Add pacifica

chrysler_pacifica_ehybrid_s_2019/docker-compose.yml

@@ -124,16 +124,14 @@ services:
 
   novatel_gnss_imu_driver:
     image: usdotfhwastoldev/carma-novatel-gps-driver:develop
-    container_name: novatel-gnss-imu-driver
+    container_name: carma-cohda-dsrc-driver
     network_mode: host
     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
-    command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=novatel_gps_driver'
+    command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=carma_novatel_driver_wrapper'
 
   velodyne_lidar_driver:
     image: usdotfhwastoldev/carma-velodyne-lidar-driver:develop

chrysler_pacifica_ehybrid_s_2019/drivers.launch

@@ -45,11 +45,10 @@ If not using simulated drivers they are activated if the respective mock argumen
 
 
   <!-- Specific Drivers -->
-  <arg name="drivers" default="ssc_interface_wrapper novatel_gps_driver lightbar_driver avt_vimba_camera"
+  <arg name="drivers" default="ssc_interface_wrapper lightbar_driver avt_vimba_camera"
     doc="Desired real drivers to launch specified by package name. Mock drivers will take precedence"/>
 
   <arg name="ssc_interface_wrapper"         value="$(eval ('ssc_interface_wrapper' in arg('drivers').split()) and not arg('mock_controller'))"/>
-  <arg name="novatel_gps_driver"            value="$(eval ('novatel_gps_driver' in arg('drivers').split()) and not (arg('mock_gnss') or arg('mock_imu')))"/>
   <arg name="lightbar_driver"               value="$(eval ('lightbar_driver' in arg('drivers').split()) and not arg('mock_lightbar'))"/>
   <arg name="avt_vimba_camera"              value="$(eval ('avt_vimba_camera' in arg('drivers').split()) and not arg('mock_camera'))"/>
 
@@ -58,14 +57,6 @@ If not using simulated drivers they are activated if the respective mock argumen
     <arg name="ssc_param_dir" value="$(arg vehicle_calibration_dir)/ssc_ne_pacifica"/>
   </include>
 
-  <!-- Novatel GNSS/IMU Driver Nodes -->
-  <include if="$(arg novatel_gps_driver)" file="$(find novatel_gps_driver)/launch/novatel_gps_driver_eth.launch">
-    <arg name="ip" value="192.168.88.29" />
-    <arg name="port" value="2000" />
-    <arg name="frame_id" value="novatel_gnss" />
-    <arg name="imu_frame_id" value="novatel_imu" />
-  </include>
-
   <!-- Lightbar Driver Node -->
   <include if="$(arg lightbar_driver)" file="$(find lightbar_driver)/launch/lightbar_driver_node.launch">
     <arg name="host_name" value="192.168.88.28" />

chrysler_pacifica_ehybrid_s_2019/drivers.launch.py

@@ -78,10 +78,27 @@ def generate_launch_description():
         ]
     )
 
+    gnss_ins_group = GroupAction(
+        condition=IfCondition(PythonExpression(["'carma_novatel_driver_wrapper' in '", drivers, "'.split()"])),
+        actions=[
+            PushRosNamespace(EnvironmentVariable('CARMA_INTR_NS', default_value='hardware_interface')),
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource([ FindPackageShare('carma_novatel_driver_wrapper'), '/launch/carma-novatel-driver-wrapper-launch.py']),
+                launch_arguments = { 
+                    'log_level' : GetLogLevel('carma_novatel_driver_wrapper', env_log_levels),
+                    'ip_addr' : '192.168.88.29',
+                    'port' : '2000'
+                    }.items()
+            ),
+        ]
+    )
+
+
     return LaunchDescription([
         declare_drivers_arg,
         declare_vehicle_calibration_dir_arg,
         declare_vehicle_config_dir_arg,
         dsrc_group,
-        lidar_group
+        lidar_group,
+        gnss_ins_group
     ])