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Dockerfile

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+ARG ROS_DISTRO=noetic
+
+FROM ros:${ROS_DISTRO}-ros-core AS build-env
+ENV DEBIAN_FRONTEND=noninteractive \
+    BUILD_HOME=/var/lib/build \
+    DS_SDK_PATH=/opt/dataspeed_can
+
+RUN set -xue \
+# Kinetic and melodic have python3 packages but they seem to conflict
+&& [ $ROS_DISTRO = "noetic" ] && PY=python3 || PY=python \
+# Turn off installing extra packages globally to slim down rosdep install
+&& echo 'APT::Install-Recommends "0";' > /etc/apt/apt.conf.d/01norecommend \
+&& apt-get update \
+&& apt-get install -y \
+ build-essential cmake \
+ fakeroot dpkg-dev debhelper git \
+ $PY-rosdep $PY-rospkg $PY-bloom
+
+# Set up non-root build user
+ARG BUILD_UID=1000
+ARG BUILD_GID=${BUILD_UID}
+
+RUN set -xe \
+&& groupadd -o -g ${BUILD_GID} build \
+&& useradd -o -u ${BUILD_UID} -d ${BUILD_HOME} -rm -s /bin/bash -g build build
+
+# Install build dependencies using rosdep
+COPY --chown=build:build dbw_mkz_description/package.xml ${DS_SDK_PATH}/dbw_mkz_description/package.xml
+COPY --chown=build:build dbw_mkz_msgs/package.xml ${DS_SDK_PATH}/dbw_mkz_msgs/package.xml
+COPY --chown=build:build cav_msgs/package.xml ${DS_SDK_PATH}/cav_msgs/package.xml
+COPY --chown=build:build j2735_msgs/package.xml ${DS_SDK_PATH}/j2735_msgs/package.xml
+
+RUN set -xe \
+&& apt-get update \
+&& rosdep init \
+&& rosdep update --rosdistro=${ROS_DISTRO} \
+&& rosdep install -y --from-paths ${DS_SDK_PATH}
+
+RUN apt-get install -y ros-${ROS_DISTRO}-dataspeed-can-msg-filters
+
+RUN sudo git clone --depth 1 https://github.com/vishnubob/wait-for-it.git ~/.base-image/wait-for-it && \
+    sudo mv ~/.base-image/wait-for-it/wait-for-it.sh /usr/bin
+
+# Set up build environment
+COPY --chown=build:build dbw_mkz_can ${DS_SDK_PATH}/dbw_mkz_can
+COPY --chown=build:build dbw_mkz_description ${DS_SDK_PATH}/dbw_mkz_description
+COPY --chown=build:build dbw_mkz_msgs ${DS_SDK_PATH}/dbw_mkz_msgs
+COPY --chown=build:build cav_msgs ${DS_SDK_PATH}/cav_msgs
+COPY --chown=build:build j2735_msgs ${DS_SDK_PATH}/j2735_msgs
+
+USER build:build
+WORKDIR ${BUILD_HOME}
+
+RUN set -xe \
+&& mkdir src \
+&& ln -s ${DS_SDK_PATH} ./src
+
+FROM build-env
+
+RUN /opt/ros/${ROS_DISTRO}/env.sh catkin_make -DCMAKE_BUILD_TYPE=Release
+
+# Entrypoint for running Dataspeed CAN ROS:
+CMD ["bash", "-c", "set -e \
+&& . ./devel/setup.bash \
+&& roslaunch dbw_mkz_can dbw.launch \"$@\" \
+", "ros-entrypoint"]

LICENSE

@@ -0,0 +1,27 @@
+Software License Agreement (BSD License)
+
+Copyright (c) 2015-2019, Dataspeed Inc.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+    * Redistributions of source code must retain the above copyright notice,
+      this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright notice,
+      this list of conditions and the following disclaimer in the documentation
+      and/or other materials provided with the distribution.
+    * Neither the name of Dataspeed Inc. nor the names of its
+      contributors may be used to endorse or promote products derived from this
+      software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

README.md

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+# Dataspeed ADAS Development Vehicle Kit
+![rviz screenshot](img/mkz_rviz.png)
+
+## Documentation and firmware updates
+The latest release can be found on the [downloads](https://bitbucket.org/DataspeedInc/dbw_mkz_ros/downloads) page
+
+## ROS
+If using ROS, setup your workspace and get started with the joystick demo [here](ROS_SETUP.md).  
+Get started early with recorded data [here](ROS_BAGS.md).  

docker/build-image.sh

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+#!/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
+#  License for the specific language governing permissions and limitations under
+#  the License.
+
+USERNAME=usdotfhwastol
+
+cd "$(dirname "$0")"
+IMAGE=carma-dataspeed-can-driver
+
+echo ""
+echo "##### $IMAGE Docker Image Build Script #####"
+echo ""
+
+while [[ $# -gt 0 ]]; do
+    arg="$1"
+    case $arg in
+        -v|--version)
+            COMPONENT_VERSION_STRING="$2"
+            shift
+            shift
+            ;;
+        --system-release)
+            SYSTEM_RELEASE=true
+            shift
+            ;;
+        -p|--push)
+            PUSH=true
+            shift
+            ;;
+        -d|--develop)
+            USERNAME=usdotfhwastoldev
+            COMPONENT_VERSION_STRING=develop
+            shift
+            ;;
+    esac
+done
+
+if [[ -z "$COMPONENT_VERSION_STRING" ]]; then
+    COMPONENT_VERSION_STRING=$("./get-component-version.sh")
+fi
+
+echo "Building docker image for $IMAGE version: $COMPONENT_VERSION_STRING"
+echo "Final image name: $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING"
+
+cd ..
+if [[ $COMPONENT_VERSION_STRING = "develop" ]]; then
+    sed "s|usdotfhwastoldev/|$USERNAME/|g; s|usdotfhwastolcandidate/|$USERNAME/|g; s|usdotfhwastol/|$USERNAME/|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:$COMPONENT_VERSION_STRING|g; s|checkout.bash|checkout.bash -d|g" \
+        Dockerfile | docker build -f - --no-cache -t $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING \
+        --build-arg VERSION="$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
+    docker build --no-cache -t $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING \
+        --build-arg VERSION="$COMPONENT_VERSION_STRING" \
+        --build-arg VCS_REF=`git rev-parse --short HEAD` \
+        --build-arg BUILD_DATE=`date -u +”%Y-%m-%dT%H:%M:%SZ”` .
+fi
+
+TAGS=()
+TAGS+=("$USERNAME/$IMAGE:$COMPONENT_VERSION_STRING")
+
+docker tag $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING $USERNAME/$IMAGE:latest
+TAGS+=("$USERNAME/$IMAGE:latest")
+
+echo "Tagged $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING as $USERNAME/$IMAGE:latest"
+
+if [ "$SYSTEM_RELEASE" = true ]; then
+    SYSTEM_VERSION_STRING=$("./get-system-version.sh")
+    docker tag $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING $USERNAME/$IMAGE:$SYSTEM_VERSION_STRING
+    echo "Tagged $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING as $USERNAME/$IMAGE:$SYSTEM_VERSION_STRING"
+    TAGS+=("$USERNAME/$IMAGE:$SYSTEM_VERSION_STRING")
+fi
+
+if [ "$PUSH" = true ]; then
+    for tag in $TAGS; do
+        docker push "${tag}"
+    done
+fi
+
+echo ""
+echo "##### $IMAGE Docker Image Build Done! #####"

docker/checkout.bash

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+#!/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
+#  License for the specific language governing permissions and limitations under
+#  the License.
+
+# CARMA packages checkout script
+# Optional argument to set the root checkout directory with no ending '/' default is '~'
+
+set -exo pipefail
+
+dir=~
+while [[ $# -gt 0 ]]; do
+      arg="$1"
+      case $arg in
+            -d|--develop)
+                  BRANCH=develop
+                  shift
+            ;;
+            -r|--root)
+                  dir=$2
+                  shift
+                  shift
+            ;;
+      esac
+done
+
+if [[ "$BRANCH" = "develop" ]]; then
+      git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ~/src/carma-msgs --branch develop --depth 1
+      git clone https://github.com/usdot-fhwa-stol/carma-utils.git ~/src/carma-utils --branch develop --depth 1
+else
+      git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ${dir}/src/carma-msgs --branch develop --depth 1
+      git clone https://github.com/usdot-fhwa-stol/carma-utils.git ${dir}/src/carma-utils --branch develop --depth 1
+fi

docker/get-component-version.sh

@@ -0,0 +1,21 @@
+#!/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
+#  License for the specific language governing permissions and limitations under
+#  the License.
+
+cd "$(dirname "$0")"
+cd ..
+COMPONENT_TAG_PREFIX="${PWD##*/}"
+git describe --all --match="$COMPONENT_TAG_PREFIX*" --always --dirty="-SNAPSHOT" | awk -F "/" '{print $NF}' | sed "s/$COMPONENT_TAG_PREFIX\_//"
+

docker/get-image-name.sh

@@ -0,0 +1,25 @@
+#!/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
+#  License for the specific language governing permissions and limitations under
+#  the License.
+
+cd "$(dirname "$0")"
+REPO_NAME="$(./get-repo-name.sh)"
+
+# This sed command based on Stack Overflow answer: https://stackoverflow.com/questions/28795479/awk-sed-script-to-convert-a-file-from-camelcase-to-underscores
+# Asked by Corentin Peuvrel: https://stackoverflow.com/users/4608146/corentin-peuvrel
+# Answered by pachopepe: https://stackoverflow.com/users/641896/pachopepe
+# Credited in accordance with Stack Overflow's CC-BY license
+echo $REPO_NAME | sed -r 's/CARMA/carma/' | sed -r 's/([A-Z])/-\L\1/g' | sed 's/^_//'
+

docker/get-package-name.sh

@@ -0,0 +1,21 @@
+#!/bin/bash
+
+# Copyright (C) 2019-2021 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
+# License for the specific language governing permissions and limitations under
+# the License.
+
+
+cd "$(dirname "$0")"
+cd ..
+echo "${PWD##*/}"
+

docker/get-repo-name.sh

@@ -0,0 +1,17 @@
+#!/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
+#  License for the specific language governing permissions and limitations under
+#  the License.
+
+basename -s .git `git config --get remote.origin.url`

docker/get-system-version.sh

@@ -0,0 +1,20 @@
+#!/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
+#  License for the specific language governing permissions and limitations under
+#  the License.
+
+SYSTEM_TAG_PREFIX="carma-system"
+
+git describe --all --match="$SYSTEM_TAG_PREFIX*" --always --dirty="-SNAPSHOT" | awk -F "/" '{print $NF}'
+

docker/get-tmp.sh

@@ -0,0 +1,26 @@
+#!/bin/bash
+
+# Copyright (C) 2019-2021 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
+# License for the specific language governing permissions and limitations under
+# the License.
+
+cd "$(dirname "$0")"
+cd ..
+
+DIR_NAME="${PWD##*/}"
+
+if [ "$DIR_NAME" = "CARMAPlatform" ]; then
+  echo "carma"
+else
+  echo "${PWD##*/}" | sed -r 's/CARMA/carma/' | sed -r 's/([A-Z])/-\L\1/g' | sed 's/^_//'
+fi

docker/install.sh

@@ -0,0 +1,19 @@
+#!/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
+#  License for the specific language governing permissions and limitations under
+#  the License.
+
+source /opt/ros/noetic/setup.bash
+cd ~/
+colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release