Sync develop to master (#270)

.circleci/config.yml

@@ -23,6 +23,7 @@ version: 2
 # Run static code analyzer for SourceCloud
 # Upload test results
 # Every run command should start with source ${INIT_ENV} to ensure all default dependancies are available
+# TODO (CAR-6022) Replace with GitHub action to remove branch coupling (develop/release-candidate/master)
 jobs:
   build:
     # Pull docker image from docker hub

.github/workflows/docker.yml

@@ -1,23 +1,11 @@
 name: Docker build
 
 on:
-  push:
-    branches-ignore:
-      - "carma-develop"
-      - "master"
-      - "release/*"
   pull_request:
       types: [opened, synchronize, reopened]
 
 jobs:
   docker:
-    runs-on: ubuntu-latest-8-cores
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v3
-      - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v2
-      - name: Build
-        uses: docker/build-push-action@v3
-        with:
-          context: .
+    uses: usdot-fhwa-stol/actions/.github/workflows/docker.yml@main
+    with:
+      context: .

.github/workflows/dockerhub.yml

@@ -3,25 +3,17 @@ name: Docker Hub build
 on:
   push:
     branches:
-      - "carma-develop"
-      - "master"
+      - carma-develop
+      - carma-master
       - "release/*"
+    tags:
+      - carma-system-*
 jobs:
   dockerhub:
-    runs-on: ubuntu-latest-8-cores
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v3
-      - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v2
-      - name: Login to DockerHub
-        uses: docker/login-action@v2
-        with:
-          username: ${{ secrets.DOCKERHUB_USERNAME }}
-          password: ${{ secrets.DOCKERHUB_TOKEN }}
-      - name: Build
-        uses: docker/build-push-action@v3
-        with:
-          context: .
-          push: true
-          tags: usdotfhwastoldev/${{ github.event.repository.name }}:develop
+    uses: usdot-fhwa-stol/actions/.github/workflows/dockerhub.yml@main
+    secrets:
+      DOCKERHUB_USERNAME: ${{ secrets.DOCKERHUB_USERNAME }}
+      DOCKERHUB_TOKEN: ${{ secrets.DOCKERHUB_TOKEN }}
+      GH_PAT: ${{ secrets.GH_PAT }}
+    with:
+      context: .

Dockerfile

@@ -1,14 +1,16 @@
-FROM usdotfhwastoldev/carma-base:develop AS base_image
+ARG DOCKER_ORG=usdotfhwastoldev
+ARG DOCKER_TAG=develop
+FROM ${DOCKER_ORG}/carma-base:${DOCKER_TAG} as base_image
 
 FROM base_image AS build
-
+ARG GIT_BRANCH=develop
 ARG ROS1_PACKAGES=""
 ENV ROS1_PACKAGES=${ROS1_PACKAGES}
 ARG ROS2_PACKAGES=""
 ENV ROS2_PACKAGES=${ROS2_PACKAGES}
 
 COPY --chown=carma . /home/carma/autoware.ai
-RUN /home/carma/autoware.ai/docker/checkout.bash
+RUN /home/carma/autoware.ai/docker/checkout.bash -b ${GIT_BRANCH}
 RUN ./home/carma/autoware.ai/docker/install.sh
 
 FROM base_image

README.md

@@ -1,7 +1,6 @@
 | CicleCI Build Status | DockerHub Release | DockerHub Release Candidate | DockerHub Develop |
 |------|-----|-----|-----|
-[![CircleCI](https://img.shields.io/circleci/build/gh/usdot-fhwa-stol/autoware.ai/carma-develop?label=CircleCI)](https://app.circleci.com/pipelines/github/usdot-fhwa-stol/autoware.ai?branch=carma-develop) | [![Docker Cloud Build Status](https://img.shields.io/docker/cloud/build/usdotfhwastol/autoware.ai?label=Docker%20Build&logo=232496ED)](https://hub.docker.com/repository/docker/usdotfhwastol/autoware.ai) | [![Docker Cloud Build Status](https://img.shields.io/docker/cloud/build/usdotfhwastolcandidate/autoware.ai?label=Docker%20Build&logo=232496ED)](https://hub.docker.com/repository/docker/usdotfhwastolcandidate/autoware.ai) | [![Docker Cloud Build Status](https://img.shields.io/docker/cloud/build/usdotfhwastoldev/autoware.ai?label=Docker%20Build&logo=232496ED)](https://hub.docker.com/repository/docker/usdotfhwastoldev/autoware.ai)
-
+[![CircleCI](https://img.shields.io/circleci/build/gh/usdot-fhwa-stol/autoware.ai/carma-develop?label=CircleCI)](https://app.circleci.com/pipelines/github/usdot-fhwa-stol/autoware.ai?branch=carma-develop) | [![Docker Hub build](https://github.com/usdot-fhwa-stol/autoware.ai/actions/workflows/dockerhub.yml/badge.svg?branch=carma-system-4.5.0)](https://github.com/usdot-fhwa-stol/autoware.ai/actions/workflows/dockerhub.yml) | [![Docker Hub build](https://github.com/usdot-fhwa-stol/autoware.ai/actions/workflows/dockerhub.yml/badge.svg?branch=release%2Flavida)](https://github.com/usdot-fhwa-stol/autoware.ai/actions/workflows/dockerhub.yml) | [![Docker Hub build](https://github.com/usdot-fhwa-stol/autoware.ai/actions/workflows/dockerhub.yml/badge.svg?branch=carma-develop)](https://github.com/usdot-fhwa-stol/autoware.ai/actions/workflows/dockerhub.yml)
 
 # Autoware.ai
 This is a fork of Autoware containing modifications to support usage with the [CARMAPlatform](https://github.com/usdot-fhwa-stol/carma-platform). This repository contains changes to the Autoware source code and configuration that may not be supported by the Autoware Foundation and may not be consistent with the original design intent of Autoware. All modifications in this repository are licensed under the same Apache License 2.0 as Autoware and all modifications of the source code made will be marked as such in accordance with the terms of the Apache License 2.0. For a list of modifications and their descriptions please see [NOTICE.md](NOTICE.md).

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

@@ -21,9 +21,19 @@ namespace hardcoded_params
 namespace control_limits
 {
 /**
- * The maximum allowable longitudinal velocity of the vehicle in m/s 
+ * The maximum allowable longitudinal velocity of the vehicle in m/s
  */
 constexpr double MAX_LONGITUDINAL_VELOCITY_MPS = 35.7632;
 constexpr double MAX_LONGITUDINAL_ACCEL_MPS2 = 3.5;
+
+/**
+* The maximum allowable simulation parameters
+* At the time of writing this, platform uses CARLA 0.9.10 as the vehicle's physics simulator.
+* CARLA 0.9.10 uses below hardcoded value for its vehicles (so even if increasing this value,
+* actual simulation won't support larger values unless forked and compiled)
+* https://github.com/carla-simulator/ros-bridge/blob/0.9.10.1/carla_ackermann_control/src/carla_ackermann_control/carla_control_physics.py#L254
+*/
+constexpr double MAX_SIMULATION_LONGITUDINAL_ACCEL_MPS2 = 8.0;
+
 }
 }  // namespace hardcoded_params

core_planning/twist_filter/include/accel_limiter.hpp

@@ -8,10 +8,12 @@
 namespace twist_filter{
 
 constexpr double MAX_LONGITUDINAL_ACCEL_HARDCODED_LIMIT_M_S_2 = hardcoded_params::control_limits::MAX_LONGITUDINAL_ACCEL_MPS2;
+constexpr double MAX_SIMULATION_LONGITUDINAL_ACCEL_HARDCODED_LIMIT_M_S_2 = hardcoded_params::control_limits::MAX_SIMULATION_LONGITUDINAL_ACCEL_MPS2;
+
 
 class LongitudinalAccelLimiter
 {
-    public: 
+    public:
         /**
          * Default constructor, not recommended for use.
          */
@@ -24,31 +26,31 @@ class LongitudinalAccelLimiter
 
         /**
          * \brief Constructor for LongitudinalAccelLimiter
-         * 
+         *
          * \param accel_limit The acceleration limit that should be enforced, in
          * units of m/s/s
          */
         LongitudinalAccelLimiter(double accel_limit):
             _accel_limit(accel_limit),
             _initialized(false),
             _prev_v(0.0),
-            _prev_t(0.0) {};  
+            _prev_t(0.0) {};
 
         /**
          * Limit the longitudinal acceleration found in the input ControlCommandStamped
-         * 
+         *
          * \param msg The message to be evaluated
-         * \return A copy of the message with the longitudinal accel limited 
+         * \return A copy of the message with the longitudinal accel limited
          * based on params or hardcoded limit
          */
         autoware_msgs::msg::ControlCommandStamped
             longitudinalAccelLimitCtrl(const autoware_msgs::msg::ControlCommandStamped& msg);
 
                 /**
          * Limit the longitudinal acceleration found in the input TwistStamped
-         * 
+         *
          * \param msg The message to be evaluated
-         * \return A copy of the message with the longitudinal accel limited 
+         * \return A copy of the message with the longitudinal accel limited
          * based on params or hardcoded limit
          */
         geometry_msgs::msg::TwistStamped
@@ -58,7 +60,7 @@ class LongitudinalAccelLimiter
         double _accel_limit;
         bool _initialized;
         double _prev_v;
-        rclcpp::Time _prev_t; 
+        rclcpp::Time _prev_t;
 };
 
 }

core_planning/twist_filter/include/twist_filter.hpp

@@ -19,7 +19,7 @@
  * Modifications:
  * - Added limiting for longitudinal velocity per CARMA specifications. Refactored
  *   namespacing and header as needed to support unit testing.
- *   - Kyle Rush 
+ *   - Kyle Rush
  *   - 9/11/2020
  * - Refactored for ros2
  *    - 11/16/2022
@@ -75,12 +75,12 @@ class TwistFilter : public carma_ros2_utils::CarmaLifecycleNode
     carma_ros2_utils::PubPtr<std_msgs::msg::Float32> ctrl_lacc_limit_debug_pub_, ctrl_ljerk_limit_debug_pub_;
     carma_ros2_utils::PubPtr<std_msgs::msg::Float32> twist_lacc_result_pub_, twist_ljerk_result_pub_;
     carma_ros2_utils::PubPtr<std_msgs::msg::Float32> ctrl_lacc_result_pub_, ctrl_ljerk_result_pub_;
-    
+
     //subscribers
     carma_ros2_utils::SubPtr<geometry_msgs::msg::TwistStamped> twist_sub_;
     carma_ros2_utils::SubPtr<autoware_msgs::msg::ControlCommandStamped> ctrl_sub_;
     carma_ros2_utils::SubPtr<autoware_config_msgs::msg::ConfigTwistFilter> config_sub_;
-    
+
     //ros params
     double wheel_base_;
     double longitudinal_velocity_limit_;

core_planning/twist_filter/src/twist_filter.cpp

@@ -18,7 +18,7 @@
  * Modifications:
  * - Added limiting for longitudinal velocity per CARMA specifications. Refactored
  *   namespacing and header as needed to support unit testing.
- *   - Kyle Rush 
+ *   - Kyle Rush
  *   - 9/11/2020
  */
 
@@ -53,17 +53,34 @@ carma_ros2_utils::CallbackReturn TwistFilter::handle_on_configure(const rclcpp_l
   // parameters on private handles
   get_parameter<double>("config_speed_limit", longitudinal_velocity_limit_);
   longitudinal_velocity_limit_ = longitudinal_velocity_limit_ * 0.44704;
-  
+
   get_parameter<double>("vehicle_acceleration_limit", longitudinal_accel_limit_);
+
+  bool use_sim_time = false;
+  get_parameter<bool>("use_sim_time", use_sim_time);
+
+  auto hardcoded_acceleration_limit = MAX_LONGITUDINAL_ACCEL_HARDCODED_LIMIT_M_S_2;
+
+  // if simulation
+  if (use_sim_time)
+  {
+    hardcoded_acceleration_limit = MAX_SIMULATION_LONGITUDINAL_ACCEL_HARDCODED_LIMIT_M_S_2;
+    RCLCPP_INFO_STREAM(get_logger(), "Simulation mode detected. Accounting for hardcoded limit, longitudinal acceleration limit used: " << hardcoded_acceleration_limit);
+  }
+  else
+  {
+    RCLCPP_INFO_STREAM(get_logger(), "Accounting for hardcoded limit, longitudinal acceleration limit used: " << hardcoded_acceleration_limit);
+  }
+
   _lon_accel_limiter = LongitudinalAccelLimiter{
-    std::min(longitudinal_accel_limit_, MAX_LONGITUDINAL_ACCEL_HARDCODED_LIMIT_M_S_2)};
-  
+    std::min(longitudinal_accel_limit_, hardcoded_acceleration_limit)};
+
   get_parameter<double>("vehicle_lateral_accel_limit", lateral_accel_limit_);
   get_parameter<double>("vehicle_lateral_jerk_limit", lateral_jerk_limit_);
   get_parameter<double>("lowpass_gain_linear_x", lowpass_gain_linear_x_);
   get_parameter<double>("lowpass_gain_angular_x", lowpass_gain_angular_z_);
   get_parameter<double>("lowpass_gain_steering_angle", lowpass_gain_steering_angle_);
-  
+
 
   //Setup subscribers
   twist_sub_ = create_subscription<geometry_msgs::msg::TwistStamped>("twist_raw", 1, std::bind(&TwistFilter::TwistCmdCallback, this, std_ph::_1));
@@ -73,7 +90,7 @@ carma_ros2_utils::CallbackReturn TwistFilter::handle_on_configure(const rclcpp_l
   //Setup publishers
   twist_pub_ = create_publisher<geometry_msgs::msg::TwistStamped>("twist_cmd", 5);
   ctrl_pub_ = create_publisher<autoware_msgs::msg::ControlCommandStamped>("ctrl_cmd", 5);
-  
+
   // Publishers on private handles
   twist_lacc_limit_debug_pub_ = create_publisher<std_msgs::msg::Float32>("~/limitation_debug/twist/lateral_accel", 5);
   twist_ljerk_limit_debug_pub_ = create_publisher<std_msgs::msg::Float32>("~/limitation_debug/twist/lateral_jerk", 5);
@@ -83,7 +100,7 @@ carma_ros2_utils::CallbackReturn TwistFilter::handle_on_configure(const rclcpp_l
   twist_ljerk_result_pub_ = create_publisher<std_msgs::msg::Float32>("~/result/twist/lateral_jerk", 5);
   ctrl_lacc_result_pub_ = create_publisher<std_msgs::msg::Float32>("~/result/ctrl/lateral_accel", 5);
   ctrl_ljerk_result_pub_ = create_publisher<std_msgs::msg::Float32>("~/result/ctrl/lateral_jerk", 5);
-  
+
 
   return CallbackReturn::SUCCESS;
 
@@ -413,4 +430,4 @@ void TwistFilter::CtrlCmdCallback(
 #include "rclcpp_components/register_node_macro.hpp"
 
 // Register the component with class_loader
-RCLCPP_COMPONENTS_REGISTER_NODE(twist_filter::TwistFilter)
+RCLCPP_COMPONENTS_REGISTER_NODE(twist_filter::TwistFilter)

docker/checkout.bash

@@ -17,11 +17,13 @@
 set -exo pipefail
 
 dir=~
+BRANCH=develop
 while [[ $# -gt 0 ]]; do
       arg="$1"
       case $arg in
-            -d|--develop)
-                  BRANCH=develop
+            -b|--branch)
+                  BRANCH=$2
+                  shift
                   shift
             ;;
             -r|--root)
@@ -31,18 +33,16 @@ while [[ $# -gt 0 ]]; do
             ;;
       esac
 done
-
-cd ${dir}/autoware.ai
-
-if [[ "$BRANCH" = "develop" ]]; then
-      git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-msgs.git --branch $BRANCH
-      git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-utils.git --branch $BRANCH
-      git clone --depth=1 https://github.com/usdot-fhwa-stol/autoware.auto.git --branch $BRANCH
-else
-      git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-msgs.git --branch develop
-      git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-utils.git --branch develop
-      git clone --depth=1 https://github.com/usdot-fhwa-stol/autoware.auto.git --branch develop
+# When branch is carma-develop or carma-master strip carma prefix
+if [[ "$BRANCH" == "carma-develop" ]]; then
+      BRANCH=develop
+elif [[ "$BRANCH" == "carma-master" ]]; then
+      BRANCH=master
 fi
-
+cd "${dir}"/autoware.ai
+git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-msgs.git --branch "$BRANCH"
+git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-utils.git --branch "$BRANCH"
+git clone --depth=1 https://github.com/usdot-fhwa-stol/autoware.auto.git --branch "$BRANCH"
+# TODO(CAR-6023): Should this external dependencies be moved into install.sh
 # Required to build pacmod_msgs
-git clone https://github.com/astuff/astuff_sensor_msgs.git ${dir}/src/astuff_sensor_msgs -b 3.0.1
+git clone https://github.com/astuff/astuff_sensor_msgs.git "${dir}"/src/astuff_sensor_msgs -b 3.0.1

jsk_common_msgs/.gitmodules

@@ -1,3 +1,4 @@
 [submodule ".travis"]
 	path = .travis
-	url = git://github.com/jsk-ros-pkg/jsk_travis
+	url = https://github.com/jsk-ros-pkg/jsk_travis.git
+	branch = 0.4.26

jsk_recognition/.gitmodules

@@ -1,10 +1,12 @@
 [submodule "jsk_perception/slic"]
 	path = jsk_perception/slic
 	url = https://github.com/garaemon/SLIC-Superpixels.git
+	branch = master
 [submodule ".travis"]
 	path = .travis
 	url = https://github.com/jsk-ros-pkg/jsk_travis.git
 	branch = 0.4.26
 [submodule "jsk_perception/node_scripts/deep_sort/deep_sort"]
 	path = jsk_perception/node_scripts/deep_sort/deep_sort
 	url = https://github.com/nwojke/deep_sort.git
+	branch = master