xil carma cloud config that platform works with UI

xil_carma_cloud/.gitignore

@@ -0,0 +1,4 @@
+**.log
+**/logs/**
+**/carla-recorder/
+**/carla-sensor-lib/

xil_carma_cloud/SubsystemControllerParams.yaml

@@ -49,7 +49,7 @@ guidance:
         - /guidance/plugins/route_following_plugin
         - /guidance/plugins/pure_pursuit_wrapper
         - /guidance/plugins/inlanecruising_plugin
-        - /guidance/plugins/cooperative_lanechange
+      #  - /guidance/plugins/cooperative_lanechange
       auto_activated_plugins:
         - /guidance/plugins/lci_strategic_plugin
         - /guidance/plugins/intersection_transit_maneuvering

xil_carma_cloud/carma.config.js

@@ -40,17 +40,35 @@ CarmaJS.registerNamespace = function (namespace) {
 CarmaJS.registerNamespace("CarmaJS.Config");
 
 CarmaJS.Config = (function () {
-        //Private variables
-        var ip = '127.0.0.1';
-
-        //Private methods
-        //Creating functions to prevent access by reference to private variables
-        var getIP = function() {
-            return ip;
-        };
-
-        //Public API
-        return {
-            getIP: getIP
-        };
+    //Private variables
+    var ip = '172.5.0.4'; // carma_net_2
+    var refresh_interval = 30; //30 seconds
+    var ros_connect_wait = 5000; //5 miliseconds to wait for platform to launch and ros to connect.
+    var ros_connect_retry = 24; //# of times to wait. Total 2 minutes
+    var speed_limit = 30; //Default Speed Limit
+    //Private methods
+    //Creating functions to prevent access by reference to private variables
+    var getIP = function() {
+        return ip;
+    };
+    var getRefreshInterval = function(){
+        return refresh_interval;
+    };
+    var getRosConnectionWaitTime = function() {
+        return ros_connect_wait;
+    };
+    var getRosConnectionRetry = function() {
+        return ros_connect_retry;
+    };
+    var getSPEEDLIMIT = function() {
+        return speed_limit;
+    };
+    //Public API
+    return {
+        getIP: getIP,
+        getRefreshInterval: getRefreshInterval,
+        getRosConnectionWaitTime:getRosConnectionWaitTime,
+        getRosConnectionRetry:getRosConnectionRetry,
+        getSPEEDLIMIT: getSPEEDLIMIT
+    };
 })();

xil_carma_cloud/cdasim_config/.env

@@ -7,4 +7,4 @@ SIMULATION_MODE=TRUE
 RMW_IMPLEMENTATION=rmw_fastrtps_cpp
 #ROS Middleware implementation for AWS EC2 Instances
 #RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-VEHICLE_ENGAGE_DELAY='35'
+VEHICLE_ENGAGE_DELAY='55' # allow enough time to ensure tsc_service is up

xil_carma_cloud/cdasim_config/carma/environment.launch.py

@@ -544,6 +544,7 @@ def generate_launch_description():
     )
 
     return LaunchDescription([
+        # Turning off plugins that are not tested in this release
         declare_vehicle_characteristics_param_file_arg,
         declare_vehicle_config_param_file_arg,
         declare_use_sim_time_arg,

xil_carma_cloud/cdasim_config/carma/inlanecruising_config/parameters.yaml

@@ -1,9 +1,9 @@
 # The length of the trajectory in time domain, in seconds
 trajectory_time_length: 6.0 # Trajectory length in seconds
 curve_resample_step_size: 1.0 # Curve re-sampling step size in m
-default_downsample_ratio: 18 # Amount to downsample input lanelet centerline data. Value corresponds to saving each nth point.
-turn_downsample_ratio: 20 # Amount to downsample input lanelet centerline data on turns. Value corresponds to saving each nth point.
-minimum_speed: 2.2352 # Minimum allowable speed in m/s
+default_downsample_ratio: 4 # Amount to downsample input lanelet centerline data. Value corresponds to saving each nth point.
+turn_downsample_ratio: 4 # Amount to downsample input lanelet centerline data on turns. Value corresponds to saving each nth point.
+minimum_speed: 0.894 # Minimum allowable speed in m/s
 # minimum_speed: 5.0 # Minimum allowable speed in m/s
 speed_moving_average_window_size: 5 # Size of the window used in the moving average filter to smooth the output speeds
 curvature_moving_average_window_size: 9 # Size of the window used in the moving average filter to smooth the computed curvature

xil_carma_cloud/cdasim_config/carma/lci_strategic_plugin/parameters.yaml

@@ -0,0 +1,50 @@
+# Double: multiplier to apply to the maximum allowable vehicle deceleration limit so we plan under our capabilities
+vehicle_decel_limit_multiplier : 1.0
+
+# Double: multiplier to apply to the maximum allowable vehicle acceleration limit so we plan under our capabilities
+vehicle_accel_limit_multiplier : 1.0
+
+# Double: The minimum distance in meters that the vehicle can be at before requiring a transition to the APPROACH state
+min_approach_distance : 20.0
+
+# Double: Downtrack distance until nearest intersection where the Trajectory Smoothing algorithm should activate
+trajectory_smoothing_activation_distance: 40.0
+
+# Double: A buffer infront of the stopping location which will still be considered a valid stop. Units in meters
+stopping_location_buffer : 4.0
+
+# Double: A buffer in seconds around the green phase which will reduce the phase length such that vehicle still considers it non-green
+green_light_time_buffer : 0.5
+
+# Double: Minimum allowable speed in trajectory smoothing algorithm m/s
+algo_minimum_speed : 0.894
+
+# Double: Safety multiplier (must be less than 1.0) of planned allowable vehicle deceleration to use when stopping. This new deceleration makes vehicle decelerate earlier distance.
+#         NOTE: Stacks on vehicle_decel_limit_multiplier and stopping uses max_decel; this distance is only used for calculating earlier downtrack
+deceleration_fraction : 0.7
+
+# Double: Desired distance to stop buffer in meters
+desired_distance_to_stop_buffer : 1.0
+
+# Double: The minimum period in seconds which a maneuver plan must cover if the plugin wishes to control the whole plan
+min_maneuver_planning_period : 15.1
+
+# Bool: If enable_carma_streets_connection is true when we want to allow carma streets functionality (UC3) and if its false that means we don't want to allow carma streets behaviour and will only use UC2 behaviour.
+enable_carma_streets_connection : false
+
+# Double: Mobility operation rate
+mobility_rate : 10.0
+
+# String: The name to use for this plugin during comminications with the arbitrator
+strategic_plugin_name : lci_strategic_plugin
+
+# String: The name of the tactical plugin to use for Lane Following trajectory planning
+#         This plugin is used to apply trajectory smoothing algorithm BEFORE entering the intersection if within activation distance
+lane_following_plugin_name : light_controlled_intersection_tactical_plugin
+
+# String: The name of the plugin to use for stop and wait trajectory planning
+stop_and_wait_plugin_name : stop_and_wait_plugin
+
+# String: The name of the plugin to use for intersection transit trajectory planning
+#         This plugin is used to travel INSIDE the intersection where there is no trajectory smoothing algorithm active
+intersection_transit_plugin_name : intersection_transit_maneuvering

xil_carma_cloud/cdasim_config/carma/light_controlled_intersection_tactical_plugin/parameters.yaml

@@ -0,0 +1,48 @@
+# Double: The gap in meters between points sampled from the lanelet centerlines for planning trajectory positions
+# Units: m
+centerline_sampling_spacing: 1.0
+
+# Trajectory length in seconds
+trajectory_time_length: 12.0
+
+# Amount to downsample input lanelet centerline data. Value corresponds to saving each nth point.
+default_downsample_ratio: 4
+
+# Amount to downsample input lanelet centerline data on turns. Value corresponds to saving each nth point.
+turn_downsample_ratio: 4
+
+# Curve re-sampling step size in m
+curve_resample_step_size: 1.0
+
+# Size of the window used in the moving average filter to smooth the computed curvature
+curvature_moving_average_window_size: 9
+
+# Size of the window used in the moving average filter to smooth the output speeds
+speed_moving_average_window_size: 5
+
+# Number of meters behind the first maneuver that need to be included in points for curvature calculation
+back_distance: 20.0
+
+# Additional distance beyond ending downtrack to ensure sufficient points
+buffer_ending_downtrack: 40.0
+
+# Double: multiplier to apply to the maximum allowable vehicle deceleration limit so we plan under our capabilities
+vehicle_decel_limit_multiplier : 1.0
+
+# Double: multiplier to apply to the maximum allowable vehicle acceleration limit so we plan under our capabilities
+vehicle_accel_limit_multiplier : 1.0
+
+# Multiplier of lat_accel to bring the value under lat_accel
+lat_accel_multiplier: 0.50
+
+# Double: A buffer before of the stopping location which will still be considered a valid stop. Units in meters
+stop_line_buffer : 2.0
+
+# Double: Minimum allowable speed in m/s2.235
+minimum_speed : 0.894
+
+# Double: Distance from the nearest traffic light where the vehicle decides whether to run last successful trajectory or accept new one (in meters)
+algorithm_evaluation_distance : 35.0
+
+# Double: Period if scheduled entry time is within which the vehicle decides to run the last successful trajectory smoothing trajectory (in seconds)
+algorithm_evaluation_period : 4.5