Add initial ROS2 humble packages #2474
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Currently CI is failing only because of lint checks in the unit tests. |
| @@ -63,64 +63,36 @@ jobs: | |||
| source "$INIT_ENV" | |||
| ./src/${{ github.event.repository.name }}/docker/checkout.bash -r /opt/carma/ -b ${{ steps.determine-base-branch.outputs.git_branch }} | |||
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| - name: Install external dependencies | |||
| # Install the multiple object tracking deps | |||
| run: sudo bash /opt/carma/src/multiple_object_tracking/scripts/install_dependencies.sh | |||
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Is there a reason we no longer need this?
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we should keep this, I just had it turned off, but let me turn them on.
.sonarqube/sonar-scanner.properties
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| @@ -46,7 +46,6 @@ sonar.modules= bsm_generator, \ | |||
| carma_wm, \ | |||
| carma_wm_ctrl, \ | |||
| roadway_objects, \ | |||
| platooning_strategic_IHP, \ | |||
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Should this be replaced with platooning_strategic_ihp?
carma/launch/plugins.launch.py
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| package='platoon_strategic_ihp', | ||
| plugin='platoon_strategic_ihp::Node', | ||
| name='platoon_strategic_ihp_node', | ||
| package='platooning_strategic_ihp', |
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These changes should also be made in the package.xml and CMakeLists.txt of platooning_strategic_ihp
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Anish is handling this in his PR, so we can probably leave this for now. I'll just return these to original then
docker/install.sh
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| # ROS2 installation | ||
| ### | ||
| # Source the ROS2 autoware installation | ||
| source /home/carma/catkin/setup.bash | ||
| if [[ ! -z "$ROS1_PACKAGES$ROS2_PACKAGES" ]]; then |
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Can probably remove the ROS1_PACKAGES variable
| @@ -51,6 +51,6 @@ | |||
| - /guidance/plugins/stop_and_wait_plugin | |||
| - /guidance/plugins/sci_strategic_plugin | |||
| - /guidance/plugins/stop_controlled_intersection_tactical_plugin | |||
| - /guidance/plugins/platoon_strategic_ihp | |||
| - /guidance/plugins/platooning_strategic_ihp | |||
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Comment not specific for here but there are still references to platoon_strategic_ihp elsewhere
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I actually just reverted the chagnes for this plugin and let Anish handle it fully in his PR
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Ignoring SonarScan failure about code coverage because there is a separate stories as it is not part of the scope to add more unit tests for Humble upgrade. |
| ASSERT_FALSE(lcip->validLightState(std::pair<boost::posix_time::ptime, lanelet::CarmaTrafficSignalState>(dummy_time, lanelet::CarmaTrafficSignalState::UNAVAILABLE), rclcpp::Time(1e9 * 1))); | ||
| ASSERT_FALSE(lcip->validLightState(std::pair<boost::posix_time::ptime, lanelet::CarmaTrafficSignalState>(dummy_time, lanelet::CarmaTrafficSignalState::DARK), rclcpp::Time(1e9 * 1))); | ||
| ASSERT_FALSE(lcip->validLightState(std::pair<boost::posix_time::ptime, lanelet::CarmaTrafficSignalState>(dummy_time, lanelet::CarmaTrafficSignalState::STOP_THEN_PROCEED), rclcpp::Time(1e9 * 1))); | ||
| ASSERT_FALSE(lcip->validLightState(std::pair<boost::posix_time::ptime, lanelet::CarmaTrafficSignalState>(dummy_time, lanelet::CarmaTrafficSignalState::PRE_MOVEMENT), rclcpp::Time(1e9 * 1))); | ||
| ASSERT_FALSE(lcip->validLightState(std::pair<boost::posix_time::ptime, lanelet::CarmaTrafficSignalState>(dummy_time, lanelet::CarmaTrafficSignalState::PERMISSIVE_MOVEMENT_ALLOWED), rclcpp::Time(1e9 * 1))); | ||
| ASSERT_TRUE(lcip->validLightState(std::pair<boost::posix_time::ptime, lanelet::CarmaTrafficSignalState>(dummy_time, lanelet::CarmaTrafficSignalState::PERMISSIVE_MOVEMENT_ALLOWED), rclcpp::Time(1e9 * 1))); |
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Is there a reason this changed from FALSE to TRUE
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yeah because we recently changed the logic where we allowed PERMISSIVE_MOVEMENTS in addition to PROTECTED.
This is the PR #2373. PR itself was opened long time ago during distributed testing in summer, but was never merged, so we caught up to it only now. But it looked like the unit test was not updated
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Got it, thanks for the explanation!
| std::vector<std::string> lightbar_priorities = {}; // Tsesters are for unit testing. Keep it there. | ||
| std::vector<std::string> lightbar_cda_table = {}; // Keys for lightbar_cda_to_ind_table, 1-to-1 with lightbar_ind_table | ||
| std::vector<std::string> lightbar_ind_table = {}; // Values for lightbar_cda_to_ind_table, 1-to-1 with lightbar_cda_table | ||
| std::vector<std::string> lightbar_priorities = {"lightbar_manager"}; // Tsesters are for unit testing. Keep it there. |
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Nit: Could we correct the typo in the comment "Tsesters"
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I removed the comment anyways because it was wrong.
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PR Details
Description
Add initial ROS2 humble packages
NOTE: CI is modified for now to read from a list and build. In the future, only packages exist in this repository will be built.
These are packages already building fine in this PR: #2472
NOTE: There seem a lot of changes, but they are all basically following changes:
Related GitHub Issue
NA
Related Jira Key
ARC-233
Motivation and Context
ROS2 Humble Upgrade
How Has This Been Tested?
Types of changes
Checklist: