Port pinpoint to ros2 and update carma script #228
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saina-ramyar
reviewed
Jul 9, 2024
| @@ -78,12 +76,12 @@ services: | |||
| command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=dsrc_driver' | |||
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| torc-pinpoint-driver: | |||
| image: ${DOCKER_ORG}/carma-torc-pinpoint-driver:${DOCKER_TAG} | |||
| image: local/carma-torc-pinpoint-driver:SNAPSHOT | |||
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why is this a local build?
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oh sorry artifact from testing, replacing
saina-ramyar
approved these changes
Jul 9, 2024
MishkaMN
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to usdot-fhwa-stol/carma-torc-pinpoint-driver
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Jul 11, 2024
<!-- Thanks for the contribution, this is awesome. --> # PR Details ## Description This PR updates the pinpoint driver to ROS2. NOTE: integration test has only been done in local VM. Further integration testing on the vehicle with pinpoint is needed. Supporting PR: usdot-fhwa-stol/carma-messenger#228 Also fixed CI to work on ROS2 and not run code coverage because there is no unit test in this package. Sonar still checks for code smells or bugs. <!--- Describe your changes in detail --> ## Related GitHub Issue NA <!--- This project only accepts pull requests related to open GitHub issues or Jira Keys --> <!--- If suggesting a new feature or change, please discuss it in an issue first --> <!--- If fixing a bug, there should be an issue describing it with steps to reproduce --> <!--- Please DO NOT name partially fixed issues, instead open an issue specific to this fix --> <!--- Please link to the issue here: --> ## Related Jira Key https://usdot-carma.atlassian.net/browse/CAR-5907 <!-- e.g. CAR-123 --> ## Motivation and Context Migration to ROS2 <!--- Why is this change required? What problem does it solve? --> ## How Has This Been Tested? Local VM integration test: - launched using launch file   Appears to be trying to reconnect as expected:  Tested docker images build process with incremental process as well:  it is also tested as docker-compose and its results are in usdot-fhwa-stol/carma-messenger#228 <!--- Please describe in detail how you tested your changes. --> <!--- Include details of your testing environment, and the tests you ran to --> <!--- see how your change affects other areas of the code, etc. --> ## 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) - [X] 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! --> - [X] I have added any new packages to the sonar-scanner.properties file - [ ] My change requires a change to the documentation. - [X] I have updated the documentation accordingly. - [X] I have read the [**CONTRIBUTING**](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/Contributing.md) document. - [X] I have added tests to cover my changes. - [X] All new and existing tests passed.
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PR Details
Description
This PR supports migration of pinpoint driver to ROS2 in this PR: usdot-fhwa-stol/carma-torc-pinpoint-driver#46
Related GitHub Issue
NA
Related Jira Key
https://usdot-carma.atlassian.net/browse/CAR-5907
Motivation and Context
Migration of pinpoint to ROS2
How Has This Been Tested?
Set the config and tried starting without issue. Just needs to test on actual Tahoe vehicle now.
NOTE: image intentionally comments out the other components other than pinpoint
Types of changes
Checklist: