Arc 205 ros1 cleanup (#243)

# PR Details ## Description This PR merges the ROS1 `j2735_msgs` and `j3224_msgs` packages into `j2735_v2x_msgs` and `j3224_v2x_msgs`, which can be built with both ROS1 and ROS2. ## Related GitHub Issue NA ## Related Jira Key [ARC-205](https://usdot-carma.atlassian.net/browse/ARC-205) ## Motivation and Context Consolidating these packages is a step towards our ROS2 migration efforts. ## How Has This Been Tested? Messages built locally in ROS1 and ROS2 ## Types of changes - [ ] Defect fix (non-breaking change that fixes an issue) - [ ] New feature (non-breaking change that adds functionality) - [x] Breaking change (fix or feature that cause existing functionality to change) ## Checklist: - [ ] 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. - [x] 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. [ARC-205]: https://usdot-carma.atlassian.net/browse/ARC-205?atlOrigin=eyJpIjoiNWRkNTljNzYxNjVmNDY3MDlhMDU5Y2ZhYzA5YTRkZjUiLCJwIjoiZ2l0aHViLWNvbS1KU1cifQ
usdot-fhwa-stol · Sep 19, 2024 · d2f428e · d2f428e
2 parents a6a6c2f + af07643
commit d2f428e
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diff --git a/.sonarqube/sonar-scanner.properties b/.sonarqube/sonar-scanner.properties
@@ -25,11 +25,9 @@ sonar.modules= carma_debug_msgs, \
   carma_v2x_msgs, \
   cav_msgs, \
   cav_srvs, \
-  j2735_msgs, \
   j2735_v2x_msgs,\
   can_msgs, \
   j3224_v2x_msgs, \
-  j3224_msgs, \
   carma_message_utilities
 
 carma_debug_msgs.sonar.projectBaseDir                  = /opt/carma/src/carma-msgs/carma_debug_msgs
@@ -42,9 +40,7 @@ carma_planning_msgs.sonar.projectBaseDir            = /opt/carma/src/carma-msgs/
 carma_v2x_msgs.sonar.projectBaseDir                = /opt/carma/src/carma-msgs/carma_v2x_msgs
 cav_msgs.sonar.projectBaseDir            = /opt/carma/src/carma-msgs/cav_msgs
 cav_srvs.sonar.projectBaseDir             = /opt/carma/src/carma-msgs/cav_srvs
-j2735_msgs.sonar.projectBaseDir      = /opt/carma/src/carma-msgs/j2735_msgs
 j2735_v2x_msgs.sonar.projectBaseDir   = /opt/carma/src/carma-msgs/j2735_v2x_msgs
 can_msgs.sonar.projectBaseDir             = /opt/carma/src/carma-msgs/can_msgs
 j3224_v2x_msgs.sonar.projectBaseDir      = /opt/carma/src/carma-msgs/j3224_v2x_msgs
-j3224_msgs.sonar.projectBaseDir   = /opt/carma/src/carma-msgs/j3224_msgs
 carma_message_utilities = /opt/carma/src/carma-msgs/carma_message_utilities
diff --git a/cav_msgs/CMakeLists.txt b/cav_msgs/CMakeLists.txt
@@ -31,8 +31,8 @@ find_package(catkin REQUIRED COMPONENTS
   message_generation
   std_msgs
   geometry_msgs
-  j2735_msgs
-  j3224_msgs
+  j2735_v2x_msgs
+  j3224_v2x_msgs
 )
 
 ## System dependencies are found with CMake's conventions
@@ -100,8 +100,8 @@ generate_messages(
   DEPENDENCIES
   std_msgs
   geometry_msgs
-  j2735_msgs
-  j3224_msgs
+  j2735_v2x_msgs
+  j3224_v2x_msgs
 )
 
 ################################################
@@ -136,7 +136,7 @@ generate_messages(
 catkin_package(
  # INCLUDE_DIRS include
 #  LIBRARIES cav_msgs
- CATKIN_DEPENDS message_runtime std_msgs geometry_msgs j2735_msgs j3224_msgs
+ CATKIN_DEPENDS message_runtime std_msgs geometry_msgs j2735_v2x_msgs j3224_v2x_msgs
 #  DEPENDS system_lib
 )
 

diff --git a/cav_msgs/msg/AdvisorySpeed.msg b/cav_msgs/msg/AdvisorySpeed.msg
@@ -33,7 +33,7 @@
 # ...
 # }
 
-j2735_msgs/AdvisorySpeedType type
+j2735_v2x_msgs/AdvisorySpeedType type
 
 # Deviates from J2735 standard:
 # SpeedAdvice in this message are conveyed as m/s rather than 1/10th m/s to avoid redundant unnecessary conversion by subscribers
@@ -46,7 +46,7 @@ float32 SPEED_UNAVAILABLE = 50.0
 bool speed_exists
 
 # SpeedConfidence is an enum already with 0 as unavailable.
-j2735_msgs/SpeedConfidence confidence
+j2735_v2x_msgs/SpeedConfidence confidence
 
 # ZoneLength ::= INTEGER (0..10000)
 # -- Unit = 1 meter, 0 = unknown,

diff --git a/cav_msgs/msg/BSMCoreData.msg b/cav_msgs/msg/BSMCoreData.msg
@@ -75,7 +75,7 @@ float32 ELEVATION_MIN = -409.5
 cav_msgs/PositionalAccuracy accuracy
 
 # Provide the current state of the vehicle transmission
-j2735_msgs/TransmissionState transmission
+j2735_v2x_msgs/TransmissionState transmission
 
 #Speed ::= INTEGER (0..8191) -- Units of 0.02 m/s
 #  -- The value 8191 indicates that speed is unavailable
@@ -108,7 +108,7 @@ float32 STEER_WHEEL_ANGLE_MIN = -189.0
 cav_msgs/AccelerationSet4Way accel_set
 
 # Conveys a variety of information about the current brake and system control activity of the vehicle.
-j2735_msgs/BrakeSystemStatus brakes
+j2735_v2x_msgs/BrakeSystemStatus brakes
 
 # The vehicle length and width
 cav_msgs/VehicleSize size
diff --git a/cav_msgs/msg/DetectedObjectCommonData.msg b/cav_msgs/msg/DetectedObjectCommonData.msg
@@ -30,27 +30,27 @@
 #    accCfdYaw YawRateConfidence OPTIONAL,
 # }
 
-j3224_msgs/ObjectType obj_type
+j3224_v2x_msgs/ObjectType obj_type
 
-j3224_msgs/ClassificationConfidence obj_type_cfd
+j3224_v2x_msgs/ClassificationConfidence obj_type_cfd
 
-j3224_msgs/ObjectID detected_id 
+j3224_v2x_msgs/ObjectID detected_id 
 
 cav_msgs/MeasurementTimeOffset measurement_time
 
-j2735_msgs/TimeConfidence time_confidence
+j2735_v2x_msgs/TimeConfidence time_confidence
 
 cav_msgs/PositionOffsetXYZ pos
 
-j2735_msgs/PositionConfidenceSet pos_confidence
+j2735_v2x_msgs/PositionConfidenceSet pos_confidence
 
 cav_msgs/Speed speed 
 
-j2735_msgs/SpeedConfidence speed_confidence
+j2735_v2x_msgs/SpeedConfidence speed_confidence
 
 cav_msgs/Heading heading
 
-j2735_msgs/HeadingConfidence heading_conf
+j2735_v2x_msgs/HeadingConfidence heading_conf
 
 # A BIT STRING defining the presence of optional fields.
 # Compare with bitwise-and
@@ -69,14 +69,14 @@ uint8 HAS_ACC_CFD_YAW = 64
 
 cav_msgs/Speed speed_z
 
-j2735_msgs/SpeedConfidence speed_confidence_z
+j2735_v2x_msgs/SpeedConfidence speed_confidence_z
 
 cav_msgs/AccelerationSet4Way accel_4_way
 
-j2735_msgs/AccelerationConfidence acc_cfd_x
+j2735_v2x_msgs/AccelerationConfidence acc_cfd_x
 
-j2735_msgs/AccelerationConfidence acc_cfd_y
+j2735_v2x_msgs/AccelerationConfidence acc_cfd_y
 
-j2735_msgs/AccelerationConfidence acc_cfd_z
+j2735_v2x_msgs/AccelerationConfidence acc_cfd_z
 
-j2735_msgs/YawRateConfidence acc_cfd_yaw
+j2735_v2x_msgs/YawRateConfidence acc_cfd_yaw
diff --git a/cav_msgs/msg/DetectedObstacleData.msg b/cav_msgs/msg/DetectedObstacleData.msg
@@ -14,4 +14,4 @@
 
 cav_msgs/ObstacleSize obst_size
 
-j3224_msgs/ObstacleSizeConfidence obst_size_confidence
+j3224_v2x_msgs/ObstacleSizeConfidence obst_size_confidence
diff --git a/cav_msgs/msg/DetectedVRUData.msg b/cav_msgs/msg/DetectedVRUData.msg
@@ -26,10 +26,10 @@ uint8 HAS_PROPULSION = 2
 uint8 HAS_ATTACHMENT = 4
 uint8 HAS_RADIUS = 8
 
-j2735_msgs/PersonalDeviceUserType basic_type 
+j2735_v2x_msgs/PersonalDeviceUserType basic_type 
 
-j2735_msgs/PropelledInformation propulsion 
+j2735_v2x_msgs/PropelledInformation propulsion 
 
-j2735_msgs/Attachment attachment
+j2735_v2x_msgs/Attachment attachment
 
 cav_msgs/AttachmentRadius radius
diff --git a/cav_msgs/msg/DetectedVehicleData.msg b/cav_msgs/msg/DetectedVehicleData.msg
@@ -39,22 +39,22 @@ uint16 HAS_VEHICLE_SIZE_CONFIDENCE = 128
 uint16 HAS_VEHICLE_CLASS = 256
 uint16 HAS_CLASS_CONF = 512
 
-j2735_msgs/ExteriorLights lights
+j2735_v2x_msgs/ExteriorLights lights
 
 cav_msgs/Attitude veh_attitude
 
-j3224_msgs/AttitudeConfidence veh_attitude_confidence
+j3224_v2x_msgs/AttitudeConfidence veh_attitude_confidence
 
 cav_msgs/AngularVelocity veh_ang_vel
 
-j3224_msgs/AngularVelocityConfidence veh_ang_vel_confidence
+j3224_v2x_msgs/AngularVelocityConfidence veh_ang_vel_confidence
 
 cav_msgs/VehicleSize size
 
 cav_msgs/VehicleHeight height
 
-j3224_msgs/VehicleSizeConfidence vehicle_size_confidence
+j3224_v2x_msgs/VehicleSizeConfidence vehicle_size_confidence
 
-j2735_msgs/BasicVehicleClass vehicle_class
+j2735_v2x_msgs/BasicVehicleClass vehicle_class
 
-j3224_msgs/ClassificationConfidence class_conf
+j3224_v2x_msgs/ClassificationConfidence class_conf
diff --git a/cav_msgs/msg/FullPositionVector.msg b/cav_msgs/msg/FullPositionVector.msg
@@ -23,7 +23,7 @@ uint16 HAS_TIME_CONFIDENCE=32
 uint16 HAS_POS_CONFIDENCE=64
 uint16 HAS_SPEED_CONFIDENCE=128
 
-j2735_msgs/DDateTime utc_time
+j2735_v2x_msgs/DDateTime utc_time
 
 cav_msgs/Longitude lon
 
@@ -37,8 +37,8 @@ cav_msgs/TransmissionAndSpeed speed
 
 cav_msgs/PositionalAccuracy pos_accuracy
 
-j2735_msgs/TimeConfidence time_confidence
+j2735_v2x_msgs/TimeConfidence time_confidence
 
-j2735_msgs/PositionConfidenceSet pos_confidence
+j2735_v2x_msgs/PositionConfidenceSet pos_confidence
 
-j2735_msgs/SpeedandHeadingandThrottleConfidence speed_confidence
+j2735_v2x_msgs/SpeedandHeadingandThrottleConfidence speed_confidence
diff --git a/cav_msgs/msg/GenericLane.msg b/cav_msgs/msg/GenericLane.msg
@@ -36,11 +36,11 @@ bool egress_approach_exists
 # -- and Type Specific Attributes
 # -- These Attributes are 'lane - global' that is,
 # -- they are true for the entire length of the lane
-j2735_msgs/LaneAttributes lane_attributes
+j2735_v2x_msgs/LaneAttributes lane_attributes
 
 # maneuvers AllowedManeuvers OPTIONAL,
 # -- the permitted maneuvers for this lane
-j2735_msgs/AllowedManeuvers maneuvers
+j2735_v2x_msgs/AllowedManeuvers maneuvers
 bool maneuvers_exists
 
 # nodeList NodeListXY,
@@ -60,7 +60,7 @@ cav_msgs/NodeListXY node_list
 # lanes to which each lane connects beyond its stop point. See the Connection data frame entry for details. Note that this
 # data frame is not used in some lane object types.
 # ConnectsToList ::= SEQUENCE (SIZE(1..16)) OF Connection
-j2735_msgs/Connection[] connect_to_list
+j2735_v2x_msgs/Connection[] connect_to_list
 bool connects_to_exists
 
 # overlays OverlayLaneList OPTIONAL,

diff --git a/cav_msgs/msg/IntersectionGeometry.msg b/cav_msgs/msg/IntersectionGeometry.msg
@@ -19,7 +19,7 @@ bool name_exists
 # -- A globally unique value set,
 # -- consisting of a regionID and
 # -- intersection ID assignment
-j2735_msgs/IntersectionReferenceID id
+j2735_v2x_msgs/IntersectionReferenceID id
 
 # revision MsgCount  ::= INTEGER (0..127)
 # -- Required default values about lane descriptions follow
@@ -68,7 +68,7 @@ cav_msgs/GenericLane[] lane_list
 # The DF_PreemptPriorityList data frame consists of a list of RegionalSignalControlZone entries.
 #
 # PreemptPriorityList ::= SEQUENCE (SIZE(1..32)) OF SignalControlZone
-j2735_msgs/SignalControlZone[] preempt_priority_list
+j2735_v2x_msgs/SignalControlZone[] preempt_priority_list
 bool preempt_priority_data_exists
 
 #TODO: RegionalExtensions are not yet implemented in asn1c

diff --git a/cav_msgs/msg/IntersectionState.msg b/cav_msgs/msg/IntersectionState.msg
@@ -52,12 +52,12 @@
 string name
 bool name_exists
 
-j2735_msgs/IntersectionReferenceID id
+j2735_v2x_msgs/IntersectionReferenceID id
 
 #MsgCount ::= INTEGER (0..127)
 uint8 revision
 
-j2735_msgs/IntersectionStatusObject status
+j2735_v2x_msgs/IntersectionStatusObject status
 
 #MinuteOfTheYear OPTIONAL ::= INTEGER (0..527040)
 # The value of 527040 shall be used for invalid
@@ -101,7 +101,7 @@ cav_msgs/MovementState[] movement_list
 # This entry is used directly by one other data structure in this standard, a DF called DF_LaneAttributes <ASN>.
 #  In addition, this item may be used by data structures in other ITS standards.
 # ManeuverAssistList ::= SEQUENCE (SIZE(1..16)) OF ConnectionManeuverAssist
-j2735_msgs/ConnectionManeuverAssist[] connection_maneuver_assist_list
+j2735_v2x_msgs/ConnectionManeuverAssist[] connection_maneuver_assist_list
 bool maneuever_assist_list_exists
 
 # regional #TODO: RegionalExtensions are not yet implemented in asn1c
diff --git a/cav_msgs/msg/MapData.msg b/cav_msgs/msg/MapData.msg
@@ -25,7 +25,7 @@ bool time_stamp_exists
 uint8 msg_issue_revision
 
 #LayerType OPTIONAL :: = ENUMERATED
-j2735_msgs/LayerType layer_type
+j2735_v2x_msgs/LayerType layer_type
 
 #LayerID OPTIONAL ::= INTEGER (0..100)
 uint8 layer_id
@@ -42,7 +42,7 @@ cav_msgs/RoadSegment[] road_segment_list
 bool road_segments_exists
 
 #DataParameters OPTIONAL,
-j2735_msgs/DataParameters data_parameters
+j2735_v2x_msgs/DataParameters data_parameters
 bool data_parameters_exists
 
 # OPTIONAL
@@ -51,7 +51,7 @@ bool data_parameters_exists
 # (signal phase information) with the GroupID for this group. This data frame is typically static for long periods of time
 # (months) and conveyed to the user by means of the MAP message.
 # RestrictionClassList ::= SEQUENCE (SIZE(1..254)) OF RestrictionClassAssignment
-j2735_msgs/RestrictionClassAssignment[] restriction_class_list
+j2735_v2x_msgs/RestrictionClassAssignment[] restriction_class_list
 bool restriction_list_exists
 
 #RegionalExtension { SEQUENCE (SIZE(1..4)) OF {REGION.Reg-MapData}} OPTIONAL} OPTIONAL

diff --git a/cav_msgs/msg/MovementEvent.msg b/cav_msgs/msg/MovementEvent.msg
@@ -28,7 +28,7 @@
 # ...
 # }
 
-j2735_msgs/MovementPhaseState event_state
+j2735_v2x_msgs/MovementPhaseState event_state
 
 cav_msgs/TimeChangeDetails timing
 bool timing_exists

diff --git a/cav_msgs/msg/MovementState.msg b/cav_msgs/msg/MovementState.msg
@@ -64,7 +64,7 @@ cav_msgs/MovementEvent[] movement_event_list
 # This entry is used directly by one other data structure in this standard, a DF called DF_LaneAttributes <ASN>.
 #  In addition, this item may be used by data structures in other ITS standards.
 # ManeuverAssistList ::= SEQUENCE (SIZE(1..16)) OF ConnectionManeuverAssist
-j2735_msgs/ConnectionManeuverAssist[] connection_maneuver_assist_list
+j2735_v2x_msgs/ConnectionManeuverAssist[] connection_maneuver_assist_list
 bool maneuver_assist_list_exists
 
 # regional #TODO: RegionalExtensions are not yet implemented in asn1c
diff --git a/cav_msgs/msg/NodeAttributeSetXY.msg b/cav_msgs/msg/NodeAttributeSetXY.msg
@@ -39,14 +39,14 @@
 
 # The NodeAttributeXYList data frame consists of a list of NodeAttributeXY entries.
 # NodeAttributeXYList ::= SEQUENCE (SIZE(1..8)) OF NodeAttributeXY
-j2735_msgs/NodeAttributeXY[] local_node
+j2735_v2x_msgs/NodeAttributeXY[] local_node
 bool local_node_exists
 # The DF_SegmentAttributeXYList data frame consists of a list of SegmentAttributeXY entries.
 # SegmentAttributeXYList ::= SEQUENCE (SIZE(1..8)) OF SegmentAttributeXY
-j2735_msgs/SegmentAttributeXY[] disabled
+j2735_v2x_msgs/SegmentAttributeXY[] disabled
 bool disabled_exists
 
-j2735_msgs/SegmentAttributeXY[] enabled
+j2735_v2x_msgs/SegmentAttributeXY[] enabled
 bool enabled_exists
 
 # The LaneDataAttributeList data frame consists of a list of LaneDataAttribute entries.

diff --git a/cav_msgs/msg/ObstacleDetection.msg b/cav_msgs/msg/ObstacleDetection.msg
@@ -32,16 +32,16 @@ cav_msgs/ObstacleDistance ob_dist
 
 cav_msgs/ObstacleDirection ob_direct
 
-j2735_msgs/DDateTime date_time
+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_msgs/ITIScodes description
+j2735_v2x_msgs/ITIScodes description
 
-j2735_msgs/ITISGenericLocations location_details
+j2735_v2x_msgs/ITISGenericLocations location_details
 
-j2735_msgs/VerticalAccelerationThreshold vert_event
+j2735_v2x_msgs/VerticalAccelerationThreshold vert_event
Original file line number	Diff line number	Diff line change
Expand Up		@@ -14,4 +14,4 @@

		cav_msgs/ObstacleSize obst_size

		j3224_msgs/ObstacleSizeConfidence obst_size_confidence
		j3224_v2x_msgs/ObstacleSizeConfidence obst_size_confidence