From 8fef003196322707c708459b341c6cb84818bec3 Mon Sep 17 00:00:00 2001
From: Misheel Bayartsengel <misheel.bayart@gmail.com>
Date: Wed, 3 Apr 2024 16:24:20 -0400
Subject: [PATCH] enable motion_computation by default for vru use case (#334)

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# PR Details
## Description
Supports
https://github.com/usdot-fhwa-stol/carma-platform/pull/2351

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## Related Issue

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## Motivation and Context
https://usdot-carma.atlassian.net/browse/CDAR-883
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## How Has This Been Tested?

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## Types of changes

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- [ ] 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
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## Checklist:

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- [ ] 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.
- [ ] I have read the **CONTRIBUTING** document.
[CARMA Contributing
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---
 .../motion_computation/parameters.yaml        | 33 +++++++++++++++++++
 ail_vru_uc1_scenario/docker-compose.yml       |  1 +
 2 files changed, 34 insertions(+)
 create mode 100644 ail_vru_uc1_scenario/cdasim_config/carma-platform/motion_computation/parameters.yaml

diff --git a/ail_vru_uc1_scenario/cdasim_config/carma-platform/motion_computation/parameters.yaml b/ail_vru_uc1_scenario/cdasim_config/carma-platform/motion_computation/parameters.yaml
new file mode 100644
index 00000000..e2e45033
--- /dev/null
+++ b/ail_vru_uc1_scenario/cdasim_config/carma-platform/motion_computation/parameters.yaml
@@ -0,0 +1,33 @@
+# Time between predicted states in seconds
+prediction_time_step: 0.2
+
+# Period of prediction in seconds
+prediction_period: 10.0
+
+# CV Model X-Axis Acceleration Noise
+cv_x_accel_noise: 9.0
+
+# CV Model Y-Axis Acceleration Noise
+cv_y_accel_noise: 9.0
+
+# Maximum expected process noise. Used for mapping noise to confidence in [0,1] range
+prediction_process_noise_max: 1000.0
+
+# Percentage of initial confidence to propagate to next time step
+prediction_confidence_drop_rate: 0.95
+
+# Boolean: If true then BSM messages will be converted to ExternalObjects.
+#          If other object sources are enabled, they will be synchronized but no fusion will occur (objects may be duplicated)
+enable_bsm_processing: false
+
+# Boolean: If true then PSM messages will be converted to ExternalObjects.
+#          If other object sources are enabled, they will be synchronized but no fusion will occur (objects may be duplicated)
+enable_psm_processing: false
+
+# Boolean: If true then MobilityPath messages will be converted to ExternalObjects.
+#          If other object sources are enabled, they will be synchronized but no fusion will occur (objects may be duplicated)
+enable_mobility_path_processing: false
+
+# Boolean: If true then ExternalObjects generated from sensor data will be processed.
+#          If other object sources are enabled, they will be synchronized but no fusion will occur (objects may be duplicated)
+enable_sensor_processing: true
\ No newline at end of file
diff --git a/ail_vru_uc1_scenario/docker-compose.yml b/ail_vru_uc1_scenario/docker-compose.yml
index 2e354529..77f556cd 100644
--- a/ail_vru_uc1_scenario/docker-compose.yml
+++ b/ail_vru_uc1_scenario/docker-compose.yml
@@ -82,6 +82,7 @@ services:
       - ./carma-platform/inlanecruising_plugin/parameters.yaml:/opt/carma/install_ros2/inlanecruising_plugin/share/inlanecruising_plugin/config/parameters.yaml
       - ./carma-platform/yield_plugin/parameters.yaml:/opt/carma/install_ros2/yield_plugin/share/yield_plugin/config/parameters.yaml
       - ./carma-platform/lci_strategic_plugin/parameters.yaml:/opt/carma/install_ros2/lci_strategic_plugin/share/lci_strategic_plugin/config/parameters.yaml
+      - ./carma-platform/motion_computation/parameters.yaml:/opt/carma/install_ros2/motion_computation/share/motion_computation/config/parameters.yaml
     command: >
       bash -c 'export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
       && source /opt/carma/install_ros2/setup.bash