Merge pull request #63 from usdot-fhwa-stol/master

Master
usdot-fhwa-stol · Jul 1, 2021 · 9ea30a7 · 9ea30a7
2 parents eecb41e + 7791fcd
commit 9ea30a7
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Showing 5 changed files with 16 additions and 13 deletions.
diff --git 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: usdotfhwastol/carma-base:carma-system-3.6.0
         user: carma
         environment:
           TERM: xterm

diff --git a/Dockerfile b/Dockerfile
@@ -12,7 +12,7 @@
 #  License for the specific language governing permissions and limitations under
 #  the License.
 
-FROM usdotfhwastoldev/carma-base:develop as base
+FROM usdotfhwastol/carma-base:carma-system-3.6.0 as base
 FROM base as setup
 
 RUN mkdir ~/src

diff --git a/docker/checkout.bash b/docker/checkout.bash
@@ -36,9 +36,9 @@ while [[ $# -gt 0 ]]; do
 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
+      git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ~/src/carma-msgs --branch carma-system-3.6.0 --depth 1
+      git clone https://github.com/usdot-fhwa-stol/carma-utils.git ~/src/carma-utils --branch carma-system-3.6.0 --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
+      git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ${dir}/src/carma-msgs --branch carma-system-3.6.0 --depth 1
+      git clone https://github.com/usdot-fhwa-stol/carma-utils.git ${dir}/src/carma-utils --branch carma-system-3.6.0 --depth 1
 fi
diff --git a/hooks/pre_build b/hooks/pre_build
@@ -6,8 +6,10 @@ if [[ "$SOURCE_BRANCH" = "develop" ]]; then
         Dockerfile
 elif [[ "$SOURCE_BRANCH" =~ ^release/.*$ ]]; then
     # swap checkout branch in checkout.bash to release branch
-    sed -i "s|usdotfhwastoldev/|usdotfhwastolcandidate/|g; s|usdotfhwastol/|usdotfhwastolcandidate/|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:candidate|g; s|:CARMA[a-zA-Z]*_[0-9]*\.[0-9]*\.[0-9]*|:candidate|g; s|:carma-[a-zA-Z]*-[0-9]*\.[0-9]*\.[0-9]*|:candidate|g" \
+    RELEASE_NAME=$(echo $SOURCE_BRANCH | cut -d "/" -f 2)
+    sed -i "s|usdotfhwastol/|usdotfhwastolcandidate/|g; s|usdotfhwastoldev/|usdotfhwastolcandidate/|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:$RELEASE_NAME|g; s|:CARMA[a-zA-Z]*_[0-9]*\.[0-9]*\.[0-9]*|:$RELEASE_NAME|g; s|:carma-[a-zA-Z]*-[0-9]*\.[0-9]*\.[0-9]*|:$RELEASE_NAME|g; s|:develop|:$RELEASE_NAME|g" \
         Dockerfile
+    # swap checkout branch in checkout.bash to release branch
     sed -i "s|--branch .*|--branch $SOURCE_BRANCH|g" \
         docker/checkout.bash
-fi
+fi
diff --git a/launch/mono_camera.launch b/launch/mono_camera.launch
@@ -8,9 +8,6 @@
 	<arg name="show_debug_prints" default="true"/>
 
 	<group>
-		<group ns="camera">
-			<node name="image_proc" pkg="image_proc" type="image_proc"/>
-		</group>
 
 		<node name="camera" pkg="avt_vimba_camera" type="mono_camera_node" output="screen">
 			<param name="guid" value="$(arg guid)"/>
@@ -73,8 +70,12 @@
 			<param name="decimation_y" value="1"/>
 			<param name="x_offset" value="0"/>
 			<param name="y_offset" value="0"/>
-			<param name="width" value="2064"/>
-			<param name="height" value="1440"/>
+
+			<!-- TODO: Recalibrate camera and lidar due to updated image dimensions 
+				 Issue #1241: https://github.com/usdot-fhwa-stol/carma-platform/issues/1241
+			-->
+			<param name="width" value="960"/>
+			<param name="height" value="720"/>
 
 			<param name="stream_bytes_per_second" value="45000000"/>
 		</node>