Factor packages from carma-utils to ssc wrapper repo

.sonarqube/sonar-scanner.properties

@@ -1,18 +1,19 @@
 #  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
 #  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.
 
-# Configuration file for Sonar Scanner used for CI 
+
+# Configuration file for Sonar Scanner used for CI
 
 sonar.projectKey=usdot-fhwa-stol_CARMASscInterfaceWrapper
 sonar.organization=usdot-fhwa-stol
@@ -28,14 +29,29 @@ sonar.scm.enabled=true
 sonar.scm.provider=git
 
 # Modules
-sonar.modules=ssc_interface_wrapper
+sonar.modules=ssc_interface_wrapper, \
+  cav_driver_utils, \
+  socketcan_bridge, \
+  socketcan_interface
 
 ssc_interface_wrapper.sonar.projectBaseDir=/opt/carma/src/CARMASscInterfaceWrapper/ssc_interface_wrapper
+cav_driver_utils.sonar.projectBaseDir=/opt/carma/src/CARMASscInterfaceWrapper/pacifica_ne_nodes/cav_driver_utils
+socketcan_bridge.sonar.projectBaseDir=/opt/carma/src/CARMASscInterfaceWrapper/pacifica_ne_nodes/socketcan_bridge
+socketcan_interface.sonar.projectBaseDir=/opt/carma/src/CARMASscInterfaceWrapper/pacifica_ne_nodes/socketcan_interface
 
 # C++ Package differences
 # Sources
 ssc_interface_wrapper.sonar.sources=src
 ssc_interface_wrapper.sonar.exclusions  =test/**
+cav_driver_utils.sonar.sources = src
+cav_driver_utils.sonar.exclusions=test/**
+socketcan_bridge.sonar.sources = src
+socketcan_bridge.sonar.exclusions=test/**
+socketcan_interface.sonar.sources = src
+socketcan_interface.sonar.exclusions=test/**
 # Tests
 # Note: For C++ setting this field does not cause test analysis to occur. It only allows the test source code to be evaluated.
+sonar.cfamily.gcov.reportsPath=/opt/carma/coverage_reports/gcov
+socketcan_bridge.sonar.tests=test
+socketcan_interface.sonar.tests=test
 ssc_interface_wrapper.sonar.tests=test

as/CHANGELOG.rst

@@ -0,0 +1,220 @@
+^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package as
+^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.11.0 (2019-03-21)
+-------------------
+* [Feature] Improve AS vehicle interface (`#1945 <https://github.com/CPFL/Autoware/issues/1945>`_)
+  * Rename and modify as_interface for drive-by-wire
+  * Fix dependences
+  * Rename as_interface -> ssc_interface, refactored
+  * Fix launch
+  * Modify source of desired values to vehicle_cmd
+  * Apply clang-format
+  * Add vehicle_status topic based on feedback topics
+  * Add rear wheel speed mode, using pacmod/parsed_tx/wheel_speed_rpt instead of as/velocity_accel
+  * Add emergency stop mode, occured by vehicle_cmd.emergency and timeout
+  * Add adaptive gear ratio mode, for more accurate steering angle
+  * Remove unsued definition
+  * Updated cross-build image date
+  * Fix zero division
+* Fix license notice in corresponding package.xml
+* Contributors: Akihito Ohsato, amc-nu
+
+1.10.0 (2019-01-17)
+-------------------
+* Switch to Apache 2 license (develop branch) (`#1741 <https://github.com/CPFL/Autoware/issues/1741>`_)
+  * Switch to Apache 2
+  * Replace BSD-3 license header with Apache 2 and reassign copyright to the
+  Autoware Foundation.
+  * Update license on Python files
+  * Update copyright years
+  * Add #ifndef/define _POINTS_IMAGE_H\_
+  * Updated license comment
+* Use colcon as the build tool (`#1704 <https://github.com/CPFL/Autoware/issues/1704>`_)
+  * Switch to colcon as the build tool instead of catkin
+  * Added cmake-target
+  * Added note about the second colcon call
+  * Added warning about catkin* scripts being deprecated
+  * Fix COLCON_OPTS
+  * Added install targets
+  * Update Docker image tags
+  * Message packages fixes
+  * Fix missing dependency
+* Replace module_comm_msgs with automotive_platform_msgs
+* Contributors: Esteve Fernandez
+
+1.9.1 (2018-11-06)
+------------------
+
+1.9.0 (2018-10-31)
+------------------
+
+1.8.0 (2018-08-31)
+------------------
+* [Fix] Moved C++11 flag to autoware_build_flags (`#1395 <https://github.com/CPFL/Autoware/pull/1395>`_)
+* [Feature] Makes sure that all binaries have their dependencies linked (`#1385 <https://github.com/CPFL/Autoware/pull/1385>`_)
+* [Fix] Extend and Update interface.yaml (`#1291 <https://github.com/CPFL/Autoware/pull/1291>`_)
+* Contributors: Esteve Fernandez, Kenji Funaoka
+
+1.7.0 (2018-05-18)
+------------------
+* update Version from 1.6.3 to 1.7.0 in package.xml and CHANGELOG.rst
+* [fix] Fixes for all packages and dependencies (`#1240 <https://github.com/CPFL/Autoware/pull/1240>`_)
+  * Initial Cleanup
+  * fixed also for indigo
+  * kf cjeck
+  * Fix road wizard
+  * Added travis ci
+  * Trigger CI
+  * Fixes to cv_tracker and lidar_tracker cmake
+  * Fix kitti player dependencies
+  * Removed unnecessary dependencies
+  * messages fixing for can
+  * Update build script travis
+  * Travis Path
+  * Travis Paths fix
+  * Travis test
+  * Eigen checks
+  * removed unnecessary dependencies
+  * Eigen Detection
+  * Job number reduced
+  * Eigen3 more fixes
+  * More Eigen3
+  * Even more Eigen
+  * find package cmake modules included
+  * More fixes to cmake modules
+  * Removed non ros dependency
+  * Enable industrial_ci for indidog and kinetic
+  * Wrong install command
+  * fix rviz_plugin install
+  * FastVirtualScan fix
+  * Fix Qt5 Fastvirtualscan
+  * Fixed qt5 system dependencies for rosdep
+  * NDT TKU Fix catkin not pacakged
+  * More in detail dependencies fixes for more packages
+  * GLEW library for ORB
+  * Ignore OrbLocalizer
+  * Ignore Version checker
+  * Fix for driveworks interface
+  * driveworks not catkinpackagedd
+  * Missing catkin for driveworks
+  * libdpm opencv not catkin packaged
+  * catkin lib gnss  not included in obj_db
+  * Points2Polygon fix
+  * More missing dependencies
+  * image viewer not packaged
+  * Fixed SSH2 detection, added viewers for all distros
+  * Fix gnss localizer incorrect dependency config
+  * Fixes to multiple packages dependencies
+  * gnss plib and package
+  * More fixes to gnss
+  * gnss dependencies for gnss_loclaizer
+  * Missing gnss dependency for gnss on localizer
+  * More fixes for dependencies
+  Replaced gnss for autoware_gnss_library
+  * gnss more fixes
+  * fixes to more dependencies
+  * header dependency
+  * Debug message
+  * more debug messages changed back to gnss
+  * debud messages
+  * gnss test
+  * gnss install command
+  * Several fixes for OpenPlanner and its lbiraries
+  * Fixes to ROSInterface
+  * More fixes to robotsdk and rosinterface
+  * robotsdk calibration fix
+  * Fixes to rosinterface robotsdk libraries and its nodes
+  * Fixes to Qt5 missing dependencies in robotsdk
+  * glviewer missing dependencies
+  * Missing qt specific config cmake for robotsdk
+  * disable cv_tracker
+  * Fix to open planner un needed dependendecies
+  * Fixes for libraries indecision maker
+  * Fixes to libraries decision_maker installation
+  * Gazebo on Kinetic
+  * Added Missing library
+  * * Removed Gazebo and synchonization packages
+  * Renames vmap in lane_planner
+  * Added installation commands for missing pakcages
+  * Fixes to lane_planner
+  * Added NDT TKU Glut extra dependencies
+  * ndt localizer/lib fast pcl fixes
+  re enable cv_tracker
+  * Fix kf_lib
+  * Keep industrial_ci
+  * Fixes for dpm library
+  * Fusion lib fixed
+  * dpm and fusion header should match exported project name
+  * Fixes to dpm_ocv  ndt_localizer and pcl_omp
+  * no fast_pcl anymore
+  * fixes to libdpm and its package
+  * CI test
+  * test with native travis ci
+  * missing update for apt
+  * Fixes to pcl_omp installation and headers
+  * Final fixes for tests, modified README
+  * * Fixes to README
+  * Enable industrial_ci
+  * re enable native travis tests
+* Building and using the AS node with Autoware
+* Contributors: Abraham Monrroy, Francis Joseph, Kosuke Murakami
+
+1.6.3 (2018-03-06)
+------------------
+
+1.6.2 (2018-02-27)
+------------------
+* Update CHANGELOG
+* Contributors: Yusuke FUJII
+
+1.6.1 (2018-01-20)
+------------------
+* update CHANGELOG
+* Contributors: Yusuke FUJII
+
+1.6.0 (2017-12-11)
+------------------
+* Prepare release for 1.6.0
+* adapted the version to the current version
+* Use correct callback function
+* Add check of as submodule
+* Change 2015 to 2017
+* Fix publishing msg type
+* Change output to log
+* Add pacmod interface
+* Contributors: TomohitoAndo, Yamato ANDO, Yusuke FUJII
+
+1.5.1 (2017-09-25)
+------------------
+
+1.5.0 (2017-09-21)
+------------------
+
+1.4.0 (2017-08-04)
+------------------
+
+1.3.1 (2017-07-16)
+------------------
+
+1.3.0 (2017-07-14)
+------------------
+
+1.2.0 (2017-06-07)
+------------------
+
+1.1.2 (2017-02-27 23:10)
+------------------------
+
+1.1.1 (2017-02-27 22:25)
+------------------------
+
+1.1.0 (2017-02-24)
+------------------
+
+1.0.1 (2017-01-14)
+------------------
+
+1.0.0 (2016-12-22)
+------------------

as/CMakeLists.txt

@@ -0,0 +1,55 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(as)
+
+find_package(carma_cmake_common REQUIRED)
+carma_check_ros_version(1)
+
+find_package(
+  catkin REQUIRED COMPONENTS
+  cav_msgs
+  autoware_build_flags
+  roscpp
+  message_filters
+  std_msgs
+  geometry_msgs
+  automotive_platform_msgs
+  automotive_navigation_msgs
+  autoware_msgs
+  ros_observer
+)
+
+catkin_package(
+  CATKIN_DEPENDS
+  roscpp
+  message_filters
+  std_msgs
+  geometry_msgs
+  automotive_platform_msgs
+  automotive_navigation_msgs
+  autoware_msgs
+  cav_msgs
+)
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+add_executable(ssc_interface
+  nodes/ssc_interface/ssc_interface_node.cpp
+  nodes/ssc_interface/ssc_interface.cpp
+)
+
+target_link_libraries(ssc_interface ${catkin_LIBRARIES})
+
+add_dependencies(ssc_interface ${catkin_EXPORTED_TARGETS})
+
+install(TARGETS ssc_interface
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY launch/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+  PATTERN ".svn" EXCLUDE
+)

as/README.md

@@ -0,0 +1,11 @@
+# How to build and use AS node in Autoware
+1. Clone the autoware repository
+2. After cloning autoware get all the submodules.
+```
+git submodule update --init --recursive
+```
+3. Build the workspace
+4. Ther is no GUI interface to launch this node. Hence use,
+```
+roslaunch as ssc_interface.launch
+```

as/interface.yaml

@@ -0,0 +1,4 @@
+- name: /ssc_interface
+  publish: [/as/arbitrated_steering_commands, /as/arbitrated_speed_commands,
+    /vehicle/twist]
+  subscribe: [/vehicle_cmd, /vehicle/engage, /as/steering_feedback]

as/launch/ssc_interface.launch

@@ -0,0 +1,28 @@
+<!-- -->
+<launch>
+
+	<arg name="use_adaptive_gear_ratio" default="true"/>
+	<arg name="command_timeout" default="1000"/>
+	<arg name="loop_rate" default="30.0"/>
+	<arg name="status_pub_rate" default="30.0" doc="The default publication rate in hz of the vehicle status information. If no new messages are available then a timestep will be skipped"/>
+	<arg name="wheel_base" default="2.79"/>
+	<arg name="tire_radius" default="0.39"/>
+	<arg name="acceleration_limit" default="3.0"/>
+	<arg name="deceleration_limit" default="3.0"/>
+	<arg name="max_curvature_rate" default="0.75"/>
+
+	<node pkg="as" type="ssc_interface" name="ssc_interface">
+		<param name="use_adaptive_gear_ratio" value="$(arg use_adaptive_gear_ratio)" />
+		<param name="command_timeout" value="$(arg command_timeout)" />
+		<param name="loop_rate" value="$(arg loop_rate)" />
+		<param name="status_pub_rate" value="$(arg status_pub_rate)" />
+		<param name="wheel_base" value="$(arg wheel_base)" />
+		<param name="tire_radius" value="$(arg tire_radius)" />
+		<param name="acceleration_limit" value="$(arg acceleration_limit)" />
+		<param name="deceleration_limit" value="$(arg deceleration_limit)" />
+		<param name="max_curvature_rate" value="$(arg max_curvature_rate)" />
+
+		<remap from="/state" to="/guidance/state" />
+	</node>
+
+</launch>