From 88f53a8220c7309087bce805bc6ba0d586114fe5 Mon Sep 17 00:00:00 2001 From: Michael McConnell Date: Fri, 18 Feb 2022 15:43:28 +0000 Subject: [PATCH 1/2] WIP build-config.sh --- build-config.sh | 94 +++++++++++ carla_integration/build-image.sh | 78 --------- carla_integration/system_release.sh | 65 -------- .../.dockerignore | 3 - chrysler_pacifica_ehybrid_s_2019/Dockerfile | 39 ----- chrysler_pacifica_ehybrid_s_2019/bridge.yml | 155 ------------------ chrysler_pacifica_ehybrid_s_2019/carma.env | 35 ---- .../carma_docker.launch | 59 ------- .../carma_rosconsole.conf | 26 --- .../docker-compose-background.yml | 29 ---- .../system_release.sh | 65 -------- ford_fusion_sehybrid_2019/.dockerignore | 3 - ford_fusion_sehybrid_2019/Dockerfile | 39 ----- ford_fusion_sehybrid_2019/bridge.yml | 155 ------------------ ford_fusion_sehybrid_2019/build-image.sh | 78 --------- ford_fusion_sehybrid_2019/carma.env | 35 ---- .../carma_data_2019-11-05-17-07-15.bag | Bin 10209581 -> 0 bytes ford_fusion_sehybrid_2019/carma_docker.launch | 59 ------- .../carma_docker.launch.py | 111 ------------- .../carma_rosconsole.conf | 26 --- .../docker-compose-background.yml | 29 ---- .../.dockerignore | 3 - .../Dockerfile | 39 ----- .../build-image.sh | 78 --------- .../carma.env | 35 ---- .../carma_docker.launch | 62 ------- .../carma_docker.launch.py | 111 ------------- .../carma_rosconsole.conf | 26 --- .../docker-compose-background.yml | 29 ---- .../system_release.sh | 65 -------- .../.dockerignore | 3 - .../Dockerfile | 39 ----- .../build-image.sh | 78 --------- .../carma.env | 35 ---- .../carma_docker.launch | 61 ------- .../carma_docker.launch.py | 111 ------------- .../carma_rosconsole.conf | 26 --- .../docker-compose-background.yml | 29 ---- .../system_release.sh | 65 -------- .../.dockerignore | 3 - .../Dockerfile | 39 ----- .../build-image.sh | 78 --------- .../carma.env | 35 ---- .../carma_docker.launch | 61 ------- .../carma_docker.launch.py | 111 ------------- .../carma_rosconsole.conf | 26 --- .../docker-compose-background.yml | 29 ---- .../system_release.sh | 65 -------- .../.dockerignore | 3 - .../Dockerfile | 39 ----- .../build-image.sh | 78 --------- .../carma.env | 35 ---- .../carma_docker.launch | 61 ------- .../carma_docker.launch.py | 111 ------------- .../carma_rosconsole.conf | 26 --- .../docker-compose-background.yml | 29 ---- .../system_release.sh | 65 -------- lexus_rx_450h_2019/.dockerignore | 3 - lexus_rx_450h_2019/Dockerfile | 39 ----- lexus_rx_450h_2019/README.md | 1 + .../__pycache__/drivers.launch.cpython-38.pyc | Bin 0 -> 1905 bytes lexus_rx_450h_2019/bridge.yml | 155 ------------------ lexus_rx_450h_2019/build-image.sh | 78 --------- lexus_rx_450h_2019/carma.env | 35 ---- lexus_rx_450h_2019/carma_docker.launch.py | 111 ------------- lexus_rx_450h_2019/carma_rosconsole.conf | 26 --- lexus_rx_450h_2019/system_release.sh | 65 -------- .../template_config}/.dockerignore | 0 .../template_config}/Dockerfile | 2 +- .../template_config}/VehicleConfigParams.yaml | 0 .../template_config}/bridge.yml | 0 .../template_config}/build-image.sh | 2 +- .../template_config}/carma.config.js | 0 .../template_config}/carma.env | 0 .../template_config}/carma_docker.launch | 2 +- .../template_config}/carma_docker.launch.py | 0 .../template_config}/carma_rosconsole.conf | 0 .../docker-compose-background.yml | 2 +- .../template_config}/docker-compose.yml | 6 +- .../template_config}/drivers.launch | 12 +- .../template_config}/drivers.launch.py | 23 ++- .../template_config}/system_release.sh | 2 +- 82 files changed, 124 insertions(+), 3412 deletions(-) create mode 100755 build-config.sh delete mode 100755 carla_integration/build-image.sh delete mode 100755 carla_integration/system_release.sh delete mode 100644 chrysler_pacifica_ehybrid_s_2019/.dockerignore delete mode 100644 chrysler_pacifica_ehybrid_s_2019/Dockerfile delete mode 100644 chrysler_pacifica_ehybrid_s_2019/bridge.yml delete mode 100644 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template_config/template_config}/carma_docker.launch.py (100%) rename {carla_integration => template_config/template_config}/carma_rosconsole.conf (100%) rename {lexus_rx_450h_2019 => template_config/template_config}/docker-compose-background.yml (96%) rename {lexus_rx_450h_2019 => template_config/template_config}/docker-compose.yml (95%) rename {lexus_rx_450h_2019 => template_config/template_config}/drivers.launch (89%) rename {lexus_rx_450h_2019 => template_config/template_config}/drivers.launch.py (71%) rename {ford_fusion_sehybrid_2019 => template_config/template_config}/system_release.sh (98%) diff --git a/build-config.sh b/build-config.sh new file mode 100755 index 00000000..b755206d --- /dev/null +++ b/build-config.sh @@ -0,0 +1,94 @@ +#!/bin/bash + +# Copyright (C) 2022 LEIDOS. +# +# Licensed under the Apache License, Version 2.0 (the "License"); you may not +# use this file except in compliance with the License. You may obtain a copy of +# the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +# License for the specific language governing permissions and limitations under +# the License. + +# +# GENERIC Build Script for CARMA Configuration Images +# +# Do not run this script itself, rather symlink this script into the individual +# configuration folders below and invoke it there to build the appropriate config +# image using docker build. Automatically acquires folder name and system version +# and passes neessary data into the docker build process. + +if [[ -z "$1" ]] ; then + echo "No argument supplied. User must provide path to desired config to build." + exit 1 +fi + +CONFIG_PATH=$1 + +CONFIG_PATH=$(realpath ${CONFIG_PATH}) + +echo "CONFIG_PATH: ${CONFIG_PATH}" + +if [[ ! -d "${CONFIG_PATH}" ]] ; then + echo "Specified config folder ${CONFIG_PATH} does not exist." + exit 1 +fi + +# Move arguments forward so they can be passed to build-image.sh +shift + +current_files=() + +for entry in "$CONFIG_PATH"/* +do + echo "entry: ${entry}" + current_files+=( $(basename -- ${entry}) ) +done + +TEMPLATE_PATH=template_config/template_config +TEMPLATE_PATH=$(realpath ${TEMPLATE_PATH}) + +echo "TEMPLATE_PATH: ${TEMPLATE_PATH}" + +if [[ ! -d "${TEMPLATE_PATH}" ]] ; then + echo "Could not fine template_config. You must run this script from the same folder." + exit 1 +fi + +added_files=() +for template_file in "$TEMPLATE_PATH"/* +do + template_file=$(basename -- ${template_file}) + echo "template_file: ${template_file}" + file_exists=false + for existing_file in ${current_files[@]}; do + + if [[ ${existing_file} == ${template_file} ]] ; then + echo "existing_file: ${existing_file}" + file_exists=true + break + fi + done + + if [[ ${file_exists} == true ]] ; then + continue + fi + + cp -r ${TEMPLATE_PATH}/${template_file} $CONFIG_PATH/${template_file} + added_files+=( $CONFIG_PATH/${template_file} ) +done + +# Build the config +current_dir=$PWD +cd $CONFIG_PATH +./build-image.sh "$@" +cd ${PWD} + +# Cleanup added files to prevent accidental commits +for added_file in ${added_files[@]}; do + rm ${added_file} +done diff --git a/carla_integration/build-image.sh b/carla_integration/build-image.sh deleted file mode 100755 index efa846bf..00000000 --- a/carla_integration/build-image.sh +++ /dev/null @@ -1,78 +0,0 @@ -#!/bin/bash - -# Copyright (C) 2018-2021 LEIDOS. -# -# Licensed under the Apache License, Version 2.0 (the "License"); you may not -# use this file except in compliance with the License. You may obtain a copy of -# the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT -# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the -# License for the specific language governing permissions and limitations under -# the License. - -# -# GENERIC Build Script for CARMA Configuration Images -# -# Do not run this script itself, rather symlink this script into the individual -# configuration folders below and invoke it there to build the appropriate config -# image using docker build. Automatically acquires folder name and system version -# and passes neessary data into the docker build process. - -USERNAME=usdotfhwastol -IMAGE=carma-config -cd "$(dirname "$0")" -DIR_NAME=${PWD##*/} -CONFIG_NAME=`echo $DIR_NAME | sed 's/_/-/g'` - -while [[ $# -gt 0 ]]; do - arg="$1" - case $arg in - -d|--develop) - USERNAME=usdotfhwastoldev - TAG=develop - shift - ;; - esac -done - -echo "" -echo "##### CARMA $CONFIG_NAME Configuration Docker Image Build Script #####" -echo "" - - -if [[ -z "$TAG" ]]; then - TAG="$("../docker/get-system-version.sh")-$CONFIG_NAME" -else - TAG="$TAG-$CONFIG_NAME" -fi - -echo "Building docker image for CARMA Configuration version: $TAG" -echo "Final image name: $USERNAME/$IMAGE:$TAG" - -if [[ $TAG = "develop-$CONFIG_NAME" ]]; then - git checkout -- docker-compose.yml - sed -i "s|usdotfhwastoldev/|$USERNAME/|g; s|usdotfhwastol/|$USERNAME/|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:develop|g; s|:CARMASystem_[0-9]*\.[0-9]*\.[0-9]*|:develop|g;" \ - docker-compose.yml - sed -i "s|usdotfhwastoldev/|$USERNAME/|g; s|usdotfhwastol/|$USERNAME/|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:develop|g; s|:CARMASystem_[0-9]*\.[0-9]*\.[0-9]*|:develop|g;" \ - docker-compose-background.yml - docker build --no-cache -t $USERNAME/$IMAGE:$TAG \ - --build-arg VERSION="$TAG" \ - --build-arg VCS_REF=`git rev-parse --short HEAD` \ - --build-arg CONFIG_NAME="carma-config:$CONFIG_NAME" \ - --build-arg BUILD_DATE=`date -u +”%Y-%m-%dT%H:%M:%SZ”` . - git checkout -- docker-compose.yml docker-compose-background.yml -else - git checkout -- docker-compose.yml - docker build --no-cache -t $USERNAME/$IMAGE:$TAG \ - --build-arg VERSION="$TAG" \ - --build-arg VCS_REF=`git rev-parse --short HEAD` \ - --build-arg CONFIG_NAME="carma-config:$CONFIG_NAME" \ - --build-arg BUILD_DATE=`date -u +”%Y-%m-%dT%H:%M:%SZ”` . -fi - -echo "" -echo "##### CARMA $CONFIG_NAME Docker Image Build Done! #####" diff --git a/carla_integration/system_release.sh b/carla_integration/system_release.sh deleted file mode 100755 index 6847c422..00000000 --- a/carla_integration/system_release.sh +++ /dev/null @@ -1,65 +0,0 @@ -#!/bin/bash - -# Copyright (C) 2018-2021 LEIDOS. -# -# Licensed under the Apache License, Version 2.0 (the "License"); you may not -# use this file except in compliance with the License. You may obtain a copy of -# the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT -# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the -# License for the specific language governing permissions and limitations under -# the License. - -# This script takes a system release name and version number as arguments, and -# updates version dependencies in docker-compose.yml and docker-compose-background.yml -# accordingly. - -# The -u | --unprompted option can be used to skip the interactive prompts, and -# provide arguments directly from the commandline. - -if [[ $# -eq 0 ]]; then - echo "Enter the system release name:" - read RELEASE_NAME - echo "Enter the system release version number:" - read RELEASE_VERSION -else - while [[ $# -gt 0 ]]; do - arg="$1" - case $arg in - -u|--unprompted) - RELEASE_NAME=$2 - RELEASE_VERSION=$3 - shift - shift - shift - ;; - esac -done -fi - -SYSTEM_RELEASE=carma-system-$RELEASE_VERSION -RELEASE_BRANCH=release/$RELEASE_NAME - -if git ls-remote -q | grep $RELEASE_BRANCH; then - echo "Checking out $RELEASE_BRANCH branch." - git checkout $RELEASE_BRANCH - - echo "Updating docker-compose.yml and docker-compose-background.yml to point to system release version." - sed -i "s|:CARMASystem_[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g; s|:carma-system-[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g" docker-compose.yml - sed -i "s|:CARMASystem_[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g; s|:carma-system-[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g" docker-compose-background.yml - - git add docker-compose.yml docker-compose-background.yml - - git commit -m "Updated dependencies for $SYSTEM_RELEASE" - - git tag -a $SYSTEM_RELEASE -m "$SYSTEM_RELEASE version tag." - - echo "docker-compose.yml and docker-compose-background.yml updated, committed, and tagged." -else - echo "$RELEASE_BRANCH does not exist. Exiting script." - exit 0 -fi diff --git a/chrysler_pacifica_ehybrid_s_2019/.dockerignore b/chrysler_pacifica_ehybrid_s_2019/.dockerignore deleted file mode 100644 index a1658b9b..00000000 --- a/chrysler_pacifica_ehybrid_s_2019/.dockerignore +++ /dev/null @@ -1,3 +0,0 @@ -HostVehicleParams.yaml -build-image.sh -Dockerfile diff --git a/chrysler_pacifica_ehybrid_s_2019/Dockerfile b/chrysler_pacifica_ehybrid_s_2019/Dockerfile deleted file mode 100644 index 066cb512..00000000 --- a/chrysler_pacifica_ehybrid_s_2019/Dockerfile +++ /dev/null @@ -1,39 +0,0 @@ -# Copyright (C) 2018-2021 LEIDOS. -# -# Licensed under the Apache License, Version 2.0 (the "License"); you may not -# use this file except in compliance with the License. You may obtain a copy of -# the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT -# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the -# License for the specific language governing permissions and limitations under -# the License. - - -# GENERIC Template for CARMA Configuration Dockerfiles -# Do not invoke directly, symlink into configuration folders below and invoke from there - -FROM busybox:latest - -ARG BUILD_DATE="NULL" -ARG VERSION="NULL" -ARG VCS_REF="NULL" -ARG CONFIG_NAME="carma-config:unspecified" - -LABEL org.label-schema.schema-version="1.0" -LABEL org.label-schema.name=${CONFIG_NAME} -LABEL org.label-schema.description="System configuration data for the CARMA Platform" -LABEL org.label-schema.vendor="Leidos" -LABEL org.label-schema.version=${VERSION} -LABEL org.label-schema.url="https://highways.dot.gov/research/research-programs/operations/CARMA" -LABEL org.label-schema.vcs-url="https://github.com/usdot-fhwa-stol/carma-config" -LABEL org.label-schema.vcs-ref=${VCS_REF} -LABEL org.label-schema.build-date=${BUILD_DATE} - -ADD . /root/vehicle/config -VOLUME /opt/carma/vehicle/config - -CMD cp /root/vehicle/config/* /opt/carma/vehicle/config diff --git a/chrysler_pacifica_ehybrid_s_2019/bridge.yml b/chrysler_pacifica_ehybrid_s_2019/bridge.yml deleted file mode 100644 index 1917be62..00000000 --- a/chrysler_pacifica_ehybrid_s_2019/bridge.yml +++ /dev/null @@ -1,155 +0,0 @@ -# This file contains explicit topic mappings between ROS1 and ROS2 portions of CARMA Platform while the -# ROS2 migration is underway. -topics: - - - topic: /localization/current_pose_with_covariance - type: geometry_msgs/msg/PoseWithCovarianceStamped - queue_size: 1 - - - topic: /hardware_interface/lidar/points_raw - type: sensor_msgs/msg/PointCloud2 - queue_size: 1 - - - topic: /environment/external_objects - type: carma_perception_msgs/msg/ExternalObjectList - queue_size: 1 - - - topic: /tf - type: tf2_msgs/msg/TFMessage - queue_size: 100 - - - topic: /environment/external_objects_viz - type: visualization_msgs/msg/MarkerArray - queue_size: 1 - - - topic: /environment/roadway_obstacles_viz - type: visualization_msgs/msg/MarkerArray - queue_size: 1 - - - topic: /environment/semantic_map - type: autoware_lanelet2_msgs/msg/MapBin - queue_size: 1 - qos: - history: keep_all - durability: transient_local - - - topic: /message/mobility_path_msg - type: carma_v2x_msgs/msg/MobilityPath - queue_size: 1 - - - topic: /message/bsm_outbound - type: carma_v2x_msgs/msg/BSM - queue_size: 1 - - - topic: /guidance/plan_trajectory - type: carma_planning_msgs/msg/TrajectoryPlan - queue_size: 1 - - - topic: /localization/map_param_loader/georeference - type: std_msgs/msg/String - queue_size: 1 - - - topic: /hardware_interface/velocity_accel_cov - type: automotive_platform_msgs/msg/VelocityAccelCov - queue_size: 1 - - - topic: /hardware_interface/imu_raw - type: sensor_msgs/msg/Imu - queue_size: 1 - - - topic: /hardware_interface/can/transmission_state - type: j2735_v2x_msgs/msg/TransmissionState - queue_size: 1 - - - topic: /hardware_interface/can/steering_wheel_angle - type: std_msgs/msg/Float64 - queue_size: 1 - - - topic: /hardware_interface/gnss_fix_fused - type: gps_msgs/msg/GPSFix - queue_size: 1 - - - topic: /localization/current_pose - type: geometry_msgs/msg/PoseStamped - queue_size: 1 - - - topic: /hardware_interface/can/brake_position - type: std_msgs/msg/Float64 - queue_size: 1 - - - topic: /hardware_interface/vehicle/twist - type: geometry_msgs/msg/TwistStamped - queue_size: 1 - - - topic: /hardware_interface/comms/inbound_binary_msg - type: carma_driver_msgs/msg/ByteArray - queue_size: 50 - - - topic: /hardware_interface/comms/outbound_binary_msg - type: carma_driver_msgs/msg/ByteArray - queue_size: 50 - - - topic: /message/incoming_bsm - type: carma_v2x_msgs/msg/BSM - queue_size: 50 - - - topic: /message/incoming_spat - type: carma_v2x_msgs/msg/SPAT - queue_size: 50 - - - topic: /message/incoming_map - type: carma_v2x_msgs/msg/MapData - queue_size: 50 - - - topic: /message/incoming_geofence_control - type: carma_v2x_msgs/msg/TrafficControlMessage - queue_size: 10 - - - topic: /message/incoming_geofence_request - type: carma_v2x_msgs/msg/TrafficControlRequest - queue_size: 1 - - - topic: /message/outgoing_geofence_control - type: carma_v2x_msgs/msg/TrafficControlMessage - queue_size: 1 - - - topic: /message/outgoing_geofence_request - type: carma_v2x_msgs/msg/TrafficControlRequest - queue_size: 1 - - - topic: /message/incoming_mobility_operation - type: carma_v2x_msgs/msg/MobilityOperation - queue_size: 50 - - - topic: /message/outgoing_mobility_operation - type: carma_v2x_msgs/msg/MobilityOperation - queue_size: 50 - - - topic: /message/incoming_mobility_response - type: carma_v2x_msgs/msg/MobilityResponse - queue_size: 50 - - - topic: /message/outgoing_mobility_response - type: carma_v2x_msgs/msg/MobilityResponse - queue_size: 50 - - - topic: /message/incoming_mobility_path - type: carma_v2x_msgs/msg/MobilityPath - queue_size: 50 - - - topic: /message/outgoing_mobility_path - type: carma_v2x_msgs/msg/MobilityPath - queue_size: 50 - - - topic: /message/incoming_mobility_request - type: carma_v2x_msgs/msg/MobilityRequest - queue_size: 50 - - - topic: /message/outgoing_mobility_request - type: carma_v2x_msgs/msg/MobilityRequest - queue_size: 50 - - - topic: /environment/external_object_predictions - type: carma_perception_msgs/msg/ExternalObjectList - queue_size: 1 -services_1_to_2: [] \ No newline at end of file diff --git a/chrysler_pacifica_ehybrid_s_2019/carma.env b/chrysler_pacifica_ehybrid_s_2019/carma.env deleted file mode 100644 index efaf40c3..00000000 --- a/chrysler_pacifica_ehybrid_s_2019/carma.env +++ /dev/null @@ -1,35 +0,0 @@ -#!/bin/bash -# This file sets up the environment variables needed to run CARMA - -### -# Logging -### -export ROSCONSOLE_CONFIG_FILE="/opt/carma/vehicle/config/carma_rosconsole.conf" -export ROSCONSOLE_FORMAT='${time} | ${severity} | ${function}:${line} | ${message}' # ROS 1 log formatting -export RCUTILS_CONSOLE_OUTPUT_FORMAT='{time} | {severity} | {function_name}:{line_number} | {message}' # ROS2 log formatting - -export ROS_LOG_DIR="/opt/carma/logs" # Variable used in both ROS 1 and ROS 2 - -### -# Namespaces -### -# Namespace of nodes in the planning stack -export CARMA_GUIDE_NS="/guidance" - -# Namespace of nodes in the communications stack -export CARMA_MSG_NS="/message" - -# Namespace of nodes involved in tf2 transform maintenance -export CARMA_TF_NS="/" - -# Namespace of nodes in the perception stack -export CARMA_ENV_NS="/environment" - -# Namespace of nodes in the hardware interface stack -export CARMA_INTR_NS="/hardware_interface" - -# Namespace of nodes in the localization stack -export CARMA_LOCZ_NS="/localization" - -# Namespace of nodes in the web ui stack -export CARMA_UI_NS="/ui" diff --git a/chrysler_pacifica_ehybrid_s_2019/carma_docker.launch b/chrysler_pacifica_ehybrid_s_2019/carma_docker.launch deleted file mode 100644 index d5f0bef0..00000000 --- a/chrysler_pacifica_ehybrid_s_2019/carma_docker.launch +++ /dev/null @@ -1,59 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/chrysler_pacifica_ehybrid_s_2019/carma_rosconsole.conf b/chrysler_pacifica_ehybrid_s_2019/carma_rosconsole.conf deleted file mode 100644 index 55a2d3eb..00000000 --- a/chrysler_pacifica_ehybrid_s_2019/carma_rosconsole.conf +++ /dev/null @@ -1,26 +0,0 @@ -# Set the default ros output level -log4j.logger.ros=WARN -log4j.logger.ros.roscpp.superdebug=WARN - -# Set package specific log level -# Syntax is log4j.logger.ros.< my package name>=< Log level> -# Log levels -# DEBUG Detailed logs useful for debugging -# INFO Useful logs for understanding system events -# 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.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.arbitrator=WARN -log4j.logger.ros.trajectory_executor=INFO -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 diff --git a/chrysler_pacifica_ehybrid_s_2019/docker-compose-background.yml b/chrysler_pacifica_ehybrid_s_2019/docker-compose-background.yml deleted file mode 100644 index 3e677f0c..00000000 --- a/chrysler_pacifica_ehybrid_s_2019/docker-compose-background.yml +++ /dev/null @@ -1,29 +0,0 @@ -# Copyright (C) 2018-2021 LEIDOS. -# -# Licensed under the Apache License, Version 2.0 (the "License"); you may not -# use this file except in compliance with the License. You may obtain a copy of -# the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT -# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the -# License for the specific language governing permissions and limitations under -# the License. - -# Docker Compose Spec Version -version: '2' - -services: - web-ui: - image: usdotfhwastoldev/carma-web-ui:develop - network_mode: host - container_name: web-ui - environment: - - ROS_IP=192.168.88.10 - volumes_from: - - container:carma-config:ro - volumes: - - /var/run/docker.sock:/var/run/docker.sock - restart: always diff --git a/chrysler_pacifica_ehybrid_s_2019/system_release.sh b/chrysler_pacifica_ehybrid_s_2019/system_release.sh deleted file mode 100755 index 6847c422..00000000 --- a/chrysler_pacifica_ehybrid_s_2019/system_release.sh +++ /dev/null @@ -1,65 +0,0 @@ -#!/bin/bash - -# Copyright (C) 2018-2021 LEIDOS. -# -# Licensed under the Apache License, Version 2.0 (the "License"); you may not -# use this file except in compliance with the License. You may obtain a copy of -# the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT -# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the -# License for the specific language governing permissions and limitations under -# the License. - -# This script takes a system release name and version number as arguments, and -# updates version dependencies in docker-compose.yml and docker-compose-background.yml -# accordingly. - -# The -u | --unprompted option can be used to skip the interactive prompts, and -# provide arguments directly from the commandline. - -if [[ $# -eq 0 ]]; then - echo "Enter the system release name:" - read RELEASE_NAME - echo "Enter the system release version number:" - read RELEASE_VERSION -else - while [[ $# -gt 0 ]]; do - arg="$1" - case $arg in - -u|--unprompted) - RELEASE_NAME=$2 - RELEASE_VERSION=$3 - shift - shift - shift - ;; - esac -done -fi - -SYSTEM_RELEASE=carma-system-$RELEASE_VERSION -RELEASE_BRANCH=release/$RELEASE_NAME - -if git ls-remote -q | grep $RELEASE_BRANCH; then - echo "Checking out $RELEASE_BRANCH branch." - git checkout $RELEASE_BRANCH - - echo "Updating docker-compose.yml and docker-compose-background.yml to point to system release version." - sed -i "s|:CARMASystem_[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g; s|:carma-system-[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g" docker-compose.yml - sed -i "s|:CARMASystem_[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g; s|:carma-system-[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g" docker-compose-background.yml - - git add docker-compose.yml docker-compose-background.yml - - git commit -m "Updated dependencies for $SYSTEM_RELEASE" - - git tag -a $SYSTEM_RELEASE -m "$SYSTEM_RELEASE version tag." - - echo "docker-compose.yml and docker-compose-background.yml updated, committed, and tagged." -else - echo "$RELEASE_BRANCH does not exist. Exiting script." - exit 0 -fi diff --git a/ford_fusion_sehybrid_2019/.dockerignore b/ford_fusion_sehybrid_2019/.dockerignore deleted file mode 100644 index a1658b9b..00000000 --- a/ford_fusion_sehybrid_2019/.dockerignore +++ /dev/null @@ -1,3 +0,0 @@ -HostVehicleParams.yaml -build-image.sh -Dockerfile diff --git a/ford_fusion_sehybrid_2019/Dockerfile b/ford_fusion_sehybrid_2019/Dockerfile deleted file mode 100644 index 066cb512..00000000 --- a/ford_fusion_sehybrid_2019/Dockerfile +++ /dev/null @@ -1,39 +0,0 @@ -# Copyright (C) 2018-2021 LEIDOS. -# -# Licensed under the Apache License, Version 2.0 (the "License"); you may not -# use this file except in compliance with the License. You may obtain a copy of -# the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT -# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the -# License for the specific language governing permissions and limitations under -# the License. - - -# GENERIC Template for CARMA Configuration Dockerfiles -# Do not invoke directly, symlink into configuration folders below and invoke from there - -FROM busybox:latest - -ARG BUILD_DATE="NULL" -ARG VERSION="NULL" -ARG VCS_REF="NULL" -ARG CONFIG_NAME="carma-config:unspecified" - -LABEL org.label-schema.schema-version="1.0" -LABEL org.label-schema.name=${CONFIG_NAME} -LABEL org.label-schema.description="System configuration data for the CARMA Platform" -LABEL org.label-schema.vendor="Leidos" -LABEL org.label-schema.version=${VERSION} -LABEL org.label-schema.url="https://highways.dot.gov/research/research-programs/operations/CARMA" -LABEL org.label-schema.vcs-url="https://github.com/usdot-fhwa-stol/carma-config" -LABEL org.label-schema.vcs-ref=${VCS_REF} -LABEL org.label-schema.build-date=${BUILD_DATE} - -ADD . /root/vehicle/config -VOLUME /opt/carma/vehicle/config - -CMD cp /root/vehicle/config/* /opt/carma/vehicle/config diff --git a/ford_fusion_sehybrid_2019/bridge.yml b/ford_fusion_sehybrid_2019/bridge.yml deleted file mode 100644 index 1917be62..00000000 --- a/ford_fusion_sehybrid_2019/bridge.yml +++ /dev/null @@ -1,155 +0,0 @@ -# This file contains explicit topic mappings between ROS1 and ROS2 portions of CARMA Platform while the -# ROS2 migration is underway. -topics: - - - topic: /localization/current_pose_with_covariance - type: geometry_msgs/msg/PoseWithCovarianceStamped - queue_size: 1 - - - topic: /hardware_interface/lidar/points_raw - type: sensor_msgs/msg/PointCloud2 - queue_size: 1 - - - topic: /environment/external_objects - type: carma_perception_msgs/msg/ExternalObjectList - queue_size: 1 - - - topic: /tf - type: tf2_msgs/msg/TFMessage - queue_size: 100 - - - topic: /environment/external_objects_viz - type: visualization_msgs/msg/MarkerArray - queue_size: 1 - - - topic: /environment/roadway_obstacles_viz - type: visualization_msgs/msg/MarkerArray - queue_size: 1 - - - topic: /environment/semantic_map - type: autoware_lanelet2_msgs/msg/MapBin - queue_size: 1 - qos: - history: keep_all - durability: transient_local - - - topic: /message/mobility_path_msg - type: carma_v2x_msgs/msg/MobilityPath - queue_size: 1 - - - topic: /message/bsm_outbound - type: carma_v2x_msgs/msg/BSM - queue_size: 1 - - - topic: /guidance/plan_trajectory - type: carma_planning_msgs/msg/TrajectoryPlan - queue_size: 1 - - - topic: /localization/map_param_loader/georeference - type: std_msgs/msg/String - queue_size: 1 - - - topic: /hardware_interface/velocity_accel_cov - type: automotive_platform_msgs/msg/VelocityAccelCov - queue_size: 1 - - - topic: /hardware_interface/imu_raw - type: sensor_msgs/msg/Imu - queue_size: 1 - - - topic: /hardware_interface/can/transmission_state - type: j2735_v2x_msgs/msg/TransmissionState - queue_size: 1 - - - topic: /hardware_interface/can/steering_wheel_angle - type: std_msgs/msg/Float64 - queue_size: 1 - - - topic: /hardware_interface/gnss_fix_fused - type: gps_msgs/msg/GPSFix - queue_size: 1 - - - topic: /localization/current_pose - type: geometry_msgs/msg/PoseStamped - queue_size: 1 - - - topic: /hardware_interface/can/brake_position - type: std_msgs/msg/Float64 - queue_size: 1 - - - topic: /hardware_interface/vehicle/twist - type: geometry_msgs/msg/TwistStamped - queue_size: 1 - - - topic: /hardware_interface/comms/inbound_binary_msg - type: carma_driver_msgs/msg/ByteArray - queue_size: 50 - - - topic: /hardware_interface/comms/outbound_binary_msg - type: carma_driver_msgs/msg/ByteArray - queue_size: 50 - - - topic: /message/incoming_bsm - type: carma_v2x_msgs/msg/BSM - queue_size: 50 - - - topic: /message/incoming_spat - type: carma_v2x_msgs/msg/SPAT - queue_size: 50 - - - topic: /message/incoming_map - type: carma_v2x_msgs/msg/MapData - queue_size: 50 - - - topic: /message/incoming_geofence_control - type: carma_v2x_msgs/msg/TrafficControlMessage - queue_size: 10 - - - topic: /message/incoming_geofence_request - type: carma_v2x_msgs/msg/TrafficControlRequest - queue_size: 1 - - - topic: /message/outgoing_geofence_control - type: carma_v2x_msgs/msg/TrafficControlMessage - queue_size: 1 - - - topic: /message/outgoing_geofence_request - type: carma_v2x_msgs/msg/TrafficControlRequest - queue_size: 1 - - - topic: /message/incoming_mobility_operation - type: carma_v2x_msgs/msg/MobilityOperation - queue_size: 50 - - - topic: /message/outgoing_mobility_operation - type: carma_v2x_msgs/msg/MobilityOperation - queue_size: 50 - - - topic: /message/incoming_mobility_response - type: carma_v2x_msgs/msg/MobilityResponse - queue_size: 50 - - - topic: /message/outgoing_mobility_response - type: carma_v2x_msgs/msg/MobilityResponse - queue_size: 50 - - - topic: /message/incoming_mobility_path - type: carma_v2x_msgs/msg/MobilityPath - queue_size: 50 - - - topic: /message/outgoing_mobility_path - type: carma_v2x_msgs/msg/MobilityPath - queue_size: 50 - - - topic: /message/incoming_mobility_request - type: carma_v2x_msgs/msg/MobilityRequest - queue_size: 50 - - - topic: /message/outgoing_mobility_request - type: carma_v2x_msgs/msg/MobilityRequest - queue_size: 50 - - - topic: /environment/external_object_predictions - type: carma_perception_msgs/msg/ExternalObjectList - queue_size: 1 -services_1_to_2: [] \ No newline at end of file diff --git a/ford_fusion_sehybrid_2019/build-image.sh b/ford_fusion_sehybrid_2019/build-image.sh deleted file mode 100755 index efa846bf..00000000 --- a/ford_fusion_sehybrid_2019/build-image.sh +++ /dev/null @@ -1,78 +0,0 @@ -#!/bin/bash - -# Copyright (C) 2018-2021 LEIDOS. -# -# Licensed under the Apache License, Version 2.0 (the "License"); you may not -# use this file except in compliance with the License. You may obtain a copy of -# the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT -# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the -# License for the specific language governing permissions and limitations under -# the License. - -# -# GENERIC Build Script for CARMA Configuration Images -# -# Do not run this script itself, rather symlink this script into the individual -# configuration folders below and invoke it there to build the appropriate config -# image using docker build. Automatically acquires folder name and system version -# and passes neessary data into the docker build process. - -USERNAME=usdotfhwastol -IMAGE=carma-config -cd "$(dirname "$0")" -DIR_NAME=${PWD##*/} -CONFIG_NAME=`echo $DIR_NAME | sed 's/_/-/g'` - -while [[ $# -gt 0 ]]; do - arg="$1" - case $arg in - -d|--develop) - USERNAME=usdotfhwastoldev - TAG=develop - shift - ;; - esac -done - -echo "" -echo "##### CARMA $CONFIG_NAME Configuration Docker Image Build Script #####" -echo "" - - -if [[ -z "$TAG" ]]; then - TAG="$("../docker/get-system-version.sh")-$CONFIG_NAME" -else - TAG="$TAG-$CONFIG_NAME" -fi - -echo "Building docker image for CARMA Configuration version: $TAG" -echo "Final image name: $USERNAME/$IMAGE:$TAG" - -if [[ $TAG = "develop-$CONFIG_NAME" ]]; then - git checkout -- docker-compose.yml - sed -i "s|usdotfhwastoldev/|$USERNAME/|g; s|usdotfhwastol/|$USERNAME/|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:develop|g; s|:CARMASystem_[0-9]*\.[0-9]*\.[0-9]*|:develop|g;" \ - docker-compose.yml - sed -i "s|usdotfhwastoldev/|$USERNAME/|g; s|usdotfhwastol/|$USERNAME/|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:develop|g; s|:CARMASystem_[0-9]*\.[0-9]*\.[0-9]*|:develop|g;" \ - docker-compose-background.yml - docker build --no-cache -t $USERNAME/$IMAGE:$TAG \ - --build-arg VERSION="$TAG" \ - --build-arg VCS_REF=`git rev-parse --short HEAD` \ - --build-arg CONFIG_NAME="carma-config:$CONFIG_NAME" \ - --build-arg BUILD_DATE=`date -u +”%Y-%m-%dT%H:%M:%SZ”` . - git checkout -- docker-compose.yml docker-compose-background.yml -else - git checkout -- docker-compose.yml - docker build --no-cache -t $USERNAME/$IMAGE:$TAG \ - --build-arg VERSION="$TAG" \ - --build-arg VCS_REF=`git rev-parse --short HEAD` \ - --build-arg CONFIG_NAME="carma-config:$CONFIG_NAME" \ - --build-arg BUILD_DATE=`date -u +”%Y-%m-%dT%H:%M:%SZ”` . -fi - -echo "" -echo "##### CARMA $CONFIG_NAME Docker Image Build Done! #####" diff --git a/ford_fusion_sehybrid_2019/carma.env b/ford_fusion_sehybrid_2019/carma.env deleted file mode 100644 index efaf40c3..00000000 --- a/ford_fusion_sehybrid_2019/carma.env +++ /dev/null @@ -1,35 +0,0 @@ -#!/bin/bash -# This file sets up the environment variables needed to run CARMA - -### -# Logging -### -export ROSCONSOLE_CONFIG_FILE="/opt/carma/vehicle/config/carma_rosconsole.conf" -export ROSCONSOLE_FORMAT='${time} | ${severity} | ${function}:${line} | ${message}' # ROS 1 log formatting -export RCUTILS_CONSOLE_OUTPUT_FORMAT='{time} | {severity} | {function_name}:{line_number} | {message}' # ROS2 log formatting - -export ROS_LOG_DIR="/opt/carma/logs" # Variable used in both ROS 1 and ROS 2 - -### -# Namespaces -### -# Namespace of nodes in the planning stack -export CARMA_GUIDE_NS="/guidance" - -# Namespace of nodes in the communications stack -export CARMA_MSG_NS="/message" - -# Namespace of nodes involved in tf2 transform maintenance -export CARMA_TF_NS="/" - -# Namespace of nodes in the perception stack -export CARMA_ENV_NS="/environment" - -# Namespace of nodes in the hardware interface stack -export CARMA_INTR_NS="/hardware_interface" - -# Namespace of nodes in the localization stack -export CARMA_LOCZ_NS="/localization" - -# Namespace of nodes in the web ui stack -export CARMA_UI_NS="/ui" diff --git a/ford_fusion_sehybrid_2019/carma_data_2019-11-05-17-07-15.bag b/ford_fusion_sehybrid_2019/carma_data_2019-11-05-17-07-15.bag deleted file mode 100644 index 77048dd458630b3ab6485169b4b588c06a4aea59..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 10209581 zcmeF42V4|a`~4SD6huW7MX@Y4Y$%GNB;pMA7GsZz1(013l_Di}#ctHtdnL9+6H8(@ z(cP%gSYsDU6pdZ6_xitgcS+U_Bs0(Z|J{wrna}GRc6ZL)nR6d@m+!gvPU$uuwyhW3 zSlgj`6+f4T8jZ${{R{7&6w@;#JT@sNF(?mvoR2>j8xv!B%8@;EXaAyNbo#y_aj^+O zOP9=Lk2RX?>|bnLkmL7Ep~VIV-~b$e18@KizyUY_2jBo4fCF#<4*ZiHsKEY=H*tX2 z=(u=&LPAt*Oi)a0jNbC+eGX^#dO}oxeUOWjtA_up%bws*a!3%w{+j^;a+YO3C&tD_ zg$GrQOp4Nl#f0mthKI#RhlNB$#f0?==@Zs3E;cGAG2vs@US)oSuwK3N@liUf{o|72 z^&#y45|W}4L;A#r#l`94LtV%D=icDkeN$AFYo`v^?$=7NZY|(z$$OIq^5toQwv0?l; 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z#d*MMMXGbL&N3cd|7jlN(WIcdS0-`AW6{M$GWap*sshXnLr^*k(c#`g24 zdB9t+c-VVs*HRyF7TE`DZksXamvJ7(qW^Fn@aO7z$n(iS*MFLaZ%grN$pg+JUS?NQ TeZV`-;5^`EdN>bwZO{J$G#u-@ diff --git a/ford_fusion_sehybrid_2019/carma_docker.launch b/ford_fusion_sehybrid_2019/carma_docker.launch deleted file mode 100644 index d5f0bef0..00000000 --- a/ford_fusion_sehybrid_2019/carma_docker.launch +++ /dev/null @@ -1,59 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ford_fusion_sehybrid_2019/carma_docker.launch.py b/ford_fusion_sehybrid_2019/carma_docker.launch.py deleted file mode 100644 index 912314d7..00000000 --- a/ford_fusion_sehybrid_2019/carma_docker.launch.py +++ /dev/null @@ -1,111 +0,0 @@ -# Copyright (C) 2021-2022 LEIDOS. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_index_python import get_package_share_directory -from launch import LaunchDescription -from launch.actions import IncludeLaunchDescription -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.actions import SetEnvironmentVariable -from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration - -from carma_ros2_utils.launch.generate_log_levels import generate_log_levels -import os - -def generate_launch_description(): - """ - Launch CARMA System. - """ - - # Parse the log config file and convert it to an environment variable - config_file_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), 'carma_rosconsole.conf') - logging_env_var = SetEnvironmentVariable('CARMA_ROS_LOGGING_CONFIG', generate_log_levels(config_file_path)) - - # Declare the vehicle_calibration_dir launch argument - vehicle_calibration_dir = LaunchConfiguration('vehicle_calibration_dir') - declare_vehicle_calibration_dir_arg = DeclareLaunchArgument( - name = 'vehicle_calibration_dir', default_value = '/opt/carma/vehicle/calibration', description = "Path to vehicle calibration directory" - ) - - # Declare the vehicle_config_dir launch argument - vehicle_config_dir = LaunchConfiguration('vehicle_config_dir') - declare_vehicle_config_dir_arg = DeclareLaunchArgument( - name = 'vehicle_config_dir', default_value = '/opt/carma/vehicle/config', description = "Path to vehicle configuration directory" - ) - - #Declare the route file folder launch argument - route_file_folder = LaunchConfiguration('route_file_folder') - declare_route_file_folder = DeclareLaunchArgument( - name = 'route_file_folder', - default_value='/opt/carma/routes/', - description = 'Path of folder containing routes to load' - ) - - # Declare enable_guidance_plugin_validate - enable_guidance_plugin_validator = LaunchConfiguration('enable_guidance_plugin_validator') - declare_enable_guidance_plugin_validator = DeclareLaunchArgument( - name = 'enable_guidance_plugin_validator', - default_value='true', - description='Flag indicating whether the Guidance Plugin Validator node will actively validate guidance strategic, tactical, and control plugins' - ) - - # Declare strategic_plugins_to_validate - strategic_plugins_to_validate = LaunchConfiguration('strategic_plugins_to_validate') - declare_strategic_plugins_to_validate = DeclareLaunchArgument( - name = 'strategic_plugins_to_validate', - default_value = '[RouteFollowing]', - description = 'List of String: Guidance Strategic Plugins that will be validated by the Guidance Plugin Validator Node if enabled' - ) - - # Declare tactical_plugins_to_validate - tactical_plugins_to_validate = LaunchConfiguration('tactical_plugins_to_validate') - declare_tactical_plugins_to_validate = DeclareLaunchArgument( - name = 'tactical_plugins_to_validate', - default_value='[InLaneCruisingPlugin, StopandWaitPlugin, CooperativeLaneChangePlugin, UnobstructedLaneChangePlugin, YieldPlugin]', - description='List of String: Guidance Tactical Plugins that will be validated by the Guidance Plugin Validator Node if enabled' - ) - - # Declare control_plugins_to_validate - control_plugins_to_validate = LaunchConfiguration('control_plugins_to_validate') - declare_control_plugins_to_validate = DeclareLaunchArgument( - name = 'control_plugins_to_validate', - default_value= '[Pure Pursuit]', - description='List of String: Guidance Control Plugins that will be validated by the Guidance Plugin Validator Node if enabled' - ) - - # Launch the core carma launch file - carma_src_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource([ get_package_share_directory('carma'), '/launch/carma_src.launch.py']), - launch_arguments = { - 'vehicle_calibration_dir' : vehicle_calibration_dir, - 'vehicle_config_dir' : vehicle_config_dir, - 'route_file_folder' : route_file_folder, - 'enable_guidance_plugin_validator' : enable_guidance_plugin_validator, - 'strategic_plugins_to_validate' : strategic_plugins_to_validate, - 'tactical_plugins_to_validate' : tactical_plugins_to_validate, - 'control_plugins_to_validate' : control_plugins_to_validate - }.items() - ) - - return LaunchDescription([ - logging_env_var, # Environment variables must be placed before included files - declare_vehicle_calibration_dir_arg, - declare_vehicle_config_dir_arg, - declare_route_file_folder, - declare_enable_guidance_plugin_validator, - declare_strategic_plugins_to_validate, - declare_tactical_plugins_to_validate, - declare_control_plugins_to_validate, - carma_src_launch - ]) diff --git a/ford_fusion_sehybrid_2019/carma_rosconsole.conf b/ford_fusion_sehybrid_2019/carma_rosconsole.conf deleted file mode 100644 index 55a2d3eb..00000000 --- a/ford_fusion_sehybrid_2019/carma_rosconsole.conf +++ /dev/null @@ -1,26 +0,0 @@ -# Set the default ros output level -log4j.logger.ros=WARN -log4j.logger.ros.roscpp.superdebug=WARN - -# Set package specific log level -# Syntax is log4j.logger.ros.< my package name>=< Log level> -# Log levels -# DEBUG Detailed logs useful for debugging -# INFO Useful logs for understanding system events -# 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.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.arbitrator=WARN -log4j.logger.ros.trajectory_executor=INFO -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 diff --git a/ford_fusion_sehybrid_2019/docker-compose-background.yml b/ford_fusion_sehybrid_2019/docker-compose-background.yml deleted file mode 100644 index 3e677f0c..00000000 --- a/ford_fusion_sehybrid_2019/docker-compose-background.yml +++ /dev/null @@ -1,29 +0,0 @@ -# Copyright (C) 2018-2021 LEIDOS. -# -# Licensed under the Apache License, Version 2.0 (the "License"); you may not -# use this file except in compliance with the License. You may obtain a copy of -# the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT -# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the -# License for the specific language governing permissions and limitations under -# the License. - -# Docker Compose Spec Version -version: '2' - -services: - web-ui: - image: usdotfhwastoldev/carma-web-ui:develop - network_mode: host - container_name: web-ui - environment: - - ROS_IP=192.168.88.10 - volumes_from: - - container:carma-config:ro - volumes: - - /var/run/docker.sock:/var/run/docker.sock - restart: always diff --git a/freightliner_cascadia_2012_dot_10002/.dockerignore b/freightliner_cascadia_2012_dot_10002/.dockerignore deleted file mode 100644 index a1658b9b..00000000 --- a/freightliner_cascadia_2012_dot_10002/.dockerignore +++ /dev/null @@ -1,3 +0,0 @@ -HostVehicleParams.yaml -build-image.sh -Dockerfile diff --git a/freightliner_cascadia_2012_dot_10002/Dockerfile b/freightliner_cascadia_2012_dot_10002/Dockerfile deleted file mode 100644 index 066cb512..00000000 --- a/freightliner_cascadia_2012_dot_10002/Dockerfile +++ /dev/null @@ -1,39 +0,0 @@ -# Copyright (C) 2018-2021 LEIDOS. -# -# Licensed under the Apache License, Version 2.0 (the "License"); you may not -# use this file except in compliance with the License. You may obtain a copy of -# the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT -# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the -# License for the specific language governing permissions and limitations under -# the License. - - -# GENERIC Template for CARMA Configuration Dockerfiles -# Do not invoke directly, symlink into configuration folders below and invoke from there - -FROM busybox:latest - -ARG BUILD_DATE="NULL" -ARG VERSION="NULL" -ARG VCS_REF="NULL" -ARG CONFIG_NAME="carma-config:unspecified" - -LABEL org.label-schema.schema-version="1.0" -LABEL org.label-schema.name=${CONFIG_NAME} -LABEL org.label-schema.description="System configuration data for the CARMA Platform" -LABEL org.label-schema.vendor="Leidos" -LABEL org.label-schema.version=${VERSION} -LABEL org.label-schema.url="https://highways.dot.gov/research/research-programs/operations/CARMA" -LABEL org.label-schema.vcs-url="https://github.com/usdot-fhwa-stol/carma-config" -LABEL org.label-schema.vcs-ref=${VCS_REF} -LABEL org.label-schema.build-date=${BUILD_DATE} - -ADD . /root/vehicle/config -VOLUME /opt/carma/vehicle/config - -CMD cp /root/vehicle/config/* /opt/carma/vehicle/config diff --git a/freightliner_cascadia_2012_dot_10002/build-image.sh b/freightliner_cascadia_2012_dot_10002/build-image.sh deleted file mode 100755 index efa846bf..00000000 --- a/freightliner_cascadia_2012_dot_10002/build-image.sh +++ /dev/null @@ -1,78 +0,0 @@ -#!/bin/bash - -# Copyright (C) 2018-2021 LEIDOS. -# -# Licensed under the Apache License, Version 2.0 (the "License"); you may not -# use this file except in compliance with the License. You may obtain a copy of -# the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT -# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the -# License for the specific language governing permissions and limitations under -# the License. - -# -# GENERIC Build Script for CARMA Configuration Images -# -# Do not run this script itself, rather symlink this script into the individual -# configuration folders below and invoke it there to build the appropriate config -# image using docker build. Automatically acquires folder name and system version -# and passes neessary data into the docker build process. - -USERNAME=usdotfhwastol -IMAGE=carma-config -cd "$(dirname "$0")" -DIR_NAME=${PWD##*/} -CONFIG_NAME=`echo $DIR_NAME | sed 's/_/-/g'` - -while [[ $# -gt 0 ]]; do - arg="$1" - case $arg in - -d|--develop) - USERNAME=usdotfhwastoldev - TAG=develop - shift - ;; - esac -done - -echo "" -echo "##### CARMA $CONFIG_NAME Configuration Docker Image Build Script #####" -echo "" - - -if [[ -z "$TAG" ]]; then - TAG="$("../docker/get-system-version.sh")-$CONFIG_NAME" -else - TAG="$TAG-$CONFIG_NAME" -fi - -echo "Building docker image for CARMA Configuration version: $TAG" -echo "Final image name: $USERNAME/$IMAGE:$TAG" - -if [[ $TAG = "develop-$CONFIG_NAME" ]]; then - git checkout -- docker-compose.yml - sed -i "s|usdotfhwastoldev/|$USERNAME/|g; s|usdotfhwastol/|$USERNAME/|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:develop|g; s|:CARMASystem_[0-9]*\.[0-9]*\.[0-9]*|:develop|g;" \ - docker-compose.yml - sed -i "s|usdotfhwastoldev/|$USERNAME/|g; s|usdotfhwastol/|$USERNAME/|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:develop|g; s|:CARMASystem_[0-9]*\.[0-9]*\.[0-9]*|:develop|g;" \ - docker-compose-background.yml - docker build --no-cache -t $USERNAME/$IMAGE:$TAG \ - --build-arg VERSION="$TAG" \ - --build-arg VCS_REF=`git rev-parse --short HEAD` \ - --build-arg CONFIG_NAME="carma-config:$CONFIG_NAME" \ - --build-arg BUILD_DATE=`date -u +”%Y-%m-%dT%H:%M:%SZ”` . - git checkout -- docker-compose.yml docker-compose-background.yml -else - git checkout -- docker-compose.yml - docker build --no-cache -t $USERNAME/$IMAGE:$TAG \ - --build-arg VERSION="$TAG" \ - --build-arg VCS_REF=`git rev-parse --short HEAD` \ - --build-arg CONFIG_NAME="carma-config:$CONFIG_NAME" \ - --build-arg BUILD_DATE=`date -u +”%Y-%m-%dT%H:%M:%SZ”` . -fi - -echo "" -echo "##### CARMA $CONFIG_NAME Docker Image Build Done! #####" diff --git a/freightliner_cascadia_2012_dot_10002/carma.env b/freightliner_cascadia_2012_dot_10002/carma.env deleted file mode 100644 index efaf40c3..00000000 --- a/freightliner_cascadia_2012_dot_10002/carma.env +++ /dev/null @@ -1,35 +0,0 @@ -#!/bin/bash -# This file sets up the environment variables needed to run CARMA - -### -# Logging -### -export ROSCONSOLE_CONFIG_FILE="/opt/carma/vehicle/config/carma_rosconsole.conf" -export ROSCONSOLE_FORMAT='${time} | ${severity} | ${function}:${line} | ${message}' # ROS 1 log formatting -export RCUTILS_CONSOLE_OUTPUT_FORMAT='{time} | {severity} | {function_name}:{line_number} | {message}' # ROS2 log formatting - -export ROS_LOG_DIR="/opt/carma/logs" # Variable used in both ROS 1 and ROS 2 - -### -# Namespaces -### -# Namespace of nodes in the planning stack -export CARMA_GUIDE_NS="/guidance" - -# Namespace of nodes in the communications stack -export CARMA_MSG_NS="/message" - -# Namespace of nodes involved in tf2 transform maintenance -export CARMA_TF_NS="/" - -# Namespace of nodes in the perception stack -export CARMA_ENV_NS="/environment" - -# Namespace of nodes in the hardware interface stack -export CARMA_INTR_NS="/hardware_interface" - -# Namespace of nodes in the localization stack -export CARMA_LOCZ_NS="/localization" - -# Namespace of nodes in the web ui stack -export CARMA_UI_NS="/ui" diff --git a/freightliner_cascadia_2012_dot_10002/carma_docker.launch b/freightliner_cascadia_2012_dot_10002/carma_docker.launch deleted file mode 100644 index b9856a9a..00000000 --- a/freightliner_cascadia_2012_dot_10002/carma_docker.launch +++ /dev/null @@ -1,62 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/freightliner_cascadia_2012_dot_10002/carma_docker.launch.py b/freightliner_cascadia_2012_dot_10002/carma_docker.launch.py deleted file mode 100644 index 912314d7..00000000 --- a/freightliner_cascadia_2012_dot_10002/carma_docker.launch.py +++ /dev/null @@ -1,111 +0,0 @@ -# Copyright (C) 2021-2022 LEIDOS. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_index_python import get_package_share_directory -from launch import LaunchDescription -from launch.actions import IncludeLaunchDescription -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.actions import SetEnvironmentVariable -from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration - -from carma_ros2_utils.launch.generate_log_levels import generate_log_levels -import os - -def generate_launch_description(): - """ - Launch CARMA System. - """ - - # Parse the log config file and convert it to an environment variable - config_file_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), 'carma_rosconsole.conf') - logging_env_var = SetEnvironmentVariable('CARMA_ROS_LOGGING_CONFIG', generate_log_levels(config_file_path)) - - # Declare the vehicle_calibration_dir launch argument - vehicle_calibration_dir = LaunchConfiguration('vehicle_calibration_dir') - declare_vehicle_calibration_dir_arg = DeclareLaunchArgument( - name = 'vehicle_calibration_dir', default_value = '/opt/carma/vehicle/calibration', description = "Path to vehicle calibration directory" - ) - - # Declare the vehicle_config_dir launch argument - vehicle_config_dir = LaunchConfiguration('vehicle_config_dir') - declare_vehicle_config_dir_arg = DeclareLaunchArgument( - name = 'vehicle_config_dir', default_value = '/opt/carma/vehicle/config', description = "Path to vehicle configuration directory" - ) - - #Declare the route file folder launch argument - route_file_folder = LaunchConfiguration('route_file_folder') - declare_route_file_folder = DeclareLaunchArgument( - name = 'route_file_folder', - default_value='/opt/carma/routes/', - description = 'Path of folder containing routes to load' - ) - - # Declare enable_guidance_plugin_validate - enable_guidance_plugin_validator = LaunchConfiguration('enable_guidance_plugin_validator') - declare_enable_guidance_plugin_validator = DeclareLaunchArgument( - name = 'enable_guidance_plugin_validator', - default_value='true', - description='Flag indicating whether the Guidance Plugin Validator node will actively validate guidance strategic, tactical, and control plugins' - ) - - # Declare strategic_plugins_to_validate - strategic_plugins_to_validate = LaunchConfiguration('strategic_plugins_to_validate') - declare_strategic_plugins_to_validate = DeclareLaunchArgument( - name = 'strategic_plugins_to_validate', - default_value = '[RouteFollowing]', - description = 'List of String: Guidance Strategic Plugins that will be validated by the Guidance Plugin Validator Node if enabled' - ) - - # Declare tactical_plugins_to_validate - tactical_plugins_to_validate = LaunchConfiguration('tactical_plugins_to_validate') - declare_tactical_plugins_to_validate = DeclareLaunchArgument( - name = 'tactical_plugins_to_validate', - default_value='[InLaneCruisingPlugin, StopandWaitPlugin, CooperativeLaneChangePlugin, UnobstructedLaneChangePlugin, YieldPlugin]', - description='List of String: Guidance Tactical Plugins that will be validated by the Guidance Plugin Validator Node if enabled' - ) - - # Declare control_plugins_to_validate - control_plugins_to_validate = LaunchConfiguration('control_plugins_to_validate') - declare_control_plugins_to_validate = DeclareLaunchArgument( - name = 'control_plugins_to_validate', - default_value= '[Pure Pursuit]', - description='List of String: Guidance Control Plugins that will be validated by the Guidance Plugin Validator Node if enabled' - ) - - # Launch the core carma launch file - carma_src_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource([ get_package_share_directory('carma'), '/launch/carma_src.launch.py']), - launch_arguments = { - 'vehicle_calibration_dir' : vehicle_calibration_dir, - 'vehicle_config_dir' : vehicle_config_dir, - 'route_file_folder' : route_file_folder, - 'enable_guidance_plugin_validator' : enable_guidance_plugin_validator, - 'strategic_plugins_to_validate' : strategic_plugins_to_validate, - 'tactical_plugins_to_validate' : tactical_plugins_to_validate, - 'control_plugins_to_validate' : control_plugins_to_validate - }.items() - ) - - return LaunchDescription([ - logging_env_var, # Environment variables must be placed before included files - declare_vehicle_calibration_dir_arg, - declare_vehicle_config_dir_arg, - declare_route_file_folder, - declare_enable_guidance_plugin_validator, - declare_strategic_plugins_to_validate, - declare_tactical_plugins_to_validate, - declare_control_plugins_to_validate, - carma_src_launch - ]) diff --git a/freightliner_cascadia_2012_dot_10002/carma_rosconsole.conf b/freightliner_cascadia_2012_dot_10002/carma_rosconsole.conf deleted file mode 100644 index 55a2d3eb..00000000 --- a/freightliner_cascadia_2012_dot_10002/carma_rosconsole.conf +++ /dev/null @@ -1,26 +0,0 @@ -# Set the default ros output level -log4j.logger.ros=WARN -log4j.logger.ros.roscpp.superdebug=WARN - -# Set package specific log level -# Syntax is log4j.logger.ros.< my package name>=< Log level> -# Log levels -# DEBUG Detailed logs useful for debugging -# INFO Useful logs for understanding system events -# 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.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.arbitrator=WARN -log4j.logger.ros.trajectory_executor=INFO -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 diff --git a/freightliner_cascadia_2012_dot_10002/docker-compose-background.yml b/freightliner_cascadia_2012_dot_10002/docker-compose-background.yml deleted file mode 100644 index 3e677f0c..00000000 --- a/freightliner_cascadia_2012_dot_10002/docker-compose-background.yml +++ /dev/null @@ -1,29 +0,0 @@ -# Copyright (C) 2018-2021 LEIDOS. -# -# Licensed under the Apache License, Version 2.0 (the "License"); you may not -# use this file except in compliance with the License. You may obtain a copy of -# the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT -# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the -# License for the specific language governing permissions and limitations under -# the License. - -# Docker Compose Spec Version -version: '2' - -services: - web-ui: - image: usdotfhwastoldev/carma-web-ui:develop - network_mode: host - container_name: web-ui - environment: - - ROS_IP=192.168.88.10 - volumes_from: - - container:carma-config:ro - volumes: - - /var/run/docker.sock:/var/run/docker.sock - restart: always diff --git a/freightliner_cascadia_2012_dot_10002/system_release.sh b/freightliner_cascadia_2012_dot_10002/system_release.sh deleted file mode 100755 index 7d5cf491..00000000 --- a/freightliner_cascadia_2012_dot_10002/system_release.sh +++ /dev/null @@ -1,65 +0,0 @@ -#!/bin/bash - -# Copyright (C) 2018-2021 LEIDOS. -# -# Licensed under the Apache License, Version 2.0 (the "License"); you may not -# use this file except in compliance with the License. You may obtain a copy of -# the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT -# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the -# License for the specific language governing permissions and limitations under -# the License. - -# This script takes a system release name and version number as arguments, and -# updates version dependencies in docker-compose.yml and docker-compose-background.yml -# accordingly. - -# The -u | --unprompted option can be used to skip the interactive prompts, and -# provide arguments directly from the commandline. - -if [[ $# -eq 0 ]]; then - echo "Enter the system release name:" - read RELEASE_NAME - echo "Enter the system release version number:" - read RELEASE_VERSION -else - while [[ $# -gt 0 ]]; do - arg="$1" - case $arg in - -u|--unprompted) - RELEASE_NAME=$2 - RELEASE_VERSION=$3 - shift - shift - shift - ;; - esac -done -fi - -SYSTEM_RELEASE=carma-system-$RELEASE_VERSION -RELEASE_BRANCH=release/$RELEASE_NAME - -if git ls-remote -q | grep $RELEASE_BRANCH; then - echo "Checking out $RELEASE_BRANCH branch." - git checkout $RELEASE_BRANCH - - echo "Updating docker-compose.yml and docker-compose-background.yml to point to system release version." - sed -i "s|:CARMASystem_[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g; s|:carma-system-[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g" docker-compose.yml - sed -i "s|:CARMASystem_[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g; s|:carma-system-[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g" docker-compose-background.yml - - git add docker-compose.yml docker-compose-background.yml - - git commit -m "Updated dependencies for $SYSTEM_RELEASE" - - git tag -a $SYSTEM_RELEASE -m "$SYSTEM_RELEASE version tag." - - echo "docker-compose.yml and docker-compose-background.yml updated, committed, and tagged." -else - echo "$RELEASE_BRANCH does not exist. Exiting script." - exit 0 -fi diff --git a/freightliner_cascadia_2012_dot_10003/.dockerignore b/freightliner_cascadia_2012_dot_10003/.dockerignore deleted file mode 100644 index a1658b9b..00000000 --- a/freightliner_cascadia_2012_dot_10003/.dockerignore +++ /dev/null @@ -1,3 +0,0 @@ -HostVehicleParams.yaml -build-image.sh -Dockerfile diff --git a/freightliner_cascadia_2012_dot_10003/Dockerfile b/freightliner_cascadia_2012_dot_10003/Dockerfile deleted file mode 100644 index 066cb512..00000000 --- a/freightliner_cascadia_2012_dot_10003/Dockerfile +++ /dev/null @@ -1,39 +0,0 @@ -# Copyright (C) 2018-2021 LEIDOS. -# -# Licensed under the Apache License, Version 2.0 (the "License"); you may not -# use this file except in compliance with the License. You may obtain a copy of -# the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT -# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the -# License for the specific language governing permissions and limitations under -# the License. - - -# GENERIC Template for CARMA Configuration Dockerfiles -# Do not invoke directly, symlink into configuration folders below and invoke from there - -FROM busybox:latest - -ARG BUILD_DATE="NULL" -ARG VERSION="NULL" -ARG VCS_REF="NULL" -ARG CONFIG_NAME="carma-config:unspecified" - -LABEL org.label-schema.schema-version="1.0" -LABEL org.label-schema.name=${CONFIG_NAME} -LABEL org.label-schema.description="System configuration data for the CARMA Platform" -LABEL org.label-schema.vendor="Leidos" -LABEL org.label-schema.version=${VERSION} -LABEL org.label-schema.url="https://highways.dot.gov/research/research-programs/operations/CARMA" -LABEL org.label-schema.vcs-url="https://github.com/usdot-fhwa-stol/carma-config" -LABEL org.label-schema.vcs-ref=${VCS_REF} -LABEL org.label-schema.build-date=${BUILD_DATE} - -ADD . /root/vehicle/config -VOLUME /opt/carma/vehicle/config - -CMD cp /root/vehicle/config/* /opt/carma/vehicle/config diff --git a/freightliner_cascadia_2012_dot_10003/build-image.sh b/freightliner_cascadia_2012_dot_10003/build-image.sh deleted file mode 100755 index efa846bf..00000000 --- a/freightliner_cascadia_2012_dot_10003/build-image.sh +++ /dev/null @@ -1,78 +0,0 @@ -#!/bin/bash - -# Copyright (C) 2018-2021 LEIDOS. -# -# Licensed under the Apache License, Version 2.0 (the "License"); you may not -# use this file except in compliance with the License. You may obtain a copy of -# the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT -# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the -# License for the specific language governing permissions and limitations under -# the License. - -# -# GENERIC Build Script for CARMA Configuration Images -# -# Do not run this script itself, rather symlink this script into the individual -# configuration folders below and invoke it there to build the appropriate config -# image using docker build. Automatically acquires folder name and system version -# and passes neessary data into the docker build process. - -USERNAME=usdotfhwastol -IMAGE=carma-config -cd "$(dirname "$0")" -DIR_NAME=${PWD##*/} -CONFIG_NAME=`echo $DIR_NAME | sed 's/_/-/g'` - -while [[ $# -gt 0 ]]; do - arg="$1" - case $arg in - -d|--develop) - USERNAME=usdotfhwastoldev - TAG=develop - shift - ;; - esac -done - -echo "" -echo "##### CARMA $CONFIG_NAME Configuration Docker Image Build Script #####" -echo "" - - -if [[ -z "$TAG" ]]; then - TAG="$("../docker/get-system-version.sh")-$CONFIG_NAME" -else - TAG="$TAG-$CONFIG_NAME" -fi - -echo "Building docker image for CARMA Configuration version: $TAG" -echo "Final image name: $USERNAME/$IMAGE:$TAG" - -if [[ $TAG = "develop-$CONFIG_NAME" ]]; then - git checkout -- docker-compose.yml - sed -i "s|usdotfhwastoldev/|$USERNAME/|g; s|usdotfhwastol/|$USERNAME/|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:develop|g; s|:CARMASystem_[0-9]*\.[0-9]*\.[0-9]*|:develop|g;" \ - docker-compose.yml - sed -i "s|usdotfhwastoldev/|$USERNAME/|g; s|usdotfhwastol/|$USERNAME/|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:develop|g; s|:CARMASystem_[0-9]*\.[0-9]*\.[0-9]*|:develop|g;" \ - docker-compose-background.yml - docker build --no-cache -t $USERNAME/$IMAGE:$TAG \ - --build-arg VERSION="$TAG" \ - --build-arg VCS_REF=`git rev-parse --short HEAD` \ - --build-arg CONFIG_NAME="carma-config:$CONFIG_NAME" \ - --build-arg BUILD_DATE=`date -u +”%Y-%m-%dT%H:%M:%SZ”` . - git checkout -- docker-compose.yml docker-compose-background.yml -else - git checkout -- docker-compose.yml - docker build --no-cache -t $USERNAME/$IMAGE:$TAG \ - --build-arg VERSION="$TAG" \ - --build-arg VCS_REF=`git rev-parse --short HEAD` \ - --build-arg CONFIG_NAME="carma-config:$CONFIG_NAME" \ - --build-arg BUILD_DATE=`date -u +”%Y-%m-%dT%H:%M:%SZ”` . -fi - -echo "" -echo "##### CARMA $CONFIG_NAME Docker Image Build Done! #####" diff --git a/freightliner_cascadia_2012_dot_10003/carma.env b/freightliner_cascadia_2012_dot_10003/carma.env deleted file mode 100644 index efaf40c3..00000000 --- a/freightliner_cascadia_2012_dot_10003/carma.env +++ /dev/null @@ -1,35 +0,0 @@ -#!/bin/bash -# This file sets up the environment variables needed to run CARMA - -### -# Logging -### -export ROSCONSOLE_CONFIG_FILE="/opt/carma/vehicle/config/carma_rosconsole.conf" -export ROSCONSOLE_FORMAT='${time} | ${severity} | ${function}:${line} | ${message}' # ROS 1 log formatting -export RCUTILS_CONSOLE_OUTPUT_FORMAT='{time} | {severity} | {function_name}:{line_number} | {message}' # ROS2 log formatting - -export ROS_LOG_DIR="/opt/carma/logs" # Variable used in both ROS 1 and ROS 2 - -### -# Namespaces -### -# Namespace of nodes in the planning stack -export CARMA_GUIDE_NS="/guidance" - -# Namespace of nodes in the communications stack -export CARMA_MSG_NS="/message" - -# Namespace of nodes involved in tf2 transform maintenance -export CARMA_TF_NS="/" - -# Namespace of nodes in the perception stack -export CARMA_ENV_NS="/environment" - -# Namespace of nodes in the hardware interface stack -export CARMA_INTR_NS="/hardware_interface" - -# Namespace of nodes in the localization stack -export CARMA_LOCZ_NS="/localization" - -# Namespace of nodes in the web ui stack -export CARMA_UI_NS="/ui" diff --git a/freightliner_cascadia_2012_dot_10003/carma_docker.launch b/freightliner_cascadia_2012_dot_10003/carma_docker.launch deleted file mode 100644 index caccfea5..00000000 --- a/freightliner_cascadia_2012_dot_10003/carma_docker.launch +++ /dev/null @@ -1,61 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/freightliner_cascadia_2012_dot_10003/carma_docker.launch.py b/freightliner_cascadia_2012_dot_10003/carma_docker.launch.py deleted file mode 100644 index 912314d7..00000000 --- a/freightliner_cascadia_2012_dot_10003/carma_docker.launch.py +++ /dev/null @@ -1,111 +0,0 @@ -# Copyright (C) 2021-2022 LEIDOS. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_index_python import get_package_share_directory -from launch import LaunchDescription -from launch.actions import IncludeLaunchDescription -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.actions import SetEnvironmentVariable -from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration - -from carma_ros2_utils.launch.generate_log_levels import generate_log_levels -import os - -def generate_launch_description(): - """ - Launch CARMA System. - """ - - # Parse the log config file and convert it to an environment variable - config_file_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), 'carma_rosconsole.conf') - logging_env_var = SetEnvironmentVariable('CARMA_ROS_LOGGING_CONFIG', generate_log_levels(config_file_path)) - - # Declare the vehicle_calibration_dir launch argument - vehicle_calibration_dir = LaunchConfiguration('vehicle_calibration_dir') - declare_vehicle_calibration_dir_arg = DeclareLaunchArgument( - name = 'vehicle_calibration_dir', default_value = '/opt/carma/vehicle/calibration', description = "Path to vehicle calibration directory" - ) - - # Declare the vehicle_config_dir launch argument - vehicle_config_dir = LaunchConfiguration('vehicle_config_dir') - declare_vehicle_config_dir_arg = DeclareLaunchArgument( - name = 'vehicle_config_dir', default_value = '/opt/carma/vehicle/config', description = "Path to vehicle configuration directory" - ) - - #Declare the route file folder launch argument - route_file_folder = LaunchConfiguration('route_file_folder') - declare_route_file_folder = DeclareLaunchArgument( - name = 'route_file_folder', - default_value='/opt/carma/routes/', - description = 'Path of folder containing routes to load' - ) - - # Declare enable_guidance_plugin_validate - enable_guidance_plugin_validator = LaunchConfiguration('enable_guidance_plugin_validator') - declare_enable_guidance_plugin_validator = DeclareLaunchArgument( - name = 'enable_guidance_plugin_validator', - default_value='true', - description='Flag indicating whether the Guidance Plugin Validator node will actively validate guidance strategic, tactical, and control plugins' - ) - - # Declare strategic_plugins_to_validate - strategic_plugins_to_validate = LaunchConfiguration('strategic_plugins_to_validate') - declare_strategic_plugins_to_validate = DeclareLaunchArgument( - name = 'strategic_plugins_to_validate', - default_value = '[RouteFollowing]', - description = 'List of String: Guidance Strategic Plugins that will be validated by the Guidance Plugin Validator Node if enabled' - ) - - # Declare tactical_plugins_to_validate - tactical_plugins_to_validate = LaunchConfiguration('tactical_plugins_to_validate') - declare_tactical_plugins_to_validate = DeclareLaunchArgument( - name = 'tactical_plugins_to_validate', - default_value='[InLaneCruisingPlugin, StopandWaitPlugin, CooperativeLaneChangePlugin, UnobstructedLaneChangePlugin, YieldPlugin]', - description='List of String: Guidance Tactical Plugins that will be validated by the Guidance Plugin Validator Node if enabled' - ) - - # Declare control_plugins_to_validate - control_plugins_to_validate = LaunchConfiguration('control_plugins_to_validate') - declare_control_plugins_to_validate = DeclareLaunchArgument( - name = 'control_plugins_to_validate', - default_value= '[Pure Pursuit]', - description='List of String: Guidance Control Plugins that will be validated by the Guidance Plugin Validator Node if enabled' - ) - - # Launch the core carma launch file - carma_src_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource([ get_package_share_directory('carma'), '/launch/carma_src.launch.py']), - launch_arguments = { - 'vehicle_calibration_dir' : vehicle_calibration_dir, - 'vehicle_config_dir' : vehicle_config_dir, - 'route_file_folder' : route_file_folder, - 'enable_guidance_plugin_validator' : enable_guidance_plugin_validator, - 'strategic_plugins_to_validate' : strategic_plugins_to_validate, - 'tactical_plugins_to_validate' : tactical_plugins_to_validate, - 'control_plugins_to_validate' : control_plugins_to_validate - }.items() - ) - - return LaunchDescription([ - logging_env_var, # Environment variables must be placed before included files - declare_vehicle_calibration_dir_arg, - declare_vehicle_config_dir_arg, - declare_route_file_folder, - declare_enable_guidance_plugin_validator, - declare_strategic_plugins_to_validate, - declare_tactical_plugins_to_validate, - declare_control_plugins_to_validate, - carma_src_launch - ]) diff --git a/freightliner_cascadia_2012_dot_10003/carma_rosconsole.conf b/freightliner_cascadia_2012_dot_10003/carma_rosconsole.conf deleted file mode 100644 index 55a2d3eb..00000000 --- a/freightliner_cascadia_2012_dot_10003/carma_rosconsole.conf +++ /dev/null @@ -1,26 +0,0 @@ -# Set the default ros output level -log4j.logger.ros=WARN -log4j.logger.ros.roscpp.superdebug=WARN - -# Set package specific log level -# Syntax is log4j.logger.ros.< my package name>=< Log level> -# Log levels -# DEBUG Detailed logs useful for debugging -# INFO Useful logs for understanding system events -# 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.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.arbitrator=WARN -log4j.logger.ros.trajectory_executor=INFO -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 diff --git a/freightliner_cascadia_2012_dot_10003/docker-compose-background.yml b/freightliner_cascadia_2012_dot_10003/docker-compose-background.yml deleted file mode 100644 index 3e677f0c..00000000 --- a/freightliner_cascadia_2012_dot_10003/docker-compose-background.yml +++ /dev/null @@ -1,29 +0,0 @@ -# Copyright (C) 2018-2021 LEIDOS. -# -# Licensed under the Apache License, Version 2.0 (the "License"); you may not -# use this file except in compliance with the License. You may obtain a copy of -# the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT -# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the -# License for the specific language governing permissions and limitations under -# the License. - -# Docker Compose Spec Version -version: '2' - -services: - web-ui: - image: usdotfhwastoldev/carma-web-ui:develop - network_mode: host - container_name: web-ui - environment: - - ROS_IP=192.168.88.10 - volumes_from: - - container:carma-config:ro - volumes: - - /var/run/docker.sock:/var/run/docker.sock - restart: always diff --git a/freightliner_cascadia_2012_dot_10003/system_release.sh b/freightliner_cascadia_2012_dot_10003/system_release.sh deleted file mode 100755 index 7d5cf491..00000000 --- a/freightliner_cascadia_2012_dot_10003/system_release.sh +++ /dev/null @@ -1,65 +0,0 @@ -#!/bin/bash - -# Copyright (C) 2018-2021 LEIDOS. -# -# Licensed under the Apache License, Version 2.0 (the "License"); you may not -# use this file except in compliance with the License. You may obtain a copy of -# the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT -# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the -# License for the specific language governing permissions and limitations under -# the License. - -# This script takes a system release name and version number as arguments, and -# updates version dependencies in docker-compose.yml and docker-compose-background.yml -# accordingly. - -# The -u | --unprompted option can be used to skip the interactive prompts, and -# provide arguments directly from the commandline. - -if [[ $# -eq 0 ]]; then - echo "Enter the system release name:" - read RELEASE_NAME - echo "Enter the system release version number:" - read RELEASE_VERSION -else - while [[ $# -gt 0 ]]; do - arg="$1" - case $arg in - -u|--unprompted) - RELEASE_NAME=$2 - RELEASE_VERSION=$3 - shift - shift - shift - ;; - esac -done -fi - -SYSTEM_RELEASE=carma-system-$RELEASE_VERSION -RELEASE_BRANCH=release/$RELEASE_NAME - -if git ls-remote -q | grep $RELEASE_BRANCH; then - echo "Checking out $RELEASE_BRANCH branch." - git checkout $RELEASE_BRANCH - - echo "Updating docker-compose.yml and docker-compose-background.yml to point to system release version." - sed -i "s|:CARMASystem_[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g; s|:carma-system-[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g" docker-compose.yml - sed -i "s|:CARMASystem_[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g; s|:carma-system-[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g" docker-compose-background.yml - - git add docker-compose.yml docker-compose-background.yml - - git commit -m "Updated dependencies for $SYSTEM_RELEASE" - - git tag -a $SYSTEM_RELEASE -m "$SYSTEM_RELEASE version tag." - - echo "docker-compose.yml and docker-compose-background.yml updated, committed, and tagged." -else - echo "$RELEASE_BRANCH does not exist. Exiting script." - exit 0 -fi diff --git a/freightliner_cascadia_2012_dot_10004/.dockerignore b/freightliner_cascadia_2012_dot_10004/.dockerignore deleted file mode 100644 index a1658b9b..00000000 --- a/freightliner_cascadia_2012_dot_10004/.dockerignore +++ /dev/null @@ -1,3 +0,0 @@ -HostVehicleParams.yaml -build-image.sh -Dockerfile diff --git a/freightliner_cascadia_2012_dot_10004/Dockerfile b/freightliner_cascadia_2012_dot_10004/Dockerfile deleted file mode 100644 index 066cb512..00000000 --- a/freightliner_cascadia_2012_dot_10004/Dockerfile +++ /dev/null @@ -1,39 +0,0 @@ -# Copyright (C) 2018-2021 LEIDOS. -# -# Licensed under the Apache License, Version 2.0 (the "License"); you may not -# use this file except in compliance with the License. You may obtain a copy of -# the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT -# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the -# License for the specific language governing permissions and limitations under -# the License. - - -# GENERIC Template for CARMA Configuration Dockerfiles -# Do not invoke directly, symlink into configuration folders below and invoke from there - -FROM busybox:latest - -ARG BUILD_DATE="NULL" -ARG VERSION="NULL" -ARG VCS_REF="NULL" -ARG CONFIG_NAME="carma-config:unspecified" - -LABEL org.label-schema.schema-version="1.0" -LABEL org.label-schema.name=${CONFIG_NAME} -LABEL org.label-schema.description="System configuration data for the CARMA Platform" -LABEL org.label-schema.vendor="Leidos" -LABEL org.label-schema.version=${VERSION} -LABEL org.label-schema.url="https://highways.dot.gov/research/research-programs/operations/CARMA" -LABEL org.label-schema.vcs-url="https://github.com/usdot-fhwa-stol/carma-config" -LABEL org.label-schema.vcs-ref=${VCS_REF} -LABEL org.label-schema.build-date=${BUILD_DATE} - -ADD . /root/vehicle/config -VOLUME /opt/carma/vehicle/config - -CMD cp /root/vehicle/config/* /opt/carma/vehicle/config diff --git a/freightliner_cascadia_2012_dot_10004/build-image.sh b/freightliner_cascadia_2012_dot_10004/build-image.sh deleted file mode 100755 index efa846bf..00000000 --- a/freightliner_cascadia_2012_dot_10004/build-image.sh +++ /dev/null @@ -1,78 +0,0 @@ -#!/bin/bash - -# Copyright (C) 2018-2021 LEIDOS. -# -# Licensed under the Apache License, Version 2.0 (the "License"); you may not -# use this file except in compliance with the License. You may obtain a copy of -# the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT -# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the -# License for the specific language governing permissions and limitations under -# the License. - -# -# GENERIC Build Script for CARMA Configuration Images -# -# Do not run this script itself, rather symlink this script into the individual -# configuration folders below and invoke it there to build the appropriate config -# image using docker build. Automatically acquires folder name and system version -# and passes neessary data into the docker build process. - -USERNAME=usdotfhwastol -IMAGE=carma-config -cd "$(dirname "$0")" -DIR_NAME=${PWD##*/} -CONFIG_NAME=`echo $DIR_NAME | sed 's/_/-/g'` - -while [[ $# -gt 0 ]]; do - arg="$1" - case $arg in - -d|--develop) - USERNAME=usdotfhwastoldev - TAG=develop - shift - ;; - esac -done - -echo "" -echo "##### CARMA $CONFIG_NAME Configuration Docker Image Build Script #####" -echo "" - - -if [[ -z "$TAG" ]]; then - TAG="$("../docker/get-system-version.sh")-$CONFIG_NAME" -else - TAG="$TAG-$CONFIG_NAME" -fi - -echo "Building docker image for CARMA Configuration version: $TAG" -echo "Final image name: $USERNAME/$IMAGE:$TAG" - -if [[ $TAG = "develop-$CONFIG_NAME" ]]; then - git checkout -- docker-compose.yml - sed -i "s|usdotfhwastoldev/|$USERNAME/|g; s|usdotfhwastol/|$USERNAME/|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:develop|g; s|:CARMASystem_[0-9]*\.[0-9]*\.[0-9]*|:develop|g;" \ - docker-compose.yml - sed -i "s|usdotfhwastoldev/|$USERNAME/|g; s|usdotfhwastol/|$USERNAME/|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:develop|g; s|:CARMASystem_[0-9]*\.[0-9]*\.[0-9]*|:develop|g;" \ - docker-compose-background.yml - docker build --no-cache -t $USERNAME/$IMAGE:$TAG \ - --build-arg VERSION="$TAG" \ - --build-arg VCS_REF=`git rev-parse --short HEAD` \ - --build-arg CONFIG_NAME="carma-config:$CONFIG_NAME" \ - --build-arg BUILD_DATE=`date -u +”%Y-%m-%dT%H:%M:%SZ”` . - git checkout -- docker-compose.yml docker-compose-background.yml -else - git checkout -- docker-compose.yml - docker build --no-cache -t $USERNAME/$IMAGE:$TAG \ - --build-arg VERSION="$TAG" \ - --build-arg VCS_REF=`git rev-parse --short HEAD` \ - --build-arg CONFIG_NAME="carma-config:$CONFIG_NAME" \ - --build-arg BUILD_DATE=`date -u +”%Y-%m-%dT%H:%M:%SZ”` . -fi - -echo "" -echo "##### CARMA $CONFIG_NAME Docker Image Build Done! #####" diff --git a/freightliner_cascadia_2012_dot_10004/carma.env b/freightliner_cascadia_2012_dot_10004/carma.env deleted file mode 100644 index efaf40c3..00000000 --- a/freightliner_cascadia_2012_dot_10004/carma.env +++ /dev/null @@ -1,35 +0,0 @@ -#!/bin/bash -# This file sets up the environment variables needed to run CARMA - -### -# Logging -### -export ROSCONSOLE_CONFIG_FILE="/opt/carma/vehicle/config/carma_rosconsole.conf" -export ROSCONSOLE_FORMAT='${time} | ${severity} | ${function}:${line} | ${message}' # ROS 1 log formatting -export RCUTILS_CONSOLE_OUTPUT_FORMAT='{time} | {severity} | {function_name}:{line_number} | {message}' # ROS2 log formatting - -export ROS_LOG_DIR="/opt/carma/logs" # Variable used in both ROS 1 and ROS 2 - -### -# Namespaces -### -# Namespace of nodes in the planning stack -export CARMA_GUIDE_NS="/guidance" - -# Namespace of nodes in the communications stack -export CARMA_MSG_NS="/message" - -# Namespace of nodes involved in tf2 transform maintenance -export CARMA_TF_NS="/" - -# Namespace of nodes in the perception stack -export CARMA_ENV_NS="/environment" - -# Namespace of nodes in the hardware interface stack -export CARMA_INTR_NS="/hardware_interface" - -# Namespace of nodes in the localization stack -export CARMA_LOCZ_NS="/localization" - -# Namespace of nodes in the web ui stack -export CARMA_UI_NS="/ui" diff --git a/freightliner_cascadia_2012_dot_10004/carma_docker.launch b/freightliner_cascadia_2012_dot_10004/carma_docker.launch deleted file mode 100644 index caccfea5..00000000 --- a/freightliner_cascadia_2012_dot_10004/carma_docker.launch +++ /dev/null @@ -1,61 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/freightliner_cascadia_2012_dot_10004/carma_docker.launch.py b/freightliner_cascadia_2012_dot_10004/carma_docker.launch.py deleted file mode 100644 index 912314d7..00000000 --- a/freightliner_cascadia_2012_dot_10004/carma_docker.launch.py +++ /dev/null @@ -1,111 +0,0 @@ -# Copyright (C) 2021-2022 LEIDOS. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_index_python import get_package_share_directory -from launch import LaunchDescription -from launch.actions import IncludeLaunchDescription -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.actions import SetEnvironmentVariable -from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration - -from carma_ros2_utils.launch.generate_log_levels import generate_log_levels -import os - -def generate_launch_description(): - """ - Launch CARMA System. - """ - - # Parse the log config file and convert it to an environment variable - config_file_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), 'carma_rosconsole.conf') - logging_env_var = SetEnvironmentVariable('CARMA_ROS_LOGGING_CONFIG', generate_log_levels(config_file_path)) - - # Declare the vehicle_calibration_dir launch argument - vehicle_calibration_dir = LaunchConfiguration('vehicle_calibration_dir') - declare_vehicle_calibration_dir_arg = DeclareLaunchArgument( - name = 'vehicle_calibration_dir', default_value = '/opt/carma/vehicle/calibration', description = "Path to vehicle calibration directory" - ) - - # Declare the vehicle_config_dir launch argument - vehicle_config_dir = LaunchConfiguration('vehicle_config_dir') - declare_vehicle_config_dir_arg = DeclareLaunchArgument( - name = 'vehicle_config_dir', default_value = '/opt/carma/vehicle/config', description = "Path to vehicle configuration directory" - ) - - #Declare the route file folder launch argument - route_file_folder = LaunchConfiguration('route_file_folder') - declare_route_file_folder = DeclareLaunchArgument( - name = 'route_file_folder', - default_value='/opt/carma/routes/', - description = 'Path of folder containing routes to load' - ) - - # Declare enable_guidance_plugin_validate - enable_guidance_plugin_validator = LaunchConfiguration('enable_guidance_plugin_validator') - declare_enable_guidance_plugin_validator = DeclareLaunchArgument( - name = 'enable_guidance_plugin_validator', - default_value='true', - description='Flag indicating whether the Guidance Plugin Validator node will actively validate guidance strategic, tactical, and control plugins' - ) - - # Declare strategic_plugins_to_validate - strategic_plugins_to_validate = LaunchConfiguration('strategic_plugins_to_validate') - declare_strategic_plugins_to_validate = DeclareLaunchArgument( - name = 'strategic_plugins_to_validate', - default_value = '[RouteFollowing]', - description = 'List of String: Guidance Strategic Plugins that will be validated by the Guidance Plugin Validator Node if enabled' - ) - - # Declare tactical_plugins_to_validate - tactical_plugins_to_validate = LaunchConfiguration('tactical_plugins_to_validate') - declare_tactical_plugins_to_validate = DeclareLaunchArgument( - name = 'tactical_plugins_to_validate', - default_value='[InLaneCruisingPlugin, StopandWaitPlugin, CooperativeLaneChangePlugin, UnobstructedLaneChangePlugin, YieldPlugin]', - description='List of String: Guidance Tactical Plugins that will be validated by the Guidance Plugin Validator Node if enabled' - ) - - # Declare control_plugins_to_validate - control_plugins_to_validate = LaunchConfiguration('control_plugins_to_validate') - declare_control_plugins_to_validate = DeclareLaunchArgument( - name = 'control_plugins_to_validate', - default_value= '[Pure Pursuit]', - description='List of String: Guidance Control Plugins that will be validated by the Guidance Plugin Validator Node if enabled' - ) - - # Launch the core carma launch file - carma_src_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource([ get_package_share_directory('carma'), '/launch/carma_src.launch.py']), - launch_arguments = { - 'vehicle_calibration_dir' : vehicle_calibration_dir, - 'vehicle_config_dir' : vehicle_config_dir, - 'route_file_folder' : route_file_folder, - 'enable_guidance_plugin_validator' : enable_guidance_plugin_validator, - 'strategic_plugins_to_validate' : strategic_plugins_to_validate, - 'tactical_plugins_to_validate' : tactical_plugins_to_validate, - 'control_plugins_to_validate' : control_plugins_to_validate - }.items() - ) - - return LaunchDescription([ - logging_env_var, # Environment variables must be placed before included files - declare_vehicle_calibration_dir_arg, - declare_vehicle_config_dir_arg, - declare_route_file_folder, - declare_enable_guidance_plugin_validator, - declare_strategic_plugins_to_validate, - declare_tactical_plugins_to_validate, - declare_control_plugins_to_validate, - carma_src_launch - ]) diff --git a/freightliner_cascadia_2012_dot_10004/carma_rosconsole.conf b/freightliner_cascadia_2012_dot_10004/carma_rosconsole.conf deleted file mode 100644 index 55a2d3eb..00000000 --- a/freightliner_cascadia_2012_dot_10004/carma_rosconsole.conf +++ /dev/null @@ -1,26 +0,0 @@ -# Set the default ros output level -log4j.logger.ros=WARN -log4j.logger.ros.roscpp.superdebug=WARN - -# Set package specific log level -# Syntax is log4j.logger.ros.< my package name>=< Log level> -# Log levels -# DEBUG Detailed logs useful for debugging -# INFO Useful logs for understanding system events -# 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.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.arbitrator=WARN -log4j.logger.ros.trajectory_executor=INFO -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 diff --git a/freightliner_cascadia_2012_dot_10004/docker-compose-background.yml b/freightliner_cascadia_2012_dot_10004/docker-compose-background.yml deleted file mode 100644 index 3e677f0c..00000000 --- a/freightliner_cascadia_2012_dot_10004/docker-compose-background.yml +++ /dev/null @@ -1,29 +0,0 @@ -# Copyright (C) 2018-2021 LEIDOS. -# -# Licensed under the Apache License, Version 2.0 (the "License"); you may not -# use this file except in compliance with the License. You may obtain a copy of -# the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT -# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the -# License for the specific language governing permissions and limitations under -# the License. - -# Docker Compose Spec Version -version: '2' - -services: - web-ui: - image: usdotfhwastoldev/carma-web-ui:develop - network_mode: host - container_name: web-ui - environment: - - ROS_IP=192.168.88.10 - volumes_from: - - container:carma-config:ro - volumes: - - /var/run/docker.sock:/var/run/docker.sock - restart: always diff --git a/freightliner_cascadia_2012_dot_10004/system_release.sh b/freightliner_cascadia_2012_dot_10004/system_release.sh deleted file mode 100755 index 7d5cf491..00000000 --- a/freightliner_cascadia_2012_dot_10004/system_release.sh +++ /dev/null @@ -1,65 +0,0 @@ -#!/bin/bash - -# Copyright (C) 2018-2021 LEIDOS. -# -# Licensed under the Apache License, Version 2.0 (the "License"); you may not -# use this file except in compliance with the License. You may obtain a copy of -# the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT -# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the -# License for the specific language governing permissions and limitations under -# the License. - -# This script takes a system release name and version number as arguments, and -# updates version dependencies in docker-compose.yml and docker-compose-background.yml -# accordingly. - -# The -u | --unprompted option can be used to skip the interactive prompts, and -# provide arguments directly from the commandline. - -if [[ $# -eq 0 ]]; then - echo "Enter the system release name:" - read RELEASE_NAME - echo "Enter the system release version number:" - read RELEASE_VERSION -else - while [[ $# -gt 0 ]]; do - arg="$1" - case $arg in - -u|--unprompted) - RELEASE_NAME=$2 - RELEASE_VERSION=$3 - shift - shift - shift - ;; - esac -done -fi - -SYSTEM_RELEASE=carma-system-$RELEASE_VERSION -RELEASE_BRANCH=release/$RELEASE_NAME - -if git ls-remote -q | grep $RELEASE_BRANCH; then - echo "Checking out $RELEASE_BRANCH branch." - git checkout $RELEASE_BRANCH - - echo "Updating docker-compose.yml and docker-compose-background.yml to point to system release version." - sed -i "s|:CARMASystem_[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g; s|:carma-system-[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g" docker-compose.yml - sed -i "s|:CARMASystem_[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g; s|:carma-system-[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g" docker-compose-background.yml - - git add docker-compose.yml docker-compose-background.yml - - git commit -m "Updated dependencies for $SYSTEM_RELEASE" - - git tag -a $SYSTEM_RELEASE -m "$SYSTEM_RELEASE version tag." - - echo "docker-compose.yml and docker-compose-background.yml updated, committed, and tagged." -else - echo "$RELEASE_BRANCH does not exist. Exiting script." - exit 0 -fi diff --git a/freightliner_cascadia_2012_dot_80550/.dockerignore b/freightliner_cascadia_2012_dot_80550/.dockerignore deleted file mode 100644 index a1658b9b..00000000 --- a/freightliner_cascadia_2012_dot_80550/.dockerignore +++ /dev/null @@ -1,3 +0,0 @@ -HostVehicleParams.yaml -build-image.sh -Dockerfile diff --git a/freightliner_cascadia_2012_dot_80550/Dockerfile b/freightliner_cascadia_2012_dot_80550/Dockerfile deleted file mode 100644 index 066cb512..00000000 --- a/freightliner_cascadia_2012_dot_80550/Dockerfile +++ /dev/null @@ -1,39 +0,0 @@ -# Copyright (C) 2018-2021 LEIDOS. -# -# Licensed under the Apache License, Version 2.0 (the "License"); you may not -# use this file except in compliance with the License. You may obtain a copy of -# the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT -# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the -# License for the specific language governing permissions and limitations under -# the License. - - -# GENERIC Template for CARMA Configuration Dockerfiles -# Do not invoke directly, symlink into configuration folders below and invoke from there - -FROM busybox:latest - -ARG BUILD_DATE="NULL" -ARG VERSION="NULL" -ARG VCS_REF="NULL" -ARG CONFIG_NAME="carma-config:unspecified" - -LABEL org.label-schema.schema-version="1.0" -LABEL org.label-schema.name=${CONFIG_NAME} -LABEL org.label-schema.description="System configuration data for the CARMA Platform" -LABEL org.label-schema.vendor="Leidos" -LABEL org.label-schema.version=${VERSION} -LABEL org.label-schema.url="https://highways.dot.gov/research/research-programs/operations/CARMA" -LABEL org.label-schema.vcs-url="https://github.com/usdot-fhwa-stol/carma-config" -LABEL org.label-schema.vcs-ref=${VCS_REF} -LABEL org.label-schema.build-date=${BUILD_DATE} - -ADD . /root/vehicle/config -VOLUME /opt/carma/vehicle/config - -CMD cp /root/vehicle/config/* /opt/carma/vehicle/config diff --git a/freightliner_cascadia_2012_dot_80550/build-image.sh b/freightliner_cascadia_2012_dot_80550/build-image.sh deleted file mode 100755 index efa846bf..00000000 --- a/freightliner_cascadia_2012_dot_80550/build-image.sh +++ /dev/null @@ -1,78 +0,0 @@ -#!/bin/bash - -# Copyright (C) 2018-2021 LEIDOS. -# -# Licensed under the Apache License, Version 2.0 (the "License"); you may not -# use this file except in compliance with the License. You may obtain a copy of -# the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT -# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the -# License for the specific language governing permissions and limitations under -# the License. - -# -# GENERIC Build Script for CARMA Configuration Images -# -# Do not run this script itself, rather symlink this script into the individual -# configuration folders below and invoke it there to build the appropriate config -# image using docker build. Automatically acquires folder name and system version -# and passes neessary data into the docker build process. - -USERNAME=usdotfhwastol -IMAGE=carma-config -cd "$(dirname "$0")" -DIR_NAME=${PWD##*/} -CONFIG_NAME=`echo $DIR_NAME | sed 's/_/-/g'` - -while [[ $# -gt 0 ]]; do - arg="$1" - case $arg in - -d|--develop) - USERNAME=usdotfhwastoldev - TAG=develop - shift - ;; - esac -done - -echo "" -echo "##### CARMA $CONFIG_NAME Configuration Docker Image Build Script #####" -echo "" - - -if [[ -z "$TAG" ]]; then - TAG="$("../docker/get-system-version.sh")-$CONFIG_NAME" -else - TAG="$TAG-$CONFIG_NAME" -fi - -echo "Building docker image for CARMA Configuration version: $TAG" -echo "Final image name: $USERNAME/$IMAGE:$TAG" - -if [[ $TAG = "develop-$CONFIG_NAME" ]]; then - git checkout -- docker-compose.yml - sed -i "s|usdotfhwastoldev/|$USERNAME/|g; s|usdotfhwastol/|$USERNAME/|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:develop|g; s|:CARMASystem_[0-9]*\.[0-9]*\.[0-9]*|:develop|g;" \ - docker-compose.yml - sed -i "s|usdotfhwastoldev/|$USERNAME/|g; s|usdotfhwastol/|$USERNAME/|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:develop|g; s|:CARMASystem_[0-9]*\.[0-9]*\.[0-9]*|:develop|g;" \ - docker-compose-background.yml - docker build --no-cache -t $USERNAME/$IMAGE:$TAG \ - --build-arg VERSION="$TAG" \ - --build-arg VCS_REF=`git rev-parse --short HEAD` \ - --build-arg CONFIG_NAME="carma-config:$CONFIG_NAME" \ - --build-arg BUILD_DATE=`date -u +”%Y-%m-%dT%H:%M:%SZ”` . - git checkout -- docker-compose.yml docker-compose-background.yml -else - git checkout -- docker-compose.yml - docker build --no-cache -t $USERNAME/$IMAGE:$TAG \ - --build-arg VERSION="$TAG" \ - --build-arg VCS_REF=`git rev-parse --short HEAD` \ - --build-arg CONFIG_NAME="carma-config:$CONFIG_NAME" \ - --build-arg BUILD_DATE=`date -u +”%Y-%m-%dT%H:%M:%SZ”` . -fi - -echo "" -echo "##### CARMA $CONFIG_NAME Docker Image Build Done! #####" diff --git a/freightliner_cascadia_2012_dot_80550/carma.env b/freightliner_cascadia_2012_dot_80550/carma.env deleted file mode 100644 index efaf40c3..00000000 --- a/freightliner_cascadia_2012_dot_80550/carma.env +++ /dev/null @@ -1,35 +0,0 @@ -#!/bin/bash -# This file sets up the environment variables needed to run CARMA - -### -# Logging -### -export ROSCONSOLE_CONFIG_FILE="/opt/carma/vehicle/config/carma_rosconsole.conf" -export ROSCONSOLE_FORMAT='${time} | ${severity} | ${function}:${line} | ${message}' # ROS 1 log formatting -export RCUTILS_CONSOLE_OUTPUT_FORMAT='{time} | {severity} | {function_name}:{line_number} | {message}' # ROS2 log formatting - -export ROS_LOG_DIR="/opt/carma/logs" # Variable used in both ROS 1 and ROS 2 - -### -# Namespaces -### -# Namespace of nodes in the planning stack -export CARMA_GUIDE_NS="/guidance" - -# Namespace of nodes in the communications stack -export CARMA_MSG_NS="/message" - -# Namespace of nodes involved in tf2 transform maintenance -export CARMA_TF_NS="/" - -# Namespace of nodes in the perception stack -export CARMA_ENV_NS="/environment" - -# Namespace of nodes in the hardware interface stack -export CARMA_INTR_NS="/hardware_interface" - -# Namespace of nodes in the localization stack -export CARMA_LOCZ_NS="/localization" - -# Namespace of nodes in the web ui stack -export CARMA_UI_NS="/ui" diff --git a/freightliner_cascadia_2012_dot_80550/carma_docker.launch b/freightliner_cascadia_2012_dot_80550/carma_docker.launch deleted file mode 100644 index 44a0468c..00000000 --- a/freightliner_cascadia_2012_dot_80550/carma_docker.launch +++ /dev/null @@ -1,61 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/freightliner_cascadia_2012_dot_80550/carma_docker.launch.py b/freightliner_cascadia_2012_dot_80550/carma_docker.launch.py deleted file mode 100644 index 912314d7..00000000 --- a/freightliner_cascadia_2012_dot_80550/carma_docker.launch.py +++ /dev/null @@ -1,111 +0,0 @@ -# Copyright (C) 2021-2022 LEIDOS. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_index_python import get_package_share_directory -from launch import LaunchDescription -from launch.actions import IncludeLaunchDescription -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.actions import SetEnvironmentVariable -from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration - -from carma_ros2_utils.launch.generate_log_levels import generate_log_levels -import os - -def generate_launch_description(): - """ - Launch CARMA System. - """ - - # Parse the log config file and convert it to an environment variable - config_file_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), 'carma_rosconsole.conf') - logging_env_var = SetEnvironmentVariable('CARMA_ROS_LOGGING_CONFIG', generate_log_levels(config_file_path)) - - # Declare the vehicle_calibration_dir launch argument - vehicle_calibration_dir = LaunchConfiguration('vehicle_calibration_dir') - declare_vehicle_calibration_dir_arg = DeclareLaunchArgument( - name = 'vehicle_calibration_dir', default_value = '/opt/carma/vehicle/calibration', description = "Path to vehicle calibration directory" - ) - - # Declare the vehicle_config_dir launch argument - vehicle_config_dir = LaunchConfiguration('vehicle_config_dir') - declare_vehicle_config_dir_arg = DeclareLaunchArgument( - name = 'vehicle_config_dir', default_value = '/opt/carma/vehicle/config', description = "Path to vehicle configuration directory" - ) - - #Declare the route file folder launch argument - route_file_folder = LaunchConfiguration('route_file_folder') - declare_route_file_folder = DeclareLaunchArgument( - name = 'route_file_folder', - default_value='/opt/carma/routes/', - description = 'Path of folder containing routes to load' - ) - - # Declare enable_guidance_plugin_validate - enable_guidance_plugin_validator = LaunchConfiguration('enable_guidance_plugin_validator') - declare_enable_guidance_plugin_validator = DeclareLaunchArgument( - name = 'enable_guidance_plugin_validator', - default_value='true', - description='Flag indicating whether the Guidance Plugin Validator node will actively validate guidance strategic, tactical, and control plugins' - ) - - # Declare strategic_plugins_to_validate - strategic_plugins_to_validate = LaunchConfiguration('strategic_plugins_to_validate') - declare_strategic_plugins_to_validate = DeclareLaunchArgument( - name = 'strategic_plugins_to_validate', - default_value = '[RouteFollowing]', - description = 'List of String: Guidance Strategic Plugins that will be validated by the Guidance Plugin Validator Node if enabled' - ) - - # Declare tactical_plugins_to_validate - tactical_plugins_to_validate = LaunchConfiguration('tactical_plugins_to_validate') - declare_tactical_plugins_to_validate = DeclareLaunchArgument( - name = 'tactical_plugins_to_validate', - default_value='[InLaneCruisingPlugin, StopandWaitPlugin, CooperativeLaneChangePlugin, UnobstructedLaneChangePlugin, YieldPlugin]', - description='List of String: Guidance Tactical Plugins that will be validated by the Guidance Plugin Validator Node if enabled' - ) - - # Declare control_plugins_to_validate - control_plugins_to_validate = LaunchConfiguration('control_plugins_to_validate') - declare_control_plugins_to_validate = DeclareLaunchArgument( - name = 'control_plugins_to_validate', - default_value= '[Pure Pursuit]', - description='List of String: Guidance Control Plugins that will be validated by the Guidance Plugin Validator Node if enabled' - ) - - # Launch the core carma launch file - carma_src_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource([ get_package_share_directory('carma'), '/launch/carma_src.launch.py']), - launch_arguments = { - 'vehicle_calibration_dir' : vehicle_calibration_dir, - 'vehicle_config_dir' : vehicle_config_dir, - 'route_file_folder' : route_file_folder, - 'enable_guidance_plugin_validator' : enable_guidance_plugin_validator, - 'strategic_plugins_to_validate' : strategic_plugins_to_validate, - 'tactical_plugins_to_validate' : tactical_plugins_to_validate, - 'control_plugins_to_validate' : control_plugins_to_validate - }.items() - ) - - return LaunchDescription([ - logging_env_var, # Environment variables must be placed before included files - declare_vehicle_calibration_dir_arg, - declare_vehicle_config_dir_arg, - declare_route_file_folder, - declare_enable_guidance_plugin_validator, - declare_strategic_plugins_to_validate, - declare_tactical_plugins_to_validate, - declare_control_plugins_to_validate, - carma_src_launch - ]) diff --git a/freightliner_cascadia_2012_dot_80550/carma_rosconsole.conf b/freightliner_cascadia_2012_dot_80550/carma_rosconsole.conf deleted file mode 100644 index 55a2d3eb..00000000 --- a/freightliner_cascadia_2012_dot_80550/carma_rosconsole.conf +++ /dev/null @@ -1,26 +0,0 @@ -# Set the default ros output level -log4j.logger.ros=WARN -log4j.logger.ros.roscpp.superdebug=WARN - -# Set package specific log level -# Syntax is log4j.logger.ros.< my package name>=< Log level> -# Log levels -# DEBUG Detailed logs useful for debugging -# INFO Useful logs for understanding system events -# 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.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.arbitrator=WARN -log4j.logger.ros.trajectory_executor=INFO -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 diff --git a/freightliner_cascadia_2012_dot_80550/docker-compose-background.yml b/freightliner_cascadia_2012_dot_80550/docker-compose-background.yml deleted file mode 100644 index 3e677f0c..00000000 --- a/freightliner_cascadia_2012_dot_80550/docker-compose-background.yml +++ /dev/null @@ -1,29 +0,0 @@ -# Copyright (C) 2018-2021 LEIDOS. -# -# Licensed under the Apache License, Version 2.0 (the "License"); you may not -# use this file except in compliance with the License. You may obtain a copy of -# the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT -# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the -# License for the specific language governing permissions and limitations under -# the License. - -# Docker Compose Spec Version -version: '2' - -services: - web-ui: - image: usdotfhwastoldev/carma-web-ui:develop - network_mode: host - container_name: web-ui - environment: - - ROS_IP=192.168.88.10 - volumes_from: - - container:carma-config:ro - volumes: - - /var/run/docker.sock:/var/run/docker.sock - restart: always diff --git a/freightliner_cascadia_2012_dot_80550/system_release.sh b/freightliner_cascadia_2012_dot_80550/system_release.sh deleted file mode 100755 index 7d5cf491..00000000 --- a/freightliner_cascadia_2012_dot_80550/system_release.sh +++ /dev/null @@ -1,65 +0,0 @@ -#!/bin/bash - -# Copyright (C) 2018-2021 LEIDOS. -# -# Licensed under the Apache License, Version 2.0 (the "License"); you may not -# use this file except in compliance with the License. You may obtain a copy of -# the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT -# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the -# License for the specific language governing permissions and limitations under -# the License. - -# This script takes a system release name and version number as arguments, and -# updates version dependencies in docker-compose.yml and docker-compose-background.yml -# accordingly. - -# The -u | --unprompted option can be used to skip the interactive prompts, and -# provide arguments directly from the commandline. - -if [[ $# -eq 0 ]]; then - echo "Enter the system release name:" - read RELEASE_NAME - echo "Enter the system release version number:" - read RELEASE_VERSION -else - while [[ $# -gt 0 ]]; do - arg="$1" - case $arg in - -u|--unprompted) - RELEASE_NAME=$2 - RELEASE_VERSION=$3 - shift - shift - shift - ;; - esac -done -fi - -SYSTEM_RELEASE=carma-system-$RELEASE_VERSION -RELEASE_BRANCH=release/$RELEASE_NAME - -if git ls-remote -q | grep $RELEASE_BRANCH; then - echo "Checking out $RELEASE_BRANCH branch." - git checkout $RELEASE_BRANCH - - echo "Updating docker-compose.yml and docker-compose-background.yml to point to system release version." - sed -i "s|:CARMASystem_[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g; s|:carma-system-[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g" docker-compose.yml - sed -i "s|:CARMASystem_[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g; s|:carma-system-[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g" docker-compose-background.yml - - git add docker-compose.yml docker-compose-background.yml - - git commit -m "Updated dependencies for $SYSTEM_RELEASE" - - git tag -a $SYSTEM_RELEASE -m "$SYSTEM_RELEASE version tag." - - echo "docker-compose.yml and docker-compose-background.yml updated, committed, and tagged." -else - echo "$RELEASE_BRANCH does not exist. Exiting script." - exit 0 -fi diff --git a/lexus_rx_450h_2019/.dockerignore b/lexus_rx_450h_2019/.dockerignore deleted file mode 100644 index a1658b9b..00000000 --- a/lexus_rx_450h_2019/.dockerignore +++ /dev/null @@ -1,3 +0,0 @@ -HostVehicleParams.yaml -build-image.sh -Dockerfile diff --git a/lexus_rx_450h_2019/Dockerfile b/lexus_rx_450h_2019/Dockerfile deleted file mode 100644 index 066cb512..00000000 --- a/lexus_rx_450h_2019/Dockerfile +++ /dev/null @@ -1,39 +0,0 @@ -# Copyright (C) 2018-2021 LEIDOS. -# -# Licensed under the Apache License, Version 2.0 (the "License"); you may not -# use this file except in compliance with the License. You may obtain a copy of -# the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT -# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the -# License for the specific language governing permissions and limitations under -# the License. - - -# GENERIC Template for CARMA Configuration Dockerfiles -# Do not invoke directly, symlink into configuration folders below and invoke from there - -FROM busybox:latest - -ARG BUILD_DATE="NULL" -ARG VERSION="NULL" -ARG VCS_REF="NULL" -ARG CONFIG_NAME="carma-config:unspecified" - -LABEL org.label-schema.schema-version="1.0" -LABEL org.label-schema.name=${CONFIG_NAME} -LABEL org.label-schema.description="System configuration data for the CARMA Platform" -LABEL org.label-schema.vendor="Leidos" -LABEL org.label-schema.version=${VERSION} -LABEL org.label-schema.url="https://highways.dot.gov/research/research-programs/operations/CARMA" -LABEL org.label-schema.vcs-url="https://github.com/usdot-fhwa-stol/carma-config" -LABEL org.label-schema.vcs-ref=${VCS_REF} -LABEL org.label-schema.build-date=${BUILD_DATE} - -ADD . /root/vehicle/config -VOLUME /opt/carma/vehicle/config - -CMD cp /root/vehicle/config/* /opt/carma/vehicle/config diff --git a/lexus_rx_450h_2019/README.md b/lexus_rx_450h_2019/README.md new file mode 100644 index 00000000..f277ce40 --- /dev/null +++ b/lexus_rx_450h_2019/README.md @@ -0,0 +1 @@ +# Config for a 2019 Lexus RX 450h \ No newline at end of file diff --git a/lexus_rx_450h_2019/__pycache__/drivers.launch.cpython-38.pyc b/lexus_rx_450h_2019/__pycache__/drivers.launch.cpython-38.pyc new file mode 100644 index 0000000000000000000000000000000000000000..520182a78c1b7e5a0c420205c993f8a55d4ee772 GIT binary patch literal 1905 zcmZuyUvJ|?5VxH;apELRllJJrQTd8aB@ZOW>Fxo95LNF8l}cJA{E_y>a=lx}Vr@se z>(GYusl4_Z@BokSRrm&Z<>|fxLOo{JP8zATmC@|X?9O<8zuA0WuU9pAMt@h&-rAb> zk6f%j1}wgUAO8&m*04^sNJqLZb%PpF0Tq;9pvA~UrqYYF6qQj~=_c4MWGTHwD^V3y zm0kwjMz+!|&}*os^a`y<4b)J274~kR4W-+(8Ev9XrPpXHYNIyjb=>$>LtA)bq;;Ba zp+c>rFFpu}a3`MslNS(|k3B|Q95UjIgk6Gr^VmycfBc$opM?_i%eAzrr`FNP{ffo@DUo20t`$QZk!7-T< z>dTHS9}AQU{0`yA{{kTZO>E%8jd7(39T%_lD_t14h)rC=<(tBl0agpF1+ZGUf~(3} z1gi~J6Rb9_0R}R*BnqM^Ox&28cq1rW>({y{L53#Ylo?=E7M7^s+O>{b0jzObRB>&t zT^phPyZwiTw{DEUz}rwwS=8pGxiK%!%K=mc*gl%=RvmbM94? zQ8ssYGIEbk`u(Fp-#t7Te0|iPJ^97i!{ppcsc@<6%AWJNv-jh{aIoiGLBr}x=hUMq zS-dwTKz_UzOXV@D)T?sV3i&K&^@i((9L zu?8Tpu<;!W7p+xh#TS+I@k2?Kd$xZs-#X3iGA_!Pg;T;fvN31Ao2_OqVE|w%u#PthK*(#=aBA&i<^j-{lh;ijO;}o}q9w_-^P9MyLhD zhkup>7{-FIb71J~Q7_BVTRW&bxkMG31Q|YZ6tWoC%V&vqj77y?4#J}BsR`hnI+Lts zWhqKhz!j!3d808&bykz2D1|A7yv$e~#KH`LI-C_i?^vio;;FmJ&)Ei;(MLF&YIg<8 z9oP~ZSsZK0$lZI9D*#ncTL!h4L3zKW2US%Q0y)%wYHSDM{(S`)Wi0yyJ{aze9wiqk zciDye^40UP`{MbhpY`%Hx>=i`ee%+a39yy8dF$4g^#so4-+<7}TEWr{-O%8DS2EZ1 z;<|3=O``#E4a3l^cct6nt#Mnb!@lhOkG&6P4LaMX1*C`tpo__cJ5kr9YVx9#RiPS; z8hM#HY6=kaG&kNa*X8PBTPql+580$D01& GYy1!6wJdP} literal 0 HcmV?d00001 diff --git a/lexus_rx_450h_2019/bridge.yml b/lexus_rx_450h_2019/bridge.yml deleted file mode 100644 index 1917be62..00000000 --- a/lexus_rx_450h_2019/bridge.yml +++ /dev/null @@ -1,155 +0,0 @@ -# This file contains explicit topic mappings between ROS1 and ROS2 portions of CARMA Platform while the -# ROS2 migration is underway. -topics: - - - topic: /localization/current_pose_with_covariance - type: geometry_msgs/msg/PoseWithCovarianceStamped - queue_size: 1 - - - topic: /hardware_interface/lidar/points_raw - type: sensor_msgs/msg/PointCloud2 - queue_size: 1 - - - topic: /environment/external_objects - type: carma_perception_msgs/msg/ExternalObjectList - queue_size: 1 - - - topic: /tf - type: tf2_msgs/msg/TFMessage - queue_size: 100 - - - topic: /environment/external_objects_viz - type: visualization_msgs/msg/MarkerArray - queue_size: 1 - - - topic: /environment/roadway_obstacles_viz - type: visualization_msgs/msg/MarkerArray - queue_size: 1 - - - topic: /environment/semantic_map - type: autoware_lanelet2_msgs/msg/MapBin - queue_size: 1 - qos: - history: keep_all - durability: transient_local - - - topic: /message/mobility_path_msg - type: carma_v2x_msgs/msg/MobilityPath - queue_size: 1 - - - topic: /message/bsm_outbound - type: carma_v2x_msgs/msg/BSM - queue_size: 1 - - - topic: /guidance/plan_trajectory - type: carma_planning_msgs/msg/TrajectoryPlan - queue_size: 1 - - - topic: /localization/map_param_loader/georeference - type: std_msgs/msg/String - queue_size: 1 - - - topic: /hardware_interface/velocity_accel_cov - type: automotive_platform_msgs/msg/VelocityAccelCov - queue_size: 1 - - - topic: /hardware_interface/imu_raw - type: sensor_msgs/msg/Imu - queue_size: 1 - - - topic: /hardware_interface/can/transmission_state - type: j2735_v2x_msgs/msg/TransmissionState - queue_size: 1 - - - topic: /hardware_interface/can/steering_wheel_angle - type: std_msgs/msg/Float64 - queue_size: 1 - - - topic: /hardware_interface/gnss_fix_fused - type: gps_msgs/msg/GPSFix - queue_size: 1 - - - topic: /localization/current_pose - type: geometry_msgs/msg/PoseStamped - queue_size: 1 - - - topic: /hardware_interface/can/brake_position - type: std_msgs/msg/Float64 - queue_size: 1 - - - topic: /hardware_interface/vehicle/twist - type: geometry_msgs/msg/TwistStamped - queue_size: 1 - - - topic: /hardware_interface/comms/inbound_binary_msg - type: carma_driver_msgs/msg/ByteArray - queue_size: 50 - - - topic: /hardware_interface/comms/outbound_binary_msg - type: carma_driver_msgs/msg/ByteArray - queue_size: 50 - - - topic: /message/incoming_bsm - type: carma_v2x_msgs/msg/BSM - queue_size: 50 - - - topic: /message/incoming_spat - type: carma_v2x_msgs/msg/SPAT - queue_size: 50 - - - topic: /message/incoming_map - type: carma_v2x_msgs/msg/MapData - queue_size: 50 - - - topic: /message/incoming_geofence_control - type: carma_v2x_msgs/msg/TrafficControlMessage - queue_size: 10 - - - topic: /message/incoming_geofence_request - type: carma_v2x_msgs/msg/TrafficControlRequest - queue_size: 1 - - - topic: /message/outgoing_geofence_control - type: carma_v2x_msgs/msg/TrafficControlMessage - queue_size: 1 - - - topic: /message/outgoing_geofence_request - type: carma_v2x_msgs/msg/TrafficControlRequest - queue_size: 1 - - - topic: /message/incoming_mobility_operation - type: carma_v2x_msgs/msg/MobilityOperation - queue_size: 50 - - - topic: /message/outgoing_mobility_operation - type: carma_v2x_msgs/msg/MobilityOperation - queue_size: 50 - - - topic: /message/incoming_mobility_response - type: carma_v2x_msgs/msg/MobilityResponse - queue_size: 50 - - - topic: /message/outgoing_mobility_response - type: carma_v2x_msgs/msg/MobilityResponse - queue_size: 50 - - - topic: /message/incoming_mobility_path - type: carma_v2x_msgs/msg/MobilityPath - queue_size: 50 - - - topic: /message/outgoing_mobility_path - type: carma_v2x_msgs/msg/MobilityPath - queue_size: 50 - - - topic: /message/incoming_mobility_request - type: carma_v2x_msgs/msg/MobilityRequest - queue_size: 50 - - - topic: /message/outgoing_mobility_request - type: carma_v2x_msgs/msg/MobilityRequest - queue_size: 50 - - - topic: /environment/external_object_predictions - type: carma_perception_msgs/msg/ExternalObjectList - queue_size: 1 -services_1_to_2: [] \ No newline at end of file diff --git a/lexus_rx_450h_2019/build-image.sh b/lexus_rx_450h_2019/build-image.sh deleted file mode 100755 index efa846bf..00000000 --- a/lexus_rx_450h_2019/build-image.sh +++ /dev/null @@ -1,78 +0,0 @@ -#!/bin/bash - -# Copyright (C) 2018-2021 LEIDOS. -# -# Licensed under the Apache License, Version 2.0 (the "License"); you may not -# use this file except in compliance with the License. You may obtain a copy of -# the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT -# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the -# License for the specific language governing permissions and limitations under -# the License. - -# -# GENERIC Build Script for CARMA Configuration Images -# -# Do not run this script itself, rather symlink this script into the individual -# configuration folders below and invoke it there to build the appropriate config -# image using docker build. Automatically acquires folder name and system version -# and passes neessary data into the docker build process. - -USERNAME=usdotfhwastol -IMAGE=carma-config -cd "$(dirname "$0")" -DIR_NAME=${PWD##*/} -CONFIG_NAME=`echo $DIR_NAME | sed 's/_/-/g'` - -while [[ $# -gt 0 ]]; do - arg="$1" - case $arg in - -d|--develop) - USERNAME=usdotfhwastoldev - TAG=develop - shift - ;; - esac -done - -echo "" -echo "##### CARMA $CONFIG_NAME Configuration Docker Image Build Script #####" -echo "" - - -if [[ -z "$TAG" ]]; then - TAG="$("../docker/get-system-version.sh")-$CONFIG_NAME" -else - TAG="$TAG-$CONFIG_NAME" -fi - -echo "Building docker image for CARMA Configuration version: $TAG" -echo "Final image name: $USERNAME/$IMAGE:$TAG" - -if [[ $TAG = "develop-$CONFIG_NAME" ]]; then - git checkout -- docker-compose.yml - sed -i "s|usdotfhwastoldev/|$USERNAME/|g; s|usdotfhwastol/|$USERNAME/|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:develop|g; s|:CARMASystem_[0-9]*\.[0-9]*\.[0-9]*|:develop|g;" \ - docker-compose.yml - sed -i "s|usdotfhwastoldev/|$USERNAME/|g; s|usdotfhwastol/|$USERNAME/|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:develop|g; s|:CARMASystem_[0-9]*\.[0-9]*\.[0-9]*|:develop|g;" \ - docker-compose-background.yml - docker build --no-cache -t $USERNAME/$IMAGE:$TAG \ - --build-arg VERSION="$TAG" \ - --build-arg VCS_REF=`git rev-parse --short HEAD` \ - --build-arg CONFIG_NAME="carma-config:$CONFIG_NAME" \ - --build-arg BUILD_DATE=`date -u +”%Y-%m-%dT%H:%M:%SZ”` . - git checkout -- docker-compose.yml docker-compose-background.yml -else - git checkout -- docker-compose.yml - docker build --no-cache -t $USERNAME/$IMAGE:$TAG \ - --build-arg VERSION="$TAG" \ - --build-arg VCS_REF=`git rev-parse --short HEAD` \ - --build-arg CONFIG_NAME="carma-config:$CONFIG_NAME" \ - --build-arg BUILD_DATE=`date -u +”%Y-%m-%dT%H:%M:%SZ”` . -fi - -echo "" -echo "##### CARMA $CONFIG_NAME Docker Image Build Done! #####" diff --git a/lexus_rx_450h_2019/carma.env b/lexus_rx_450h_2019/carma.env deleted file mode 100644 index efaf40c3..00000000 --- a/lexus_rx_450h_2019/carma.env +++ /dev/null @@ -1,35 +0,0 @@ -#!/bin/bash -# This file sets up the environment variables needed to run CARMA - -### -# Logging -### -export ROSCONSOLE_CONFIG_FILE="/opt/carma/vehicle/config/carma_rosconsole.conf" -export ROSCONSOLE_FORMAT='${time} | ${severity} | ${function}:${line} | ${message}' # ROS 1 log formatting -export RCUTILS_CONSOLE_OUTPUT_FORMAT='{time} | {severity} | {function_name}:{line_number} | {message}' # ROS2 log formatting - -export ROS_LOG_DIR="/opt/carma/logs" # Variable used in both ROS 1 and ROS 2 - -### -# Namespaces -### -# Namespace of nodes in the planning stack -export CARMA_GUIDE_NS="/guidance" - -# Namespace of nodes in the communications stack -export CARMA_MSG_NS="/message" - -# Namespace of nodes involved in tf2 transform maintenance -export CARMA_TF_NS="/" - -# Namespace of nodes in the perception stack -export CARMA_ENV_NS="/environment" - -# Namespace of nodes in the hardware interface stack -export CARMA_INTR_NS="/hardware_interface" - -# Namespace of nodes in the localization stack -export CARMA_LOCZ_NS="/localization" - -# Namespace of nodes in the web ui stack -export CARMA_UI_NS="/ui" diff --git a/lexus_rx_450h_2019/carma_docker.launch.py b/lexus_rx_450h_2019/carma_docker.launch.py deleted file mode 100644 index 912314d7..00000000 --- a/lexus_rx_450h_2019/carma_docker.launch.py +++ /dev/null @@ -1,111 +0,0 @@ -# Copyright (C) 2021-2022 LEIDOS. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_index_python import get_package_share_directory -from launch import LaunchDescription -from launch.actions import IncludeLaunchDescription -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.actions import SetEnvironmentVariable -from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration - -from carma_ros2_utils.launch.generate_log_levels import generate_log_levels -import os - -def generate_launch_description(): - """ - Launch CARMA System. - """ - - # Parse the log config file and convert it to an environment variable - config_file_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), 'carma_rosconsole.conf') - logging_env_var = SetEnvironmentVariable('CARMA_ROS_LOGGING_CONFIG', generate_log_levels(config_file_path)) - - # Declare the vehicle_calibration_dir launch argument - vehicle_calibration_dir = LaunchConfiguration('vehicle_calibration_dir') - declare_vehicle_calibration_dir_arg = DeclareLaunchArgument( - name = 'vehicle_calibration_dir', default_value = '/opt/carma/vehicle/calibration', description = "Path to vehicle calibration directory" - ) - - # Declare the vehicle_config_dir launch argument - vehicle_config_dir = LaunchConfiguration('vehicle_config_dir') - declare_vehicle_config_dir_arg = DeclareLaunchArgument( - name = 'vehicle_config_dir', default_value = '/opt/carma/vehicle/config', description = "Path to vehicle configuration directory" - ) - - #Declare the route file folder launch argument - route_file_folder = LaunchConfiguration('route_file_folder') - declare_route_file_folder = DeclareLaunchArgument( - name = 'route_file_folder', - default_value='/opt/carma/routes/', - description = 'Path of folder containing routes to load' - ) - - # Declare enable_guidance_plugin_validate - enable_guidance_plugin_validator = LaunchConfiguration('enable_guidance_plugin_validator') - declare_enable_guidance_plugin_validator = DeclareLaunchArgument( - name = 'enable_guidance_plugin_validator', - default_value='true', - description='Flag indicating whether the Guidance Plugin Validator node will actively validate guidance strategic, tactical, and control plugins' - ) - - # Declare strategic_plugins_to_validate - strategic_plugins_to_validate = LaunchConfiguration('strategic_plugins_to_validate') - declare_strategic_plugins_to_validate = DeclareLaunchArgument( - name = 'strategic_plugins_to_validate', - default_value = '[RouteFollowing]', - description = 'List of String: Guidance Strategic Plugins that will be validated by the Guidance Plugin Validator Node if enabled' - ) - - # Declare tactical_plugins_to_validate - tactical_plugins_to_validate = LaunchConfiguration('tactical_plugins_to_validate') - declare_tactical_plugins_to_validate = DeclareLaunchArgument( - name = 'tactical_plugins_to_validate', - default_value='[InLaneCruisingPlugin, StopandWaitPlugin, CooperativeLaneChangePlugin, UnobstructedLaneChangePlugin, YieldPlugin]', - description='List of String: Guidance Tactical Plugins that will be validated by the Guidance Plugin Validator Node if enabled' - ) - - # Declare control_plugins_to_validate - control_plugins_to_validate = LaunchConfiguration('control_plugins_to_validate') - declare_control_plugins_to_validate = DeclareLaunchArgument( - name = 'control_plugins_to_validate', - default_value= '[Pure Pursuit]', - description='List of String: Guidance Control Plugins that will be validated by the Guidance Plugin Validator Node if enabled' - ) - - # Launch the core carma launch file - carma_src_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource([ get_package_share_directory('carma'), '/launch/carma_src.launch.py']), - launch_arguments = { - 'vehicle_calibration_dir' : vehicle_calibration_dir, - 'vehicle_config_dir' : vehicle_config_dir, - 'route_file_folder' : route_file_folder, - 'enable_guidance_plugin_validator' : enable_guidance_plugin_validator, - 'strategic_plugins_to_validate' : strategic_plugins_to_validate, - 'tactical_plugins_to_validate' : tactical_plugins_to_validate, - 'control_plugins_to_validate' : control_plugins_to_validate - }.items() - ) - - return LaunchDescription([ - logging_env_var, # Environment variables must be placed before included files - declare_vehicle_calibration_dir_arg, - declare_vehicle_config_dir_arg, - declare_route_file_folder, - declare_enable_guidance_plugin_validator, - declare_strategic_plugins_to_validate, - declare_tactical_plugins_to_validate, - declare_control_plugins_to_validate, - carma_src_launch - ]) diff --git a/lexus_rx_450h_2019/carma_rosconsole.conf b/lexus_rx_450h_2019/carma_rosconsole.conf deleted file mode 100644 index 55a2d3eb..00000000 --- a/lexus_rx_450h_2019/carma_rosconsole.conf +++ /dev/null @@ -1,26 +0,0 @@ -# Set the default ros output level -log4j.logger.ros=WARN -log4j.logger.ros.roscpp.superdebug=WARN - -# Set package specific log level -# Syntax is log4j.logger.ros.< my package name>=< Log level> -# Log levels -# DEBUG Detailed logs useful for debugging -# INFO Useful logs for understanding system events -# 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.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.arbitrator=WARN -log4j.logger.ros.trajectory_executor=INFO -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 diff --git a/lexus_rx_450h_2019/system_release.sh b/lexus_rx_450h_2019/system_release.sh deleted file mode 100755 index 6847c422..00000000 --- a/lexus_rx_450h_2019/system_release.sh +++ /dev/null @@ -1,65 +0,0 @@ -#!/bin/bash - -# Copyright (C) 2018-2021 LEIDOS. -# -# Licensed under the Apache License, Version 2.0 (the "License"); you may not -# use this file except in compliance with the License. You may obtain a copy of -# the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT -# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the -# License for the specific language governing permissions and limitations under -# the License. - -# This script takes a system release name and version number as arguments, and -# updates version dependencies in docker-compose.yml and docker-compose-background.yml -# accordingly. - -# The -u | --unprompted option can be used to skip the interactive prompts, and -# provide arguments directly from the commandline. - -if [[ $# -eq 0 ]]; then - echo "Enter the system release name:" - read RELEASE_NAME - echo "Enter the system release version number:" - read RELEASE_VERSION -else - while [[ $# -gt 0 ]]; do - arg="$1" - case $arg in - -u|--unprompted) - RELEASE_NAME=$2 - RELEASE_VERSION=$3 - shift - shift - shift - ;; - esac -done -fi - -SYSTEM_RELEASE=carma-system-$RELEASE_VERSION -RELEASE_BRANCH=release/$RELEASE_NAME - -if git ls-remote -q | grep $RELEASE_BRANCH; then - echo "Checking out $RELEASE_BRANCH branch." - git checkout $RELEASE_BRANCH - - echo "Updating docker-compose.yml and docker-compose-background.yml to point to system release version." - sed -i "s|:CARMASystem_[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g; s|:carma-system-[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g" docker-compose.yml - sed -i "s|:CARMASystem_[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g; s|:carma-system-[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:$SYSTEM_RELEASE|g" docker-compose-background.yml - - git add docker-compose.yml docker-compose-background.yml - - git commit -m "Updated dependencies for $SYSTEM_RELEASE" - - git tag -a $SYSTEM_RELEASE -m "$SYSTEM_RELEASE version tag." - - echo "docker-compose.yml and docker-compose-background.yml updated, committed, and tagged." -else - echo "$RELEASE_BRANCH does not exist. Exiting script." - exit 0 -fi diff --git a/carla_integration/.dockerignore b/template_config/template_config/.dockerignore similarity index 100% rename from carla_integration/.dockerignore rename to template_config/template_config/.dockerignore diff --git a/carla_integration/Dockerfile b/template_config/template_config/Dockerfile similarity index 97% rename from carla_integration/Dockerfile rename to template_config/template_config/Dockerfile index 066cb512..aaa2b8ef 100644 --- a/carla_integration/Dockerfile +++ b/template_config/template_config/Dockerfile @@ -1,4 +1,4 @@ -# Copyright (C) 2018-2021 LEIDOS. +# Copyright (C) 2018-2022 LEIDOS. # # Licensed under the Apache License, Version 2.0 (the "License"); you may not # use this file except in compliance with the License. You may obtain a copy of diff --git a/lexus_rx_450h_2019/VehicleConfigParams.yaml b/template_config/template_config/VehicleConfigParams.yaml similarity index 100% rename from lexus_rx_450h_2019/VehicleConfigParams.yaml rename to template_config/template_config/VehicleConfigParams.yaml diff --git a/carla_integration/bridge.yml b/template_config/template_config/bridge.yml similarity index 100% rename from carla_integration/bridge.yml rename to template_config/template_config/bridge.yml diff --git a/chrysler_pacifica_ehybrid_s_2019/build-image.sh b/template_config/template_config/build-image.sh similarity index 98% rename from chrysler_pacifica_ehybrid_s_2019/build-image.sh rename to template_config/template_config/build-image.sh index efa846bf..9d608fe0 100755 --- a/chrysler_pacifica_ehybrid_s_2019/build-image.sh +++ b/template_config/template_config/build-image.sh @@ -1,6 +1,6 @@ #!/bin/bash -# Copyright (C) 2018-2021 LEIDOS. +# Copyright (C) 2018-2022 LEIDOS. # # Licensed under the Apache License, Version 2.0 (the "License"); you may not # use this file except in compliance with the License. You may obtain a copy of diff --git a/lexus_rx_450h_2019/carma.config.js b/template_config/template_config/carma.config.js similarity index 100% rename from lexus_rx_450h_2019/carma.config.js rename to template_config/template_config/carma.config.js diff --git a/carla_integration/carma.env b/template_config/template_config/carma.env similarity index 100% rename from carla_integration/carma.env rename to template_config/template_config/carma.env diff --git a/lexus_rx_450h_2019/carma_docker.launch b/template_config/template_config/carma_docker.launch similarity index 98% rename from lexus_rx_450h_2019/carma_docker.launch rename to template_config/template_config/carma_docker.launch index b85ac4c2..1ed90069 100644 --- a/lexus_rx_450h_2019/carma_docker.launch +++ b/template_config/template_config/carma_docker.launch @@ -1,6 +1,6 @@ - - @@ -66,12 +64,6 @@ If not using simulated drivers they are activated if the respective mock argumen - - - - - - diff --git a/lexus_rx_450h_2019/drivers.launch.py b/template_config/template_config/drivers.launch.py similarity index 71% rename from lexus_rx_450h_2019/drivers.launch.py rename to template_config/template_config/drivers.launch.py index f96af80f..eba1885c 100644 --- a/lexus_rx_450h_2019/drivers.launch.py +++ b/template_config/template_config/drivers.launch.py @@ -20,6 +20,7 @@ from launch.substitutions import LaunchConfiguration from launch.substitutions import EnvironmentVariable from launch.substitutions import PythonExpression +from launch_ros.substitutions import FindPackageShare from launch.conditions import IfCondition from launch.actions import GroupAction from launch_ros.actions import PushRosNamespace @@ -46,7 +47,7 @@ def generate_launch_description(): drivers = LaunchConfiguration('drivers') declare_drivers_arg = DeclareLaunchArgument( - name = 'drivers', default_value = 'dsrc_driver', description = "Desired drivers to launch specified by package name." + name = 'drivers', default_value = 'dsrc_driver velodyne_lidar_driver_wrapper', description = "Desired drivers to launch specified by package name." ) dsrc_group = GroupAction( @@ -54,7 +55,7 @@ def generate_launch_description(): actions=[ PushRosNamespace(EnvironmentVariable('CARMA_INTR_NS', default_value='hardware_interface')), IncludeLaunchDescription( - PythonLaunchDescriptionSource([ get_package_share_directory('dsrc_driver'), '/launch/dsrc_driver.py']), + PythonLaunchDescriptionSource([ FindPackageShare('dsrc_driver'), '/launch/dsrc_driver.py']), launch_arguments = { 'log_level' : GetLogLevel('dsrc_driver', env_log_levels), }.items() @@ -62,9 +63,25 @@ def generate_launch_description(): ] ) + lidar_group = GroupAction( + condition=IfCondition(PythonExpression(["'velodyne_lidar_driver_wrapper' in '", drivers, "'.split()"])), + actions=[ + PushRosNamespace(EnvironmentVariable('CARMA_INTR_NS', default_value='hardware_interface')), + IncludeLaunchDescription( + PythonLaunchDescriptionSource([ FindPackageShare('velodyne_lidar_driver_wrapper'), '/launch/velodyne_lidar_driver_wrapper_launch.py']), + launch_arguments = { + 'log_level' : GetLogLevel('velodyne_lidar_driver_wrapper', env_log_levels), + 'device_ip' : '192.168.1.201', + 'port' : '2368' + }.items() + ), + ] + ) + return LaunchDescription([ declare_drivers_arg, declare_vehicle_calibration_dir_arg, declare_vehicle_config_dir_arg, - dsrc_group + dsrc_group, + lidar_group ]) diff --git a/ford_fusion_sehybrid_2019/system_release.sh b/template_config/template_config/system_release.sh similarity index 98% rename from ford_fusion_sehybrid_2019/system_release.sh rename to template_config/template_config/system_release.sh index 6847c422..a25587b5 100755 --- a/ford_fusion_sehybrid_2019/system_release.sh +++ b/template_config/template_config/system_release.sh @@ -1,6 +1,6 @@ #!/bin/bash -# Copyright (C) 2018-2021 LEIDOS. +# Copyright (C) 2018-2022 LEIDOS. # # Licensed under the Apache License, Version 2.0 (the "License"); you may not # use this file except in compliance with the License. You may obtain a copy of From f812664359c62d4aa784beca3e269a9b370cc137 Mon Sep 17 00:00:00 2001 From: Michael McConnell Date: Fri, 18 Feb 2022 16:07:01 +0000 Subject: [PATCH 2/2] Cleanup --- build-config.sh | 6 ------ template_config/template_config/build-image.sh | 9 ++++++--- 2 files changed, 6 insertions(+), 9 deletions(-) diff --git a/build-config.sh b/build-config.sh index b755206d..df376985 100755 --- a/build-config.sh +++ b/build-config.sh @@ -31,8 +31,6 @@ CONFIG_PATH=$1 CONFIG_PATH=$(realpath ${CONFIG_PATH}) -echo "CONFIG_PATH: ${CONFIG_PATH}" - if [[ ! -d "${CONFIG_PATH}" ]] ; then echo "Specified config folder ${CONFIG_PATH} does not exist." exit 1 @@ -45,14 +43,12 @@ current_files=() for entry in "$CONFIG_PATH"/* do - echo "entry: ${entry}" current_files+=( $(basename -- ${entry}) ) done TEMPLATE_PATH=template_config/template_config TEMPLATE_PATH=$(realpath ${TEMPLATE_PATH}) -echo "TEMPLATE_PATH: ${TEMPLATE_PATH}" if [[ ! -d "${TEMPLATE_PATH}" ]] ; then echo "Could not fine template_config. You must run this script from the same folder." @@ -63,12 +59,10 @@ added_files=() for template_file in "$TEMPLATE_PATH"/* do template_file=$(basename -- ${template_file}) - echo "template_file: ${template_file}" file_exists=false for existing_file in ${current_files[@]}; do if [[ ${existing_file} == ${template_file} ]] ; then - echo "existing_file: ${existing_file}" file_exists=true break fi diff --git a/template_config/template_config/build-image.sh b/template_config/template_config/build-image.sh index 9d608fe0..04ed0ac4 100755 --- a/template_config/template_config/build-image.sh +++ b/template_config/template_config/build-image.sh @@ -54,7 +54,8 @@ echo "Building docker image for CARMA Configuration version: $TAG" echo "Final image name: $USERNAME/$IMAGE:$TAG" if [[ $TAG = "develop-$CONFIG_NAME" ]]; then - git checkout -- docker-compose.yml + cp docker-compose.yml ../docker-compose-backup.yml + cp docker-compose-background.yml ../docker-compose-background-backup.yml sed -i "s|usdotfhwastoldev/|$USERNAME/|g; s|usdotfhwastol/|$USERNAME/|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:develop|g; s|:CARMASystem_[0-9]*\.[0-9]*\.[0-9]*|:develop|g;" \ docker-compose.yml sed -i "s|usdotfhwastoldev/|$USERNAME/|g; s|usdotfhwastol/|$USERNAME/|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:develop|g; s|:CARMASystem_[0-9]*\.[0-9]*\.[0-9]*|:develop|g;" \ @@ -64,9 +65,11 @@ if [[ $TAG = "develop-$CONFIG_NAME" ]]; then --build-arg VCS_REF=`git rev-parse --short HEAD` \ --build-arg CONFIG_NAME="carma-config:$CONFIG_NAME" \ --build-arg BUILD_DATE=`date -u +”%Y-%m-%dT%H:%M:%SZ”` . - git checkout -- docker-compose.yml docker-compose-background.yml + + cp ../docker-compose-backup.yml docker-compose.yml + cp ../docker-compose-background-backup.yml docker-compose-background.yml + rm ../docker-compose-backup.yml ../docker-compose-background-backup.yml else - git checkout -- docker-compose.yml docker build --no-cache -t $USERNAME/$IMAGE:$TAG \ --build-arg VERSION="$TAG" \ --build-arg VCS_REF=`git rev-parse --short HEAD` \