Factor packages from carma-utils to ssc wrapper repo #161
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MishkaMN
changed the title
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Looks good to me. CI seems to be failing because of repeating package names with carma-utils, it should be re-run once usdot-fhwa-stol/carma-utils#234 is merged. |
Just a heads up, even after fixing that (and few more issues regarding missing pacmod_msgs because CI is not correctly configured to add all the relevant packages in build although docker does), the CI will still fail due to some packages failing unit test (looks like they timed out). I have another PR here with the result: |
MishkaMN
added a commit
to usdot-fhwa-stol/carma-utils
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Sep 11, 2024
<!-- Thanks for the contribution, this is awesome. --> # PR Details ## Description This PR removes unused ROS1 code as most of the code is migrated to ROS2 foxy. <!--- Describe your changes in detail --> **Kept:** **carma_utils** is used by carma_record **driver_shutdown** is needed for ROS1 driver launch files **Removed:** **cav_driver_utils** is used by ros1 drivers, but all of them are deprecated except the ssc driver. Therefore it was also moved to[ ssc wrapper repo](usdot-fhwa-stol/carma-ssc-interface-wrapper#161) along with socketcan_bridge **socketcan_bridge** and **socketcan_interface** is used by pacifica's dbw controller, so factored into that[ repo here](usdot-fhwa-stol/carma-ssc-interface-wrapper#161). **wgs84_utils_ros1** is removed because ROS2 exists. **bsm_helper** is ROS1 and ROS2 of which ROS1 can be removed. **uncertainty_tools** is ROS1/ROS2 of which ROS1 can be removed. NOTE: [novatel_gps_driver](https://github.com/usdot-fhwa-stol/novatel_gps_driver) depends on this as ROS1. However, the repo is no longer used and should probably be archived. **sigpack:** NOTE: it is dependency for carma-vehicle-model-framework, but that repo has not been updated for 3 years, is not used anywhere yet, and no plans to develop for it in the future. We can add it back if needed. Tracking the issue on: usdot-fhwa-stol/carma-platform#2433 **trajectory_utils.** trajectory_utils_ros2 should be renamed to just trajectory_utils in a different PR. ## Related GitHub Issue usdot-fhwa-stol/carma-platform#2079 <!--- 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 [ARC-146](https://usdot-carma.atlassian.net/browse/ARC-146) <!-- e.g. CAR-123 --> ## Motivation and Context Migration to Foxy <!--- Why is this change required? What problem does it solve? --> ## How Has This Been Tested? Built carma-platform on local VM <!--- 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 - [X] 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. [CAR-146]: https://usdot-carma.atlassian.net/browse/CAR-146?atlOrigin=eyJpIjoiNWRkNTljNzYxNjVmNDY3MDlhMDU5Y2ZhYzA5YTRkZjUiLCJwIjoiZ2l0aHViLWNvbS1KU1cifQ [ARC-146]: https://usdot-carma.atlassian.net/browse/ARC-146?atlOrigin=eyJpIjoiNWRkNTljNzYxNjVmNDY3MDlhMDU5Y2ZhYzA5YTRkZjUiLCJwIjoiZ2l0aHViLWNvbS1KU1cifQ
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Currently CI is failing due to missing build dependencies that was not correctly configured in CI workflow, which is the case since for a while. Since docker is building fine, it is safe to merge I think. It was resolved in the PR: #160 |
adev4a
approved these changes
Sep 12, 2024
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PR Details
Description
This PR supports moving ROS 1 Noetic code from carma-utils to this repository since this is the only respository in the CARMA Platform system that depends on these packages. Relevant carma-utils PR: usdot-fhwa-stol/carma-utils#234
Moved from carma-utils to here:
cav_driver_utils is used by ros1 drivers, but all of them are deprecated except the ssc driver. Therefore it was also moved to ssc wrapper repo along with socketcan_bridge
socketcan_bridge and socketcan_interface is used by pacifica's dbw controller, so factored into that repo here.
Additionally, this PR supports moving the
aspackage from the usdot-fhwa-stol/autoware.ai fork to this repository, since this is the only repository in the CARMA Platform system that uses the package. Relevant autoware.ai PR: usdot-fhwa-stol/autoware.ai#273Moved from usdot-fhwa-stol/autoware.ai fork to here:
as is a package that contains the ROS 1 Noetic SSC Interface for converting between
automotive_platform_msgsmessages to/from the SSC and the message types used within the core CARMA Platform system.Related GitHub Issue
usdot-fhwa-stol/carma-platform#2079
Related Jira Key
ARC-146
Motivation and Context
Migration to Foxy
How Has This Been Tested?
Built carma-platform on local VM
Types of changes
Checklist: