Car 5907 pinpoint ros2 #46
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saina-ramyar
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Jul 11, 2024
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saina-ramyar
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Jul 11, 2024
MishkaMN
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Jul 11, 2024
<!-- Thanks for the contribution, this is awesome. --> # PR Details ## Description This PR supports migration of pinpoint driver to ROS2 in this PR: usdot-fhwa-stol/carma-torc-pinpoint-driver#46 - It adds ROS2 version of pinpoint to the configs - It adds commands to include .env file in the image which started to be convention on this PR: usdot-fhwa-stol/carma-config#352 <!--- 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 of pinpoint to ROS2 <!--- Why is this change required? What problem does it solve? --> ## 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  <!--- 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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john-chrosniak
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Oct 8, 2024
# PR Details ## Description This PR fixes the topic remapping for the pinpoint sensor, changing it from `/position` to `/hardware_interface`. ## Related GitHub Issue NA ## Related Jira Key [CAR-6063](https://usdot-carma.atlassian.net/browse/CAR-6063) ## Motivation and Context When ported to ROS2 in [carma-torc-pinpoint-driver#46](usdot-fhwa-stol/carma-torc-pinpoint-driver#46), the CARMA Torc Pinpoint Driver namespace was changed to `/hardware_interface` to match the rest of the CARMA drivers. This same change is needed in CARMA Messenger to connect with the Pinpoint Driver. ## How Has This Been Tested? Tested on the Chevrolet Tahoe. Testing included: 1. Adding the above changes into the necessary docker images. 2. Running CARMA Messenger 3. Checked that CARMA Messenger subscribed to the correct topics (`/hardware_interface/gps_common_fix` and `/hardware_interface/velocity`) 4. Verified that the GPS coordinates showed up in the CARMA messenger web UI ## Types of changes - [x] 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: - [ ] 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. - [x] I have read the [**CONTRIBUTING**](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/Contributing.md) document. - [ ] I have added tests to cover my changes. - [x] All new and existing tests passed. [CAR-6063]: https://usdot-carma.atlassian.net/browse/CAR-6063?atlOrigin=eyJpIjoiNWRkNTljNzYxNjVmNDY3MDlhMDU5Y2ZhYzA5YTRkZjUiLCJwIjoiZ2l0aHViLWNvbS1KU1cifQ
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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.
Related GitHub Issue
NA
Related Jira Key
https://usdot-carma.atlassian.net/browse/CAR-5907
Motivation and Context
Migration to ROS2
How Has This Been Tested?
Local VM integration test:
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
Types of changes
Checklist: