Merge release Isetta (#103)

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# PR Details
This PR is to merge release branch isetta to master for release 4.3.0
## Description

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## Related Issue

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issue first -->
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to reproduce -->
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## Motivation and Context

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## How Has This Been Tested?

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to -->
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## Types of changes

<!--- What types of changes does your code introduce? Put an `x` in all
the boxes that apply: -->

- [ ] Defect fix (non-breaking change that fixes an issue)
- [ ] New feature (non-breaking change that adds functionality)
- [ ] Breaking change (fix or feature that cause existing functionality
to change)

## Checklist:

<!--- Go over all the following points, and put an `x` in all the boxes
that apply. -->
<!--- If you're unsure about any of these, don't hesitate to ask. We're
here to help! -->

- [ ] I have added any new packages to the sonar-scanner.properties file
- [ ] My change requires a change to the documentation.
- [ ] I have updated the documentation accordingly.
- [ ] I have read the **CONTRIBUTING** document.
[CARMA Contributing
Guide](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/Contributing.md)
- [ ] I have added tests to cover my changes.
- [ ] All new and existing tests passed.

.circleci/config.yml

@@ -28,11 +28,12 @@ jobs:
     # Pull docker image from docker hub
     # XTERM used for better catkin_make output
     docker:
-      - image: usdotfhwastol/autoware.ai:carma-system-4.2.0
+      - image: usdotfhwastol/autoware.ai:carma-system-4.3.0
         user: carma
         environment:
           TERM: xterm # use xterm to get full display output from build
           INIT_ENV: /home/carma/.base-image/init-env.sh
+          ROS_2_ENV: /opt/ros/foxy/setup.bash
     working_directory: "/opt/carma/"
     # Execution steps
     steps:
@@ -51,16 +52,20 @@ jobs:
           command: |
             source ${INIT_ENV}
             ./src/CARMAVelodyneLidarDriver/docker/checkout.bash -r ${PWD}
+            sed -i '/colcon build/ s/$/ --packages-up-to velodyne_lidar_driver_wrapper driver_shutdown_ros2/' ~/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
       - 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
+            source ${ROS_2_ENV}
+            ./src/CARMAVelodyneLidarDriver/docker/install.sh
+            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
+            source ${ROS_2_ENV}
+            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

.sonarqube/sonar-scanner.properties

@@ -16,11 +16,15 @@
 
 sonar.projectKey=usdot-fhwa-stol_CARMAVelodyneLidarDriver
 sonar.organization=usdot-fhwa-stol
-sonar.cfamily.build-wrapper-output=/opt/carma/bw-output
+sonar.cfamily.cache.enabled=false
+sonar.cfamily.compile-commands=/opt/carma/build/compile_commands.json
 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/
+sonar.cfamily.gcov.reportsPath=/opt/carma/coverage_reports/gcov
+#sonar.tests=velodyne_lidar_driver_wrapper/test/
+sonar.coverageReportPaths=/opt/carma/coverage_reports/gcov/coverage.xml
+sonar.cpp.file.suffixes=.cpp,.h,.tpp
+sonar.c.file.suffixes=-
 # Set Git as SCM sensor
 sonar.scm.disabled=false
 sonar.scm.enabled=true

Dockerfile

@@ -12,7 +12,7 @@
 #  License for the specific language governing permissions and limitations under
 #  the License.
 
-FROM usdotfhwastol/autoware.ai:carma-system-4.2.0 as setup
+FROM usdotfhwastol/autoware.ai:carma-system-4.3.0 as setup
 
 ARG ROS1_PACKAGES=""
 ENV ROS1_PACKAGES=${ROS1_PACKAGES}
@@ -24,7 +24,7 @@ COPY --chown=carma . /home/carma/src/
 RUN ~/src/docker/checkout.bash
 RUN ~/src/docker/install.sh
 
-FROM usdotfhwastol/autoware.ai:carma-system-4.2.0
+FROM usdotfhwastol/autoware.ai:carma-system-4.3.0
 
 
 ARG BUILD_DATE="NULL"

README.md

@@ -1,3 +1,7 @@
+| CicleCI Build Status | Sonar Code Quality | DockerHub Release | DockerHub Release Candidate | DockerHub Develop |
+|------|-----|-----|-----|------|
+[![CircleCI](https://img.shields.io/circleci/build/gh/usdot-fhwa-stol/carma-velodyne-lidar-driver/develop?label=CircleCI)](https://app.circleci.com/pipelines/github/usdot-fhwa-stol/carma-velodyne-lidar-driver?branch=develop) | [![Quality Gate Status](https://sonarcloud.io/api/project_badges/measure?project=usdot-fhwa-stol_CARMAVelodyneLidarDriver&metric=alert_status)](https://sonarcloud.io/dashboard?id=usdot-fhwa-stol_CARMAVelodyneLidarDriver) | [![Docker Cloud Build Status](https://img.shields.io/docker/cloud/build/usdotfhwastol/carma-velodyne-lidar-driver?label=carma-velodyne-lidar-driver)](https://hub.docker.com/repository/docker/usdotfhwastol/carma-velodyne-lidar-driver) | [![Docker Cloud Build Status](https://img.shields.io/docker/cloud/build/usdotfhwastolcandidate/carma-velodyne-lidar-driver?label=carma-velodyne-lidar-driver)](https://hub.docker.com/repository/docker/usdotfhwastolcandidate/carma-velodyne-lidar-driver) | [![Docker Cloud Build Status](https://img.shields.io/docker/cloud/build/usdotfhwastoldev/carma-velodyne-lidar-driver?label=carma-velodyne-lidar-driver)](https://hub.docker.com/repository/docker/usdotfhwastoldev/carma-velodyne-lidar-driver)
+
 # CARMAVelodyneLidarDriver
 CARMAVelodyneLidarDriver contains a driver wrapper for usage with the standard Velodyne LiDAR driver to integrate with the CARMA Platform
 

docker/checkout.bash

@@ -39,6 +39,6 @@ if [[ "$BRANCH" = "develop" ]]; then
       git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ${dir}/src/CARMAMsgs --branch $BRANCH
       git clone https://github.com/usdot-fhwa-stol/carma-utils.git ${dir}/src/CARMAUtils --branch $BRANCH
 else
-      git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ${dir}/src/CARMAMsgs --branch carma-system-4.2.0
-      git clone https://github.com/usdot-fhwa-stol/carma-utils.git ${dir}/src/CARMAUtils --branch carma-system-4.2.0
+      git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ${dir}/src/CARMAMsgs --branch carma-system-4.3.0
+      git clone https://github.com/usdot-fhwa-stol/carma-utils.git ${dir}/src/CARMAUtils --branch carma-system-4.3.0
 fi

docker/install.sh

@@ -30,6 +30,12 @@ echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-a
 
 # Install the driver and pointcloud conversion package
 sudo apt install ros-foxy-velodyne-driver -y ros-foxy-velodyne-pointcloud
+
+# Don't proceed in Continuous Integration environment
+if [[ "$CI" == "true" ]]; then
+    exit
+fi
+
 # Build wrapper
 cd ~
 if [[ ! -z "$ROS2_PACKAGES" ]]; then

hooks/pre_build

@@ -2,14 +2,21 @@
 
 if [[ "$SOURCE_BRANCH" = "develop" ]]; then
     # add -d flag to checkout.bash and update image dependencies
-    sed -i "s|checkout.bash|checkout.bash -d|g; s|usdotfhwastol/|usdotfhwastoldev/|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:develop|g s|:CARMA[a-zA-Z]*_[0-9]*\.[0-9]*\.[0-9]*|:develop|g; s|:carma-[a-zA-Z]*-[0-9]*\.[0-9]*\.[0-9]*|:develop|g" \
+    sed -i "s|checkout.bash|checkout.bash -d|g; s|usdotfhwastol/|usdotfhwastoldev/|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:develop|g; s|:CARMA[a-zA-Z]*_[0-9]*\.[0-9]*\.[0-9]*|:develop|g; s|:carma-[a-zA-Z]*-[0-9]*\.[0-9]*\.[0-9]*|:develop|g" \
         Dockerfile
 elif [[ "$SOURCE_BRANCH" =~ ^release/.*$ ]]; then
-    # swap checkout branch in checkout.bash to release branch
+
+    # Update Dockerfile to point to release images
     RELEASE_NAME=$(echo $SOURCE_BRANCH | cut -d "/" -f 2)
     sed -i "s|usdotfhwastol/|usdotfhwastolcandidate/|g; s|usdotfhwastoldev/|usdotfhwastolcandidate/|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:$RELEASE_NAME|g; s|:CARMA[a-zA-Z]*_[0-9]*\.[0-9]*\.[0-9]*|:$RELEASE_NAME|g; s|:carma-[a-zA-Z]*-[0-9]*\.[0-9]*\.[0-9]*|:$RELEASE_NAME|g; s|:develop|:$RELEASE_NAME|g" \
         Dockerfile
     # swap checkout branch in checkout.bash to release branch
+    sed -i "/usdot-fhwa-stol/ s|--branch .*|--branch $SOURCE_BRANCH|g" \
+
+    # swap checkout branch in checkout.bash to release branch
+    RELEASE_NAME=$(echo $SOURCE_BRANCH | cut -d "/" -f 2)
+    sed -i "s|usdotfhwastol/|usdotfhwastolcandidate/|g; s|usdotfhwastoldev/|usdotfhwastolcandidate/|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:$RELEASE_NAME|g; s|:CARMA[a-zA-Z]*_[0-9]*\.[0-9]*\.[0-9]*|:$RELEASE_NAME|g; s|:carma-[a-zA-Z]*-[0-9]*\.[0-9]*\.[0-9]*|:$RELEASE_NAME|g; s|:develop|:$RELEASE_NAME|g" \
+        Dockerfile
     sed -i "s|--branch .*|--branch $SOURCE_BRANCH|g" \
         docker/checkout.bash
 fi