Merge pull request #9 from usdot-fhwa-stol/release/RX7

Release/rx7

.circleci/config.yml

@@ -0,0 +1,99 @@
+version: 2
+#  Copyright (C) 2018-2019 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 Circle CI 
+# CI will report failure if any executed command returns and error status
+# Operations performed are as follows
+# Build source code
+# Run unit tests for C++ and Java
+# Run static code analyzer for SourceCloud
+# Upload test results
+# Every run command should start with source ${INIT_ENV} to ensure all default dependancies are available
+
+jobs:
+  build:
+    # Pull docker image from docker hub
+    # XTERM used for better catkin_make output
+    docker:
+      - image: usdotfhwastol/carma-base-ci:2.8.4
+        user: carma
+        environment:
+          TERM: xterm # use xterm to get full display output from build
+          INIT_ENV: /home/carma/.base-image/init-env.sh
+    working_directory: "/opt/carma/"
+    # Execution steps
+    steps:
+      - run:
+          name: Create src folder
+          command: |
+            source ${INIT_ENV}
+            mkdir src
+            cd src
+            mkdir CARMAVelodyneLidarDriver
+            mkdir CARMAMsgs
+      - checkout:
+          path: src/CARMAVelodyneLidarDriver
+      - run: 
+          name: Pull CARMAMsgs
+          command: |
+            source ${INIT_ENV}
+            git clone -b develop --depth 1 git@github.com:usdot-fhwa-stol/CARMAMsgs.git src/CARMAMsgs
+      - run: 
+          name: Pull CARMADriverUtils
+          command: |
+            source ${INIT_ENV}
+            git clone -b develop --depth 1 git@github.com:usdot-fhwa-stol/CARMADriverUtils.git src/CARMADriverUtils
+      - run:
+          name: Build Driver
+          command: |
+            source ${INIT_ENV}
+            build-wrapper-linux-x86-64 --out-dir /opt/carma/bw-output bash make_with_coverage.bash -m -e /opt/carma/ -o ./coverage_reports/gcov
+      - run:
+          name: Run C++ Tests
+          command: |
+            source ${INIT_ENV}
+            bash make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov
+      # Run SonarCloud analysis
+      # PR Branchs and number extracted from Circle variables and github api
+      # Circle CI seems to make a change to the base branch, so we must fetch --force to ensure correct git file change stats
+      # SONAR_SCANNER_TOKEN MUST be secured as an environment variable in Circle CI NOT in this file. 
+      # The following sonar settings MUST be set in SonarCloud UI NOT in this file
+      # sonar.pullrequest.provider
+      # sonar.pullrequest.github.endpoint
+      # sonar.pullrequest.github.token.secured
+      # sonar.pullrequest.github.repository
+      # Use -X on sonar-scanner to enable debug output
+      - run:
+          name: Run Sonar Scanner
+          command: |
+            source ${INIT_ENV}
+            if [ -z "${CIRCLE_PULL_REQUEST}" ]; then
+              echo "Non-PR Build Detected. Running analysis on ${CIRCLE_BRANCH}"
+              cd src/CARMAVelodyneLidarDriver
+              sonar-scanner -Dproject.settings=.sonarqube/sonar-scanner.properties -Dsonar.login=${SONAR_SCANNER_TOKEN} 
+              exit 0;
+            fi
+            echo "PR branch ${CIRCLE_BRANCH}"
+            echo "Repo name ${CIRCLE_PROJECT_USERNAME}/${CIRCLE_PROJECT_REPONAME}"
+            echo "URL ${CIRCLE_PULL_REQUEST}"
+            export PR_NUM=`echo ${CIRCLE_PULL_REQUEST} | cut -d'/' -f7`
+            echo "PR number ${PR_NUM}"
+            export BASE_BRANCH_URL="https://api.github.com/repos/${CIRCLE_PROJECT_USERNAME}/${CIRCLE_PROJECT_REPONAME}/pulls/${PR_NUM}"
+            export TARGET_BRANCH=$(curl "$BASE_BRANCH_URL" | jq '.base.ref' | tr -d '"') 
+            echo "Target Branch = ${TARGET_BRANCH}"
+            cd src/CARMAVelodyneLidarDriver
+            git fetch --force origin ${TARGET_BRANCH}:${TARGET_BRANCH}
+            sonar-scanner -Dproject.settings=.sonarqube/sonar-scanner.properties -Dsonar.login=${SONAR_SCANNER_TOKEN} -Dsonar.pullrequest.base=${TARGET_BRANCH} -Dsonar.pullrequest.branch=${CIRCLE_BRANCH} -Dsonar.pullrequest.key=${PR_NUM}

.sonarqube/sonar-scanner.properties

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+#  Copyright (C) 2018-2019 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
+
+sonar.projectKey=usdot-fhwa-stol_CARMAVelodyneLidarDriver
+sonar.organization=usdot-fhwa-stol
+sonar.cfamily.build-wrapper-output=/opt/carma/bw-output
+sonar.host.url=https://sonarcloud.io
+sonar.sources=velodyne_lidar_driver_wrapper/src/
+# sonar.cfamily.gcov.reportsPath=/opt/carma/coverage_reports/gcov
+# sonar.tests=velodyne_lidar_driver_wrapper/test/
+# Set Git as SCM sensor
+sonar.scm.disabled=false
+sonar.scm.enabled=true
+sonar.scm.provider=git

velodyne_lidar_driver_wrapper/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(velodyne_lidar_driver_wrapper)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  cav_driver_utils
+  cav_msgs
+  sensor_msgs
+  roscpp
+)
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+  LIBRARIES ${PROJECT_NAME}
+  CATKIN_DEPENDS cav_driver_utils cav_msgs sensor_msgs roscpp
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+file(GLOB_RECURSE headers */*.hpp */*.h)
+add_executable( ${PROJECT_NAME}_node
+        ${headers}
+        src/main.cpp
+        src/velodyne_lidar_driver_wrapper.cpp)
+
+## Specify libraries to link a library or executable target against
+target_link_libraries( ${PROJECT_NAME}_node ${catkin_LIBRARIES})
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+install(TARGETS ${PROJECT_NAME}_node
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark cpp header files for installation
+install(DIRECTORY include/
+        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+        FILES_MATCHING PATTERN "*.h"
+        PATTERN ".svn" EXCLUDE
+)
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+install(DIRECTORY
+        launch
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+#############
+## Testing ##
+#############
+
+

velodyne_lidar_driver_wrapper/config/parameters.yaml

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+# Timeout threshold for point cloud message, in seconds
+point_cloud_timeout: 0.2

velodyne_lidar_driver_wrapper/include/velodyne_lidar_driver_wrapper.h

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+#pragma once
+
+/*
+ * Copyright (C) 2019 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.
+ */
+
+#include <driver_wrapper/driver_wrapper.h>
+#include <sensor_msgs/PointCloud2.h>
+
+class VelodyneLidarDriverWrapper : public cav::DriverWrapper
+{
+
+public:
+    VelodyneLidarDriverWrapper(int argc, char **argv, const std::string &name = "velodyne_lidar_driver_wrapper");
+    virtual ~VelodyneLidarDriverWrapper();
+
+private:
+
+    ros::Subscriber point_cloud_sub_;
+    ros::Time last_update_time_;
+    double point_cloud_timeout_;
+
+    /**
+     * @brief Callback for handling point cloud message
+     */
+    void point_cloud_cb(const sensor_msgs::PointCloud2ConstPtr& msg);
+
+    /**
+     * @brief Check lidar data output timeout
+     */
+    void checkLidarTimeout();
+
+    //cav::DriverWrapper members
+    virtual void initialize();
+    virtual void pre_spin();
+    virtual void post_spin();
+    virtual void shutdown();
+
+};

velodyne_lidar_driver_wrapper/launch/velodyne_lidar_driver.launch

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+<?xml version="1.0"?>
+<!--
+  Copyright (C) 2018-2019 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 file is used to launch a CARMA compatible lidar driver for velodyne VLP-32C
+-->
+<launch>
+
+  <arg name="frame_id" default="velodyne" doc="The frame id to use for the scan data"/>
+  <arg name="device_ip" default="192.168.1.201" doc="Ip address of velodyne device"/>
+
+  <!-- Launch Wrapper -->
+  <remap from="velodyne_points" to="lidar/points_raw"/>
+  <include file="$(find velodyne_lidar_driver_wrapper)/launch/velodyne_lidar_wrapper.launch"/>
+
+  <!-- Launch Wrapped Nodes -->
+  <include file="$(find velodyne_pointcloud)/launch/VLP-32C_points.launch">
+    <arg name="frame_id" value="$(arg frame_id)" />
+    <arg name="device_ip" value="$(arg device_ip)" />
+  </include>
+
+</launch>

velodyne_lidar_driver_wrapper/launch/velodyne_lidar_wrapper.launch

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+<?xml version="1.0"?>
+<!--
+  Copyright (C) 2018-2019 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 file is used to launch a ros wrapper which can be combined with public velodyne drivers to make them CARMA compatible
+-->
+<launch>
+    <node name="velodyne_lidar_driver_wrapper" pkg="velodyne_lidar_driver_wrapper" type="velodyne_lidar_driver_wrapper_node" output="screen"/>
+    <rosparam command="load" file="$(find velodyne_lidar_driver_wrapper)/config/parameters.yaml" />
+
+    <node pkg="topic_tools" type="relay" name="relay_points_raw" args="/velodyne_points /lidar/points_raw" />
+    <node pkg="topic_tools" type="relay" name="relay_lidar_scan" args="/scan /lidar/scan" />
+</launch>

velodyne_lidar_driver_wrapper/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>velodyne_lidar_driver_wrapper</name>
+  <version>0.0.1</version>
+  <description>CARMA velodyne lidar driver wrapper package</description>
+  <maintainer email="carma@todo.todo">carma</maintainer>
+  <license>Apache 2.0</license>
+  <author email="carma@todo.todo">carma</author>
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>cav_driver_utils</depend>
+  <depend>cav_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>roscpp</depend>
+</package>

velodyne_lidar_driver_wrapper/src/main.cpp

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+/*
+ * Copyright (C) 2019 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.
+ */
+
+#include "velodyne_lidar_driver_wrapper.h"
+
+int main(int argc, char**argv)
+{
+   VelodyneLidarDriverWrapper wrapper(argc,argv);
+   return  wrapper.run();
+}