From 1cc6d681f4a1120af312ad26549fb6bf8ebb1db2 Mon Sep 17 00:00:00 2001 From: Saikrishna Bairamoni <84093461+SaikrishnaBairamoni@users.noreply.github.com> Date: Fri, 9 Feb 2024 09:16:46 -0500 Subject: [PATCH 01/18] Update config files to point candidate images --- .circleci/config.yml | 2 +- .github/workflows/dockerhub.yml | 3 ++- Dockerfile | 2 +- docker/checkout.bash | 6 +++--- 4 files changed, 7 insertions(+), 6 deletions(-) diff --git a/.circleci/config.yml b/.circleci/config.yml index 458f37c9723..0fa93d7f77e 100644 --- a/.circleci/config.yml +++ b/.circleci/config.yml @@ -28,7 +28,7 @@ jobs: # Pull docker image from docker hub # XTERM used for better catkin_make output docker: - - image: usdotfhwastoldev/carma-base:develop + - image: usdotfhwastolcanididate/carma-base:lavida user: carma environment: TERM: xterm diff --git a/.github/workflows/dockerhub.yml b/.github/workflows/dockerhub.yml index 01edb96cdc2..a797d55565b 100644 --- a/.github/workflows/dockerhub.yml +++ b/.github/workflows/dockerhub.yml @@ -6,6 +6,7 @@ on: - "carma-develop" - "master" - "release/*" + - "release/lavida" jobs: dockerhub: runs-on: ubuntu-latest-8-cores @@ -24,4 +25,4 @@ jobs: with: context: . push: true - tags: usdotfhwastoldev/${{ github.event.repository.name }}:carma-develop + tags: usdotfhwastolcandidate/${{ github.event.repository.name }}:lavida diff --git a/Dockerfile b/Dockerfile index b8994718edf..1726a13e8da 100644 --- a/Dockerfile +++ b/Dockerfile @@ -1,4 +1,4 @@ -FROM usdotfhwastoldev/carma-base:develop AS base_image +FROM usdotfhwastolcanidate/carma-base:lavida AS base_image FROM base_image AS build diff --git a/docker/checkout.bash b/docker/checkout.bash index 1ac907c55ed..b10fc326150 100755 --- a/docker/checkout.bash +++ b/docker/checkout.bash @@ -39,9 +39,9 @@ if [[ "$BRANCH" = "develop" ]]; then git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-utils.git --branch $BRANCH git clone --depth=1 https://github.com/usdot-fhwa-stol/autoware.auto.git --branch $BRANCH else - git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-msgs.git --branch develop - git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-utils.git --branch develop - git clone --depth=1 https://github.com/usdot-fhwa-stol/autoware.auto.git --branch develop + git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-msgs.git --branch release/lavida + git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-utils.git --branch release/lavida + git clone --depth=1 https://github.com/usdot-fhwa-stol/autoware.auto.git --branch release/lavida fi # Required to build pacmod_msgs From d107b2bd28e043b000119a23c4b0bcba91394c9c Mon Sep 17 00:00:00 2001 From: Saikrishna Bairamoni <84093461+SaikrishnaBairamoni@users.noreply.github.com> Date: Fri, 9 Feb 2024 09:41:31 -0500 Subject: [PATCH 02/18] fix dockerhub org name --- Dockerfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Dockerfile b/Dockerfile index 1726a13e8da..32c4a9818d2 100644 --- a/Dockerfile +++ b/Dockerfile @@ -1,4 +1,4 @@ -FROM usdotfhwastolcanidate/carma-base:lavida AS base_image +FROM usdotfhwastolcandidate/carma-base:lavida AS base_image FROM base_image AS build From 8c8675dd3bd2bcc30ae3eded8096d633f44603f8 Mon Sep 17 00:00:00 2001 From: Misheel Bayartsengel Date: Tue, 5 Mar 2024 11:46:53 -0500 Subject: [PATCH 03/18] Increase hardcoded acceleration limit for simulation (#265) --- .../control_limits/control_limits.h | 12 ++++++- .../twist_filter/include/accel_limiter.hpp | 18 +++++----- .../twist_filter/include/twist_filter.hpp | 6 ++-- .../twist_filter/src/twist_filter.cpp | 33 ++++++++++++++----- 4 files changed, 49 insertions(+), 20 deletions(-) diff --git a/common/hardcoded_params/include/hardcoded_params/control_limits/control_limits.h b/common/hardcoded_params/include/hardcoded_params/control_limits/control_limits.h index 96f89c5432d..ae081e0bc3e 100644 --- a/common/hardcoded_params/include/hardcoded_params/control_limits/control_limits.h +++ b/common/hardcoded_params/include/hardcoded_params/control_limits/control_limits.h @@ -21,9 +21,19 @@ namespace hardcoded_params namespace control_limits { /** - * The maximum allowable longitudinal velocity of the vehicle in m/s + * The maximum allowable longitudinal velocity of the vehicle in m/s */ constexpr double MAX_LONGITUDINAL_VELOCITY_MPS = 35.7632; constexpr double MAX_LONGITUDINAL_ACCEL_MPS2 = 3.5; + +/** +* The maximum allowable simulation parameters +* At the time of writing this, platform uses CARLA 0.9.10 as the vehicle's physics simulator. +* CARLA 0.9.10 uses below hardcoded value for its vehicles (so even if increasing this value, +* actual simulation won't support larger values unless forked and compiled) +* https://github.com/carla-simulator/ros-bridge/blob/0.9.10.1/carla_ackermann_control/src/carla_ackermann_control/carla_control_physics.py#L254 +*/ +constexpr double MAX_SIMULATION_LONGITUDINAL_ACCEL_MPS2 = 8.0; + } } // namespace hardcoded_params diff --git a/core_planning/twist_filter/include/accel_limiter.hpp b/core_planning/twist_filter/include/accel_limiter.hpp index a8ab326b119..69a1e2ced70 100644 --- a/core_planning/twist_filter/include/accel_limiter.hpp +++ b/core_planning/twist_filter/include/accel_limiter.hpp @@ -8,10 +8,12 @@ namespace twist_filter{ constexpr double MAX_LONGITUDINAL_ACCEL_HARDCODED_LIMIT_M_S_2 = hardcoded_params::control_limits::MAX_LONGITUDINAL_ACCEL_MPS2; +constexpr double MAX_SIMULATION_LONGITUDINAL_ACCEL_HARDCODED_LIMIT_M_S_2 = hardcoded_params::control_limits::MAX_SIMULATION_LONGITUDINAL_ACCEL_MPS2; + class LongitudinalAccelLimiter { - public: + public: /** * Default constructor, not recommended for use. */ @@ -24,7 +26,7 @@ class LongitudinalAccelLimiter /** * \brief Constructor for LongitudinalAccelLimiter - * + * * \param accel_limit The acceleration limit that should be enforced, in * units of m/s/s */ @@ -32,13 +34,13 @@ class LongitudinalAccelLimiter _accel_limit(accel_limit), _initialized(false), _prev_v(0.0), - _prev_t(0.0) {}; + _prev_t(0.0) {}; /** * Limit the longitudinal acceleration found in the input ControlCommandStamped - * + * * \param msg The message to be evaluated - * \return A copy of the message with the longitudinal accel limited + * \return A copy of the message with the longitudinal accel limited * based on params or hardcoded limit */ autoware_msgs::msg::ControlCommandStamped @@ -46,9 +48,9 @@ class LongitudinalAccelLimiter /** * Limit the longitudinal acceleration found in the input TwistStamped - * + * * \param msg The message to be evaluated - * \return A copy of the message with the longitudinal accel limited + * \return A copy of the message with the longitudinal accel limited * based on params or hardcoded limit */ geometry_msgs::msg::TwistStamped @@ -58,7 +60,7 @@ class LongitudinalAccelLimiter double _accel_limit; bool _initialized; double _prev_v; - rclcpp::Time _prev_t; + rclcpp::Time _prev_t; }; } \ No newline at end of file diff --git a/core_planning/twist_filter/include/twist_filter.hpp b/core_planning/twist_filter/include/twist_filter.hpp index 1a609265163..b23d86415e5 100644 --- a/core_planning/twist_filter/include/twist_filter.hpp +++ b/core_planning/twist_filter/include/twist_filter.hpp @@ -19,7 +19,7 @@ * Modifications: * - Added limiting for longitudinal velocity per CARMA specifications. Refactored * namespacing and header as needed to support unit testing. - * - Kyle Rush + * - Kyle Rush * - 9/11/2020 * - Refactored for ros2 * - 11/16/2022 @@ -75,12 +75,12 @@ class TwistFilter : public carma_ros2_utils::CarmaLifecycleNode carma_ros2_utils::PubPtr ctrl_lacc_limit_debug_pub_, ctrl_ljerk_limit_debug_pub_; carma_ros2_utils::PubPtr twist_lacc_result_pub_, twist_ljerk_result_pub_; carma_ros2_utils::PubPtr ctrl_lacc_result_pub_, ctrl_ljerk_result_pub_; - + //subscribers carma_ros2_utils::SubPtr twist_sub_; carma_ros2_utils::SubPtr ctrl_sub_; carma_ros2_utils::SubPtr config_sub_; - + //ros params double wheel_base_; double longitudinal_velocity_limit_; diff --git a/core_planning/twist_filter/src/twist_filter.cpp b/core_planning/twist_filter/src/twist_filter.cpp index 8e9ca1e1f5b..75039ab7ba3 100644 --- a/core_planning/twist_filter/src/twist_filter.cpp +++ b/core_planning/twist_filter/src/twist_filter.cpp @@ -18,7 +18,7 @@ * Modifications: * - Added limiting for longitudinal velocity per CARMA specifications. Refactored * namespacing and header as needed to support unit testing. - * - Kyle Rush + * - Kyle Rush * - 9/11/2020 */ @@ -53,17 +53,34 @@ carma_ros2_utils::CallbackReturn TwistFilter::handle_on_configure(const rclcpp_l // parameters on private handles get_parameter("config_speed_limit", longitudinal_velocity_limit_); longitudinal_velocity_limit_ = longitudinal_velocity_limit_ * 0.44704; - + get_parameter("vehicle_acceleration_limit", longitudinal_accel_limit_); + + bool use_sim_time = false; + get_parameter("use_sim_time", use_sim_time); + + auto hardcoded_acceleration_limit = MAX_LONGITUDINAL_ACCEL_HARDCODED_LIMIT_M_S_2; + + // if simulation + if (use_sim_time) + { + hardcoded_acceleration_limit = MAX_SIMULATION_LONGITUDINAL_ACCEL_HARDCODED_LIMIT_M_S_2; + RCLCPP_INFO_STREAM(get_logger(), "Simulation mode detected. Accounting for hardcoded limit, longitudinal acceleration limit used: " << hardcoded_acceleration_limit); + } + else + { + RCLCPP_INFO_STREAM(get_logger(), "Accounting for hardcoded limit, longitudinal acceleration limit used: " << hardcoded_acceleration_limit); + } + _lon_accel_limiter = LongitudinalAccelLimiter{ - std::min(longitudinal_accel_limit_, MAX_LONGITUDINAL_ACCEL_HARDCODED_LIMIT_M_S_2)}; - + std::min(longitudinal_accel_limit_, hardcoded_acceleration_limit)}; + get_parameter("vehicle_lateral_accel_limit", lateral_accel_limit_); get_parameter("vehicle_lateral_jerk_limit", lateral_jerk_limit_); get_parameter("lowpass_gain_linear_x", lowpass_gain_linear_x_); get_parameter("lowpass_gain_angular_x", lowpass_gain_angular_z_); get_parameter("lowpass_gain_steering_angle", lowpass_gain_steering_angle_); - + //Setup subscribers twist_sub_ = create_subscription("twist_raw", 1, std::bind(&TwistFilter::TwistCmdCallback, this, std_ph::_1)); @@ -73,7 +90,7 @@ carma_ros2_utils::CallbackReturn TwistFilter::handle_on_configure(const rclcpp_l //Setup publishers twist_pub_ = create_publisher("twist_cmd", 5); ctrl_pub_ = create_publisher("ctrl_cmd", 5); - + // Publishers on private handles twist_lacc_limit_debug_pub_ = create_publisher("~/limitation_debug/twist/lateral_accel", 5); twist_ljerk_limit_debug_pub_ = create_publisher("~/limitation_debug/twist/lateral_jerk", 5); @@ -83,7 +100,7 @@ carma_ros2_utils::CallbackReturn TwistFilter::handle_on_configure(const rclcpp_l twist_ljerk_result_pub_ = create_publisher("~/result/twist/lateral_jerk", 5); ctrl_lacc_result_pub_ = create_publisher("~/result/ctrl/lateral_accel", 5); ctrl_ljerk_result_pub_ = create_publisher("~/result/ctrl/lateral_jerk", 5); - + return CallbackReturn::SUCCESS; @@ -413,4 +430,4 @@ void TwistFilter::CtrlCmdCallback( #include "rclcpp_components/register_node_macro.hpp" // Register the component with class_loader -RCLCPP_COMPONENTS_REGISTER_NODE(twist_filter::TwistFilter) \ No newline at end of file +RCLCPP_COMPONENTS_REGISTER_NODE(twist_filter::TwistFilter) From 07e0577122508331f055c200993346790351affc Mon Sep 17 00:00:00 2001 From: paulbourelly999 <77466294+paulbourelly999@users.noreply.github.com> Date: Tue, 9 Apr 2024 15:57:50 -0400 Subject: [PATCH 04/18] Update Version to 4.5.0 (#266) * Update Version to 4.5.0 * Use dockerhub stol action --- .circleci/config.yml | 2 +- .github/workflows/dockerhub.yml | 24 ++++++------------------ Dockerfile | 2 +- docker/checkout.bash | 6 +++--- 4 files changed, 11 insertions(+), 23 deletions(-) diff --git a/.circleci/config.yml b/.circleci/config.yml index 0fa93d7f77e..b582398f27d 100644 --- a/.circleci/config.yml +++ b/.circleci/config.yml @@ -28,7 +28,7 @@ jobs: # Pull docker image from docker hub # XTERM used for better catkin_make output docker: - - image: usdotfhwastolcanididate/carma-base:lavida + - image: usdotfhwastol/carma-base:carma-system-4.5.0 user: carma environment: TERM: xterm diff --git a/.github/workflows/dockerhub.yml b/.github/workflows/dockerhub.yml index a797d55565b..c024dbf20cb 100644 --- a/.github/workflows/dockerhub.yml +++ b/.github/workflows/dockerhub.yml @@ -6,23 +6,11 @@ on: - "carma-develop" - "master" - "release/*" - - "release/lavida" + tags: + - "carma-system-*" jobs: dockerhub: - runs-on: ubuntu-latest-8-cores - steps: - - name: Checkout - uses: actions/checkout@v3 - - name: Set up Docker Buildx - uses: docker/setup-buildx-action@v2 - - name: Login to DockerHub - uses: docker/login-action@v2 - with: - username: ${{ secrets.DOCKERHUB_USERNAME }} - password: ${{ secrets.DOCKERHUB_TOKEN }} - - name: Build - uses: docker/build-push-action@v3 - with: - context: . - push: true - tags: usdotfhwastolcandidate/${{ github.event.repository.name }}:lavida + uses: usdot-fhwa-stol/actions/.github/workflows/dockerhub.yml@main + secrets: + DOCKERHUB_USERNAME: ${{ secrets.DOCKERHUB_USERNAME }} + DOCKERHUB_TOKEN: ${{ secrets.DOCKERHUB_TOKEN }} diff --git a/Dockerfile b/Dockerfile index 32c4a9818d2..90adbe65625 100644 --- a/Dockerfile +++ b/Dockerfile @@ -1,4 +1,4 @@ -FROM usdotfhwastolcandidate/carma-base:lavida AS base_image +FROM usdotfhwastol/carma-base:carma-system-4.5.0 AS base_image FROM base_image AS build diff --git a/docker/checkout.bash b/docker/checkout.bash index b10fc326150..717b0f17400 100755 --- a/docker/checkout.bash +++ b/docker/checkout.bash @@ -39,9 +39,9 @@ if [[ "$BRANCH" = "develop" ]]; then git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-utils.git --branch $BRANCH git clone --depth=1 https://github.com/usdot-fhwa-stol/autoware.auto.git --branch $BRANCH else - git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-msgs.git --branch release/lavida - git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-utils.git --branch release/lavida - git clone --depth=1 https://github.com/usdot-fhwa-stol/autoware.auto.git --branch release/lavida + git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-msgs.git --branch carma-system-4.5.0 + git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-utils.git --branch carma-system-4.5.0 + git clone --depth=1 https://github.com/usdot-fhwa-stol/autoware.auto.git --branch carma-system-4.5.0 fi # Required to build pacmod_msgs From b079096afdeef9fd5deb55eeb5d47afb711abb8f Mon Sep 17 00:00:00 2001 From: dev Date: Mon, 22 Apr 2024 11:49:59 -0400 Subject: [PATCH 05/18] Sync develop to master and remove ci/cd and build branch coupling --- .circleci/config.yml | 3 ++- .github/workflows/docker.yml | 16 +--------------- .github/workflows/dockerhub.yml | 6 +++--- Dockerfile | 8 +++++--- docker/checkout.bash | 20 +++++++------------- 5 files changed, 18 insertions(+), 35 deletions(-) diff --git a/.circleci/config.yml b/.circleci/config.yml index b582398f27d..8f1c6a3d18f 100644 --- a/.circleci/config.yml +++ b/.circleci/config.yml @@ -23,12 +23,13 @@ version: 2 # Run static code analyzer for SourceCloud # Upload test results # Every run command should start with source ${INIT_ENV} to ensure all default dependancies are available +# TODO Replace with GitHub action to remove branch coupling (develop/release-candidate/master) jobs: build: # Pull docker image from docker hub # XTERM used for better catkin_make output docker: - - image: usdotfhwastol/carma-base:carma-system-4.5.0 + - image: usdotfhwastoldev/carma-base:develop user: carma environment: TERM: xterm diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml index 0e34d0352dc..6ea9b537e62 100644 --- a/.github/workflows/docker.yml +++ b/.github/workflows/docker.yml @@ -1,23 +1,9 @@ name: Docker build on: - push: - branches-ignore: - - "carma-develop" - - "master" - - "release/*" pull_request: types: [opened, synchronize, reopened] jobs: docker: - runs-on: ubuntu-latest-8-cores - steps: - - name: Checkout - uses: actions/checkout@v3 - - name: Set up Docker Buildx - uses: docker/setup-buildx-action@v2 - - name: Build - uses: docker/build-push-action@v3 - with: - context: . \ No newline at end of file + uses: usdot-fhwa-stol/actions/.github/workflows/docker.yml@main \ No newline at end of file diff --git a/.github/workflows/dockerhub.yml b/.github/workflows/dockerhub.yml index c024dbf20cb..04312219a74 100644 --- a/.github/workflows/dockerhub.yml +++ b/.github/workflows/dockerhub.yml @@ -3,11 +3,11 @@ name: Docker Hub build on: push: branches: - - "carma-develop" - - "master" + - carma-develop + - carma-master - "release/*" tags: - - "carma-system-*" + - carma-system-* jobs: dockerhub: uses: usdot-fhwa-stol/actions/.github/workflows/dockerhub.yml@main diff --git a/Dockerfile b/Dockerfile index 90adbe65625..85fe2447fc3 100644 --- a/Dockerfile +++ b/Dockerfile @@ -1,14 +1,16 @@ -FROM usdotfhwastol/carma-base:carma-system-4.5.0 AS base_image +ARG DOCKER_ORG=usdotfhwastoldev +ARG DOCKER_TAG=develop +FROM ${DOCKER_ORG}/carma-base:${DOCKER_TAG} as base_image FROM base_image AS build - +ARG GIT_BRANCH=develop ARG ROS1_PACKAGES="" ENV ROS1_PACKAGES=${ROS1_PACKAGES} ARG ROS2_PACKAGES="" ENV ROS2_PACKAGES=${ROS2_PACKAGES} COPY --chown=carma . /home/carma/autoware.ai -RUN /home/carma/autoware.ai/docker/checkout.bash +RUN /home/carma/autoware.ai/docker/checkout.bash -b ${GIT_BRANCH} RUN ./home/carma/autoware.ai/docker/install.sh FROM base_image diff --git a/docker/checkout.bash b/docker/checkout.bash index 717b0f17400..05efb71b8af 100755 --- a/docker/checkout.bash +++ b/docker/checkout.bash @@ -17,11 +17,12 @@ set -exo pipefail dir=~ +BRANCH=develop while [[ $# -gt 0 ]]; do arg="$1" case $arg in - -d|--develop) - BRANCH=develop + -b|--branch) + BRANCH=$2 shift ;; -r|--root) @@ -33,16 +34,9 @@ while [[ $# -gt 0 ]]; do done cd ${dir}/autoware.ai - -if [[ "$BRANCH" = "develop" ]]; then - git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-msgs.git --branch $BRANCH - git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-utils.git --branch $BRANCH - git clone --depth=1 https://github.com/usdot-fhwa-stol/autoware.auto.git --branch $BRANCH -else - git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-msgs.git --branch carma-system-4.5.0 - git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-utils.git --branch carma-system-4.5.0 - git clone --depth=1 https://github.com/usdot-fhwa-stol/autoware.auto.git --branch carma-system-4.5.0 -fi - +git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-msgs.git --branch $BRANCH +git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-utils.git --branch $BRANCH +git clone --depth=1 https://github.com/usdot-fhwa-stol/autoware.auto.git --branch $BRANCH +# TODO: Should this external dependencies be moved into install.sh # Required to build pacmod_msgs git clone https://github.com/astuff/astuff_sensor_msgs.git ${dir}/src/astuff_sensor_msgs -b 3.0.1 From 5d9f0e174ce575eeef6e765c7f3664d724158f30 Mon Sep 17 00:00:00 2001 From: dev Date: Mon, 22 Apr 2024 13:22:46 -0400 Subject: [PATCH 06/18] Add secret GH_PAT --- .github/workflows/docker.yml | 4 +++- .github/workflows/dockerhub.yml | 1 + 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml index 6ea9b537e62..5c350f6516d 100644 --- a/.github/workflows/docker.yml +++ b/.github/workflows/docker.yml @@ -6,4 +6,6 @@ on: jobs: docker: - uses: usdot-fhwa-stol/actions/.github/workflows/docker.yml@main \ No newline at end of file + uses: usdot-fhwa-stol/actions/.github/workflows/docker.yml@main + secrets: + GH_PAT: ${{ secrets.GH_PAT }} \ No newline at end of file diff --git a/.github/workflows/dockerhub.yml b/.github/workflows/dockerhub.yml index 04312219a74..40e52e6d6fc 100644 --- a/.github/workflows/dockerhub.yml +++ b/.github/workflows/dockerhub.yml @@ -14,3 +14,4 @@ jobs: secrets: DOCKERHUB_USERNAME: ${{ secrets.DOCKERHUB_USERNAME }} DOCKERHUB_TOKEN: ${{ secrets.DOCKERHUB_TOKEN }} + GH_PAT: ${{ secrets.GH_PAT }} \ No newline at end of file From 217abaf47026b53dfa40df647acf98478ba0f449 Mon Sep 17 00:00:00 2001 From: dev Date: Tue, 23 Apr 2024 10:28:25 -0400 Subject: [PATCH 07/18] Update branch for github submodule --- jsk_common_msgs/.gitmodules | 1 + jsk_recognition/.gitmodules | 2 ++ 2 files changed, 3 insertions(+) diff --git a/jsk_common_msgs/.gitmodules b/jsk_common_msgs/.gitmodules index e24492940a7..b8bb0ad850e 100644 --- a/jsk_common_msgs/.gitmodules +++ b/jsk_common_msgs/.gitmodules @@ -1,3 +1,4 @@ [submodule ".travis"] path = .travis url = git://github.com/jsk-ros-pkg/jsk_travis + branch = 0.4.26 diff --git a/jsk_recognition/.gitmodules b/jsk_recognition/.gitmodules index 703463ef5e2..da214955c18 100644 --- a/jsk_recognition/.gitmodules +++ b/jsk_recognition/.gitmodules @@ -1,6 +1,7 @@ [submodule "jsk_perception/slic"] path = jsk_perception/slic url = https://github.com/garaemon/SLIC-Superpixels.git + branch = master [submodule ".travis"] path = .travis url = https://github.com/jsk-ros-pkg/jsk_travis.git @@ -8,3 +9,4 @@ [submodule "jsk_perception/node_scripts/deep_sort/deep_sort"] path = jsk_perception/node_scripts/deep_sort/deep_sort url = https://github.com/nwojke/deep_sort.git + branch = master From f5a532f3a6382be2576caf824875093cfed0753c Mon Sep 17 00:00:00 2001 From: dev Date: Tue, 23 Apr 2024 10:36:29 -0400 Subject: [PATCH 08/18] Use docker build kit argument --- .github/workflows/docker.yml | 14 +++++++++++--- 1 file changed, 11 insertions(+), 3 deletions(-) diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml index 5c350f6516d..2bd725b0e71 100644 --- a/.github/workflows/docker.yml +++ b/.github/workflows/docker.yml @@ -6,6 +6,14 @@ on: jobs: docker: - uses: usdot-fhwa-stol/actions/.github/workflows/docker.yml@main - secrets: - GH_PAT: ${{ secrets.GH_PAT }} \ No newline at end of file + runs-on: ubuntu-latest + steps: + - name: Checkout + uses: actions/checkout@v3 + - name: Set up Docker Buildx + uses: docker/setup-buildx-action@v2 + - name: Build + uses: docker/build-push-action@v4 + with: + context: . + build-args: BUILDKIT_CONTEXT_KEEP_GIT_DIR=1 \ No newline at end of file From 43161a2306714fdd1f0217ff42851d49f7f99ad3 Mon Sep 17 00:00:00 2001 From: dev Date: Tue, 23 Apr 2024 11:12:21 -0400 Subject: [PATCH 09/18] Update to use stol feature branch actions which set docker build arg --- .github/workflows/docker.yml | 14 +++----------- .github/workflows/dockerhub.yml | 6 ++++-- 2 files changed, 7 insertions(+), 13 deletions(-) diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml index 2bd725b0e71..0533a3f1728 100644 --- a/.github/workflows/docker.yml +++ b/.github/workflows/docker.yml @@ -6,14 +6,6 @@ on: jobs: docker: - runs-on: ubuntu-latest - steps: - - name: Checkout - uses: actions/checkout@v3 - - name: Set up Docker Buildx - uses: docker/setup-buildx-action@v2 - - name: Build - uses: docker/build-push-action@v4 - with: - context: . - build-args: BUILDKIT_CONTEXT_KEEP_GIT_DIR=1 \ No newline at end of file + uses: usdot-fhwa-stol/actions/.github/workflows/docker.yml@feature-docker-build-github-submodule + with: + github_submodules: true \ No newline at end of file diff --git a/.github/workflows/dockerhub.yml b/.github/workflows/dockerhub.yml index 40e52e6d6fc..45bf156b9f5 100644 --- a/.github/workflows/dockerhub.yml +++ b/.github/workflows/dockerhub.yml @@ -10,8 +10,10 @@ on: - carma-system-* jobs: dockerhub: - uses: usdot-fhwa-stol/actions/.github/workflows/dockerhub.yml@main + uses: usdot-fhwa-stol/actions/.github/workflows/dockerhub.yml@feature-docker-build-github-submodule secrets: DOCKERHUB_USERNAME: ${{ secrets.DOCKERHUB_USERNAME }} DOCKERHUB_TOKEN: ${{ secrets.DOCKERHUB_TOKEN }} - GH_PAT: ${{ secrets.GH_PAT }} \ No newline at end of file + GH_PAT: ${{ secrets.GH_PAT }} + with: + github_submodules: true \ No newline at end of file From acea2021f8e714e298ec56b059642e1ebbe0295d Mon Sep 17 00:00:00 2001 From: dev Date: Tue, 23 Apr 2024 11:24:21 -0400 Subject: [PATCH 10/18] Update URL --- jsk_common_msgs/.gitmodules | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_common_msgs/.gitmodules b/jsk_common_msgs/.gitmodules index b8bb0ad850e..38581475c45 100644 --- a/jsk_common_msgs/.gitmodules +++ b/jsk_common_msgs/.gitmodules @@ -1,4 +1,4 @@ [submodule ".travis"] path = .travis - url = git://github.com/jsk-ros-pkg/jsk_travis + url = https://github.com/jsk-ros-pkg/jsk_travis.git branch = 0.4.26 From 57b41234b14d9091d8fce087eafbac00f53d13d5 Mon Sep 17 00:00:00 2001 From: dev Date: Tue, 23 Apr 2024 11:45:54 -0400 Subject: [PATCH 11/18] Update to use path instead of default github context --- .github/workflows/docker.yml | 3 ++- .github/workflows/dockerhub.yml | 3 ++- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml index 0533a3f1728..6ce4e5dfa01 100644 --- a/.github/workflows/docker.yml +++ b/.github/workflows/docker.yml @@ -8,4 +8,5 @@ jobs: docker: uses: usdot-fhwa-stol/actions/.github/workflows/docker.yml@feature-docker-build-github-submodule with: - github_submodules: true \ No newline at end of file + github_submodules: true + context: . \ No newline at end of file diff --git a/.github/workflows/dockerhub.yml b/.github/workflows/dockerhub.yml index 45bf156b9f5..940295e2a84 100644 --- a/.github/workflows/dockerhub.yml +++ b/.github/workflows/dockerhub.yml @@ -16,4 +16,5 @@ jobs: DOCKERHUB_TOKEN: ${{ secrets.DOCKERHUB_TOKEN }} GH_PAT: ${{ secrets.GH_PAT }} with: - github_submodules: true \ No newline at end of file + github_submodules: true + context: . \ No newline at end of file From d7d828390c8efb38839ba0f862e8539c02e73e7a Mon Sep 17 00:00:00 2001 From: dev Date: Tue, 23 Apr 2024 11:47:50 -0400 Subject: [PATCH 12/18] Update to use path context instead of default git context --- .github/workflows/docker.yml | 3 +-- .github/workflows/dockerhub.yml | 3 +-- 2 files changed, 2 insertions(+), 4 deletions(-) diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml index 6ce4e5dfa01..2e7999040be 100644 --- a/.github/workflows/docker.yml +++ b/.github/workflows/docker.yml @@ -6,7 +6,6 @@ on: jobs: docker: - uses: usdot-fhwa-stol/actions/.github/workflows/docker.yml@feature-docker-build-github-submodule + uses: usdot-fhwa-stol/actions/.github/workflows/docker.yml@main with: - github_submodules: true context: . \ No newline at end of file diff --git a/.github/workflows/dockerhub.yml b/.github/workflows/dockerhub.yml index 940295e2a84..685dd514e48 100644 --- a/.github/workflows/dockerhub.yml +++ b/.github/workflows/dockerhub.yml @@ -10,11 +10,10 @@ on: - carma-system-* jobs: dockerhub: - uses: usdot-fhwa-stol/actions/.github/workflows/dockerhub.yml@feature-docker-build-github-submodule + uses: usdot-fhwa-stol/actions/.github/workflows/dockerhub.yml@main secrets: DOCKERHUB_USERNAME: ${{ secrets.DOCKERHUB_USERNAME }} DOCKERHUB_TOKEN: ${{ secrets.DOCKERHUB_TOKEN }} GH_PAT: ${{ secrets.GH_PAT }} with: - github_submodules: true context: . \ No newline at end of file From bfce6f8715cc06c99afe05bba0ffa3303cd41355 Mon Sep 17 00:00:00 2001 From: dev Date: Tue, 23 Apr 2024 11:53:32 -0400 Subject: [PATCH 13/18] Update checkout.bash script --- docker/checkout.bash | 1 + 1 file changed, 1 insertion(+) diff --git a/docker/checkout.bash b/docker/checkout.bash index 05efb71b8af..88451a12c6b 100755 --- a/docker/checkout.bash +++ b/docker/checkout.bash @@ -24,6 +24,7 @@ while [[ $# -gt 0 ]]; do -b|--branch) BRANCH=$2 shift + shift ;; -r|--root) dir=$2 From 8c3d7b10bb817c94aa7bc05ad2e4a2c3158f7f15 Mon Sep 17 00:00:00 2001 From: dev Date: Tue, 23 Apr 2024 14:39:29 -0400 Subject: [PATCH 14/18] Add jira issue numbers to TODO comments --- .circleci/config.yml | 2 +- docker/checkout.bash | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/.circleci/config.yml b/.circleci/config.yml index 8f1c6a3d18f..8e74602f05f 100644 --- a/.circleci/config.yml +++ b/.circleci/config.yml @@ -23,7 +23,7 @@ version: 2 # Run static code analyzer for SourceCloud # Upload test results # Every run command should start with source ${INIT_ENV} to ensure all default dependancies are available -# TODO Replace with GitHub action to remove branch coupling (develop/release-candidate/master) +# TODO (CAR-6022) Replace with GitHub action to remove branch coupling (develop/release-candidate/master) jobs: build: # Pull docker image from docker hub diff --git a/docker/checkout.bash b/docker/checkout.bash index 88451a12c6b..4cd7372d322 100755 --- a/docker/checkout.bash +++ b/docker/checkout.bash @@ -38,6 +38,6 @@ cd ${dir}/autoware.ai git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-msgs.git --branch $BRANCH git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-utils.git --branch $BRANCH git clone --depth=1 https://github.com/usdot-fhwa-stol/autoware.auto.git --branch $BRANCH -# TODO: Should this external dependencies be moved into install.sh +# TODO(CAR-6023): Should this external dependencies be moved into install.sh # Required to build pacmod_msgs git clone https://github.com/astuff/astuff_sensor_msgs.git ${dir}/src/astuff_sensor_msgs -b 3.0.1 From 3a1e5595bc7029220b36b65a3bc2ab36c96c4273 Mon Sep 17 00:00:00 2001 From: dev Date: Tue, 23 Apr 2024 16:44:27 -0400 Subject: [PATCH 15/18] Update checkout script to account for carma-master and carma-develop --- docker/checkout.bash | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/docker/checkout.bash b/docker/checkout.bash index 4cd7372d322..d39d09914c3 100755 --- a/docker/checkout.bash +++ b/docker/checkout.bash @@ -33,7 +33,12 @@ while [[ $# -gt 0 ]]; do ;; esac done - +# When brance is carma-develop or carma-master strip carma prefix +if [[ "$BRANCH" == "carma-develop" ]]; then + BRANCH=develop +elif [[ "$BRANCH" == "carma-master"]]; then + BRANCH=master +fi cd ${dir}/autoware.ai git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-msgs.git --branch $BRANCH git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-utils.git --branch $BRANCH From 1933cc3ea1a80e458f9c8877d62e49d6a124c421 Mon Sep 17 00:00:00 2001 From: dev Date: Tue, 23 Apr 2024 16:53:19 -0400 Subject: [PATCH 16/18] Update --- docker/checkout.bash | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docker/checkout.bash b/docker/checkout.bash index d39d09914c3..8ca638bc1df 100755 --- a/docker/checkout.bash +++ b/docker/checkout.bash @@ -36,7 +36,7 @@ done # When brance is carma-develop or carma-master strip carma prefix if [[ "$BRANCH" == "carma-develop" ]]; then BRANCH=develop -elif [[ "$BRANCH" == "carma-master"]]; then +elif [[ "$BRANCH" == "carma-master"]] then BRANCH=master fi cd ${dir}/autoware.ai From 36735e597b2050e5b571bec6852a8c837f1463c1 Mon Sep 17 00:00:00 2001 From: dev Date: Tue, 23 Apr 2024 16:59:32 -0400 Subject: [PATCH 17/18] Fix checkout script --- docker/checkout.bash | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/docker/checkout.bash b/docker/checkout.bash index 8ca638bc1df..fde4781d794 100755 --- a/docker/checkout.bash +++ b/docker/checkout.bash @@ -36,13 +36,13 @@ done # When brance is carma-develop or carma-master strip carma prefix if [[ "$BRANCH" == "carma-develop" ]]; then BRANCH=develop -elif [[ "$BRANCH" == "carma-master"]] then +elif [[ "$BRANCH" == "carma-master" ]]; then BRANCH=master fi -cd ${dir}/autoware.ai -git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-msgs.git --branch $BRANCH -git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-utils.git --branch $BRANCH -git clone --depth=1 https://github.com/usdot-fhwa-stol/autoware.auto.git --branch $BRANCH +cd "${dir}"/autoware.ai +git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-msgs.git --branch "$BRANCH" +git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-utils.git --branch "$BRANCH" +git clone --depth=1 https://github.com/usdot-fhwa-stol/autoware.auto.git --branch "$BRANCH" # TODO(CAR-6023): Should this external dependencies be moved into install.sh # Required to build pacmod_msgs -git clone https://github.com/astuff/astuff_sensor_msgs.git ${dir}/src/astuff_sensor_msgs -b 3.0.1 +git clone https://github.com/astuff/astuff_sensor_msgs.git "${dir}"/src/astuff_sensor_msgs -b 3.0.1 From 9eac96517011cc66ff913c8ed9d338d0b388a19d Mon Sep 17 00:00:00 2001 From: dev Date: Wed, 24 Apr 2024 11:04:16 -0400 Subject: [PATCH 18/18] Update README badges and checkout script comment --- README.md | 3 +-- docker/checkout.bash | 2 +- 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index 7c059ccc3b7..07f4575d139 100644 --- a/README.md +++ b/README.md @@ -1,7 +1,6 @@ | CicleCI Build Status | DockerHub Release | DockerHub Release Candidate | DockerHub Develop | |------|-----|-----|-----| -[![CircleCI](https://img.shields.io/circleci/build/gh/usdot-fhwa-stol/autoware.ai/carma-develop?label=CircleCI)](https://app.circleci.com/pipelines/github/usdot-fhwa-stol/autoware.ai?branch=carma-develop) | [![Docker Cloud Build Status](https://img.shields.io/docker/cloud/build/usdotfhwastol/autoware.ai?label=Docker%20Build&logo=232496ED)](https://hub.docker.com/repository/docker/usdotfhwastol/autoware.ai) | [![Docker Cloud Build Status](https://img.shields.io/docker/cloud/build/usdotfhwastolcandidate/autoware.ai?label=Docker%20Build&logo=232496ED)](https://hub.docker.com/repository/docker/usdotfhwastolcandidate/autoware.ai) | [![Docker Cloud Build Status](https://img.shields.io/docker/cloud/build/usdotfhwastoldev/autoware.ai?label=Docker%20Build&logo=232496ED)](https://hub.docker.com/repository/docker/usdotfhwastoldev/autoware.ai) - +[![CircleCI](https://img.shields.io/circleci/build/gh/usdot-fhwa-stol/autoware.ai/carma-develop?label=CircleCI)](https://app.circleci.com/pipelines/github/usdot-fhwa-stol/autoware.ai?branch=carma-develop) | [![Docker Hub build](https://github.com/usdot-fhwa-stol/autoware.ai/actions/workflows/dockerhub.yml/badge.svg?branch=carma-system-4.5.0)](https://github.com/usdot-fhwa-stol/autoware.ai/actions/workflows/dockerhub.yml) | [![Docker Hub build](https://github.com/usdot-fhwa-stol/autoware.ai/actions/workflows/dockerhub.yml/badge.svg?branch=release%2Flavida)](https://github.com/usdot-fhwa-stol/autoware.ai/actions/workflows/dockerhub.yml) | [![Docker Hub build](https://github.com/usdot-fhwa-stol/autoware.ai/actions/workflows/dockerhub.yml/badge.svg?branch=carma-develop)](https://github.com/usdot-fhwa-stol/autoware.ai/actions/workflows/dockerhub.yml) # Autoware.ai This is a fork of Autoware containing modifications to support usage with the [CARMAPlatform](https://github.com/usdot-fhwa-stol/carma-platform). This repository contains changes to the Autoware source code and configuration that may not be supported by the Autoware Foundation and may not be consistent with the original design intent of Autoware. All modifications in this repository are licensed under the same Apache License 2.0 as Autoware and all modifications of the source code made will be marked as such in accordance with the terms of the Apache License 2.0. For a list of modifications and their descriptions please see [NOTICE.md](NOTICE.md). diff --git a/docker/checkout.bash b/docker/checkout.bash index fde4781d794..426cc983d6b 100755 --- a/docker/checkout.bash +++ b/docker/checkout.bash @@ -33,7 +33,7 @@ while [[ $# -gt 0 ]]; do ;; esac done -# When brance is carma-develop or carma-master strip carma prefix +# When branch is carma-develop or carma-master strip carma prefix if [[ "$BRANCH" == "carma-develop" ]]; then BRANCH=develop elif [[ "$BRANCH" == "carma-master" ]]; then