renamed c1t -> cda1tenth (#19)

* renamed c1t -> cda1tenth

* fixed ci

* renamed include directories

* changed strategy back to carma/port_drayage

* fixed strategy

* changed to navigation2-extensions

.github/workflows/ci.yml

@@ -25,36 +25,36 @@ jobs:
     - name: Clone Dep's
       run: |
         git clone https://github.com/usdot-fhwa-stol/carma-msgs
-        git clone -b nav2_route_server_humble https://github.com/usdot-fhwa-stol/navigation2
-      working-directory: /__w/navigation2_extensions/navigation2_extensions/src
+        git clone -b route-server-develop https://github.com/usdot-fhwa-stol/navigation2
+      working-directory: /__w/navigation2-extensions/navigation2-extensions/src
 
     - name: Install Ros dependencies
       run: |
         sudo apt-get update
         apt install -y libnanoflann-dev unzip build-essential wget
         rosdep update
-        rosdep install --from-paths /__w/navigation2_extensions/navigation2_extensions/src --ignore-src --rosdistro=humble -y -r
-      working-directory: /__w/navigation2_extensions/navigation2_extensions/src/navigation2_extensions
+        rosdep install --from-paths /__w/navigation2-extensions/navigation2-extensions/src --ignore-src --rosdistro=humble -y -r
+      working-directory: /__w/navigation2-extensions/navigation2-extensions/src/navigation2-extensions
 
     - name: Setup Build Wrapper
       run: |
         wget https://sonarcloud.io/static/cpp/build-wrapper-linux-x86.zip
         unzip build-wrapper-linux-x86.zip
-      working-directory: /__w/navigation2_extensions/navigation2_extensions/
+      working-directory: /__w/navigation2-extensions/navigation2-extensions/
 
     - name: Build with Build Wrapper
       run: |
         . /opt/ros/humble/setup.sh
         ./build-wrapper-linux-x86/build-wrapper-linux-x86-64 --out-dir bw-output \
           colcon build --parallel-workers 4 --event-handlers console_direct+ --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCMAKE_CXX_FLAGS="${COVERAGE_FLAGS}" -DCMAKE_C_FLAGS="${COVERAGE_FLAGS}" -DCMAKE_BUILD_TYPE="Debug"
-      working-directory: /__w/navigation2_extensions/navigation2_extensions/
+      working-directory: /__w/navigation2-extensions/navigation2-extensions/
 
     - name: Run tests
       shell: bash
       run: |
-        source /__w/navigation2_extensions/navigation2_extensions/install/setup.bash
-        colcon test --parallel-workers 4 --event-handlers console_direct+ --ctest-args -DCMAKE_CXX_FLAGS="${COVERAGE_FLAGS}" -DCMAKE_C_FLAGS="${COVERAGE_FLAGS}" -DCMAKE_BUILD_TYPE="Debug" --packages-select carma_nav2_port_drayage_demo
-      working-directory: /__w/navigation2_extensions/navigation2_extensions/
+        source /__w/navigation2-extensions/navigation2-extensions/install/setup.bash
+        colcon test --parallel-workers 4 --event-handlers console_direct+ --ctest-args -DCMAKE_CXX_FLAGS="${COVERAGE_FLAGS}" -DCMAKE_C_FLAGS="${COVERAGE_FLAGS}" -DCMAKE_BUILD_TYPE="Debug" --packages-select nav2_port_drayage_demo
+      working-directory: /__w/navigation2-extensions/navigation2-extensions/
 
     - name: Setup SonarScanner
       uses: warchant/setup-sonar-scanner@v7
@@ -65,26 +65,26 @@ jobs:
         sonar.projectKey=usdot-fhwa-stol_navigation2-extensions
         sonar.organization=usdot-fhwa-stol
         sonar.sourceEncoding=UTF-8
-        sonar.cfamily.build-wrapper-output=/__w/navigation2_extensions/navigation2_extensions/bw-output/
+        sonar.cfamily.build-wrapper-output=/__w/navigation2-extensions/navigation2-extensions/bw-output/
         sonar.host.url=https://sonarcloud.io
         sonar.cpp.file.suffixes=.cpp,.h,.tpp
         sonar.c.file.suffixes=-
         sonar.scm.provider=git
-        carma_nav2_behavior_tree.sonar.projectBaseDir=/__w/navigation2_extensions/navigation2_extensions/src/navigation2_extensions/carma_nav2_behavior_tree
-        carma_nav2_behavior_tree.sonar.exclusions=test/**
-        carma_nav2_behavior_tree.sonar.tests=test
-        carma_nav2_emergency_stop.sonar.projectBaseDir=/__w/navigation2_extensions/navigation2_extensions/src/navigation2_extensions/carma_nav2_emergency_stop
-        carma_nav2_emergency_stop.sonar.sources=src
-        carma_nav2_emergency_stop.sonar.exclusions=test/**
-        carma_nav2_port_drayage_demo.sonar.projectBaseDir=/__w/navigation2_extensions/navigation2_extensions/src/navigation2_extensions/carma_nav2_port_drayage_demo
-        carma_nav2_port_drayage_demo.sonar.sources=src
-        carma_nav2_port_drayage_demo.sonar.exclusions=test/**
-        carma_nav2_port_drayage_demo.sonar.tests=test
+        nav2_route_server_behavior_tree.sonar.projectBaseDir=/__w/navigation2-extensions/navigation2-extensions/src/navigation2-extensions/nav2_route_server_behavior_tree
+        nav2_route_server_behavior_tree.sonar.exclusions=test/**
+        nav2_route_server_behavior_tree.sonar.tests=test
+        nav2_emergency_stop.sonar.projectBaseDir=/__w/navigation2-extensions/navigation2-extensions/src/navigation2-extensions/nav2_emergency_stop
+        nav2_emergency_stop.sonar.sources=src
+        nav2_emergency_stop.sonar.exclusions=test/**
+        nav2_port_drayage_demo.sonar.projectBaseDir=/__w/navigation2-extensions/navigation2-extensions/src/navigation2-extensions/nav2_port_drayage_demo
+        nav2_port_drayage_demo.sonar.sources=src
+        nav2_port_drayage_demo.sonar.exclusions=test/**
+        nav2_port_drayage_demo.sonar.tests=test
         EOF
 
     - name: Run SonarScanner
       uses: usdot-fhwa-stol/actions/sonar-scanner@main
       with:
         sonar-properties-path: /tmp/sonar-scanner.properties
         sonar-token: ${{ secrets.SONAR_TOKEN }}
-        working-dir: /__w/navigation2_extensions/navigation2_extensions/src/navigation2_extensions/
+        working-dir: /__w/navigation2-extensions/navigation2-extensions/src/navigation2-extensions/

Dockerfile

@@ -22,21 +22,21 @@ ARG VERSION="NULL"
 ARG VCS_REF="NULL"
 ENV ROS_DISTRO=humble
 
-RUN mkdir -p /root/c1t_ws/src/navigation2_extensions
+RUN mkdir -p /root/cda_ws/src/navigation2_extensions
 
-COPY . /root/c1t_ws/src/navigation2_extensions/
-COPY docker/install_dependencies.sh /root/c1t_ws/
-COPY docker/build.sh /root/c1t_ws/
+COPY . /root/cda_ws/src/navigation2_extensions/
+COPY docker/install_dependencies.sh /root/cda_ws/
+COPY docker/build.sh /root/cda_ws/
 
-WORKDIR /root/c1t_ws/
+WORKDIR /root/cda_ws/
 
 RUN chmod +x ./install_dependencies.sh ./build.sh
 RUN ./install_dependencies.sh
 RUN ./build.sh
 
 LABEL org.label-schema.schema-version="1.0" \
       org.label-schema.name="navigation2-extensions" \
-      org.label-schema.description="CARMA 1tenth nav2 extensions" \
+      org.label-schema.description="CDA1Tenth nav2 extensions" \
       org.label-schema.vendor="Leidos" \
       org.label-schema.version="${VERSION}" \
       org.label-schema.url="https://highways.dot.gov/research/research-programs/operations/CARMA" \

docker/get-system-version.sh

@@ -14,6 +14,6 @@
 #  License for the specific language governing permissions and limitations under
 #  the License.
 
-SYSTEM_TAG_PREFIX="c1t"
+SYSTEM_TAG_PREFIX="cda1tenth"
 
 git describe --all --match="$SYSTEM_TAG_PREFIX*" --always --dirty="-SNAPSHOT" | awk -F "/" '{print $NF}'

docker/install_dependencies.sh

@@ -3,6 +3,6 @@ set -e
 sudo apt-get update
 # Install 
 apt install -y libnanoflann-dev
-git clone https://github.com/usdot-fhwa-stol/carma-msgs /root/c1t_ws/src/carma-msgs && git clone -b nav2_route_server_humble https://github.com/usdot-fhwa-stol/navigation2 /root/c1t_ws/src/navigation2
+git clone https://github.com/usdot-fhwa-stol/carma-msgs /root/cda_ws/src/carma-msgs && git clone -b route-server-develop https://github.com/usdot-fhwa-stol/navigation2 /root/cda_ws/src/navigation2
 rosdep update
 rosdep install --from-paths src --ignore-src --rosdistro=humble -y -r

init-env.sh

@@ -18,6 +18,6 @@ if [ -f "/opt/ros/humble/setup.bash" ]; then
     source /opt/ros/humble/setup.bash
 fi
 
-if [ -f "/root/c1t_ws/install/setup.bash" ]; then
-    source /root/c1t_ws/install/setup.bash
+if [ -f "/root/cda_ws/install/setup.bash" ]; then
+    source /root/cda_ws/install/setup.bash
 fi

carma_nav2_emergency_stop/CMakeLists.txt → nav2_emergency_stop/CMakeLists.txt

@@ -1,14 +1,14 @@
 cmake_minimum_required(VERSION 3.22)
-project(carma_nav2_emergency_stop)
+project(nav2_emergency_stop)
 
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
 
-ament_auto_add_library(carma_nav2_emergency_stop
+ament_auto_add_library(nav2_emergency_stop
   src/emergency_stop.cpp
 )
 
-ament_auto_add_executable(carma_nav2_emergency_stop_node
+ament_auto_add_executable(nav2_emergency_stop_node
   src/emergency_stop_node.cpp
 )
 

carma_nav2_emergency_stop/README.md → nav2_emergency_stop/README.md

@@ -1,3 +1,3 @@
-# `carma_nav2_emergency_stop` package
+# `nav2_emergency_stop` package
 
 This package adds emergency stop functionality to shutdown the Navigation2 stack and send a halt command when the center button on the Logitech Gamepad F710 is pushed.

carma_nav2_emergency_stop/include/carma_nav2_emergency_stop/emergency_stop.hpp → nav2_emergency_stop/include/nav2_emergency_stop/emergency_stop.hpp

@@ -12,16 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef CARMA_NAV2_EMERGENCY_STOP__EMERGENCY_STOP_HPP_
-#define CARMA_NAV2_EMERGENCY_STOP__EMERGENCY_STOP_HPP_
+#ifndef NAV2_EMERGENCY_STOP__EMERGENCY_STOP_HPP_
+#define NAV2_EMERGENCY_STOP__EMERGENCY_STOP_HPP_
 
 #include <nav2_util/lifecycle_node.hpp>
 #include <nav2_util/lifecycle_service_client.hpp>
 #include <rclcpp_lifecycle/lifecycle_node.hpp>
 #include <ackermann_msgs/msg/ackermann_drive_stamped.hpp>
 #include <sensor_msgs/msg/joy.hpp>
 
-namespace carma_nav2_emergency_stop
+namespace nav2_emergency_stop
 {
 
 class EmergencyStop : public rclcpp::Node
@@ -41,6 +41,6 @@ class EmergencyStop : public rclcpp::Node
   // The names of the nodes to be managed, in the order of desired bring-up
   std::vector<std::string> node_names_;
 };
-}  // namespace carma_nav2_emergency_stop
+}  // namespace nav2_emergency_stop
 
-#endif  // CARMA_NAV2_EMERGENCY_STOP__EMERGENCY_STOP_HPP_
+#endif  // NAV2_EMERGENCY_STOP__EMERGENCY_STOP_HPP_

carma_nav2_emergency_stop/package.xml → nav2_emergency_stop/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>carma_nav2_emergency_stop</name>
+  <name>nav2_emergency_stop</name>
   <version>0.1.0</version>
   <description>An emergency stop for navigation2</description>
   <maintainer email="carma@dot.gov">CARMA Support</maintainer>

carma_nav2_emergency_stop/src/emergency_stop.cpp → nav2_emergency_stop/src/emergency_stop.cpp

@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "carma_nav2_emergency_stop/emergency_stop.hpp"
+#include "nav2_emergency_stop/emergency_stop.hpp"
 
-namespace carma_nav2_emergency_stop
+namespace nav2_emergency_stop
 {
 
 EmergencyStop::EmergencyStop(const rclcpp::NodeOptions & options)
@@ -48,4 +48,4 @@ auto EmergencyStop::on_joy_received(
       rclcpp::shutdown();
     }
 }
-}  // namespace carma_nav2_emergency_stop
+}  // namespace nav2_emergency_stop

carma_nav2_emergency_stop/src/emergency_stop_node.cpp → nav2_emergency_stop/src/emergency_stop_node.cpp

@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <carma_nav2_emergency_stop/emergency_stop.hpp>
+#include <nav2_emergency_stop/emergency_stop.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 auto main(int argc, char * argv[]) -> int
 {
   rclcpp::init(argc, argv);
 
-  auto node{std::make_shared<carma_nav2_emergency_stop::EmergencyStop>(rclcpp::NodeOptions{})};
+  auto node{std::make_shared<nav2_emergency_stop::EmergencyStop>(rclcpp::NodeOptions{})};
 
   rclcpp::executors::SingleThreadedExecutor executor;
   executor.add_node(node->get_node_base_interface());

carma_nav2_port_drayage_demo/CMakeLists.txt → nav2_port_drayage_demo/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.22)
-project(carma_nav2_port_drayage_demo)
+project(nav2_port_drayage_demo)
 
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
@@ -8,16 +8,16 @@ include_directories(
   include/
 )
 
-ament_auto_add_library(carma_nav2_port_drayage_demo
+ament_auto_add_library(nav2_port_drayage_demo
   src/port_drayage_demo.cpp
 )
 
-ament_auto_add_executable(carma_nav2_port_drayage_demo_node
+ament_auto_add_executable(nav2_port_drayage_demo_node
   src/port_drayage_demo_node.cpp
 )
 
-target_link_libraries(carma_nav2_port_drayage_demo_node
-  carma_nav2_port_drayage_demo
+target_link_libraries(nav2_port_drayage_demo_node
+  nav2_port_drayage_demo
 )
 
 # Testing
@@ -28,7 +28,7 @@ if(BUILD_TESTING)
 
   ament_add_gtest(test_port_drayage_demo test/test_port_drayage_demo.cpp)
 
-  target_link_libraries(test_port_drayage_demo carma_nav2_port_drayage_demo)
+  target_link_libraries(test_port_drayage_demo nav2_port_drayage_demo)
 
 endif()
 

carma_nav2_port_drayage_demo/README.md → nav2_port_drayage_demo/README.md

@@ -1,4 +1,4 @@
-# `carma_nav2_port_drayage_demo` package
+# `nav2_port_drayage_demo` package
 
 This package integrates Port Drayage operations with a Nav2-based autonomy stack. The package's node listens for
 incoming port drayage messages of type `carma_v2x_msgs/msg/MobilityOperation` and then sends the target location to the Nav2 Waypoint
@@ -51,7 +51,7 @@ For the purpose of this demo, the only necessary fields to populate when sending
 ```
 
 
-For example, to send a Mobility Operation Message instructing the Turtlebot to pick up cargo with the ID "`C1T_CARGO`" at `(x,y)` coordinates `(3.8, 0.5)` using the ROS2 CLI, run the command:
+For example, to send a Mobility Operation Message instructing the Turtlebot to pick up cargo with the ID "`CARGO_A`" at `(x,y)` coordinates `(3.8, 0.5)` using the ROS2 CLI, run the command:
 
 ```
 ros2 topic pub --once /incoming_mobility_operation carma_v2x_msgs/msg/MobilityOperation "m_header:
@@ -61,12 +61,12 @@ ros2 topic pub --once /incoming_mobility_operation carma_v2x_msgs/msg/MobilityOp
   plan_id: ''
   timestamp: 0
 strategy: 'carma/port_drayage'
-strategy_params: '{\"cmv_id\":\"turtlebot\",\"operation\":\"PICKUP\",\"cargo\":false,\"cargo_id\":\"C1T_CARGO\",\"destination\":{\"longitude\":3.8,\"latitude\":0.5},\"action_id\":\"PORT_DRAYAGE\"}'"
+strategy_params: '{\"cmv_id\":\"turtlebot\",\"operation\":\"PICKUP\",\"cargo\":false,\"cargo_id\":\"CARGO_A\",\"destination\":{\"longitude\":3.8,\"latitude\":0.5},\"action_id\":\"PORT_DRAYAGE\"}'"
 ```
 
 ## Turtlebot Gazebo Launch Instructions
 
-To run the Port Drayage demo using the Turtlebot in the Gazebo simulator, first follow the [c1t_bringup Prerequisites](https://github.com/usdot-fhwa-stol/c1t_bringup?tab=readme-ov-file#prerequisites) to download and build the necessary software.
+To run the Port Drayage demo using the Turtlebot in the Gazebo simulator, first follow the [cda1tenth_bringup Prerequisites](https://github.com/usdot-fhwa-stol/cda1tenth_bringup?tab=readme-ov-file#prerequisites) to download and build the necessary software.
 
 Then, download and run the simulation environment using:
 
@@ -77,14 +77,14 @@ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
 
 To launch the Port Drayage demo, run 
 ```
-ros2 launch c1t_bringup c1t_bringup_launch.xml vehicle:=turtlebot
+ros2 launch cda1tenth_bringup cda1tenth_bringup_launch.xml vehicle:=turtlebot
 ```
 
 Next, provide the Turtlebot with an initial pose estimate using the 2D Pose Estimate arrow in Rviz. Once the vehicle has localized, it is now ready to
 receive a Mobility Operation message to determine an action to complete. To start a simple demonstration of the Turtlebot picking up and dropping off cargo, run:
 
 ```
-cd carma_nav2_port_drayage_demo/
+cd nav2_port_drayage_demo/
 ./test/turtlebot_port_drayage_test.sh
 ```
 

carma_nav2_port_drayage_demo/include/carma_nav2_port_drayage_demo/port_drayage_demo.hpp → nav2_port_drayage_demo/include/nav2_port_drayage_demo/port_drayage_demo.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef CARMA_NAV2_PORT_DRAYAGE_DEMO__PORT_DRAYAGE_DEMO_HPP_
-#define CARMA_NAV2_PORT_DRAYAGE_DEMO__PORT_DRAYAGE_DEMO_HPP_
+#ifndef NAV2_PORT_DRAYAGE_DEMO__PORT_DRAYAGE_DEMO_HPP_
+#define NAV2_PORT_DRAYAGE_DEMO__PORT_DRAYAGE_DEMO_HPP_
 
 #include <carma_v2x_msgs/msg/mobility_operation.hpp>
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
@@ -28,7 +28,7 @@
 #include <rclcpp_lifecycle/lifecycle_node.hpp>
 #include <string>
 
-namespace carma_nav2_port_drayage_demo
+namespace nav2_port_drayage_demo
 {
 
 class OperationID
@@ -110,10 +110,10 @@ struct PortDrayageMobilityOperationMsg
   std::string cargo_id;
   std::shared_ptr<OperationID> operation;
   std::string current_action_id;  // Identifier for the action this message is related to
-  double dest_longitude;          // Destination longitude for the carma vehicle
-  double dest_latitude;           // Destination latitude for the carma vehicle
-  double start_longitude;         // Starting longitude of the carma vehicle
-  double start_latitude;          // Starting latitude of the carma vehicle
+  double dest_longitude;          // Destination longitude for the CDA1Tenth vehicle
+  double dest_latitude;           // Destination latitude for the CDA1Tenth vehicle
+  double start_longitude;         // Starting longitude of the CDA1Tenth vehicle
+  double start_latitude;          // Starting latitude of the CDA1Tenth vehicle
   PortDrayageMobilityOperationMsg()
   {
     operation =
@@ -227,6 +227,6 @@ class PortDrayageDemo : public rclcpp_lifecycle::LifecycleNode
   // Previously received Mobility Operation message
   PortDrayageMobilityOperationMsg previous_mobility_operation_msg_;
 };
-}  // namespace carma_nav2_port_drayage_demo
+}  // namespace nav2_port_drayage_demo
 
-#endif  // CARMA_NAV2_PORT_DRAYAGE_DEMO__PORT_DRAYAGE_DEMO_HPP_
+#endif  // NAV2_PORT_DRAYAGE_DEMO__PORT_DRAYAGE_DEMO_HPP_

carma_nav2_port_drayage_demo/package.xml → nav2_port_drayage_demo/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>carma_nav2_port_drayage_demo</name>
+  <name>nav2_port_drayage_demo</name>
   <version>0.1.0</version>
   <description>A port drayage demo navigation2 application</description>
   <maintainer email="carma@dot.gov">CARMA Support</maintainer>

carma_nav2_port_drayage_demo/src/port_drayage_demo.cpp → nav2_port_drayage_demo/src/port_drayage_demo.cpp

@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "carma_nav2_port_drayage_demo/port_drayage_demo.hpp"
+#include "nav2_port_drayage_demo/port_drayage_demo.hpp"
 
-namespace carma_nav2_port_drayage_demo
+namespace nav2_port_drayage_demo
 {
 
 OperationID::OperationID(std::string op_str) : operation_enum_(stringToOperation(op_str)) {}
@@ -278,4 +278,4 @@ auto PortDrayageDemo::compose_arrival_message() -> carma_v2x_msgs::msg::Mobility
   result.strategy_params = mobility_operation_json.dump();
   return result;
 }
-}  // namespace carma_nav2_port_drayage_demo
+}  // namespace nav2_port_drayage_demo