Add initial ROS2 humble packages

.github/workflows/Ci.yml

@@ -4,7 +4,7 @@ on:
   pull_request:
     types: [opened, synchronize, reopened]
   push:
-    branches: [develop, master]
+    branches: [develop, develop-humble, master]
 jobs:
   determine_docker_org_and_tag:
     runs-on: ubuntu-latest
@@ -31,7 +31,7 @@ jobs:
       image: ${{ needs.determine_docker_org_and_tag.outputs.docker_org }}/autoware.ai:${{ needs.determine_docker_org_and_tag.outputs.docker_tag }}
       env:
         INIT_ENV: "/home/carma/.base-image/init-env.sh"
-        ROS_2_ENV: "/opt/ros/foxy/setup.bash"
+        ROS_2_ENV: "/opt/ros/humble/setup.bash"
         TERM: xterm
       options: "--user root"
 
@@ -66,61 +66,32 @@ jobs:
     - name: Install external dependencies
       # Install the multiple object tracking deps
       run: sudo bash /opt/carma/src/multiple_object_tracking/scripts/install_dependencies.sh
-
-    - name: Build ROS1
-      # Build ROS1 packages
-      # The skipped ROS 1 packages here should match the ROS 1 packages that are skipped during the build in docker/install.sh
-      run: |
-        source "$INIT_ENV"
-        PACKAGES=$(find . -maxdepth 2 -type f -name package.xml | sed 's/\.\///' | cut -d/ -f1) # maxdepth 2 Limits the search of package.xml to current directory and one level of subdirectories beneath it. find will not search beyond two levels deep from the starting point. Without this option, find would search the starting directory and all subdirectories recursively.
-        sed -i 's/colcon build /colcon build --packages-skip novatel_oem7_msgs tracetools tracetools_test /' /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
-        make_with_coverage.bash -m -e /opt/carma/ -o ./coverage_reports/gcov
-
-    - name: Run ROS1 C++ Tests
-      # Run ROS1 C++ tests
-      # The skipped ROS 1 packages here should match the ROS 1 packages that are skipped during the build in docker/install.sh"
-
-      # These tests has been temporarily disabled to support Continuous Improvement (CI) processes.
-      # Related GitHub Issue: <https://github.com/usdot-fhwa-stol/carma-platform/issues/2335>
-      # some ROS2 packages unit tests are triggered during ROS1 tests, so they are temporarily being skipped.
-      run: |
-        source "$INIT_ENV"
-        sed -i 's/colcon test /colcon test --packages-skip novatel_oem7_msgs tracetools tracetools_test carma_launch_testing carma_message_utilities ros2bag ros2trace tracetools_launch tracetools_read tracetools_trace rosbag2 carma_utils /' /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
-        make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov
-
-    - name: Backup ROS1 compile_commands.json
-      # Backup the ROS1 compile_commands.json file for sonarcloud
+    # TODO WIP Humble Upgrade: Remove after humble upgrade is done
+    - name: Read packages from file
       run: |
-        mv /opt/carma/build/compile_commands.json /opt/carma/compile_commands.ros1.json
-
-    - name: Cleanup before ROS 2 build
-      # Clear the build and install folders before building ROS 2
-      run: |
-        rm -rf /opt/carma/install
-        rm -rf /opt/carma/build
+        PACKAGES=$(cat /opt/carma/src/${{ github.event.repository.name }}/.github/workflows/humble-upgraded-packages.txt)
+        echo "PACKAGES=$PACKAGES" >> $GITHUB_ENV
 
     - name: Build ROS2
-      # Build ROS2 packages
       run: |
         source "$INIT_ENV"
         source "$ROS_2_ENV"
-        source /opt/autoware.ai/ros/install_ros2/setup.bash
+        source /opt/autoware.ai/ros/install/setup.bash
+        COLCON_CMD="colcon build --parallel-workers 4"
+        NEW_CMD="colcon build --continue-on-error --parallel-workers 16 --packages-up-to \$PACKAGES"
+        sed -i "s|$COLCON_CMD|$NEW_CMD|" /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
         make_with_coverage.bash -m -e /opt/carma/ -o ./coverage_reports/gcov
 
     - name: Run ROS2 C++ Tests
-      # Run ROS2 C++ tests
       run: |
         source "$INIT_ENV"
         source "$ROS_2_ENV"
-        source /opt/autoware.ai/ros/install_ros2/setup.bash
+        source /opt/autoware.ai/ros/install/setup.bash
+        COLCON_CMD="colcon test --return-code-on-test-failure --parallel-workers 4 --event-handlers console_direct+"
+        NEW_CMD="colcon test --return-code-on-test-failure --parallel-workers 16 --event-handlers console_cohesion+ --packages-select \$PACKAGES --ctest-args --output-on-failure"
+        sed -i "s|$COLCON_CMD|$NEW_CMD|" /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
         make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov
 
-    - name: Combine ROS1 and ROS2 compile_commands.json files
-      # Combine the ROS1 and ROS2 compile_commands.json files for sonarscan
-      run: |
-        mv /opt/carma/build/compile_commands.json /opt/carma/compile_commands.ros2.json
-        jq -s add /opt/carma/compile_commands.ros1.json /opt/carma/compile_commands.ros2.json > /opt/carma/build/compile_commands.json
-
     - name: Run SonarScanner
       # Run SonarScanner for code analysis
       uses: usdot-fhwa-stol/actions/sonar-scanner@main

.github/workflows/dockerhub.yml

@@ -5,6 +5,7 @@ on:
     branches:
       - develop
       - master
+      - develop-humble
       - "release/*"
     tags:
       - "carma-system-*"

.github/workflows/humble-upgraded-packages.txt

@@ -0,0 +1 @@
+approximate_intersection carma motion_prediction_visualizer system_controller object_visualizer mock_controller_driver object_detection_tracking gnss_to_map_convertor mobilitypath_visualizer bsm_generator trajectory_visualizer trajectory_executor lightbar_manager mobilitypath_publisher guidance port_drayage_plugin subsystem_controllers carma_wm roadway_objects basic_autonomy carma_guidance_plugins plan_delegator traffic_incident_parser platooning_tactical_plugin intersection_transit_maneuvering light_controlled_intersection_tactical_plugin stop_and_dwell_strategic_plugin cooperative_lanechange lci_strategic_plugin stop_controlled_intersection_tactical_plugin sci_strategic_plugin inlanecruising_plugin platooning_control trajectory_follower_wrapper approaching_emergency_vehicle_plugin yield_plugin

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
 
 
@@ -41,19 +41,16 @@ FROM base-image 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}
+ARG PACKAGES=""
+ENV PACKAGES=${PACKAGES}
 
 # Copy the source files from the previous stage and build/install
 RUN mkdir ~/carma_ws

approaching_emergency_vehicle_plugin/CMakeLists.txt

@@ -13,14 +13,20 @@
 # License for the specific language governing permissions and limitations under
 # the License.
 
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(approaching_emergency_vehicle_plugin)
 
 # Declare carma package and check ROS version
 find_package(carma_cmake_common REQUIRED)
 carma_check_ros_version(2)
 carma_package()
 
+# Use C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+endif()
+
 ## Find dependencies using ament auto
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
@@ -41,8 +47,8 @@ ament_auto_add_library(${node_lib} SHARED
         src/approaching_emergency_vehicle_states.cpp
 )
 
-ament_auto_add_executable(${node_exec} 
-        src/main.cpp 
+ament_auto_add_executable(${node_exec}
+        src/main.cpp
 )
 
 # Register component
@@ -55,7 +61,7 @@ target_link_libraries(${node_exec}
 )
 
 # Testing
-if(BUILD_TESTING)  
+if(BUILD_TESTING)
 
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies() # This populates the ${${PROJECT_NAME}_FOUND_TEST_DEPENDS} variable

approaching_emergency_vehicle_plugin/package.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 
-<!--  
+<!--
  Copyright (C) 2022 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
@@ -15,13 +15,13 @@
 
 <package format="3">
   <name>approaching_emergency_vehicle_plugin</name>
-  <version>1.0.0</version>
+  <version>5.0.0</version>
   <description>The approaching_emergency_vehicle_plugin package</description>
 
   <maintainer email="carma@dot.gov">carma</maintainer>
 
   <license>Apache 2.0</license>
-  
+
   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>carma_cmake_common</build_depend>
   <build_depend>ament_auto_cmake</build_depend>

approaching_emergency_vehicle_plugin/src/approaching_emergency_vehicle_plugin_node.cpp

@@ -1045,7 +1045,7 @@ namespace approaching_emergency_vehicle_plugin
 
     RCLCPP_ERROR_STREAM(rclcpp::get_logger(logger_name),"maneuver_end_dist: " << maneuver_end_dist << ", maneuver_start_dist: " << maneuver_start_dist << ", sum_start_and_end_speed: " << sum_start_and_end_speed);
 
-    maneuver_duration = rclcpp::Duration((maneuver_end_dist - maneuver_start_dist) / (0.5 * sum_start_and_end_speed) * 1e9);
+    maneuver_duration = rclcpp::Duration::from_nanoseconds((maneuver_end_dist - maneuver_start_dist) / (0.5 * sum_start_and_end_speed) * 1e9);
 
     return maneuver_duration;
   }

approximate_intersection/CMakeLists.txt

@@ -13,14 +13,20 @@
 # License for the specific language governing permissions and limitations under
 # the License.
 
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(approximate_intersection)
 
 # Declare carma package and check ROS version
 find_package(carma_cmake_common REQUIRED)
 carma_check_ros_version(2)
 carma_package()
 
+# Use C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+endif()
+
 ## Find dependencies using ament auto
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
@@ -32,7 +38,7 @@ include_directories(
 )
 
 # Testing
-if(BUILD_TESTING)  
+if(BUILD_TESTING)
 
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies() # This populates the ${${PROJECT_NAME}_FOUND_TEST_DEPENDS} variable

approximate_intersection/package.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 
-<!--  
+<!--
  Copyright (C) 2022 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
@@ -15,13 +15,13 @@
 
 <package format="3">
   <name>approximate_intersection</name>
-  <version>1.0.0</version>
+  <version>5.0.0</version>
   <description>The approximate_intersection package</description>
 
   <maintainer email="carma@dot.gov">carma</maintainer>
 
   <license>Apache 2.0</license>
-  
+
   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>carma_cmake_common</build_depend>
   <build_depend>ament_auto_cmake</build_depend>

basic_autonomy/CMakeLists.txt

@@ -1,5 +1,5 @@
 
-# Copyright (C) 2022 LEIDOS.
+# Copyright (C) 2024 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
@@ -13,14 +13,20 @@
 # License for the specific language governing permissions and limitations under
 # the License.
 
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(basic_autonomy)
 
 # Declare carma package and check ROS version
 find_package(carma_cmake_common REQUIRED)
 carma_check_ros_version(2)
 carma_package()
 
+# Use C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+endif()
+
 ## Find dependencies using ament auto
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
@@ -48,8 +54,7 @@ target_link_libraries(
 
 
 # Testing
-if(BUILD_TESTING)  
-
+if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies() # This populates the ${${PROJECT_NAME}_FOUND_TEST_DEPENDS} variable
 

basic_autonomy/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 
-<!--  
- Copyright (C) 2021-2022 LEIDOS.
+<!--
+ Copyright (C) 2021-2024 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
@@ -15,16 +15,19 @@
 
 <package format="3">
   <name>basic_autonomy</name>
-  <version>4.0.0</version>
+  <version>5.0.0</version>
   <description>The basic_autonomy package</description>
 
   <maintainer email="carma@dot.gov">carma</maintainer>
 
   <license>Apache 2.0</license>
-
+
+  <!-- Build tool dependencies -->
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <!-- Build dependencies -->
   <build_depend>carma_cmake_common</build_depend>
-  <build_depend>ament_auto_cmake</build_depend>
 
   <depend>rclcpp</depend>
   <depend>carma_ros2_utils</depend>
@@ -38,6 +41,7 @@
   <depend>tf2</depend>
   <depend>autoware_auto_msgs</depend>
 
+  <!-- Test dependencies -->
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>
 

basic_autonomy/src/basic_autonomy.cpp

@@ -774,7 +774,7 @@ namespace basic_autonomy
             for (size_t i = 0; i < points.size(); i++)
             {
                 carma_planning_msgs::msg::TrajectoryPlanPoint tpp;
-                rclcpp::Duration relative_time(times[i] * 1e9); // Conversion of times[i] from seconds to nanoseconds
+                rclcpp::Duration relative_time = rclcpp::Duration::from_nanoseconds(static_cast<int64_t>(times[i] * 1e9)); // Conversion of times[i] from seconds to nanoseconds
                 tpp.target_time = startTime + relative_time;
                 tpp.x = points[i].x();
                 tpp.y = points[i].y();
@@ -1283,7 +1283,7 @@ namespace basic_autonomy
                 autoware_point.heading.real = std::cos(yaw/2);
                 autoware_point.heading.imag = std::sin(yaw/2);
 
-                autoware_point.time_from_start = rclcpp::Duration(times[i] * 1e9);
+                autoware_point.time_from_start = rclcpp::Duration::from_nanoseconds(static_cast<int64_t>(times[i] * 1e9));
                 RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Setting waypoint idx: " << i <<", with planner: << " << trajectory_points[i].planner_plugin_name << ", x: " << trajectory_points[i].x <<
                                         ", y: " << trajectory_points[i].y <<
                                         ", speed: " << lag_speeds[i]* 2.23694 << "mph");