Arc 160 ros2 humble (#275)

* migrated common packages to humble

* migrated core_perception to ros2 humble

* migrated mrt_cmake_module

* fixed ci

* fixed Dockerfile

* fixed python cmake integration

* added command to ignore parking_planner and parking_planner_nodes

* removed ros1 build steps

* fixed install.sh

* removed install_ros2 copy since this is now in install

* addressed comments

* removed unneeded dependency that causes build error

.github/workflows/dockerhub.yml

@@ -4,6 +4,7 @@ on:
   push:
     branches:
       - carma-develop
+      - develop-humble
       - carma-master
       - "release/*"
     tags:
@@ -16,4 +17,4 @@ jobs:
       DOCKERHUB_TOKEN: ${{ secrets.DOCKERHUB_TOKEN }}
       GH_PAT: ${{ secrets.GH_PAT }}
     with:
-      context: .
+      context: .

Dockerfile

@@ -11,7 +11,7 @@ ENV ROS2_PACKAGES=${ROS2_PACKAGES}
 
 COPY --chown=carma . /home/carma/autoware.ai
 RUN /home/carma/autoware.ai/docker/checkout.bash -b ${GIT_BRANCH}
-RUN ./home/carma/autoware.ai/docker/install.sh
+RUN /home/carma/autoware.ai/docker/install.sh
 
 FROM base_image
 
@@ -30,4 +30,3 @@ LABEL org.label-schema.vcs-ref=${VCS_REF}
 LABEL org.label-schema.build-date=${BUILD_DATE}
 
 COPY --chown=carma --from=build /opt/autoware.ai/ros/install /opt/autoware.ai/ros/install
-COPY --chown=carma --from=build /opt/autoware.ai/ros/install_ros2 /opt/autoware.ai/ros/install_ros2

common/autoware_lanelet2_ros_interface/include/autoware_lanelet2_ros2_interface/visualization/visualization.hpp

@@ -80,7 +80,7 @@ void lineString2Marker(const lanelet::ConstLineString3d ls, visualization_msgs::
  */
 void trafficLight2TriangleMarker(const lanelet::ConstLineString3d ls, visualization_msgs::msg::Marker* marker,
                                  const std::string ns, const std_msgs::msg::ColorRGBA cl,
-                                 const rclcpp::Duration duration = rclcpp::Duration(0.0), const double scale = 1.0);
+                                 const rclcpp::Duration duration = rclcpp::Duration::from_seconds(0.0), const double scale = 1.0);
 
 /**
  * [laneletsBoundaryAsMarkerArray create marker array to visualize shape of
@@ -135,7 +135,7 @@ visualization_msgs::msg::MarkerArray lineStringsAsMarkerArray(const std::vector<
  */
 visualization_msgs::msg::MarkerArray autowareTrafficLightsAsMarkerArray(
     const std::vector<lanelet::AutowareTrafficLightConstPtr> tl_reg_elems, const std_msgs::msg::ColorRGBA c,
-    const rclcpp::Duration duration = rclcpp::Duration(0.0), const double scale = 1.0);
+    const rclcpp::Duration duration = rclcpp::Duration::from_seconds(0.0), const double scale = 1.0);
 
 /**
  * [trafficLightsAsTriangleMarkerArray creates marker array to visualize shape
@@ -147,7 +147,7 @@ visualization_msgs::msg::MarkerArray autowareTrafficLightsAsMarkerArray(
  */
 visualization_msgs::msg::MarkerArray trafficLightsAsTriangleMarkerArray(
     const std::vector<lanelet::TrafficLightConstPtr> tl_reg_elems, const std_msgs::msg::ColorRGBA c,
-    const rclcpp::Duration duration = rclcpp::Duration(0.0), const double scale = 1.0);
+    const rclcpp::Duration duration = rclcpp::Duration::from_seconds(0.0), const double scale = 1.0);
 
 }  // namespace visualization
 }  // namespace lanelet

common/autoware_lanelet2_ros_interface/lib/autoware_lanelet2_ros2_interface/visualization.cpp

@@ -118,7 +118,7 @@ void lightAsMarker(lanelet::ConstPoint3d p, visualization_msgs::msg::Marker* mar
     marker->color.g = 1.0f;
     marker->color.b = 1.0f;
   }
-  marker->lifetime = rclcpp::Duration(0.0);
+  marker->lifetime = rclcpp::Duration::from_seconds(0.0);
 }
 
 void laneletDirectionAsMarker(const lanelet::ConstLanelet ll, visualization_msgs::msg::Marker* marker, const int id,
@@ -152,7 +152,7 @@ void laneletDirectionAsMarker(const lanelet::ConstLanelet ll, visualization_msgs
   lanelet::ConstLineString3d center_ls = ll.centerline();
   float s = 1.0;
 
-  marker->lifetime = rclcpp::Duration(0.0);
+  marker->lifetime = rclcpp::Duration::from_seconds(0.0);
 
   marker->pose.position.x = 0.0;  // p.x();
   marker->pose.position.y = 0.0;  // p.y();
@@ -533,7 +533,7 @@ visualization_msgs::msg::MarkerArray visualization::laneletsAsTriangleMarkerArra
   marker.ns = ns;
   marker.id = 0;
   marker.type = visualization_msgs::msg::Marker::TRIANGLE_LIST;
-  marker.lifetime = rclcpp::Duration(0.0);
+  marker.lifetime = rclcpp::Duration::from_seconds(0.0);
   marker.pose.position.x = 0.0;  // p.x();
   marker.pose.position.y = 0.0;  // p.y();
   marker.pose.position.z = 0.0;  // p.z();

common/lanelet2_extension/CMakeLists.txt

@@ -33,7 +33,7 @@ find_path(PUGIXML_INCLUDE_DIRS
   PATH_SUFFIXES pugixml
 )
 
-find_package(PROJ4 REQUIRED)
+find_package(PROJ REQUIRED)
 find_package(Boost REQUIRED)
 
 
@@ -132,7 +132,7 @@ if(${ROS_VERSION} EQUAL 2)
     include
     ${GeographicLib_INCLUDE_DIRS}
     ${PUGIXML_INCLUDE_DIRS}
-    ${PROJ4_INCLUDE_DIRS}
+    ${PROJ_INCLUDE_DIRS}
     ${Boost_INCLUDE_DIRS}
     ${${LOGGER_DEP}_INCLUDE_DIRS}
     ${hardcoded_params_INCLUDE_DIRS}
@@ -150,7 +150,7 @@ if(${ROS_VERSION} EQUAL 2)
 
   target_link_libraries(lanelet2_extension_lib
     ${GeographicLib_LIBRARIES}
-    ${PROJ4_LIBRARIES}
+    ${PROJ_LIBRARIES}
     ${Boost_LIBRARIES}
     ${${LOGGER_DEP}_LIBRARIES}
   )

common/map_file_ros2/package.xml

@@ -41,6 +41,7 @@
   <depend>lanelet2_extension</depend>
   <depend>carma_ros2_utils</depend>
   <depend>autoware_lanelet2_ros_interface</depend>  
+  <depend>pcl_conversions</depend>
 
 
   <test_depend>ament_lint_auto</test_depend>

core_perception/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp

@@ -32,6 +32,8 @@
 #include <tf2/LinearMath/Quaternion.h>
 #include <tf2_ros/transform_listener.h>
 #include <tf2_ros/transform_broadcaster.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#include <tf2_ros/buffer.h>
 
 #include "amathutils_lib_ros2/kalman_filter.hpp"
 #include "amathutils_lib_ros2/time_delay_kalman_filter.hpp"
@@ -235,4 +237,4 @@ class EKFLocalizer: public carma_ros2_utils::CarmaLifecycleNode
     carma_ros2_utils::CallbackReturn handle_on_configure(const rclcpp_lifecycle::State &);
 };
 
-} //namespace ekf_localizer
+} //namespace ekf_localizer

core_perception/lidar_localizer_ros2/CMakeLists.txt

@@ -72,4 +72,4 @@ ${PCL_LIBRARIES}
 
 ament_auto_package(
   INSTALL_TO_SHARE launch
-)
+)

core_perception/lidar_localizer_ros2/include/ndt_matching.hpp

@@ -30,17 +30,16 @@
 #include <std_msgs/msg/bool.hpp>
 #include <std_msgs/msg/float32.hpp>
 #include <std_msgs/msg/string.hpp>
-#include <velodyne_pointcloud/rawdata.hpp>
 
 #include <tf2_ros/static_transform_broadcaster.h>
 #include "tf2_ros/transform_broadcaster.h"
 #include <tf2_ros/transform_listener.h>
 #include <tf2_ros/buffer.h>
-#include "tf2_geometry_msgs/tf2_geometry_msgs.h"
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <geometry_msgs/msg/vector3_stamped.hpp>
-#include <pcl/io/io.h>
+#include <pcl/common/io.h>
 #include <pcl/io/pcd_io.h>
 #include <pcl/point_types.h>
 #include <pcl_conversions/pcl_conversions.h>

core_perception/lidar_localizer_ros2/package.xml

@@ -42,7 +42,7 @@
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
   <depend>pcl</depend>
-  <depend>velodyne_pointcloud</depend>
+  <depend>tf2_geometry_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>

core_perception/ndt_cpu/CMakeLists.txt

@@ -6,7 +6,6 @@ find_package(ros_environment REQUIRED)
 set(ROS_VERSION $ENV{ROS_VERSION})
 
 find_package(PCL COMPONENTS REQUIRED)
-find_package(catkin REQUIRED)
 find_package(Eigen3 QUIET)
 
 if(NOT EIGEN3_FOUND)
@@ -21,7 +20,7 @@ else()
 endif()
 
 if(${ROS_VERSION} EQUAL 1)
-
+  find_package(catkin REQUIRED)
   catkin_package(
     INCLUDE_DIRS include
     LIBRARIES ndt_cpu                   #The exported libraries from the project
@@ -135,4 +134,4 @@ else() #ROS2
 
   ament_auto_package()
 
-endif()
+endif()

docker/install.sh

@@ -14,11 +14,6 @@
 # License for the specific language governing permissions and limitations under
 # the License.
 
-
-###
-# ROS 1 Build
-###
-# Source environment variables
 if [[ ! -z "$ROS1_PACKAGES$ROS2_PACKAGES" ]]; then
     echo "Sourcing previous build for incremental build start point..."
     source /opt/autoware.ai/ros/install/setup.bash
@@ -30,57 +25,21 @@ fi
 # Enter source directory
 cd /home/carma/autoware.ai
 
-# Build with CUDA
-echo "ROS 1 Build with CUDA"
 sudo mkdir /opt/autoware.ai # Create install directory
 sudo chown carma /opt/autoware.ai # Set owner to expose permissions for build
 sudo chgrp carma /opt/autoware.ai # Set group to expose permissions for build
 
-if [[ ! -z "$ROS1_PACKAGES$ROS2_PACKAGES" ]]; then
-    if [[ ! -z "$ROS1_PACKAGES" ]]; then
-        echo "Incrementally building ROS1 packages: $ROS1_PACKAGES"
-        AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --build-base build_ros1 --install-base /opt/autoware.ai/ros/install --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs -DCMAKE_CXX_FLAGS=-Wall -DCMAKE_C_FLAGS=-Wall --packages-above $ROS1_PACKAGES --allow-overriding $ROS1_PACKAGES
-    else
-        echo "Build type is incremental but no ROS1 packages specified, skipping ROS1 build..."
-    fi
-else
-    echo "Building all ROS1 Autoware.AI Components"
-    AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --build-base build_ros1 --install-base /opt/autoware.ai/ros/install --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs -DCMAKE_CXX_FLAGS=-Wall -DCMAKE_C_FLAGS=-Wall
-fi
-
-# Get the exit code from the ROS1 build so we can skip the ROS2 build if the ROS1 build failed
-status=$?
-
-if [[ $status -ne 0 ]]; then
-    echo "Autoware.ai build failed."
-    exit $status
-fi
-echo "Build of ROS1 Autoware.AI Components Complete"
-
-
-###
-# ROS 2 Build
-###
-source /opt/ros/foxy/setup.bash
-if [[ ! -z "$ROS1_PACKAGES$ROS2_PACKAGES" ]]; then
-    echo "Sourcing previous build for incremental build start point..."
-    source /opt/autoware.ai/ros/install_ros2/setup.bash
-else
-    echo "Sourcing base image for full build..."
-    source /home/carma/catkin/setup.bash
-fi
-
 echo "ROS 2 Build"
 if [[ ! -z "$ROS1_PACKAGES$ROS2_PACKAGES" ]]; then
     if [[ ! -z "$ROS2_PACKAGES" ]]; then
         echo "Incrementally building ROS2 packages: $ROS1_PACKAGES"
         # Build with CUDA compile option 
-        AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --install-base /opt/autoware.ai/ros/install_ros2 --build-base build_ros2 --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-above $ROS2_PACKAGES --allow-overriding $ROS2_PACKAGES
+        AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --install-base /opt/autoware.ai/ros/install --build-base build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-above $ROS2_PACKAGES --allow-overriding $ROS2_PACKAGES --packages-ignore parking_planner parking_planner_nodes
     else
         echo "Build type is incremental but no ROS2 packages specified, skipping ROS2 build..."
     fi
 else
     echo "Building all ROS2 Autoware.AI Components"
     # Build with CUDA compile option
-    AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --install-base /opt/autoware.ai/ros/install_ros2 --build-base build_ros2 --cmake-args -DCMAKE_BUILD_TYPE=Release
+    AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --install-base /opt/autoware.ai/ros/install --build-base build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-ignore parking_planner parking_planner_nodes
 fi

jsk_recognition/jsk_recognition_utils/cmake/FindCython.cmake

@@ -26,7 +26,7 @@
 # if it is a local installation.
 find_package( PythonInterp )
 if( PYTHONINTERP_FOUND )
-  get_filename_component( _python_path ${PYTHON_EXECUTABLE} PATH )
+  get_filename_component( _python_path ${Python3_EXECUTABLE} PATH )
   find_program( CYTHON_EXECUTABLE
     NAMES cython cython.bat cython3
     HINTS ${_python_path}

mrt_cmake_modules/cmake/Modules/CatkinMockForConan.cmake

@@ -7,7 +7,7 @@ conan_define_targets()
 target_link_libraries(${PROJECT_NAME}::auto_deps_export INTERFACE ${CONAN_TARGETS})
 if(CONAN_USER_PYTHON_DEV_CONFIG_python_exec)
     set(PYTHON_VERSION ${CONAN_USER_PYTHON_DEV_CONFIG_python_version})
-    set(PYTHON_EXECUTABLE ${CONAN_USER_PYTHON_DEV_CONFIG_python_exec})
+    set(Python3_EXECUTABLE ${CONAN_USER_PYTHON_DEV_CONFIG_python_exec})
 endif()
 
 set(CATKIN_DEVEL_PREFIX ${CMAKE_CURRENT_BINARY_DIR})

mrt_cmake_modules/cmake/Modules/FindBoostPython.cmake

@@ -5,8 +5,8 @@
 #  BoostPython_INCLUDE_DIRS - the include directory for boost+python
 #  BoostPython_LIBRARIES - the needed libs for boost+python
 
-if(PYTHON_VERSION)
-    set(_python_version ${PYTHON_VERSION})
+if(Python3_VERSION)
+    set(_python_version ${Python3_VERSION})
 else()
     set(_python_version 2.7)
 endif()

mrt_cmake_modules/cmake/Modules/GatherDeps.cmake

@@ -12,7 +12,7 @@ configure_file("${CMAKE_CURRENT_SOURCE_DIR}/package.xml"
 #variable set. This is used, because the python script is calling some ros tools to distinguish
 #between catkin and non catkin packages.
 set(_gather_cmd
-    ${MRT_CMAKE_ENV} ${PYTHON_EXECUTABLE} ${MRT_CMAKE_MODULES_ROOT_PATH}/scripts/generate_cmake_dependency_file.py
+    ${MRT_CMAKE_ENV} ${Python3_EXECUTABLE} ${MRT_CMAKE_MODULES_ROOT_PATH}/scripts/generate_cmake_dependency_file.py
     "${CMAKE_CURRENT_SOURCE_DIR}/package.xml" "${MRT_CMAKE_MODULES_ROOT_PATH}/yaml/cmake.yaml"
     "${CMAKE_CURRENT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/auto_dep_vars.cmake")
 execute_process(

mrt_cmake_modules/cmake/Modules/MrtTesting.cmake

@@ -45,7 +45,7 @@ function(mrt_init_testing)
     endif()
     if(NOT TARGET init_tests)
         set(pre_test_cmd
-            ${PYTHON_EXECUTABLE}
+            ${Python3_EXECUTABLE}
             ${MRT_CMAKE_MODULES_ROOT_PATH}/scripts/init_coverage.py
             ${PROJECT_NAME}
             ${CMAKE_BINARY_DIR}
@@ -61,7 +61,7 @@ function(mrt_init_testing)
             set(show_result "--show")
         endif()
         set(post_test_cmd
-            ${PYTHON_EXECUTABLE}
+            ${Python3_EXECUTABLE}
             ${MRT_CMAKE_MODULES_ROOT_PATH}/scripts/eval_coverage.py
             ${CMAKE_SOURCE_DIR}
             ${CMAKE_BINARY_DIR}
@@ -115,7 +115,7 @@ function(_mrt_run_test target_name working_dir result_xml_path)
 
     set(run_test_cmd
         ${CATKIN_ENV}
-        ${PYTHON_EXECUTABLE}
+        ${Python3_EXECUTABLE}
         ${MRT_CMAKE_MODULES_ROOT_PATH}/scripts/run_test.py
         ${result_xml_path}
         ${working_dir_arg}
@@ -205,7 +205,7 @@ function(mrt_add_rostest target launch_file)
         message(FATAL_ERROR "rostest not found! Aborting...")
     endif()
     set(cmd
-        "${PYTHON_EXECUTABLE} ${ROSTEST_EXE} --pkgdir=${PROJECT_SOURCE_DIR} --package=${PROJECT_NAME} --results-filename ${test_name}.xml --results-base-dir \"${MRT_TEST_RESULTS_DIR}\" ${CMAKE_CURRENT_LIST_DIR}/${launch_file}"
+        "${Python3_EXECUTABLE} ${ROSTEST_EXE} --pkgdir=${PROJECT_SOURCE_DIR} --package=${PROJECT_NAME} --results-filename ${test_name}.xml --results-base-dir \"${MRT_TEST_RESULTS_DIR}\" ${CMAKE_CURRENT_LIST_DIR}/${launch_file}"
     )
     if(MRT_ENABLE_COVERAGE)
         set(coverage_arg COVERAGE_DIR ${MRT_COVERAGE_DIR}/${target})

mrt_cmake_modules/cmake/Templates/python_api_install.py.in

@@ -4,7 +4,7 @@ import os
 import sys
 import subprocess
 
-python_interpreter = "@PYTHON_EXECUTABLE@"
+python_interpreter = "@Python3_EXECUTABLE@"
 if not python_interpreter:
     python_interpreter = "python"
 

mrt_cmake_modules/cmake/mrt_cmake_modules-macros.cmake

@@ -80,7 +80,7 @@ if(DEFINED ENV{ROS_VERSION})
     set(ROS_VERSION $ENV{ROS_VERSION})
 endif()
 
-# make sure catkin/ament are found so that PYTHON_EXECUTABLE (and CATKIN_ENV) is set.
+# make sure catkin/ament are found so that Python3_EXECUTABLE (and CATKIN_ENV) is set.
 if(NOT PYTHON_VERSION AND DEFINED $ENV{ROS_PYTHON_VERSION})
     set(PYTHON_VERSION
         $ENV{ROS_PYTHON_VERSION}
@@ -394,7 +394,7 @@ function(_mrt_get_python_destination output_var)
             "print(os.path.relpath(get_python_lib(prefix='${CMAKE_INSTALL_PREFIX}'), start='${CMAKE_INSTALL_PREFIX}').replace(os.sep, '/'))"
         )
         execute_process(
-            COMMAND "${PYTHON_EXECUTABLE}" "-c" "${_python_code}"
+            COMMAND "${Python3_EXECUTABLE}" "-c" "${_python_code}"
             OUTPUT_VARIABLE _output
             RESULT_VARIABLE _result
             OUTPUT_STRIP_TRAILING_WHITESPACE)
@@ -604,7 +604,7 @@ function(mrt_python_module_setup)
         install(
             CODE "execute_process(
             COMMAND
-             \"${PYTHON_EXECUTABLE}\" \"-m\" \"compileall\"
+             \"${Python3_EXECUTABLE}\" \"-m\" \"compileall\"
              \"${CMAKE_INSTALL_PREFIX}/${python_destination}/${PROJECT_NAME}\"
              )")
         if(ROS_VERSION EQUAL 2)
@@ -727,7 +727,7 @@ function(mrt_add_python_api modulename)
         configure_file(${MCM_TEMPLATE_DIR}/setup.py.in "${CMAKE_CURRENT_BINARY_DIR}/setup.py" @ONLY)
         configure_file(${MCM_TEMPLATE_DIR}/python_api_install.py.in "${CMAKE_CURRENT_BINARY_DIR}/python_api_install.py"
                        @ONLY)
-        install(CODE "execute_process(COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_BINARY_DIR}/python_api_install.py)")
+        install(CODE "execute_process(COMMAND ${Python3_EXECUTABLE} ${CMAKE_CURRENT_BINARY_DIR}/python_api_install.py)")
     else()
         if(ROS_VERSION EQUAL 2)
             _mrt_register_ament_python_hook()
@@ -1353,7 +1353,7 @@ function(_mrt_install_python source_file destination)
     string(SUBSTRING "${data}" 0 ${length} prefix)
     if("${shebang_line}" STREQUAL "${prefix}")
         # write modified file with modified shebang line
-        get_filename_component(python_name ${PYTHON_EXECUTABLE} NAME)
+        get_filename_component(python_name ${Python3_EXECUTABLE} NAME)
         string(REGEX REPLACE "${regex}" "#!/\\1/env ${python_name}\\2" data "${data}")
         get_filename_component(filename ${source_file} NAME)
         set(rewritten_file "${CMAKE_CURRENT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/python_files")