Update to 4.0.3 and disable camera driver

usdot-fhwa-stol · Apr 20, 2022 · ef61e5b · ef61e5b
1 parent 0863e1c
commit ef61e5b
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Showing 9 changed files with 122 additions and 101 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/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: 

diff --git a/ford_fusion_sehybrid_2019/docker-compose.yml b/ford_fusion_sehybrid_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
     volumes_from:
@@ -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:
@@ -147,20 +147,23 @@ 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/freightliner_cascadia_2012_dot_10002/docker-compose.yml b/freightliner_cascadia_2012_dot_10002/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:
@@ -83,7 +83,7 @@ services:
     command: bash -c 'source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --multi-threads'
 
   truck-inspection:
-    image: usdotfhwastol/carma-platform:carma-system-4.0.0
+    image: usdotfhwastol/carma-platform:carma-system-4.0.3
     network_mode: host
     container_name: carma-truck-inspection
     volumes_from: 
@@ -163,7 +163,7 @@ services:
     command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=velodyne_lidar_driver_wrapper'
 
   velodyne_concatenator:
-    image: usdotfhwastol/carma-platform:carma-system-4.0.0
+    image: usdotfhwastol/carma-platform:carma-system-4.0.3
     container_name: velodyne-concatenator
     network_mode: host
     volumes_from:
@@ -193,20 +193,23 @@ services:
       - /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:=lidar_lite_trailer_angle_driver'
 
-  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/freightliner_cascadia_2012_dot_10003/docker-compose.yml b/freightliner_cascadia_2012_dot_10003/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:
@@ -83,7 +83,7 @@ services:
     command: bash -c 'source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --multi-threads'
 
   truck-inspection:
-    image: usdotfhwastol/carma-platform:carma-system-4.0.0
+    image: usdotfhwastol/carma-platform:carma-system-4.0.3
     network_mode: host
     container_name: carma-truck-inspection
     volumes_from:
@@ -163,7 +163,7 @@ services:
     command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=velodyne_lidar_driver_wrapper'
 
   velodyne_concatenator:
-    image: usdotfhwastol/carma-platform:carma-system-4.0.0
+    image: usdotfhwastol/carma-platform:carma-system-4.0.3
     container_name: velodyne-concatenator
     network_mode: host
     volumes_from:
@@ -193,20 +193,23 @@ services:
       - /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:=lidar_lite_trailer_angle_driver'
 
-  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