# If true then angle is unavailable
+bool unavailable

carma_v2x_msgs/msg/BSM.msg

@@ -7,14 +7,34 @@
 # @version 0.1
 #
 # This is the parsed version of BSMRaw that will be passed around between Guidance, Negotiator, Message and other nodes. 
-# 
-# NOTE: Initial version only considers Part I. Part II will be defined for later use. 
 
 std_msgs/Header header
 
+# -- Part I, Sent at all times with each message
 carma_v2x_msgs/BSMCoreData core_data
 
-# -- Part II Content is for future use. 
+#    -- Part II Content
 
+# A BIT STRING defining the presence of optional fields.
+# Compare with bitwise-and
+# if (presence_vector & HAS_PART_II_EXTENSION) etc.
+# Create with bitwise-or
+# presence_vector = presence_vector | HAS_PART_II_EXTENSION
+uint8 presence_vector
 
+uint8 HAS_PART_II = 1
+uint8 HAS_REGIONAL = 2
 
+#    partII        SEQUENCE (SIZE(1..8)) OF 
+#                  PartIIcontent {{ BSMpartIIExtension }} OPTIONAL,
+carma_v2x_msgs/BSMPartIIExtension[] part_ii
+
+uint8 PART_II_MIN_SIZE = 1
+uint8 PART_II_MAX_SIZE = 8
+
+#    regional      SEQUENCE (SIZE(1..4)) OF 
+#                 RegionalExtension {{REGION.Reg-BasicSafetyMessage}} OPTIONAL,
+carma_v2x_msgs/BSMRegionalExtension[] regional
+
+uint8 REGIONAL_MIN_SIZE = 1
+uint8 REGIONAL_MAX_SIZE = 4

carma_v2x_msgs/msg/BSMCoreData.msg

@@ -7,8 +7,6 @@
 # @version 0.1
 #
 # Contains critical core elements deemed to be needed with every BSM issued.  
-# 
-# NOTE: Initial version only considers Part I. Part II will be defined for later use. 
 
 #MsgCount ::= INTEGER (0..127)
 uint8 msg_count

carma_v2x_msgs/msg/BSMPartIIExtension.msg

@@ -0,0 +1,44 @@
+#
+# BSMPartIIExtension.msg
+#
+# Modified J2735 2016 message format, adjusted to use base SI units (m,s, etc) in most case.
+
+# -- BSM Part II content support
+# PARTII-EXT-ID-AND-TYPE ::= CLASS {
+#   &id     PartII-Id UNIQUE,
+#   &Type
+#   } WITH SYNTAX {&Type IDENTIFIED BY &id}
+#
+# PartIIcontent  { PARTII-EXT-ID-AND-TYPE: Set} ::= SEQUENCE {
+#   partII-Id     PARTII-EXT-ID-AND-TYPE.&id( {Set} ),
+#   partII-Value  PARTII-EXT-ID-AND-TYPE.&Type( {Set}{@partII-Id} )
+#   }
+#
+# PartII-Id ::= INTEGER (0..63)
+#   vehicleSafetyExt       PartII-Id::= 0  -- VehicleSafetyExtensions
+#   specialVehicleExt      PartII-Id::= 1  -- SpecialVehicleExtensions
+#   supplementalVehicleExt PartII-Id::= 2  -- SupplementalVehicleExtensions
+#   -- NOTE: new registered Part II content IDs will be denoted here
+#
+# -- In a given message there may be multiple extensions present 
+# -- but at most one instance of each extension type.
+# BSMpartIIExtension  PARTII-EXT-ID-AND-TYPE ::= { 
+#   { VehicleSafetyExtensions       IDENTIFIED BY vehicleSafetyExt} |
+#   { SpecialVehicleExtensions      IDENTIFIED BY specialVehicleExt} |
+#   { SupplementalVehicleExtensions IDENTIFIED BY supplementalVehicleExt} ,
+#   ... 
+#   }  
+
+uint8 part_ii_id
+
+# Enumeration values for part_ii_id
+uint8 VEHICLE_SAFETY_EXT = 0
+uint8 SPECIAL_VEHICLE_EXT = 1
+uint8 SUPPLEMENTAL_VEHICLE_EXT = 2
+
+carma_v2x_msgs/VehicleSafetyExtensions vehicle_safety_extensions
+
+carma_v2x_msgs/SpecialVehicleExtensions special_vehicle_extensions
+
+carma_v2x_msgs/SupplementalVehicleExtensions supplemental_vehicle_extensions
+

carma_v2x_msgs/msg/BSMRegionalExtension.msg

@@ -0,0 +1,17 @@
+#
+# BSMRegionalExtension.msg
+#
+# Modified J2735 2016 message format, adjusted to use base SI units (m,s, etc) in most case.
+
+
+# This message includes the BSM RegionalExtensions supported by CARMA.
+
+# ID pertaining to the type of regional extension that is populated in this message
+uint16 regional_extension_id
+
+# Enumeration values for regional_extension_id
+uint16 ROUTE_DESTINATIONS = 1
+
+# Array of waypoints describing a vehicle's route
+# Note: Receiving vehicle will generate a route using these points
+carma_v2x_msgs/Position3D[] route_destination_points

carma_v2x_msgs/msg/BumperHeight.msg

@@ -0,0 +1,11 @@
+#
+# BumperHeight.msg
+#
+# Modified J2735 2016 message format, adjusted to use base SI units (m,s, etc) in most case.
+#
+
+# BumperHeight in meters in range of [0..1.27] meters
+float32 bumper_height
+
+float32 BUMPER_HEIGHT_MIN = 0.0
+float32 BUMPER_HEIGHT_MAX = 1.27

carma_v2x_msgs/msg/BumperHeights.msg

@@ -0,0 +1,12 @@
+#
+# BumperHeights.msg
+#
+# Modified J2735 2016 message format, adjusted to use base SI units (m,s, etc) in most case.
+#
+
+# BumperHeights ::= SEQUENCE {
+#    front      BumperHeight, 
+#    rear       BumperHeight
+#    }
+carma_v2x_msgs/BumperHeight front
+carma_v2x_msgs/BumperHeight rear

carma_v2x_msgs/msg/CoefficientOfFriction.msg

@@ -0,0 +1,14 @@
+#
+# CoefficientOfFriction.msg
+#
+# Modified J2735 2016 message format, adjusted to use base SI units (m,s, etc) in most case.
+#
+
+# CoefficientOfFriction in micro in range [0..1.0]
+float32 coefficient
+
+float32 COEFFICIENT_MIN=0.0
+float32 COEFFICIENT_MAX=1.0
+
+# If true the coefficient of friction is unavailable
+bool unavailable

carma_v2x_msgs/msg/EmergencyVehicleResponse.msg

@@ -0,0 +1,16 @@
+# EmergencyVehicleResponse.msg
+
+# This message is used to respond to an emegency vehicle, 
+#   usually to let them know that this vehicle cannot make a lane change to get out of the way
+
+# standard header for all mobility messages
+carma_v2x_msgs/MobilityHeader m_header
+
+# False if the host vehicle can not get out of the way
+bool can_change_lanes
+
+# OPTIONAL text reason for why the host vehicle is unable to get out of the way
+# The maximum length is 128
+# example: "CMV is unable to change lanes for <insert-supported-reason-here>"
+string reason
+bool reason_exists

carma_v2x_msgs/msg/GrossSpeed.msg

@@ -0,0 +1,17 @@
+#
+# GrossSpeed.msg
+#
+# Modified J2735 2016 message format, adjusted to use base SI units (m,s, etc) in most case.
+#
+
+# GrossSpeed ::= INTEGER (0..31) -- Units of 1.00 m/s
+#    -- The value 30 shall be used for speeds of 30 m/s or greater (67.1 mph)
+#    -- The value 31 shall indicate that the speed is unavailable
+# GrossSpeed in m/s in range [0, 30] m/s
+float32 speed
+
+float32 SPEED_MIN=0.0
+float32 SPEED_MAX=30.0
+
+# If true the gross speed is unavailable
+bool unavailable

carma_v2x_msgs/msg/NTCIPEssPrecipRate.msg

@@ -0,0 +1,11 @@
+#
+# NTCIPEssPrecipRate.msg
+#
+# Modified J2735 2016 message format, adjusted to use base SI units (m,s, etc) in most case.
+#
+
+# EssPrecipRate in grams per square meter per second in range [0..6553.5] grams per square meter per second
+float32 precip_rate
+
+# If true there is an error condition or a missing value for EssPrecipRate
+bool unavailable

carma_v2x_msgs/msg/NodeXY24b.msg

@@ -0,0 +1,14 @@
+#
+# NodeXY24b.msg
+#
+# Modified J2735 2016 message format, adjusted to use base SI units (m,s, etc) in most case.
+#
+
+# A 24-bit node type with offset values from the last point in X and Y.
+#
+# Node-XY-24b ::= SEQUENCE {
+# x Offset-B12,
+# y Offset-B12
+# }
+carma_v2x_msgs/OffsetB12 x
+carma_v2x_msgs/OffsetB12 y

carma_v2x_msgs/msg/ObstacleDetection.msg

@@ -0,0 +1,47 @@
+#
+# ObstacleDetection.msg
+#
+# J2735 2016 message format.
+#
+
+# ObstacleDetection ::= SEQUENCE {  
+#    obDist          ObstacleDistance,        -- Obstacle Distance        
+#    obDirect        ObstacleDirection,       -- Obstacle Direction
+#    description     ITIS.ITIScodes(523..541) OPTIONAL, 
+#                                             -- Uses a limited set of ITIS codes        
+#    locationDetails ITIS.GenericLocations OPTIONAL,        
+#    dateTime        DDateTime,               -- Time detected
+#    vertEvent       VerticalAccelerationThreshold OPTIONAL, 
+#                                             -- Any wheels which have 
+#                                             -- exceeded the acceleration point
+#    ...
+#    }
+
+# A BIT STRING defining the presence of optional fields.
+# Compare with bitwise-and
+# if (presence_vector & HAS_DESCRIPTION) etc.
+# Create with bitwise-or
+# presence_vector = presence_vector | HAS_DESCRIPTION
+uint16 presence_vector
+
+uint16 HAS_DESCRIPTION = 1
+uint16 HAS_LOCATION_DETAILS = 2
+uint16 HAS_VERT_EVENT = 4
+
+j2735_v2x_msgs/ObstacleDistance ob_dist
+
+j2735_v2x_msgs/ObstacleDirection ob_direct
+
+j2735_v2x_msgs/DDateTime date_time
+
+####
+# OPTIONAL FIELDS
+# All fields below this section are optional.
+# The presence of a given field can be idenfied by checking the presence_vector
+####
+
+j2735_v2x_msgs/ITIScodes description
+
+j2735_v2x_msgs/ITISGenericLocations location_details
+
+j2735_v2x_msgs/VerticalAccelerationThreshold vert_event

carma_v2x_msgs/msg/ObstacleDirection.msg

@@ -0,0 +1,8 @@
+#
+# ObstacleDirection.msg
+#
+# Modified J2735 2016 message format, adjusted to use base SI units (m,s, etc) in most case.
+#
+
+# ObstacleDirection ::= Angle
+carma_v2x_msgs/Angle direction

carma_v2x_msgs/msg/ObstacleDistance.msg

@@ -0,0 +1,11 @@
+#
+# ObstacleDistance.msg
+#
+# Modified J2735 2016 message format, adjusted to use base SI units (m,s, etc) in most case.
+#
+
+# ObstacleDistance in meters in range [0..32767] meters
+float32 distance
+
+float32 DISTANCE_MIN = 0.0
+float32 DISTANCE_MAX = 32767.0

carma_v2x_msgs/msg/OffsetB09.msg

@@ -0,0 +1,14 @@
+#
+# OffsetB09.msg
+#
+# J2735 2016 message format.
+#
+
+# Offset-B09 delta offset in meters in range [-2.55..2.5] meters
+float32 offset
+
+float32 OFFSET_MIN=-2.55
+float32 OFFSET_MAX=2.55
+
+# If true the offset is unset
+bool unavailable