Merge release/prowler (4.9.0) branch into master

.github/workflows/auto-merge-workflow.yml

@@ -0,0 +1,14 @@
+name: Auto Merge develop to develop-humble
+
+on:
+  schedule:
+    - cron: '0 0 * * 1'  # Weekly on Monday
+  workflow_dispatch:  
+
+jobs:
+  call-merge-workflow:
+    uses: usdot-fhwa-stol/actions/.github/workflows/auto-pr-merge.yml@main
+    with:
+      branch_from: develop
+      branch_to: develop-humble
+      notify_team: DevOps

.github/workflows/ci.yml

@@ -24,7 +24,7 @@ jobs:
         working-directory: "/opt/carma/"
     runs-on: ubuntu-latest
     container:
-      image: ${{ needs.determine_docker_org_and_tag.outputs.docker_organization }}/carma-base:${{ needs.determine_docker_org_and_tag.outputs.docker_image_tag }}
+      image: usdotfhwastol/carma-base:carma-system-4.5.0
       env:
         INIT_ENV: "/home/carma/.base-image/init-env.sh"
         ROS_2_ENV: "/opt/ros/foxy/setup.bash"
@@ -92,4 +92,4 @@ jobs:
       uses: usdot-fhwa-stol/actions/sonar-scanner@main
       with:
         sonar-token: ${{ secrets.SONAR_TOKEN }}
-        working-dir: "/opt/carma/src/${{ github.event.repository.name }}"
+        working-dir: "/opt/carma/src/${{ github.event.repository.name }}"

.github/workflows/dockerhub.yml

@@ -42,7 +42,7 @@ jobs:
         with:
           context: ./carma-messenger-ui/
           push: true
-          tags: usdotfhwastol/carma-messenger-ui:${{ github.ref_name }}
+          tags: ${{ needs.determine_docker_org_and_tag.outputs.docker_organization }}/carma-messenger-ui:${{ github.ref_name }}
           build-args: |
             BUILD_DATE=${{ steps.docker-image-metadata.outcome.build_date }}
             VCS_REF=${{ steps.docker-image-metadata.outcome.vcs_ref }}
@@ -54,7 +54,7 @@ jobs:
         with:
           context: ./carma-messenger-core/
           push: true
-          tags: usdotfhwastol/carma-messenger-core:${{ github.ref_name }}      
+          tags: ${{ needs.determine_docker_org_and_tag.outputs.docker_organization }}/carma-messenger-core:${{ github.ref_name }}      
           build-args: |
             GIT_BRANCH=${{ github.ref_name }}
             DOCKER_TAG=${{ needs.determine_docker_org_and_tag.outputs.docker_image_tag }}
@@ -68,7 +68,7 @@ jobs:
         with:
           context: ./carma-messenger-config/chevrolet_tahoe_2018/
           push: true
-          tags: usdotfhwastol/carma-messenger-config:${{ github.ref_name }}-chevrolet_tahoe_2018
+          tags: ${{ needs.determine_docker_org_and_tag.outputs.docker_organization }}/carma-messenger-config:${{ github.ref_name }}-chevrolet_tahoe_2018
           build-args: |
             BUILD_DATE=${{ steps.docker-image-metadata.outcome.build_date }}
             VCS_REF=${{ steps.docker-image-metadata.outcome.vcs_ref }}
@@ -79,11 +79,8 @@ jobs:
         with:
           context: ./carma-messenger-config/development/
           push: true
-          tags: usdotfhwastol/carma-messenger-config:${{ github.ref_name }}-development
+          tags: ${{ needs.determine_docker_org_and_tag.outputs.docker_organization }}/carma-messenger-config:${{ github.ref_name }}-development
           build-args: |
             BUILD_DATE=${{ steps.docker-image-metadata.outcome.build_date }}
             VCS_REF=${{ steps.docker-image-metadata.outcome.vcs_ref }}
             VERSION=${{ steps.docker-image-metadata.outcome.version }}                
-
-
-

README.md

@@ -90,7 +90,7 @@ The development team would like to acknowledge the people who have made direct c
 By contributing to the Federal Highway Administration (FHWA) Connected Automated Research Mobility Applications (CARMA), you agree that your contributions will be licensed under its Apache License 2.0 license. [CARMA License](https://github.com/usdot-fhwa-stol/CARMAPlatform/blob/develop/docs/License.md) 
 
 ## Contact
-Please click on the CARMA logo below to visit the Federal Highway Adminstration(FHWA) CARMA website.
+Please click on the CARMA logo below to visit the Federal Highway Adminstration(FHWA) CARMA website. For more information, contact [email protected].
 
 [![CARMA Image](https://raw.githubusercontent.com/usdot-fhwa-stol/CARMAPlatform/develop/docs/image/CARMA_icon.png)](https://highways.dot.gov/research/research-programs/operations/CARMA)
 

carma-messenger-config/chevrolet_tahoe_2018/.env

@@ -1,2 +1,2 @@
-DOCKER_ORG=usdotfhwastoldev
-DOCKER_TAG=develop
+DOCKER_ORG=usdotfhwastol
+DOCKER_TAG=carma-system-4.9.0

carma-messenger-config/chevrolet_tahoe_2018/docker-compose.yml

@@ -15,7 +15,7 @@
 # Docker Compose Spec Version
 services:
   roscore:
-    image: ${DOCKER_ORG}/carma-base:${DOCKER_TAG}
+    image: usdotfhwastol/carma-base:carma-system-4.5.0
     network_mode: host
     container_name: roscore
     volumes_from:
@@ -28,7 +28,7 @@ services:
     command: roscore
 
   ros1_bridge:
-    image: ${DOCKER_ORG}/carma-msgs:${DOCKER_TAG}
+    image: usdotfhwastol/carma-msgs:carma-system-4.5.0
     network_mode: host
     container_name: ros1_bridge
     volumes_from:
@@ -40,7 +40,7 @@ services:
       - /opt/carma/logs:/opt/carma/logs
       - /opt/carma/.ros:/home/carma/.ros
     # Use the dynamic_bridge instead of the parameter bridge as the number of topics is small enough to pose less of a latency issue
-    command: bash -c 'wait-for-it.sh localhost:11311 -- rosparam load /opt/carma/vehicle/config/bridge.yml && source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --multi-threads'
+    command: bash -c 'wait-for-it localhost:11311 -- rosparam load /opt/carma/vehicle/config/bridge.yml && source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --multi-threads'
 
   messenger:
     image: ${DOCKER_ORG}/carma-messenger-core:${DOCKER_TAG}
@@ -53,7 +53,7 @@ services:
     volumes:
       - /opt/carma/logs:/opt/carma/logs
       - /opt/carma/.ros:/opt/carma/.ros
-    command: wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/carma-messenger-docker.launch
+    command: wait-for-it localhost:11311 -- roslaunch /opt/carma/vehicle/config/carma-messenger-docker.launch
 
   messenger_ros2:
     image: ${DOCKER_ORG}/carma-messenger-core:${DOCKER_TAG}
@@ -71,7 +71,7 @@ services:
     command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma-messenger-docker.launch.py'
 
   cohda_dsrc_driver:
-    image: ${DOCKER_ORG}/carma-cohda-dsrc-driver:${DOCKER_TAG}
+    image: usdotfhwastol/carma-cohda-dsrc-driver:carma-system-4.5.0
     container_name: carma-cohda-dsrc-driver
     network_mode: host
     volumes_from:
@@ -85,7 +85,7 @@ services:
     command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=dsrc_driver'
 
   torc-pinpoint-driver:
-    image: ${DOCKER_ORG}/carma-torc-pinpoint-driver:${DOCKER_TAG}
+    image: usdotfhwastol/carma-torc-pinpoint-driver:carma-system-4.5.0
     container_name: carma-torc-pinpoint-driver
     network_mode: host
     volumes_from:

carma-messenger-config/development/.env

@@ -1,2 +1,2 @@
-DOCKER_ORG=usdotfhwastoldev
-DOCKER_TAG=develop
+DOCKER_ORG=usdotfhwastol
+DOCKER_TAG=carma-system-4.9.0

carma-messenger-config/development/docker-compose.yml

@@ -15,7 +15,7 @@
 # Docker Compose Spec Version
 services:
   roscore:
-    image: ${DOCKER_ORG}/carma-base:${DOCKER_TAG}
+    image: usdotfhwastol/carma-base:carma-system-4.5.0
     network_mode: host
     container_name: roscore
     volumes_from:
@@ -26,7 +26,7 @@ services:
     command: roscore
 
   ros1_bridge:
-    image: ${DOCKER_ORG}/carma-msgs:${DOCKER_TAG}
+    image: usdotfhwastol/carma-msgs:carma-system-4.5.0
     network_mode: host
     container_name: ros1_bridge
     volumes_from:
@@ -37,7 +37,7 @@ services:
       - /opt/carma/logs:/opt/carma/logs
       - /opt/carma/.ros:/home/carma/.ros
     # Use the dynamic_bridge instead of the parameter bridge as the number of topics is small enough to pose less of a latency issue
-    command: bash -c 'wait-for-it.sh localhost:11311 -- rosparam load /opt/carma/vehicle/config/bridge.yml && source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --multi-threads'
+    command: bash -c 'wait-for-it localhost:11311 -- rosparam load /opt/carma/vehicle/config/bridge.yml && source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --multi-threads'
 
   messenger:
     image: ${DOCKER_ORG}/carma-messenger-core:${DOCKER_TAG}
@@ -49,7 +49,7 @@ services:
       - /opt/carma/logs:/opt/carma/logs
       - /opt/carma/.ros:/opt/carma/.ros
       - /opt/carma/vehicle:/opt/carma/vehicle
-    command: wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/carma-messenger-docker.launch
+    command: wait-for-it localhost:11311 -- roslaunch /opt/carma/vehicle/config/carma-messenger-docker.launch
 
   messenger_ros2:
     image: ${DOCKER_ORG}/carma-messenger-core:${DOCKER_TAG}
@@ -65,7 +65,7 @@ services:
     command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma-messenger-docker.launch.py'
 
   cohda_dsrc_driver:
-    image: ${DOCKER_ORG}/carma-cohda-dsrc-driver:${DOCKER_TAG}
+    image: usdotfhwastol/carma-cohda-dsrc-driver:carma-system-4.5.0
     container_name: carma-cohda-dsrc-driver
     network_mode: host
     volumes_from:
@@ -76,7 +76,7 @@ services:
     command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=dsrc_driver'
 
   torc-pinpoint-driver:
-    image: ${DOCKER_ORG}/carma-torc-pinpoint-driver:${DOCKER_TAG}
+    image: usdotfhwastol/carma-torc-pinpoint-driver:carma-system-4.5.0
     container_name: carma-torc-pinpoint-driver
     network_mode: host
     volumes_from:

carma-messenger-core/Dockerfile

@@ -11,11 +11,11 @@
 #  WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 #  License for the specific language governing permissions and limitations under
 #  the License.
-ARG DOCKER_ORG="usdotfhwastoldev"
-ARG DOCKER_TAG="develop"
-FROM ${DOCKER_ORG}/carma-base:${DOCKER_TAG} as base_image
+ARG DOCKER_ORG="usdotfhwastol"
+ARG DOCKER_TAG="carma-system-4.9.0"
+FROM usdotfhwastol/carma-base:carma-system-4.5.0 as base_image
 FROM base_image as setup
-ARG GIT_BRANCH="develop" 
+ARG GIT_BRANCH="carma-system-4.5.0" 
 
 RUN mkdir ~/src
 COPY --chown=carma . /home/carma/src/
@@ -45,4 +45,4 @@ RUN sudo chmod -R +x /opt/carma/install
 
 RUN pip install future
 
-CMD  [ "wait-for-it.sh", "localhost:11311", "--", "roslaunch", "carma-messenger", "carma-messenger.launch"]
+CMD  [ "wait-for-it", "localhost:11311", "--", "roslaunch", "carma-messenger", "carma-messenger.launch"]

carma-messenger-core/carma-messenger/CMakeLists.txt

@@ -52,8 +52,7 @@ else() # ROS 2
 
 
   ament_auto_package(
-          INSTALL_TO_SHARE launch log-config scripts ui
+          INSTALL_TO_SHARE config launch log-config scripts ui
   )
 
 endif()
-

carma-messenger-core/carma-messenger/config/rosbag2_qos_overrides.yaml

@@ -0,0 +1,7 @@
+## This file defines Quality of Service settings for subscribers created in rosbag2 recording.
+## Topics defined here have multiple publishers with different QoS settings which may lead to the rosbag ignoring messages.
+## The QoS settings defined here give the subscriber less restrictive settings, so all messages from the topic are retained.
+/rosout:
+  history: keep_all
+  reliability: reliable
+  durability: volatile

carma-messenger-core/carma-messenger/launch/carma-messenger.launch.py

@@ -45,6 +45,15 @@ def generate_launch_description():
         description = 'Path of folder on host PC containing route CSV file(s) that can be accessed by plugins'
     )
 
+    # Launch ROS2 rosbag logging
+    ros2_rosbag_launch = GroupAction(
+        actions=[
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/ros2_rosbag.launch.py']),
+            )
+        ]
+    )
+
     transform_group = GroupAction(
         actions=[
             PushRosNamespace(EnvironmentVariable('CARMA_TF_NS', default_value='/')),
@@ -58,7 +67,7 @@ def generate_launch_description():
         actions=[
             IncludeLaunchDescription(
                 PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/message.launch.py']),
-                launch_arguments = { 
+                launch_arguments = {
                     'configuration_delay' : [configuration_delay]
                 }.items()
             ),
@@ -69,7 +78,7 @@ def generate_launch_description():
         actions=[
             IncludeLaunchDescription(
                 PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/plugins.launch.py']),
-                launch_arguments = { 
+                launch_arguments = {
                     'configuration_delay' : [configuration_delay],
                     'route_file_folder' : route_file_folder
                 }.items()
@@ -93,9 +102,12 @@ def generate_launch_description():
         ]
     )
 
+
+
     return LaunchDescription([
         declare_configuration_delay_arg,
         declare_route_file_folder,
+        ros2_rosbag_launch,
         transform_group,
         v2x_group,
         plugins_group,

carma-messenger-core/carma-messenger/launch/plugins.launch.py

@@ -66,8 +66,8 @@ def generate_launch_description():
                     {'--log-level' : GetLogLevel('emergency_response_vehicle_plugin', env_log_levels) }
                 ],
                 remappings=[
-                    ("vehicle_pose", "position/gps_common_fix" ),
-                    ("velocity",     "position/velocity" ),
+                    ("vehicle_pose", "hardware_interface/gps_common_fix" ),
+                    ("velocity",     "hardware_interface/velocity" ),
                     ("outgoing_bsm", "bsm_outbound")
                 ],
                 parameters = [

carma-messenger-core/carma-messenger/launch/ros2_rosbag.launch.py

@@ -0,0 +1,56 @@
+# Copyright (C) 2024 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.
+
+from launch import LaunchDescription, LaunchContext
+from launch_ros.actions import Node
+from launch.actions import OpaqueFunction
+from launch.substitutions import LaunchConfiguration
+from launch.actions import DeclareLaunchArgument, ExecuteProcess
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
+
+from datetime import datetime
+import pathlib
+import yaml
+
+# This function is used to generate a command to record a ROS 2 rosbag that excludes topics
+# topics as provided in the appropriate configuration file.
+def record_ros2_rosbag(context: LaunchContext, rosbag2_qos_override_param_file):
+
+    overriding_qos_profiles = context.perform_substitution(rosbag2_qos_override_param_file)
+
+    proc = ExecuteProcess(
+            cmd=['ros2', 'bag', 'record', '-s', 'mcap', '--qos-profile-overrides-path', overriding_qos_profiles, '-o', '/opt/carma/logs/rosbag2_' + str(datetime.now().strftime('%Y-%m-%d_%H%M%S')), '-a'],
+            output='screen',
+            shell='true'
+        )
+
+    return [proc]
+
+
+def generate_launch_description():
+    rosbag2_qos_override_param_file = LaunchConfiguration('rosbag2_qos_override_param_file')
+    declare_rosbag2_qos_override_param_file = DeclareLaunchArgument(
+        name='rosbag2_qos_override_param_file',
+        default_value = PathJoinSubstitution([
+                    FindPackageShare('carma-messenger'),'config',
+                    'rosbag2_qos_overrides.yaml'
+                ]),
+        description = "Path to file containing rosbag2 override qos settings"
+    )
+
+    return LaunchDescription([
+        declare_rosbag2_qos_override_param_file,
+        OpaqueFunction(function=record_ros2_rosbag, args=[rosbag2_qos_override_param_file])
+    ])

carma-messenger-core/docker/checkout.bash

@@ -37,6 +37,6 @@ while [[ $# -gt 0 ]]; do
       esac
 done
 
-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
+git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ${dir}/src/CARMAMsgs --branch carma-system-4.5.0
+git clone https://github.com/usdot-fhwa-stol/carma-utils.git ${dir}/src/CARMAUtils --branch carma-system-4.5.0
 

carma-messenger-core/j2735_convertor/include/j2735_convertor/control_message_convertor.hpp

@@ -27,13 +27,13 @@ namespace j2735_convertor
 /**
  * @brief Namespace responsible for converting j2735 style Geofence control messages to CARMA usable control messages
  *
- * Handles conversion between ControlMessages in the j2735_msgs and cav_msgs packages.
+ * Handles conversion between ControlMessages in the j2735_v2x_msgs and cav_msgs packages.
  * Unit conversions and presence flags are also handled
  */
 namespace geofence_control
 {
 ////
-// Convert j2735_msgs to cav_msgs
+// Convert j2735_v2x_msgs to cav_msgs
 ////
 
 /**
@@ -127,7 +127,7 @@ void convert(const j2735_v2x_msgs::msg::TrafficControlParams& in_msg, carma_v2x_
 void convert(const j2735_v2x_msgs::msg::TrafficControlSchedule& in_msg, carma_v2x_msgs::msg::TrafficControlSchedule& out_msg);
 
 ////
-// Convert cav_msgs to j2735_msgs
+// Convert cav_msgs to j2735_v2x_msgs
 ////