Voices/vug pilot2

vug_pilot2/Dockerfile

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+#  Copyright (C) 2018-2024 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

vug_pilot2/README.md

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+# Anything In the Loop Vunerable Roaduser Use Case 1
+
+## Introduction
+
+This **CARMA Config** includes the docker-compose and configuration file setup for the **Anything In the Loop Vunerable Roaduser Use Case 1** scenario.
+
+## Scenario Description
+
+This CARMA Configuration Image creates a **AIL** (Anything-In-the-Loop) scenario which includes **CARLA**, **SUMO** , **NS3** (CV2X Model), a **Virtual Signal Controller**, **CARMA Streets** and **CARMA Platform**. The scenario configured in this CARMA Config image is meant to highlight the benefits of **Cooperative Perception**  or **VRU** (Vulnerable Road User) safety. In this use case, infrastructure sensor infromation is shared with CDA (Cooperative Driving Automation) vehicles via the **SDSM**(J3224 Sensor Data Sharing Message). The scenario takes place in an intersection in **CARLA Town 4** and spawns 1 **CARMA Platform Vehicle** and 1 **CARMA Streets** instance deployed at an intesection. The vehicle attempts to take a left turn while a pedestrian, spawned by **CARLA ScenarioRunner** attempts to cross the street at a signalized intersection. Three large trucks obscure the  pedestrian from vehicle's lidar sensor vision. An Infrastructure lidar sensor has an unobscructed view of the pedestrian and shares information with the vehicle via V2X message (SDSM). Using the shared information the vehicle is able to safely avoid the pedestrian.
+
+![Alt text](docs/scenario_diagram.png)
+
+## Simulators
+
+| Simulator      | Version |
+| ----------- | ----------- |
+| CARLA      | 0.9.10       |
+| SUMO      | 1.15       |
+
+## Deployment Instructions
+
+Copy all files in the route_config directory to `/opt/carma/routes/`
+
+### Locally Built Docker Images
+
+The Virtual Signal Controller is built locally and currently only available to licenced users.

vug_pilot2/SubsystemControllerParams.yaml

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+# This file contains configurations for the subsystem_controllers which manage the lifecycle of each individual subsystem
+# For brevity the parameter descriptions are not provided here. The descriptions can be found in the default parameter files located
+# in the subsystem_controllers parameter directory here: https://github.com/usdot-fhwa-stol/carma-platform/tree/develop/subsystem_controllers/config
+# The parameters specified in this file override the parameters in the default parameter files.
+# NOTE: Due to a limitation in ROS2 empty arrays in this file should be denoted with ['']
+environment:
+  environment_perception_controller:
+    ros__parameters:
+      subsystem_namespace: /environment
+      required_subsystem_nodes: ['']
+      unmanaged_required_nodes:
+        - /hardware_interface/velodyne_lidar_driver_wrapper_node
+      full_subsystem_required: true
+      call_timeout_ms : 150000
+      service_timeout_ms : 20000
+
+hardware_interface:
+  drivers_controller:
+    ros__parameters:
+      subsystem_namespace: /hardware_interface
+      required_subsystem_nodes: ['']
+      unmanaged_required_nodes: ['']
+      excluded_namespace_nodes:
+        - /hardware_interface/carla_lidar_driver
+        - /hardware_interface/carla_gnss_driver
+      ros1_required_drivers:
+        - /hardware_interface/carla_driver
+      ros1_camera_drivers:
+        - /hardware_interface/carla_camera_driver
+      full_subsystem_required: false
+      startup_duration: 60
+      required_driver_timeout: 30000.0 #ROS1 bridge dropping message depending on computer
+      call_timeout_ms : 150000
+      service_timeout_ms : 20000
+
+message:
+  v2x_controller:
+    ros__parameters:
+      subsystem_namespace: /message
+      required_subsystem_nodes: ['']
+      unmanaged_required_nodes:
+        - /hardware_interface/dsrc_driver_node
+      full_subsystem_required: true
+      call_timeout_ms : 150000
+      service_timeout_ms : 20000
+
+guidance:
+  guidance_controller:
+    ros__parameters:
+      subsystem_namespace: /guidance
+      required_subsystem_nodes: ['']
+      unmanaged_required_nodes: [''] # TODO add the controller driver once it is integrated with ROS2
+      full_subsystem_required: true
+      required_plugins:
+        - /guidance/plugins/route_following_plugin
+        - /guidance/plugins/pure_pursuit_wrapper
+        - /guidance/plugins/inlanecruising_plugin
+      auto_activated_plugins:
+        - /guidance/plugins/lci_strategic_plugin
+        - /guidance/plugins/intersection_transit_maneuvering
+        - /guidance/plugins/light_controlled_intersection_tactical_plugin
+        - /guidance/plugins/stop_and_wait_plugin
+        - /guidance/plugins/sci_strategic_plugin
+        - /guidance/plugins/stop_controlled_intersection_tactical_plugin
+        - /guidance/plugins/platoon_control_ihp
+        - /guidance/plugins/platoon_strategic_ihp_node
+        - /guidance/plugins/platooning_tactical_plugin_node
+        - /guidance/plugins/yield_plugin
+      ros2_initial_plugins:
+        - /guidance/plugins/inlanecruising_plugin
+        - /guidance/plugins/platoon_strategic_ihp_node
+        - /guidance/plugins/stop_and_wait_plugin
+        - /guidance/plugins/route_following_plugin
+        - /guidance/plugins/platooning_tactical_plugin_node
+        - /guidance/plugins/cooperative_lanechange
+        - /guidance/plugins/light_controlled_intersection_tactical_plugin
+        - /guidance/plugins/sci_strategic_plugin
+        - /guidance/plugins/stop_controlled_intersection_tactical_plugin
+        - /guidance/plugins/yield_plugin
+        - /guidance/plugins/pure_pursuit_wrapper
+        - /guidance/plugins/lci_strategic_plugin
+        - /guidance/plugins/intersection_transit_maneuvering
+      call_timeout_ms : 150000
+      service_timeout_ms : 20000
+
+
+localization:
+  localization_controller:
+    ros__parameters:
+      subsystem_namespace: /localization
+      required_subsystem_nodes: ['']
+      unmanaged_required_nodes: ['']
+      full_subsystem_required: true
+      sensor_nodes:
+        - /hardware_interface/velodyne_lidar_driver_wrapper_node
+      # TODO update the fault map once ros2 gps is integrated
+      sensor_fault_map: '
+        {
+          "sensor_fault_map":
+          [
+            [0,0]
+          ]
+        }
+        '
+      call_timeout_ms : 150000
+      service_timeout_ms : 20000

vug_pilot2/VehicleConfigParams.yaml

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+# Defines the ros parameters which define the characteristics of this host vehicle configuration
+# The value type field is used to indicate how the field should be set.
+# Should it be treated as a measured value (Measured) or a desired behavior constraint (Desired)
+use_sim_time: true
+
+# Defines the ros parameter for incoming Signal Phase and Timing messages(SPaT).
+# With simulation it's required that all incoming messages be used with simulation time
+# In cases SPaT information is coming in from an external source outside the sim environment, the timing needs to be offset to match sim time
+# False if SPaT source is synced to wall clock
+is_spat_wall_time: true
+
+# String: Host vehicle make
+# Value type: Measured
+vehicle_make: 'greased'
+
+# String: Host vehicle model
+# Value type: Measured
+vehicle_model: 'lightning'
+
+# Integer: Host vehicle year
+# Value type: Measured
+# Units: Year
+vehicle_year: 2019
+
+# Double: Host vehicle length
+# Value type: Measured
+# Units: Meters
+vehicle_length: 5.0
+
+# Double: Host vehicle width
+# Value type: Measured
+# Units: Meters
+vehicle_width: 3.0
+
+# Double: Host vehicle height
+# Value type: Measured
+# Units: Meters
+vehicle_height: 2.0
+
+# Double: Distance from front axel to rear axel
+# Value type: Measured
+# Units: Meters
+vehicle_wheel_base: 2.79
+
+# Double: Radius of the tires
+# Value type: Measured
+# Units: Meters
+vehicle_tire_radius: 0.39
+
+# Int: The maximum duration that Plan Delegator will wait after calling a tactical plugin's trajectory planning service; if trajectory
+# generation takes longer than this, then trajectory planning will immediately end for the current trajectory planning iteration.
+# NOTE: It is highly desirable to maintain a timeout of 100 ms or less, but trajectory generation success cannot be guaranteed with this duration
+#       for tactical plugins (primarily cooperative_lanechange) in all test scenarios at this time.
+# Units: Milliseconds
+tactical_plugin_service_call_timeout: 300
+
+# Activates object avoidance logics in trajectory planning plugins
+# Units: Boolean
+enable_object_avoidance: true
+
+# Acceleration limit
+# Value type: Desired
+# Units: m/s^2
+vehicle_acceleration_limit: 3.5
+
+# Deceleration limit
+# Value type: Desired
+# Units: m/s^2
+vehicle_deceleration_limit: 2.5
+
+# Lateral Acceleration Limit
+# Value type: Desired
+# Units: m/s^2
+vehicle_lateral_accel_limit: 3.5
+
+# Lateral Jerk Limit
+# Value type: Desired
+# Units: m/s^3
+vehicle_lateral_jerk_limit:  3.5
+
+# Max curvature rate
+# Value type: Desired
+# Units: (m^-1) / s
+vehicle_max_curvature_rate: 0.75
+
+# Ratio relating the steering wheel angle and the tire position on the road
+# Value type: Measured
+# (radians of a full steering wheel rotation) / (radians of tires with the longitudinal axis under full steer)
+vehicle_steering_gear_ratio: 16.863
+
+# Maximum steering angle of the wheel relative to the vehicle centerline.
+# Value type: Measured
+# Unit: deg
+vehicle_steer_lim_deg: 29.2
+
+# steering dynamics time constant
+# Value type: Measured
+# Unit: s
+vehicle_model_steer_tau : 0.3
+
+# Parameter to enable configurable speed limit
+# Value type: Desired
+config_speed_limit: 11.0
+
+# Vehicle Participation Type corresponding to the Lanelet2 participant type standards.
+# Used for interpreting traffic rules in world model instances
+vehicle_participant_type: "vehicle:car"
+
+# Parameters to enable either ROS 1 or ROS 2 (or both) rosbag logging
+use_ros1_rosbag: true
+use_ros2_rosbag: false
+
+# Topics to exclude from rosbag recording
+exclude_default: true
+excluded_default_topics:
+  - (.*)/received_messages
+  - (.*)/sent_messages
+  - (.*)/scan
+
+exclude_lidar: true
+excluded_lidar_topics:
+  - /detection/lidar_detector/objects
+  - /detection/lidar_detector/objects_markers
+  - /hardware_interface/lidar/points_raw
+  - /hardware_interface/camera/projection_matrix/detection/lidar_detector/cloud_clusters
+  - /environment/range_vision_fusion_01/detection/lidar_detector/objects
+  - /environment/detection/fusion_tools/objects
+  - /environment/detection/fusion_tools/objects_markers
+  - /environment/detection/object_tracker/objects
+  - /environment/detection/object_tracker/objects_markers
+  - /environment/detection/objects
+
+exclude_camera: true
+excluded_camera_topics:
+  - /hardware_interface/camera/camera_info
+  - /hardware_interface/camera/image_raw
+  - /hardware_interface/camera/image_rect
+  - /hardware_interface/camera/image_rects
+  - /hardware_interface/camera/projection_matrix/detection/lidar_detector/cloud_clusters
+  - /environment/range_vision_fusion_01/detection/image_detector/objects
+  - /environment/vision_beyond_track_01/detection/image_detector/objects
+  - /environment/detection/fusion_tools/objects
+  - /environment/detection/fusion_tools/objects_markers
+  - /environment/detection/object_tracker/objects
+  - /environment/detection/object_tracker/objects_markers
+  - /environment/detection/objects
+
+exclude_can: false
+excluded_can_topics:
+  - /hardware_interface/ds_fusion/can_bus_dbw/can_rx
+  - /hardware_interface/ds_fusion/can_bus_dbw/can_tx