update nats config parameters (#155)

update nats connection parameters

telematic_system/docker-compose.units.yml

@@ -51,8 +51,7 @@ services:
     - STREETS_BRIDGE_LOG_HANDLER_TYPE=console #console: Print logs on console; file: Save logs to file; all: Prints logs on console and file
     - KAFKA_BROKER_IP=localhost
     - KAFKA_BROKER_PORT=9092
-    - NATS_IP=<IP> #REQUIRED variable, replace IP with IP address of NATS server
-    - NATS_PORT=4222
+    - NATS_SERVER_IP_PORT=nats://<IP>:4222 #REQUIRED variable, replace IP with IP address of NATS server
     - KAFKA_CONSUMER_RESET=earliest
     - STREETS_BRIDGE_EXCLUSION_LIST= ${STREETS_BRIDGE_EXCLUSION_LIST} #OPTIONAL variable to set a comma separated list of topics not available to publish, leave empty if none
     - IS_SIM=False #OPTIONAL variable to treat incoming messages as coming from simulation env.  In this case the bridge will use system time as message timestamp. Defaults to False.
@@ -72,8 +71,7 @@ services:
            - ./logs:/var/logs
            - /opt/tomcat/logs:/opt/tomcat/logs
     environment:
-      - NATS_IP=<IP> #REQUIRED variable, replace IP with IP address of NATS server
-      - NATS_PORT=4222
+      - NATS_SERVER_IP_PORT=nats://<IP>:4222 #REQUIRED variable, replace IP with IP address of NATS server
       - CARMA_CLOUD_LOG=/opt/tomcat/logs/carmacloud.log #Required for carma cloud bridge, containing the directory where carma cloud log is located
       - CARMA_CLOUD_BRIDGE_UNIT_ID=cloud_id
       - CARMA_CLOUD_BRIDGE_UNIT_TYPE=infrastructure

telematic_system/telematic.env

@@ -1,11 +1,10 @@
-INFLUXDB_DEV_TAG=latest #Required: The tag for influxDB image version. Current latest version is 2.4 
+INFLUXDB_DEV_TAG=latest #Required: The tag for influxDB image version. Current latest version is 2.4
 INFLUXDB_DEV_INIT_USERNAME=admin #Required: Create a credential username on container initial startup.
 INFLUXDB_DEV_INIT_PASSWORD=adminpwd #Required: Create a credential password on container initial startup.
 INFLUXDB_DEV_INIT_BUCKET=platform-dev #Required: Create an bucket on container initial startup. You can create more buckets inside the influxDB container.
 INFLUXDB_DEV_ORG=my-org #Required: Create an organization on container startup. You can create more orgs inside the same influxDB container.
 INFLUXDB_DEV_RETENTION=7d #Optional: If not set, default is 0s meaning the initial bucket will retain data forever.
-NATS_IP=44.206.13.7 #change to amazon ec2 ipv4 address
-NATS_PORT=4222
+NATS_SERVER_IP_PORT=44.206.13.7:4222 #change to amazon ec2 ipv4 address
 ##Cloud Bridge params
 CARMA_CLOUD_LOG=/opt/tomcat/logs/carmacloud.log #Required for carma cloud bridge, containing the directory where carma cloud log is located
 CARMA_CLOUD_BRIDGE_UNIT_ID=cloud_id
@@ -36,10 +35,7 @@ STREETS_BRIDGE_LOG_ROTATION_SIZE_BYTES=2147483648 #2 gigabytes
 STREETS_BRIDGE_LOG_HANDLER_TYPE=console #"console": Print logs on console; "file": Save logs to file; "all": Prints logs on console and file
 KAFKA_BROKER_IP=localhost
 KAFKA_BROKER_PORT=9092
-NATS_IP=44.206.13.7
-NATS_PORT=4222
 KAFKA_CONSUMER_RESET=earliest
 STREETS_BRIDGE_EXCLUSION_LIST=
 VEHICLE_BRIDGE_EXCLUSION_LIST= /environment/map_filtered_points,/environment/points_clustered,/environment/points_in_map,/environment/detected_objects,/environment/roadway_objects,/environment/motion_computation_visualization,/hardware_interface/lidar/points_raw,/environment/points_ground,/environment/points_no_ground,/environment/points_in_base_link,/environment/lidar_detected_objects,/environment/map_update,/environment/semantic_map,/environment/base_map,/diagnostics,/environment/base_map,/environment/bounding_box_converter/transition_event,/environment/carma_wm_broadcaster/transition_event,/environment/detected_objects,/environment/environment_perception_controller/transition_event,/environment/external_object/transition_event,/environment/external_objects,/environment/external_objects_viz,/environment/leftover_clusters,/environment/lidar_bounding_boxes,/environment/lidar_bounding_boxes_viz,/environment/lidar_detected_objects,/environment/lidar_frame_transformer/transition_event,/environment/lidar_to_map_frame_transformer/transition_event,/environment/map_filtered_points,/environment/map_update,/environment/motion_computation_node/transition_event,/environment/motion_computation_visualize,/environment/motion_prediction_visualizer/transition_event,/environment/object_visualizer_node/transition_event,/environment/perception_points_filter_container/transition_event,/environment/points_clustered,/environment/points_ground,/environment/points_in_base_link,/environment/points_in_map,/environment/points_map_filter/transition_event,/environment/points_no_ground,/environment/roadway_objects,/environment/roadway_objects_node/transition_event,/environment/roadway_obstacles,/environment/roadway_obstacles_viz,/environment/semantic_map,/environment/tcm_visualizer,/environment/tracked_objects,/environment/traffic_incident_parser_node/transition_event,/guidance/arbitrator/transition_event,/guidance/cav_marker,/guidance/guidance_controller/transition_event,/guidance/guidance_node/transition_event,/guidance/host_marker,/guidance/label_marker,/guidance/mobilitypath_visualizer_node/transition_event,/guidance/plan_delegator/transition_event,/guidance/plugin_discovery,/guidance/plugins/inlanecruising_plugin/transition_event,/guidance/plugins/light_controlled_intersection_tactical_plugin/transition_event,/guidance/plugins/platooning_tactical_plugin_node/transition_event,/guidance/plugins/pure_pursuit_wrapper/transition_event,/guidance/plugins/route_following_plugin/transition_event,/guidance/plugins/sci_strategic_plugin/transition_event,/guidance/plugins/stop_and_wait_plugin/transition_event,/guidance/plugins/stop_controlled_intersection_tactical_plugin/transition_event,/guidance/plugins/yield_plugin/transition_event,/guidance/port_drayage_plugin_node/transition_event,/guidance/route_marker,/guidance/route_node/transition_event,/guidance/trajectory_executor_node/transition_event,/guidance/trajectory_visualizer,/guidance/trajectory_visualizer_node/transition_event,/hardware_interface/accel_aux_rpt,/hardware_interface/all_system_statuses,/hardware_interface/as/speed_model/transition_event,/hardware_interface/as/speed_model_config,/hardware_interface/as/steering_model/transition_event,/hardware_interface/as/steering_model_config,/hardware_interface/as/veh_controller/transition_event,/hardware_interface/as/veh_controller_config,/hardware_interface/as/veh_interface/transition_event,/hardware_interface/as/veh_interface_config,/hardware_interface/carma_novatel_driver_wrapper_node/transition_event,/hardware_interface/comms/inbound_binary_msg,/hardware_interface/comms/outbound_binary_msg,/hardware_interface/component_rpt,/hardware_interface/date_time_rpt,/hardware_interface/driver_shutdown_5cff53178b6c4b64891942011c611f9a/transition_event,/hardware_interface/driver_shutdown_8767cd437e204a1491116fbacbe0e0bc/transition_event,/hardware_interface/driver_shutdown_ab3249fe2c1842489af73c22ad5fd775/transition_event,/hardware_interface/driver_shutdown_fd9b1bee52464111a097362c7cfc70f4/transition_event,/hardware_interface/drivers_controller/transition_event,/hardware_interface/dsrc_driver_node/transition_event,/hardware_interface/imu_raw,/hardware_interface/interior_lights_rpt,/hardware_interface/lat_lon_heading_rpt,/hardware_interface/libkvaser_reader_node/transition_event,/hardware_interface/libkvaser_writer_node/transition_event,/hardware_interface/lidar/points_raw,/hardware_interface/novatel/oem7/bestpos,/hardware_interface/novatel/oem7/bestutm,/hardware_interface/novatel/oem7/bestvel,/hardware_interface/novatel/oem7/corrimu,/hardware_interface/novatel/oem7/fix,/hardware_interface/novatel/oem7/gps,/hardware_interface/novatel/oem7/heading2,/hardware_interface/novatel/oem7/imu/data,/hardware_interface/novatel/oem7/insconfig,/hardware_interface/novatel/oem7/inspva,/hardware_interface/novatel/oem7/inspvax,/hardware_interface/novatel/oem7/insstdev,/hardware_interface/novatel/oem7/odom,/hardware_interface/novatel/oem7/oem7raw,/hardware_interface/novatel/oem7/rxstatus,/hardware_interface/novatel/oem7/time,/hardware_interface/pacmod3_node/transition_event,/hardware_interface/ssc_converter_node/transition_event,/hardware_interface/ssc_interface_wrapper_node/transition_event,/hardware_interface/velodyne_lidar_driver_wrapper_node/transition_event,/hardware_interface/velodyne_packets,/joint_states,/localization/gnss_to_map_convertor/transition_event,/localization/localization_controller/transition_event,/localization/localization_manager/transition_event,/localization/map_param_loader/georeference,/message/bsm_generator_node/transition_event,/message/carma_cloud_client_node/transition_event,/message/cpp_message_node/transition_event,/message/incoming_j2735_bsm,/message/incoming_j2735_geofence_control,/message/incoming_j2735_geofence_request,/message/incoming_j2735_map,/message/incoming_j2735_psm,/message/incoming_j2735_spat,/message/incoming_map,/message/incoming_mobility_operation,/message/incoming_mobility_path,/message/incoming_mobility_request,/message/incoming_mobility_response,/message/incoming_psm,/message/incoming_spat,/message/j2735_convertor_node/transition_event,/message/mobilitypath_publisher_node/transition_event,/message/outgoing_j2735_bsm,/message/outgoing_j2735_geofence_control,/message/outgoing_j2735_geofence_request,/message/outgoing_j2735_psm,/message/v2x_controller/transition_event,/parameter_events,/robot_description,/rosout,/system_alert,/tf,/tf_static,/ui/client_count,/ui/connected_clients,/ui/ui_instructions,/guidance/twist_filter_node/transition_event,/guidance/approaching_emergency_vehicle_plugin/transition_event,/guidance/plugins/cooperative_lanechange/transition_event,/guidance/twist_gate_node/transition_event,/hardware_interface/driver_shutdown_494b616fe26443fca421ea1f2e04d1d4/transition_event,/hardware_interface/driver_shutdown_77e0426440b045b580837068ea149ea1/transition_event,/hardware_interface/driver_shutdown_9219ae46d4084143a883557f6b60bfc3/transition_event,/hardware_interface/driver_shutdown_494b616fe26443fca421ea1f2e04d1d4/transition_event,/hardware_interface/driver_shutdown_77e0426440b045b580837068ea149ea1/transition_event,/hardware_interface/driver_shutdown_9219ae46d4084143a883557f6b60bfc3/transition_event,/hardware_interface/lightbar_manager/transition_event,/hardware_interface/lightbar_manager_container/transition_event,/guidance/plugins/approaching_emergency_vehicle_plugin/transition_event,/environment/detected_objects,/environment/external_object_predictions,/environment/external_objects,/environment/intersection_signal_group_ids,/environment/leftover_clusters,/environment/map_filtered_points,/environment/roadway_objects,/environment/roadway_obstacles,/environment/tcm_visualizer,/environment/tcr_bounding_points,/guidance/final_maneuver_plan,/guidance/plan_trajectory,/guidance/plugins/cooperative_lanechange/transition_event,/guidance/plugins/debug/trajectory_planning,/guidance/plugins/platoon_control/plan_trajectory,/guidance/plugins/pure_pursuit/plan_trajectory,/guidance/route,/guidance/upcoming_lane_change_status,/hardware_interface/accel_aux_rpt,/hardware_interface/all_system_statuses,/hardware_interface/as/brake_command_echo,/hardware_interface/as/brake_feedback,/hardware_interface/as/curvature_feedback,/hardware_interface/as/gear_command_echo,/hardware_interface/as/gear_feedback,/hardware_interface/as/gear_select,/hardware_interface/as/pacmod/as_rx/shift_cmd,/hardware_interface/as/pacmod/parsed_tx/global_rpt,/hardware_interface/as/pacmod/parsed_tx/shift_rpt,/hardware_interface/as/pacmod/parsed_tx/wheel_speed_rpt,/hardware_interface/as/speed_pedals,/hardware_interface/as/steering_command_echo,/hardware_interface/as/steering_feedback,/hardware_interface/as/steering_wheel,/hardware_interface/as/throttle_command_echo,/hardware_interface/as/throttle_feedback,/hardware_interface/as/turn_signal_command,/hardware_interface/as/vehicle_platform,/hardware_interface/as/velocity_accel_cov,/hardware_interface/brake_aux_rpt,/hardware_interface/can/brake_position,/hardware_interface/can/steering_wheel_angle,/hardware_interface/can/transmission_state,/hardware_interface/can_rx,/hardware_interface/can_tx,/hardware_interface/hazard_lights_cmd,/hardware_interface/hazard_lights_rpt,/hardware_interface/headlight_aux_rpt,/hardware_interface/headlight_cmd,/hardware_interface/headlight_rpt,/hardware_interface/horn_cmd,/hardware_interface/horn_rpt,/hardware_interface/lat_lon_heading_rpt,/hardware_interface/pacmod/parsed_tx/brake_rpt,/hardware_interface/pacmod/parsed_tx/shift_rpt,/hardware_interface/pacmod/parsed_tx/steer_rpt,/hardware_interface/shift_aux_rpt,/hardware_interface/state,/hardware_interface/steering_aux_rpt,/hardware_interface/turn_aux_rpt,/hardware_interface/turn_rpt,/hardware_interface/vehicle/engage,/hardware_interface/velocity_accel_cov,/hardware_interface/vin_rpt,/localization/current_pose_with_covariance,/localization/gnss_pose,/localization/initialpose,/localization/localization_status,/localization/managed_initialpose,/localization/map_param_loader/georeference,/localization/ndt_pose,/localization/ndt_stat,/localization/selected_pose,/robot_description,/message/j2735_convertor_node/transition_event,/hardware_interface/driver_shutdown_81dc0955537246e38b742b0cc74a1a8d/transition_event,/hardware_interface/driver_shutdown_8d5d9db8edc243aca0016a9d9e60e918/transition_event,/hardware_interface/driver_shutdown_98a97ce77cda4cfbb7e8912c56276e62/transition_event,/hardware_interface/driver_shutdown_c19bda6e09c2471bbb762c8d2f0af03d/transition_event,/guidance/twist_filter_node/limitation_debug/ctrl/lateral_accel,/guidance/twist_filter_node/limitation_debug/ctrl/lateral_jerk,/guidance/twist_filter_node/limitation_debug/twist/lateral_accel,/guidance/twist_filter_node/limitation_debug/twist/lateral_jerk,/hardware_interface/as/pacmod/as_rx/enable,/hardware_interface/as/dbw_enabled_feedback,/hardware_interface/as/module_states
 CLOUD_BRIDGE_EXCLUSION_LIST=
-