address comments

.github/workflows/Ci.yml

@@ -63,10 +63,9 @@ jobs:
         source "$INIT_ENV"
         ./src/${{ github.event.repository.name }}/docker/checkout.bash -r /opt/carma/ -b ${{ steps.determine-base-branch.outputs.git_branch }}
 
-    # TODO: WIP Humble Upgrade: Enable when carma_cooperative_perception is ready
-    #- name: Install external dependencies
-    #  # Install the multiple object tracking deps
-    #  run: sudo bash /opt/carma/src/multiple_object_tracking/scripts/install_dependencies.sh
+    - name: Install external dependencies
+      # Install the multiple object tracking deps
+      run: sudo bash /opt/carma/src/multiple_object_tracking/scripts/install_dependencies.sh
     # TODO WIP Humble Upgrade: Remove after humble upgrade is done
     - name: Read packages from file
       run: |

.sonarqube/sonar-scanner.properties

@@ -46,6 +46,7 @@ sonar.modules= bsm_generator, \
   carma_wm, \
   carma_wm_ctrl, \
   roadway_objects, \
+  platooning_strategic_IHP, \
   platooning_tactical_plugin, \
   port_drayage_plugin, \
   mobilitypath_publisher, \
@@ -90,7 +91,7 @@ carma_wm.sonar.projectBaseDir                  = /opt/carma/src/carma-platform/c
 carma_wm_ctrl.sonar.projectBaseDir             = /opt/carma/src/carma-platform/carma_wm_ctrl
 #mpc_follower_wrapper.sonar.projectBaseDir      = /opt/carma/src/carma-platform/mpc_follower_wrapper
 roadway_objects.sonar.projectBaseDir           = /opt/carma/src/carma-platform/roadway_objects
-platooning_strategic_ihp.sonar.projectBaseDir      = /opt/carma/src/carma-platform/platooning_strategic_ihp
+platooning_strategic_IHP.sonar.projectBaseDir      = /opt/carma/src/carma-platform/platooning_strategic_IHP
 platooning_tactical_plugin.sonar.projectBaseDir = /opt/carma/src/carma-platform/platooning_tactical_plugin
 platooning_control_plugin.sonar.projectBaseDir = /opt/carma/src/carma-platform/platooning_control
 mobilitypath_publisher.sonar.projectBaseDir = /opt/carma/src/carma-platform/mobilitypath_publisher
@@ -149,8 +150,8 @@ carma_wm_ctrl.sonar.sources             = src
 carma_wm_ctrl.sonar.exclusions  =test/**
 roadway_objects.sonar.sources           = src
 roadway_objects.sonar.exclusions  =test/**
-platooning_strategic_ihp.sonar.sources      = src
-platooning_strategic_ihp.sonar.exclusions  =test/**
+platooning_strategic_IHP.sonar.sources      = src
+platooning_strategic_IHP.sonar.exclusions  =test/**
 platooning_tactical_plugin.sonar.sources           = src
 platooning_tactical_plugin.sonar.exclusions  =test/**
 platooning_control_plugin.sonar.sources           = src
@@ -223,7 +224,7 @@ arbitrator.sonar.tests              = test
 carma_wm.sonar.tests                = test
 carma_wm_ctrl.sonar.tests           = test
 roadway_objects.sonar.tests         = test
-platooning_strategic_ihp.sonar.tests    = test
+platooning_strategic_IHP.sonar.tests    = test
 platooning_tactical_plugin.sonar.tests         = test
 platooning_control_plugin.sonar.tests         = test
 mobilitypath_publisher.sonar.tests         = test

Dockerfile

@@ -1,11 +1,11 @@
 #  Copyright (C) 2018-2021 LEIDOS.
-# 
+#
 #  Licensed under the Apache License, Version 2.0 (the "License"); you may not
 #  use this file except in compliance with the License. You may obtain a copy of
 #  the License at
-# 
+#
 #  http://www.apache.org/licenses/LICENSE-2.0
-# 
+#
 #  Unless required by applicable law or agreed to in writing, software
 #  distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 #  WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
@@ -15,17 +15,17 @@
 # CARMA Docker Configuration Script
 #
 # Performs all necessary tasks related to generation of a generic CARMA docker image
-# suitable for deployment to a vehicle. The generic image will still need to be 
+# suitable for deployment to a vehicle. The generic image will still need to be
 # configured for each vehicle by means of volume mapping configuration files and
 # networking mapping at run time
 #
 # Build Arguments:
 # SSH_PRIVATE_KEY - If the extra package repository to be used during the build requires
 #                   authentication, please pass in the necessary SSH private key in text
-#                   form here, most likely via "$(cat ~/.ssh/id_rsa)". This data is not 
+#                   form here, most likely via "$(cat ~/.ssh/id_rsa)". This data is not
 #                   present in the final output image. Default = none
 #
-# EXTRA_PACKAGES - The repo to checkout any additional packages from at build time. 
+# EXTRA_PACKAGES - The repo to checkout any additional packages from at build time.
 #                  Default = none
 
 
@@ -34,26 +34,23 @@
 # /////////////////////////////////////////////////////////////////////////////
 ARG DOCKER_ORG="usdotfhwastoldev"
 ARG DOCKER_TAG="develop"
-FROM ${DOCKER_ORG}/autoware.ai:${DOCKER_TAG} as base-image
+FROM 5f061b925f05 as base-image
 
-FROM base-image AS source-code
+FROM 5f061b925f05 AS source-code
 
 RUN mkdir ~/src
 COPY --chown=carma . /home/carma/src/carma-platform/
 
-ARG GIT_BRANCH="develop" 
+ARG GIT_BRANCH="develop"
 RUN ~/src/carma-platform/docker/checkout.bash -b ${GIT_BRANCH}
 
 # /////////////////////////////////////////////////////////////////////////////
-# Stage 2 - Build and install the software 
+# Stage 2 - Build and install the software
 # /////////////////////////////////////////////////////////////////////////////
 
-
-FROM base-image AS install
-ARG ROS1_PACKAGES=""
-ENV ROS1_PACKAGES=${ROS1_PACKAGES}
-ARG ROS2_PACKAGES=""
-ENV ROS2_PACKAGES=${ROS2_PACKAGES}
+FROM 5f061b925f05 AS install
+ARG PACKAGES=""
+ENV PACKAGES=${PACKAGES}
 
 # Copy the source files from the previous stage and build/install
 RUN mkdir ~/carma_ws
@@ -66,7 +63,7 @@ RUN ~/carma_ws/src/carma-platform/docker/install.sh
 # /////////////////////////////////////////////////////////////////////////////
 
 
-FROM base-image
+FROM 5f061b925f05
 
 ARG BUILD_DATE="NULL"
 ARG VCS_REF="NULL"

carma/launch/plugins.launch.py

@@ -60,8 +60,8 @@ def generate_launch_description():
     cooperative_lanechange_param_file = os.path.join(
         get_package_share_directory('cooperative_lanechange'), 'config/parameters.yaml')
 
-    platooning_strategic_ihp_param_file = os.path.join(
-        get_package_share_directory('platooning_strategic_ihp'), 'config/parameters.yaml')
+    platoon_strategic_ihp_param_file = os.path.join(
+        get_package_share_directory('platoon_strategic_ihp'), 'config/parameters.yaml')
 
     sci_strategic_plugin_file_path = os.path.join(
         get_package_share_directory('sci_strategic_plugin'), 'config/parameters.yaml')
@@ -559,12 +559,12 @@ def generate_launch_description():
         namespace=GetCurrentNamespace(),
         composable_node_descriptions=[
             ComposableNode(
-                package='platooning_strategic_ihp',
-                plugin='platooning_strategic_ihp::Node',
-                name='platooning_strategic_ihp_node',
+                package='platoon_strategic_ihp',
+                plugin='platoon_strategic_ihp::Node',
+                name='platoon_strategic_ihp_node',
                 extra_arguments=[
                     {'use_intra_process_comms': True},
-                    {'--log-level' : GetLogLevel('platooning_strategic_ihp', env_log_levels) }
+                    {'--log-level' : GetLogLevel('platoon_strategic_ihp', env_log_levels) }
                 ],
                 remappings = [
                     ("semantic_map", [ EnvironmentVariable('CARMA_ENV_NS', default_value=''), "/semantic_map" ] ),
@@ -586,7 +586,7 @@ def generate_launch_description():
                     ("current_pose", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/current_pose" ] ),
                 ],
                 parameters=[
-                    platooning_strategic_ihp_param_file,
+                    platoon_strategic_ihp_param_file,
                     vehicle_config_param_file
                 ]
             ),

docker/build-image.sh

@@ -1,13 +1,13 @@
 #!/bin/bash
 
 #  Copyright (C) 2018-2021 LEIDOS.
-# 
+#
 #  Licensed under the Apache License, Version 2.0 (the "License"); you may not
 #  use this file except in compliance with the License. You may obtain a copy of
 #  the License at
-# 
+#
 #  http://www.apache.org/licenses/LICENSE-2.0
-# 
+#
 #  Unless required by applicable law or agreed to in writing, software
 #  distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 #  WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
@@ -24,78 +24,63 @@ echo ""
 echo "##### $IMAGE Docker Image Build Script #####"
 echo ""
 
-ROS1_PACKAGES=""
-ROS2_PACKAGES=""
-ROS1_PACKAGES_COLLECT=false
-ROS2_PACKAGES_COLLECT=false
+PACKAGES=""
+PACKAGES_COLLECT=false
 
 while [[ $# -gt 0 ]]; do
     arg="$1"
     case $arg in
         -v|--version)
-            ROS1_PACKAGES_COLLECT=false
-            ROS2_PACKAGES_COLLECT=false
+            PACKAGES_COLLECT=false
 
             COMPONENT_VERSION_STRING="$2"
             shift
             shift
             ;;
         --system-release)
-            ROS1_PACKAGES_COLLECT=false
-            ROS2_PACKAGES_COLLECT=false
+            PACKAGES_COLLECT=false
 
             SYSTEM_RELEASE=true
             shift
             ;;
         -p|--push)
-            ROS1_PACKAGES_COLLECT=false
-            ROS2_PACKAGES_COLLECT=false
+            PACKAGES_COLLECT=false
 
             PUSH=true
             shift
             ;;
         -d|--develop)
-            ROS1_PACKAGES_COLLECT=false
-            ROS2_PACKAGES_COLLECT=false
+            PACKAGES_COLLECT=false
 
             USERNAME=usdotfhwastoldev
             COMPONENT_VERSION_STRING=develop
             shift
             ;;
-        --ros-1-packages|--ros1)
-            ROS1_PACKAGES_COLLECT=true
-            ROS2_PACKAGES_COLLECT=false
-
-            shift
-            ;;
-        --ros-2-packages|--ros2)
-            ROS1_PACKAGES_COLLECT=false
-            ROS2_PACKAGES_COLLECT=true
+        --select-packages|--packages)
+            PACKAGES_COLLECT=true
 
             shift
             ;;
         *)
             # Var test based on Stack Overflow question: https://stackoverflow.com/questions/5406858/difference-between-unset-and-empty-variables-in-bash
             # Asker: green69
             # Answerer: geekosaur
-            if $ROS1_PACKAGES_COLLECT; then
-                ROS1_PACKAGES="$ROS1_PACKAGES $arg"
-            elif $ROS2_PACKAGES_COLLECT; then
-                ROS2_PACKAGES="$ROS2_PACKAGES $arg"
+            if $PACKAGES_COLLECT; then
+                PACKAGES="$PACKAGES $arg"
             else
                 echo "Unknown argument $arg..."
                 exit -1
-            fi 
+            fi
             shift
             ;;
     esac
 done
 
-if [[ ! -z "$ROS1_PACKAGES$ROS2_PACKAGES" ]]; then
-    echo "Performing incremental build of image to rebuild packages: ROS1>> $ROS1_PACKAGES ROS2>> $ROS2_PACKAGES..."
+if [[ ! -z "$PACKAGES" ]]; then
+    echo "Performing incremental build of image to rebuild packages: $PACKAGES..."
 
     echo "Updating Dockerfile references to use most recent image as base image"
-    # Trim of docker image LS command sourced from 
+    # Trim of docker image LS command sourced from
     # https://stackoverflow.com/questions/50625619/why-doesnt-the-cut-command-work-for-a-docker-image-ls-command
     # Question Asker: Chris F
     # Question Answerer: Arount
@@ -135,14 +120,13 @@ if [[ $COMPONENT_VERSION_STRING = "develop" ]]; then
         --build-arg BUILD_DATE=`date -u +”%Y-%m-%dT%H:%M:%SZ”` .
 elif [[ $COMPONENT_VERSION_STRING = "SNAPSHOT" ]]; then
     docker build --network=host --no-cache -t $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING \
-        --build-arg ROS1_PACKAGES="$ROS1_PACKAGES" \
-        --build-arg ROS2_PACKAGES="$ROS2_PACKAGES" \
+        --build-arg PACKAGES="$PACKAGES" \
         --build-arg VERSION="$COMPONENT_VERSION_STRING" \
         --build-arg VCS_REF=`git rev-parse --short HEAD` \
         --build-arg BUILD_DATE=`date -u +”%Y-%m-%dT%H:%M:%SZ”` .
 else
-    #The addition of --network=host was a fix for a DNS resolution error that occured 
-    #when running the platform inside an Ubuntu 20.04 virtual machine. The error and possible soliutions are 
+    #The addition of --network=host was a fix for a DNS resolution error that occured
+    #when running the platform inside an Ubuntu 20.04 virtual machine. The error and possible soliutions are
     # discussed here: https://github.com/moby/moby/issues/41003
     docker build --network=host --no-cache -t $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING \
         --build-arg VERSION="$COMPONENT_VERSION_STRING" \

docker/install.sh

@@ -29,7 +29,7 @@ sudo chgrp carma /opt/carma # Set group to expose permissions for build
 
 # Source the autoware installation
 
-if [[ ! -z "$ROS1_PACKAGES$ROS2_PACKAGES" ]]; then
+if [[ ! -z "$PACKAGES" ]]; then
     echo "Sourcing previous build for incremental build start point..."
     source /opt/carma/install/setup.bash
 else
@@ -39,18 +39,14 @@ fi
 
 cd ~/carma_ws
 
-echo "Building ROS2 CARMA Components"
+echo "Building Selected CARMA Components"
 
-if [[ ! -z "$ROS1_PACKAGES$ROS2_PACKAGES" ]]; then
-    if [[ ! -z "$ROS2_PACKAGES" ]]; then
-        echo "Incrementally building ROS2 packages: $ROS2_PACKAGES"
-        colcon build --install-base /opt/carma/install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-above $ROS2_PACKAGES
-    else
-        echo "Build type is incremental but no ROS2 packages specified, skipping ROS2 build..."
-    fi
+if [[ ! -z "$PACKAGES" ]]; then
+    echo "Incrementally building following packages and those dependent on them: $PACKAGES"
+    colcon build --install-base /opt/carma/install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-above $PACKAGES
 else
-    echo "Building all ROS2 components..."
+    echo "Building all CARMA components..."
     colcon build  --install-base /opt/carma/install --build-base build --cmake-args -DCMAKE_BUILD_TYPE=Release
 fi
 
-echo "Build of ROS 2 CARMA Components Complete"
+echo "Build of CARMA Components Complete"

subsystem_controllers/config/guidance_controller_config.yaml

@@ -51,6 +51,6 @@
       - /guidance/plugins/stop_and_wait_plugin
       - /guidance/plugins/sci_strategic_plugin
       - /guidance/plugins/stop_controlled_intersection_tactical_plugin
-      - /guidance/plugins/platooning_strategic_ihp
+      - /guidance/plugins/platoon_strategic_ihp
       - /guidance/plugins/platooning_tactical_plugin_node
       - /guidance/plugins/yield_plugin