Merge pull request #154 from usdot-fhwa-stol/release/zephyr

Release/zephyr

.circleci/config.yml

@@ -28,7 +28,7 @@ jobs:
     # Pull docker image from docker hub
     # XTERM used for better catkin_make output
     docker:
-      - image: usdotfhwastol/carma-base:carma-system-3.5.0
+      - image: usdotfhwastol/carma-base:carma-system-3.6.0
         user: carma
         environment:
           TERM: xterm

Dockerfile

@@ -1,10 +1,10 @@
-FROM usdotfhwastol/carma-base:carma-system-3.5.0 as build
+FROM usdotfhwastol/carma-base:carma-system-3.6.0 as build
 
 COPY --chown=carma . /home/carma/autoware.ai
 RUN /home/carma/autoware.ai/docker/checkout.bash
 RUN ./home/carma/autoware.ai/docker/install.sh
 
-FROM usdotfhwastol/carma-base:carma-system-3.5.0
+FROM usdotfhwastol/carma-base:carma-system-3.6.0
 
 ARG BUILD_DATE="NULL"
 ARG VCS_REF="NULL"
@@ -20,4 +20,4 @@ LABEL org.label-schema.vcs-url="https://github.com/usdot-fhwa-stol/autoware.ai"
 LABEL org.label-schema.vcs-ref=${VCS_REF}
 LABEL org.label-schema.build-date=${BUILD_DATE}
 
-COPY --chown=carma --from=build /home/carma/autoware.ai/ros/install /opt/autoware.ai/ros/install
+COPY --chown=carma --from=build /home/carma/autoware.ai/ros/install /opt/autoware.ai/ros/install

autoware/ros/carma_autoware_build

@@ -1,6 +1,6 @@
 #!/bin/bash
 
-#  Copyright (C) 2018-2019 LEIDOS.
+#  Copyright (C) 2018-2021 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
@@ -75,7 +75,8 @@ else
     catkin_make_isolated --source . --install --install-space ./ros/install -j1 --only-pkg-with-deps "${AUTOWARE_PACKAGE_SELECTION}" --cmake-args "${autoware_build_args}"
   else
     echo "Building with CMake args: ${autoware_build_args}"
-    colcon build --cmake-args "${autoware_build_args}" --executor sequential --install-base ./ros/install --packages-up-to ${AUTOWARE_PACKAGE_SELECTION}
+    echo "Build with CUDA"
+    AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --cmake-args "${autoware_build_args}" --executor sequential --install-base ./ros/install --packages-up-to ${AUTOWARE_PACKAGE_SELECTION}
   fi
 fi
 

autoware/ros/colcon_release

@@ -24,4 +24,5 @@ fi
 COLCON_OPTS="--cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs -DCMAKE_CXX_FLAGS=-Wall -DCMAKE_C_FLAGS=-Wall"
 
 export LIBRARY_PATH=/usr/lib/OpenNI2/Drivers:$LIBRARY_PATH
-colcon build $COLCON_OPTS $@
+echo "build with CUDA"
+AUTOWARE_COMPILE_WITH_CUDA=1 colcon build $COLCON_OPTS $@

common/hardcoded_params/CMakeLists.txt

@@ -1,3 +1,18 @@
+
+# Copyright (C) 2020-2021 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.
+
 cmake_minimum_required(VERSION 2.8.3)
 project(hardcoded_params)
 

common/hardcoded_params/include/hardcoded_params/control_limits/control_limits.h

@@ -1,7 +1,7 @@
 #pragma once
 
 /*
- * Copyright (C) 2020 LEIDOS.
+ * Copyright (C) 2020-2021 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

common/hardcoded_params/package.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <!--  
- Copyright (C) 2019-2020 LEIDOS.
+ Copyright (C) 2019-2021 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

common/lanelet2_extension/CMakeLists.txt

@@ -80,6 +80,7 @@ add_library( lanelet2_extension_lib
   lib/PassingControlLine.cpp
   lib/StopRule.cpp
   lib/DigitalSpeedLimit.cpp
+  lib/DigitalMinimumGap.cpp
   lib/RegionAccessRule.cpp
   lib/DirectionOfTravel.cpp
 )
@@ -139,6 +140,7 @@ if(CATKIN_ENABLE_TESTING)
   test/src/StopRuleTest.cpp
   test/src/DirectionOfTravelTest.cpp
   test/src/DigitalSpeedLimitTest.cpp
+  test/src/DigitalMinimumGapTest.cpp
   test/src/CarmaUSTrafficRulesTest.cpp
   test/src/MapLoadingTest.cpp
   test/src/test_local_projector.cpp

common/lanelet2_extension/docs/RegulatoryElements.md

@@ -2,6 +2,53 @@
 
 To better support dynamic updates and complex situations, CARMA expands on the standard Lanelet2 regulatory element set. The new regulatory element class definitions can be found [here](../include/lanelet2_extension/regulatory_elements) along with a new TrafficRules object which interprets them in place of the Lanelet2 tagging specification.
 
+## Digital Minimum Gap
+
+Minimum Gap can be set dynamically either through a V2V or V2X communications service. It helps to keep a safety following distance between ADS vehicles within an active geofence.
+
+### Parameters
+| **Role** | **Possible Type** | **description**                |
+|-------------|--------------|----------------------------------|
+| **refers**    | **Lanelet, Area**    | The region of the roadway this minimum gap applies to |
+
+### Custom Attributes
+
+| **Key** | **Value Type** | **description**                |
+|-------------|--------------|----------------------------------|
+| **subtype** | **digital_minimum_gap**    | Subtype name |
+| **mingap** | **double**    | The minimum gap to set. In an osm file units must be meters |
+| **participant:XXX** | **yes/no**    | The participant type this applies to |
+
+#### Note on participant tags
+
+To support multiple types of participants a new attribute should be added for each desired type and the value field set to "yes". So a minimum gap which applied to vehicles will have participant:vehicle set to yes. There is no need to explicitally mark participants as no, this will be implied. The lanelet2 participant heirarchy found [here](https://github.com/fzi-forschungszentrum-informatik/Lanelet2/blob/master/lanelet2_core/doc/LaneletAndAreaTagging.md#overriding) is supported.
+
+### OSM XML Example
+
+```(xml)
+<!-- Lanelet -->
+<relation id="1349" visible="true" version="1">
+  <member type="way" ref="1347" role="left" />
+  <member type="way" ref="1348" role="right" />
+  <tag k="location" v="urban" />
+  <tag k="subtype" v="road" />
+  <tag k="type" v="lanelet" />
+
+  <!-- Minimum gap -->
+  <member type='relation' ref='45217' role='regulatory_element' />
+</relation>
+
+<!-- Regulatory Minimum gap -->
+<relation id='45217' visible='true' version='1'>
+  <member type='lanelet' ref='1349' role='refers' />
+  <tag k='mingap' v='13' /> <!-- Minimum gap value is of unit meter-->
+  <tag k='subtype' v='digital_minimum_gap' />
+  <tag k='type' v='regulatory_element' />
+  <tag k='participant:vehicle' v='yes' />
+</relation>
+
+```
+
 ## Digital Speed Limit
 
 Represents a speed limit which can be set dynamically either through a V2X communications service or other mechanism. In a standard use case a digital speed limit would be expected to have precedence over a speed limit from a traffic sign which is still a supported speed limit mechanism.

common/lanelet2_extension/include/lanelet2_extension/regulatory_elements/DigitalMinimumGap.h

@@ -0,0 +1,104 @@
+#pragma once
+/*
+ * Copyright (C) 2021 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 <lanelet2_core/primitives/RegulatoryElement.h>
+#include <boost/algorithm/string.hpp>
+#include <lanelet2_core/utility/Units.h>
+#include <unordered_set>
+
+namespace lanelet
+{
+/**
+ * @brief Represents a  minimum gap which can be set dynamically either through a V2X communications service or other mechanism..
+ *        In a standard use case a digital  minimum gap would be expected to have precedence over a  minimum gap from a
+ * sign
+ *
+ * A digital minimum gap is dynamic and is normally provided through a communications service. This means the minimum gap
+ * is stored directly in the regulatory element rather than a TrafficSign element. A  minimum gap is applied
+ * uniformly accross all affected lanelets.
+ *
+ * @ingroup RegulatoryElementPrimitives
+ * @ingroup Primitives
+ */
+class DigitalMinimumGap : public RegulatoryElement
+{
+public:
+  static constexpr char RuleName[] = "digital_minimum_gap";
+  static constexpr char MinGap[] = "mingap";
+  double min_gap_ = 0;
+  std::unordered_set<std::string> participants_;
+
+  /**
+   * @brief Returns the lanelets this rule applies to
+   *
+   * @return Lanelets affected by this access rule
+   */
+  ConstLanelets getLanelets() const;
+
+  /**
+   * @brief Returns the areas this rule applies to
+   *
+   * @return The areas affected by this rule
+   */
+  ConstAreas getAreas() const;
+
+  /**
+   * @brief Returns the minimum gap  defined by this regulation
+   *
+   * @return The minimum gap  as a double object
+   */
+  double getMinimumGap() const;
+
+  /**
+   * @brief Returns true if the given participant must follow this minimum gap 
+   *
+   * @return True if this minimum gap  should apply to the given participant
+   */
+  bool appliesTo(const std::string& participant) const;
+
+  /**
+   * @brief Static helper function that creates a minimum gap  based on the provided double, start, end lines, and the
+   * affected participants
+   *
+   * @param id The lanelet::Id of this object
+   * @param min_gap The double which will be treated as the minimum gap (unit of meters) in this region
+   * @param lanelets The lanelets this minimum gap  applies to
+   * @param areas The areas this minimum gap  applies to
+   * @param participants The set of participants which this minimum gap  will apply to
+   *
+   * @return RegulatoryElementData containing all the necessary information to construct a minimum gap  element
+   */
+  static std::unique_ptr<lanelet::RegulatoryElementData> buildData(Id id, double min_gap, Lanelets lanelets, Areas areas,
+                                                     std::vector<std::string> participants);
+
+  /**
+   * @brief Constructor required for compatability with lanlet2 loading
+   *
+   * @param data The data to initialize this regulation with
+   */
+  explicit DigitalMinimumGap(const lanelet::RegulatoryElementDataPtr& data);
+
+protected:
+  // the following lines are required so that lanelet2 can create this object when loading a map with this regulatory
+  // element
+  friend class RegisterRegulatoryElement<DigitalMinimumGap>;
+};
+
+// Convenience Ptr Declarations
+using DigitalMinimumGapPtr = std::shared_ptr<DigitalMinimumGap>;
+using DigitalMinimumGapConstPtr = std::shared_ptr<const DigitalMinimumGap>;
+
+}  // namespace lanelet

common/lanelet2_extension/include/lanelet2_extension/regulatory_elements/DigitalSpeedLimit.h

@@ -1,6 +1,6 @@
 #pragma once
 /*
- * Copyright (C) 2020 LEIDOS.
+ * Copyright (C) 2020-2021 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

common/lanelet2_extension/include/lanelet2_extension/regulatory_elements/DirectionOfTravel.h

@@ -1,6 +1,6 @@
 #pragma once
 /*
- * Copyright (C) 2020 LEIDOS.
+ * Copyright (C) 2020-2021 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

common/lanelet2_extension/include/lanelet2_extension/regulatory_elements/PassingControlLine.h

@@ -1,6 +1,6 @@
 #pragma once
 /*
- * Copyright (C) 2020 LEIDOS.
+ * Copyright (C) 2020-2021 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

common/lanelet2_extension/include/lanelet2_extension/regulatory_elements/RegionAccessRule.h

@@ -1,6 +1,6 @@
 #pragma once
 /*
- * Copyright (C) 2020 LEIDOS.
+ * Copyright (C) 2020-2021 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
@@ -35,8 +35,9 @@ class RegionAccessRule : public RegulatoryElement
 {
 public:
   static constexpr char RuleName[] = "region_access_rule";
+  static constexpr char Reason[] = "reason";
   std::unordered_set<std::string> participants_;
-
+  std::string reason_ = "NA";
   /**
    * @brief Returns the lanelets this rule applies to
    *
@@ -51,6 +52,13 @@ class RegionAccessRule : public RegulatoryElement
    */
   ConstAreas getAreas() const;
 
+ /**
+   * @brief Returns the reason for this rule
+   *
+   * @return The reason for this rule
+   */
+  std::string getReason();
+
   /**
    * @brief Returns true if the provided participant can access lanelets or areas affected by this regulation
    *
@@ -76,7 +84,7 @@ class RegionAccessRule : public RegulatoryElement
    * @return RegulatoryElementData containing all the necessary information to construct a region access rule object
    */
   static std::unique_ptr<lanelet::RegulatoryElementData> buildData(Id id, Lanelets lanelets, Areas areas,
-                                                     std::vector<std::string> participants);
+                                                     std::vector<std::string> participants, const std::string& reason="NA");
 
 protected:
   // the following lines are required so that lanelet2 can create this object when loading a map with this regulatory

common/lanelet2_extension/include/lanelet2_extension/regulatory_elements/StopRule.h

@@ -1,6 +1,6 @@
 #pragma once
 /*
- * Copyright (C) 2020 LEIDOS.
+ * Copyright (C) 2020-2021 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

common/lanelet2_extension/include/lanelet2_extension/traffic_rules/CarmaUSTrafficRules.h

@@ -1,6 +1,6 @@
 #pragma once
 /*
- * Copyright (C) 2020 LEIDOS.
+ * Copyright (C) 2020-2021 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

common/lanelet2_extension/include/lanelet2_extension/utility/internal/query.tpp

@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2020 LEIDOS.
+ * Copyright (C) 2020-2021 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

common/lanelet2_extension/lib/CarmaUSTrafficRules.cpp

@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2020 LEIDOS.
+ * Copyright (C) 2020-2021 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