Release/zephyr

.circleci/config.yml

@@ -28,7 +28,7 @@ jobs:
     # Pull docker image from docker hub
     # XTERM used for better catkin_make output
     docker:
-      - image: usdotfhwastol/carma-base:carma-system-3.5.0
+      - image: usdotfhwastol/carma-base:carma-system-3.6.0
         user: carma
         environment:
           TERM: xterm

Dockerfile

@@ -12,14 +12,15 @@
 #  License for the specific language governing permissions and limitations under
 #  the License.
 
-FROM usdotfhwastol/carma-base:carma-system-3.5.0 as setup
+FROM usdotfhwastol/carma-base:carma-system-3.6.0 as base
+FROM base as setup
 
 RUN mkdir ~/src
 COPY --chown=carma . /home/carma/src/CARMAAvtVimbaDriver
 RUN ~/src/CARMAAvtVimbaDriver/docker/checkout.bash
 RUN ~/src/CARMAAvtVimbaDriver/docker/install.sh
 
-FROM usdotfhwastol/carma-base:carma-system-3.5.0
+FROM base
 
 ARG BUILD_DATE="NULL"
 ARG VERSION="NULL"

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
-      git clone https://github.com/usdot-fhwa-stol/carma-utils.git ~/src/carma-utils --branch develop
+      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 carma-system-3.5.0
-      git clone https://github.com/usdot-fhwa-stol/carma-utils.git ${dir}/src/carma-utils --branch carma-system-3.5.0
+      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

hooks/pre_build

@@ -6,8 +6,9 @@ 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
     sed -i "s|--branch .*|--branch $SOURCE_BRANCH|g" \
         docker/checkout.bash
-fi
+fi

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>