Arc 258 more humble

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

@@ -1 +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
+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 arbitrator carma_cloud_client carma_cooperative_perception carma_wm_ctrl frame_transformer pure_pursuit_wrapper stop_and_wait_plugin

arbitrator/include/arbitrator.hpp

@@ -24,8 +24,9 @@
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <geometry_msgs/msg/twist_stamped.hpp>
 #include <tf2_ros/transform_listener.h>
+#include <tf2_ros/buffer.h>
 #include <tf2/LinearMath/Transform.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
 #include "vehicle_state.hpp"
 #include "arbitrator_state_machine.hpp"
@@ -64,7 +65,7 @@ namespace arbitrator
                 sm_(sm),
                 nh_(nh),
                 min_plan_duration_(min_plan_duration),
-                time_between_plans_(planning_period),
+                time_between_plans_(rclcpp::Duration::from_seconds(planning_period)),
                 capabilities_interface_(ci),
                 planning_strategy_(planning_strategy),
                 initialized_(false),

arbitrator/include/capabilities_interface.tpp

@@ -87,7 +87,7 @@ namespace arbitrator
                         continue;
                     }
 
-                    const auto response = client->async_send_request(msg);
+                    auto response = client->async_send_request(msg);
 
                     switch (const auto status{response.wait_for(500ms)}) {
                         case std::future_status::ready:

arbitrator/package.xml

@@ -39,6 +39,7 @@
   <depend>carma_wm</depend>
   <depend>tf</depend>
   <depend>tf2</depend>
+  <depend>tf2_ros</depend>
   <depend>tf2_geometry_msgs</depend> 
   <depend>rapidjson</depend>
 

arbitrator/src/arbitrator_node.cpp

@@ -67,7 +67,7 @@ namespace arbitrator
         auto bss = std::make_shared<arbitrator::BeamSearchStrategy>(config_.beam_width);
 
         auto png = std::make_shared<arbitrator::PluginNeighborGenerator<arbitrator::CapabilitiesInterface>>(ci);
-        arbitrator::TreePlanner tp(cf, png, bss, rclcpp::Duration(config_.target_plan_duration* 1e9));
+        arbitrator::TreePlanner tp(cf, png, bss, rclcpp::Duration::from_nanoseconds(config_.target_plan_duration* 1e9));
 
         wm_listener_ = std::make_shared<carma_wm::WMListener>(
             this->get_node_base_interface(), this->get_node_logging_interface(),
@@ -81,7 +81,7 @@ namespace arbitrator
             std::make_shared<ArbitratorStateMachine>(sm),
             ci,
             std::make_shared<TreePlanner>(tp),
-            rclcpp::Duration(config_.min_plan_duration* 1e9),
+            rclcpp::Duration::from_nanoseconds(config_.min_plan_duration* 1e9),
             1/config_.planning_frequency,
             wm_ );
 

arbitrator/src/tree_planner.cpp

@@ -32,7 +32,7 @@ namespace arbitrator
         open_list_to_evaluate.push_back(std::make_pair(root, INF));
 
         carma_planning_msgs::msg::ManeuverPlan longest_plan = root; // Track longest plan in case target length is never reached
-        rclcpp::Duration longest_plan_duration = rclcpp::Duration(0);
+        rclcpp::Duration longest_plan_duration = rclcpp::Duration::from_nanoseconds(0);
 
 
         while (!open_list_to_evaluate.empty())

carma_cloud_client/package.xml

@@ -37,6 +37,7 @@
   <depend>j2735_v2x_msgs</depend>
   <depend>carma_v2x_msgs</depend>
   <depend>j2735_convertor</depend>
+  <depend>std_srvs</depend>
 
   <!-- <depend>qhttpengine</depend> -->
   <!-- <depend>v2xhubWebAPI</depend> -->

carma_cooperative_perception/CMakeLists.txt

@@ -29,11 +29,6 @@ carma_check_ros_version(2)
 # `dependencies.cmake`.
 find_package(ament_cmake_auto REQUIRED)
 
-# Needed so CMake can find the vendored PROJ4 module file. Th FindPROJ4.cmake
-# module file can be removed if we upgrade to a more recent PROJ version. See
-# https://github.com/usdot-fhwa-stol/carma-platform/issues/2139 for updates.
-list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
-
 include(cmake_options.cmake)
 include(dependencies.cmake)
 
@@ -48,8 +43,7 @@ file(TOUCH ${PROJECT_BINARY_DIR}/COLCON_IGNORE)
 # Configures CARMA package default settings
 carma_package()
 
-# C17 CMake support added in CMake 3.21
-set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD 20)
 set(CMAKE_C_STANDARD 11)
 
 # This will automatically add include files from include/carma_cooperative_perception
@@ -69,7 +63,7 @@ ament_auto_add_library(carma_cooperative_perception SHARED
 )
 
 target_link_libraries(carma_cooperative_perception
-  ${PROJ4_LIBRARIES}  # Note: Newer versions of PROJ use PROJ::proj
+  ${PROJ_LIBRARIES}
   GSL  # Note: Newer versions of GSL use Microsoft.GSL::GSL
   units::units
   multiple_object_tracking::multiple_object_tracking

carma_cooperative_perception/dependencies.cmake

@@ -28,13 +28,7 @@ CPMAddPackage(NAME units
 
 find_package(multiple_object_tracking REQUIRED)
 
-# CARMA currently uses PROJ version 6.3.1, which is not designed to be incorporated
-# as a subdirectory into larger projects. If CARMA upgrades to a newer version, we
-# could use the CPMAddPackage(...) command to install PROJ as a source dependency
-# if there is no version already locally available.
-# See https://github.com/usdot-fhwa-stol/carma-platform/issues/2139 for the PROJ
-# version upgrade plans.
-find_package(PROJ4 REQUIRED MODULE)
+find_package(PROJ REQUIRED MODULE)
 
 # lint_cmake: -readability/wonkycase
 CPMAddPackage(NAME Microsoft.GSL

carma_cooperative_perception/include/carma_cooperative_perception/sdsm_to_detection_list_component.hpp

@@ -44,9 +44,8 @@ class SdsmToDetectionListNode : public carma_ros2_utils::CarmaLifecycleNode
       "input/georeference", 1,
       [this](std_msgs::msg::String::SharedPtr msg_ptr) { georeference_ = msg_ptr->data; })},
     cdasim_clock_sub_{create_subscription<rosgraph_msgs::msg::Clock>(
-      "input/cdasim_clock", 1, [this](rosgraph_msgs::msg::Clock::ConstSharedPtr msg_ptr) {
-        cdasim_time_ = msg_ptr->clock;
-      })}
+      "input/cdasim_clock", 1,
+      [this](rosgraph_msgs::msg::Clock::ConstSharedPtr msg_ptr) { cdasim_time_ = msg_ptr->clock; })}
   {
   }
 

carma_cooperative_perception/src/detection_list_viz_component.cpp

@@ -28,7 +28,7 @@ DetectionListVizNode::DetectionListVizNode(const rclcpp::NodeOptions & options)
       [this](carma_cooperative_perception_interfaces::msg::DetectionList::ConstSharedPtr msg_ptr) {
         visualization_msgs::msg::MarkerArray markers;
 
-        for (const auto detection : msg_ptr->detections) {
+        for (const auto & detection : msg_ptr->detections) {
           visualization_msgs::msg::Marker marker;
 
           marker.header = detection.header;

carma_cooperative_perception/src/external_object_list_to_sdsm_component.cpp

@@ -139,10 +139,10 @@ auto ExternalObjectListToSdsmNode::publish_as_sdsm(const external_objects_msg_ty
 
 auto ExternalObjectListToSdsmNode::update_georeference(const georeference_msg_type & msg) -> void
 {
-  if (map_georeference_ != msg.data)
-  {
+  if (map_georeference_ != msg.data) {
     map_georeference_ = msg.data;
-    map_projector_ = std::make_shared<lanelet::projection::LocalFrameProjector>(map_georeference_.c_str());
+    map_projector_ =
+      std::make_shared<lanelet::projection::LocalFrameProjector>(map_georeference_.c_str());
   }
 }
 

carma_cooperative_perception/src/host_vehicle_filter_component.cpp

@@ -75,7 +75,7 @@ auto HostVehicleFilterNode::handle_on_configure(
 
             RCLCPP_ERROR(
               get_logger(),
-              "Cannot change parameter 'distance_threshold_meters': " + result.reason);
+              ("Cannot change parameter 'distance_threshold_meters': " + result.reason).c_str());
 
             break;
           }
@@ -86,7 +86,7 @@ auto HostVehicleFilterNode::handle_on_configure(
 
             RCLCPP_ERROR(
               get_logger(),
-              "Cannot change parameter 'distance_threshold_meters': " + result.reason);
+              ("Cannot change parameter 'distance_threshold_meters': " + result.reason).c_str());
 
             break;
           } else {

carma_cooperative_perception/src/msg_conversion.cpp

@@ -14,19 +14,19 @@
 
 #include "carma_cooperative_perception/msg_conversion.hpp"
 
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #include <carma_cooperative_perception_interfaces/msg/track.hpp>
 #include <carma_cooperative_perception_interfaces/msg/track_list.hpp>
 #include <carma_perception_msgs/msg/external_object.hpp>
 #include <carma_perception_msgs/msg/external_object_list.hpp>
 #include <j2735_v2x_msgs/msg/d_date_time.hpp>
 #include <j2735_v2x_msgs/msg/personal_device_user_type.hpp>
+#include <j2735_v2x_msgs/msg/positional_accuracy.hpp>
 #include <j2735_v2x_msgs/to_floating_point.hpp>
 #include <j3224_v2x_msgs/msg/detected_object_data.hpp>
+#include <j3224_v2x_msgs/msg/equipment_type.hpp>
 #include <j3224_v2x_msgs/msg/measurement_time_offset.hpp>
 #include <j3224_v2x_msgs/msg/object_type.hpp>
-#include <j2735_v2x_msgs/msg/positional_accuracy.hpp>
-#include <j3224_v2x_msgs/msg/equipment_type.hpp>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
 #include <algorithm>
 #include <cctype>
@@ -577,7 +577,8 @@ auto to_sdsm_msg(
   sdsm.equipment_type.equipment_type = j3224_v2x_msgs::msg::EquipmentType::OBU;
   sdsm.ref_pos_xy_conf.semi_major = j2735_v2x_msgs::msg::PositionalAccuracy::ACCURACY_UNAVAILABLE;
   sdsm.ref_pos_xy_conf.semi_minor = j2735_v2x_msgs::msg::PositionalAccuracy::ACCURACY_UNAVAILABLE;
-  sdsm.ref_pos_xy_conf.orientation = j2735_v2x_msgs::msg::PositionalAccuracy::ACCURACY_ORIENTATION_UNAVAILABLE;
+  sdsm.ref_pos_xy_conf.orientation =
+    j2735_v2x_msgs::msg::PositionalAccuracy::ACCURACY_ORIENTATION_UNAVAILABLE;
   sdsm.objects = detected_object_list;
 
   return sdsm;

carma_cooperative_perception/src/multiple_object_tracker_component.cpp

@@ -14,10 +14,10 @@
 
 #include "carma_cooperative_perception/multiple_object_tracker_component.hpp"
 
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #include <units.h>
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_components/register_node_macro.hpp>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
 #include <algorithm>
 #include <chrono>
@@ -283,7 +283,8 @@ auto MultipleObjectTrackerNode::handle_on_configure(
             result.reason = "parameter is read-only while node is in 'Active' state";
 
             RCLCPP_ERROR(
-              get_logger(), "Cannot change parameter 'execution_frequency_hz': " + result.reason);
+              get_logger(),
+              ("Cannot change parameter 'execution_frequency_hz': " + result.reason).c_str());
 
             break;
           } else {
@@ -295,7 +296,8 @@ auto MultipleObjectTrackerNode::handle_on_configure(
             result.reason = "parameter is read-only while node is in 'Active' state";
 
             RCLCPP_ERROR(
-              get_logger(), "Cannot change parameter 'execution_frequency_hz': " + result.reason);
+              get_logger(),
+              ("Cannot change parameter 'execution_frequency_hz': " + result.reason).c_str());
 
             break;
           } else {
@@ -313,7 +315,8 @@ auto MultipleObjectTrackerNode::handle_on_configure(
             result.reason = "parameter is read-only while node is in 'Active' state";
 
             RCLCPP_ERROR(
-              get_logger(), "Cannot change parameter 'execution_frequency_hz': " + result.reason);
+              get_logger(),
+              ("Cannot change parameter 'execution_frequency_hz': " + result.reason).c_str());
 
             break;
           } else {

carma_wm/include/carma_wm/WorldModel.hpp

@@ -19,6 +19,7 @@
 #include <exception>
 #include <memory>
 #include <tuple>
+#include <optional>
 #include <lanelet2_core/LaneletMap.h>
 #include <lanelet2_core/primitives/Area.h>
 #include <lanelet2_core/primitives/Lanelet.h>
@@ -450,4 +451,4 @@ class WorldModel
 };
 // Helpful using declarations for carma_wm classes
 using WorldModelConstPtr = std::shared_ptr<const WorldModel>;
-}  // namespace carma_wm
+}  // namespace carma_wm

carma_wm_ctrl/src/GeofenceSchedule.cpp

@@ -83,7 +83,7 @@ std::pair<bool, rclcpp::Time> GeofenceSchedule::getNextInterval(const rclcpp::Ti
 
   // Iterate over the day to find the next control interval
   constexpr int num_sec_in_day = 86400;
-  const rclcpp::Duration full_day(num_sec_in_day* 1e9);
+  const rclcpp::Duration full_day = rclcpp::Duration::from_nanoseconds(num_sec_in_day* 1e9);
   bool time_in_active_period = false;  // Flag indicating if the requested time is within an active control span
 
   while (cur_start < full_day && ros_time_of_day > rclcpp::Time(cur_start.nanoseconds(), clock_type))