Merge pull request #187 from usdot-fhwa-stol/fix/improved_performance

Fix/improved performance
usdot-fhwa-stol · Apr 20, 2022 · 1b263a4 · 1b263a4
2 parents eeab3fa + 7f840bc
commit 1b263a4
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Showing 23 changed files with 1,044 additions and 178 deletions.
diff --git a/carla_integration/docker-compose.yml b/carla_integration/docker-compose.yml
@@ -31,7 +31,7 @@ services:
     command: roscore
 
   platform:
-    image: usdotfhwastol/carma-platform:carma-system-4.0.0
+    image: usdotfhwastol/carma-platform:carma-system-4.0.3
     network_mode: host
     container_name: platform
     volumes_from:
@@ -49,7 +49,7 @@ services:
     command: bash -c 'wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/carma_docker.launch'
 
   platform_ros2:
-    image: usdotfhwastol/carma-platform:carma-system-4.0.0
+    image: usdotfhwastol/carma-platform:carma-system-4.0.3
     network_mode: host
     container_name: platform_ros2
     volumes_from:
@@ -95,7 +95,7 @@ services:
     command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch'
 
   mock-gnss-driver:
-    image: usdotfhwastol/carma-platform:carma-system-4.0.0
+    image: usdotfhwastol/carma-platform:carma-system-4.0.3
     network_mode: host
     container_name: carma-mock-gnss-driver
     volumes_from: 
@@ -108,7 +108,7 @@ services:
     command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch carma mock_drivers.launch mock_drivers:=gnss'
 
   mock-lidar-driver:
-    image: usdotfhwastol/carma-platform:carma-system-4.0.0
+    image: usdotfhwastol/carma-platform:carma-system-4.0.3
     network_mode: host
     container_name: carma-mock-lidar-driver
     volumes_from: 

diff --git a/chrysler_pacifica_ehybrid_s_2019/VehicleConfigParams.yaml b/chrysler_pacifica_ehybrid_s_2019/VehicleConfigParams.yaml
@@ -112,6 +112,96 @@ excluded_default_topics:
   - (.*)/sent_messages
   - (.*)/scan
   - (.*)/compressed(.*)
+  - /environment/base_map 
+  - /environment/external_object_predictions   
+  - /environment/external_objects_viz
+  - /environment/lanelet2_map_viz
+  - /environment/map_update 
+  - /environment/points_no_ground   
+  - /environment/roadway_objects  
+  - /environment/semantic_map 
+  - /environment/tcm_visualizer
+  - /environment/tcr_bounding_points 
+  - /guidance/angular_gravity  
+  - /guidance/deviation_of_current_position  
+  - /guidance/next_target_mark 
+  - /guidance/next_waypoint_mark 
+  - /guidance/node_status
+  - /guidance/platoon_info   
+  - /guidance/platooning_info   
+  - /guidance/plugin_discovery
+  - /guidance/route_marker 
+  - /guidance/search_circle_mark 
+  - /guidance/trajectory_circle_mark 
+  - /guidance/trajectory_visualizer
+  - /guidance/twist_cmd
+  - /guidance/twist_filter/limitation_debug/ctrl/lateral_accel  
+  - /guidance/twist_filter/limitation_debug/ctrl/lateral_jerk  
+  - /guidance/twist_filter/limitation_debug/twist/lateral_accel  
+  - /guidance/twist_filter/limitation_debug/twist/lateral_jerk  
+  - /guidance/twist_filter/result/ctrl/lateral_accel  
+  - /guidance/twist_filter/result/ctrl/lateral_jerk  
+  - /guidance/twist_filter/result/twist/lateral_accel  
+  - /guidance/twist_filter/result/twist/lateral_jerk  
+  - /guidance/twist_raw
+  - /guidance/upcoming_lane_change_status 
+  - /hardware_interface/brake_command_echo 
+  - /hardware_interface/comms/inbound_binary_msg
+  - /hardware_interface/comms/outbound_binary_msg
+  - /hardware_interface/curvature_feedback
+  - /hardware_interface/dbw_enabled_feedback 
+  - /hardware_interface/gear_command_echo  
+  - /hardware_interface/gear_estimation   
+  - /hardware_interface/gear_select  
+  - /hardware_interface/lightbar/light_bar_status   
+  - /hardware_interface/lightbar_manager/indicator_control 
+  - /hardware_interface/module_states 
+  - /hardware_interface/speed_model_config   
+  - /hardware_interface/speed_pedals  
+  - /hardware_interface/steering_command_echo  
+  - /hardware_interface/steering_model_config   
+  - /hardware_interface/throttle_command_echo  
+  - /hardware_interface/turn_signal_command
+  - /hardware_interface/veh_controller_config   
+  - /hardware_interface/veh_interface_config   
+  - /hardware_interface/vehicle/engage 
+  - /hardware_interface/vehicle_platform   
+  - /hardware_interface/vehicle_status   
+  - /localization/config/random_filter   
+  - /localization/config/voxel_grid_filter
+  - /localization/current_pose_with_covariance   
+  - /localization/ekf_localizer/debug
+  - /localization/ekf_localizer/debug/measured_pose 
+  - /localization/ekf_localizer/estimated_yaw_bias  
+  - /localization/ekf_twist
+  - /localization/ekf_twist_with_covariance  
+  - /localization/estimate_twist
+  - /localization/estimated_vel  
+  - /localization/estimated_vel_kmph  
+  - /localization/estimated_vel_mps  
+  - /localization/filtered_points   
+  - /localization/gnss_pose 
+  - /localization/initialpose   
+  - /localization/localizer_pose 
+  - /localization/managed_initialpose   
+  - /localization/ndt_pose 
+  - /localization/ndt_reliability  
+  - /localization/ndt_stat 
+  - /localization/node_status   
+  - /localization/pmap_stat 
+  - /localization/points_downsampler_info   
+  - /localization/predict_pose 
+  - /localization/predict_pose_imu 
+  - /localization/predict_pose_imu_odom 
+  - /localization/predict_pose_odom 
+  - /localization/random_points   
+  - /localization/selected_pose 
+  - /localization/time_ndt_matching  
+  - /localization/vehicle/odom 
+  - /tf
+  - /tf_static 
+  - /ui/client_count
+  - /ui/connected_clients
 
 exclude_lidar: false
 excluded_lidar_topics:

diff --git a/chrysler_pacifica_ehybrid_s_2019/carma_rosconsole.conf b/chrysler_pacifica_ehybrid_s_2019/carma_rosconsole.conf
@@ -10,17 +10,17 @@ log4j.logger.ros.roscpp.superdebug=WARN
 # WARN	Warning notifications that represent problems but will not severly degrade system operation
 # ERROR	Error notifications that severly degrade system operation, but the system might still be able to operate
 # FATAL	Error notification that the system cannot recover from
-log4j.logger.ros.mpc_follower=INFO
+log4j.logger.ros.mpc_follower=WARN
 log4j.logger.ros.as=WARN
-log4j.logger.ros.waypoint_generator=INFO
-log4j.logger.ros.route=INFO
-log4j.logger.ros.mpc_follower_wrapper=INFO
-log4j.logger.ros.carma_wm=INFO
+log4j.logger.ros.waypoint_generator=WARN
+log4j.logger.ros.route=WARN
+log4j.logger.ros.mpc_follower_wrapper=WARN
+log4j.logger.ros.carma_wm=WARN
 log4j.logger.ros.arbitrator=WARN
-log4j.logger.ros.trajectory_executor=INFO
+log4j.logger.ros.trajectory_executor=WARN
 log4j.logger.ros.plan_delegator=WARN
-log4j.logger.ros.inlanecruising_plugin=INFO
-log4j.logger.ros.route_following_plugin=INFO
-log4j.logger.ros.pure_pursuit=INFO
-log4j.logger.ros.system_controller=INFO
-log4j.logger.ros.subsystem_controllers=INFO
+log4j.logger.ros.inlanecruising_plugin=WARN
+log4j.logger.ros.route_following_plugin=WARN
+log4j.logger.ros.pure_pursuit=WARN
+log4j.logger.ros.system_controller=WARN
+log4j.logger.ros.subsystem_controllers=WARN
diff --git a/chrysler_pacifica_ehybrid_s_2019/docker-compose.yml b/chrysler_pacifica_ehybrid_s_2019/docker-compose.yml
@@ -31,7 +31,7 @@ services:
     command: roscore
 
   platform:
-    image: usdotfhwastol/carma-platform:carma-system-4.0.0
+    image: usdotfhwastol/carma-platform:carma-system-4.0.3
     network_mode: host
     container_name: platform
     runtime: nvidia
@@ -50,7 +50,7 @@ services:
     command: bash -c 'wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/carma_docker.launch'
 
   platform_ros2:
-    image: usdotfhwastol/carma-platform:carma-system-4.0.0
+    image: usdotfhwastol/carma-platform:carma-system-4.0.3
     network_mode: host
     container_name: platform_ros2
     volumes_from:
@@ -145,20 +145,23 @@ services:
       - /opt/carma/.ros:/home/carma/.ros
     command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=velodyne_lidar_driver_wrapper'
 
-  avt_vimba_camera_driver:
-    image: usdotfhwastol/carma-avt-vimba-driver:carma-system-4.0.0
-    container_name: avt-vimba-camera-driver
+  # NOTE: This is a mock driver and not an actual camera
+  # It is being used instead as camera input is currently not supported in the Autoware.Auto
+  # system integrated in release carma-system-4.0
+  mock-camera-driver:
+    image: usdotfhwastol/carma-platform:carma-system-4.0.3
     network_mode: host
-    volumes_from:
+    container_name: carma-mock-camera-driver
+    volumes_from: 
       - container:carma-config:ro
-    environment:
-      - ROS_IP=192.168.88.10
     volumes:
       - /opt/carma/logs:/opt/carma/logs
       - /opt/carma/.ros:/home/carma/.ros
-      - /opt/carma/vehicle/calibration:/opt/carma/vehicle/calibration
-    command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=avt_vimba_camera'
-
+      - /opt/carma/data:/opt/carma/data
+    environment:
+      - ROS_IP=192.168.88.10
+    command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch carma mock_drivers.launch mock_drivers:=camera'
+
   # TODO DelphiESR Front Driver Node
   # TODO Delphi Srr2 Front Left Driver Node
   # TODO Delphi Srr2 Front Right Driver Node

diff --git a/development/docker-compose.yml b/development/docker-compose.yml
@@ -31,7 +31,7 @@ services:
     command: roscore
 
   platform:
-    image: usdotfhwastol/carma-platform:carma-system-4.0.0
+    image: usdotfhwastol/carma-platform:carma-system-4.0.3
     network_mode: host
     container_name: platform
     volumes_from: 
@@ -49,7 +49,7 @@ services:
     command: bash -c 'wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/carma_docker.launch'
 
   platform_ros2:
-    image: usdotfhwastol/carma-platform:carma-system-4.0.0
+    image: usdotfhwastol/carma-platform:carma-system-4.0.3
     network_mode: host
     container_name: platform_ros2
     volumes_from:
@@ -82,7 +82,7 @@ services:
     command: bash -c 'source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --multi-threads'
 
   mock-lightbar-driver:
-    image: usdotfhwastol/carma-platform:carma-system-4.0.0
+    image: usdotfhwastol/carma-platform:carma-system-4.0.3
     network_mode: host
     container_name: carma-mock-lightbar-driver
     volumes_from: 
@@ -97,7 +97,7 @@ services:
     command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch carma mock_drivers.launch mock_drivers:="lightbar bag_parser"'
 
   mock-can-driver:
-    image: usdotfhwastol/carma-platform:carma-system-4.0.0
+    image: usdotfhwastol/carma-platform:carma-system-4.0.3
     network_mode: host
     container_name: carma-mock-can-driver
     volumes_from: 
@@ -111,7 +111,7 @@ services:
     command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch carma mock_drivers.launch mock_drivers:=can'
 
   mock-comms-driver:
-    image: usdotfhwastol/carma-platform:carma-system-4.0.0
+    image: usdotfhwastol/carma-platform:carma-system-4.0.3
     network_mode: host
     container_name: carma-mock-comms-driver
     volumes_from: 
@@ -125,7 +125,7 @@ services:
     command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch carma mock_drivers.launch mock_drivers:=comms'
 
   mock-controller-driver:
-    image: usdotfhwastol/carma-platform:carma-system-4.0.0
+    image: usdotfhwastol/carma-platform:carma-system-4.0.3
     network_mode: host
     container_name: carma-srx-controller-driver
     volumes_from: 
@@ -139,7 +139,7 @@ services:
     command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch carma mock_drivers.launch mock_drivers:=controller'
 
   mock-radar-driver:
-    image: usdotfhwastol/carma-platform:carma-system-4.0.0
+    image: usdotfhwastol/carma-platform:carma-system-4.0.3
     network_mode: host
     container_name: carma-mock-radar-driver
     volumes_from: 
@@ -153,7 +153,7 @@ services:
     command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch carma mock_drivers.launch mock_drivers:=radar'
 
   mock-gnss-driver:
-    image: usdotfhwastol/carma-platform:carma-system-4.0.0
+    image: usdotfhwastol/carma-platform:carma-system-4.0.3
     network_mode: host
     container_name: carma-mock-gnss-driver
     volumes_from: 
@@ -167,7 +167,7 @@ services:
     command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch carma mock_drivers.launch mock_drivers:=gnss'
 
   mock-imu-driver:
-    image: usdotfhwastol/carma-platform:carma-system-4.0.0
+    image: usdotfhwastol/carma-platform:carma-system-4.0.3
     network_mode: host
     container_name: carma-mock-imu-driver
     volumes_from: 
@@ -181,7 +181,7 @@ services:
     command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch carma mock_drivers.launch mock_drivers:=imu'
 
   mock-lidar-driver:
-    image: usdotfhwastol/carma-platform:carma-system-4.0.0
+    image: usdotfhwastol/carma-platform:carma-system-4.0.3
     network_mode: host
     container_name: carma-mock-lidar-driver
     volumes_from: 
@@ -195,7 +195,7 @@ services:
     command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch carma mock_drivers.launch mock_drivers:=lidar'
 
   mock-camera-driver:
-    image: usdotfhwastol/carma-platform:carma-system-4.0.0
+    image: usdotfhwastol/carma-platform:carma-system-4.0.3
     network_mode: host
     container_name: carma-mock-camera-driver
     volumes_from: 
@@ -209,7 +209,7 @@ services:
     command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch carma mock_drivers.launch mock_drivers:=camera'
 
   mock-roadway-sensor-driver:
-    image: usdotfhwastol/carma-platform:carma-system-4.0.0
+    image: usdotfhwastol/carma-platform:carma-system-4.0.3
     network_mode: host
     container_name: carma-mock-roadway-sensor-driver
     volumes_from: