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Merge release/prowler (4.9.0) branch into master (#255)
<!-- Thanks for the contribution, this is awesome. --> # PR Details This PR is to merge release/prowler branch into master branch for XIL messenger release with new version carma-system-4.9.0. ## Description <!--- Describe your changes in detail --> ## Related GitHub Issue <!--- 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 <!-- e.g. CAR-123 --> ## Motivation and Context <!--- Why is this change required? What problem does it solve? --> ## How Has This Been Tested? <!--- 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) - [ ] 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! --> - [ ] 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**](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/Contributing.md) document. - [ ] I have added tests to cover my changes. - [ ] All new and existing tests passed.
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| name: Auto Merge develop to develop-humble | ||
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| on: | ||
| schedule: | ||
| - cron: '0 0 * * 1' # Weekly on Monday | ||
| workflow_dispatch: | ||
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| jobs: | ||
| call-merge-workflow: | ||
| uses: usdot-fhwa-stol/actions/.github/workflows/auto-pr-merge.yml@main | ||
| with: | ||
| branch_from: develop | ||
| branch_to: develop-humble | ||
| notify_team: DevOps |
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@@ -90,7 +90,7 @@ The development team would like to acknowledge the people who have made direct c | |
| By contributing to the Federal Highway Administration (FHWA) Connected Automated Research Mobility Applications (CARMA), you agree that your contributions will be licensed under its Apache License 2.0 license. [CARMA License](https://github.com/usdot-fhwa-stol/CARMAPlatform/blob/develop/docs/License.md) | ||
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| ## Contact | ||
| Please click on the CARMA logo below to visit the Federal Highway Adminstration(FHWA) CARMA website. | ||
| Please click on the CARMA logo below to visit the Federal Highway Adminstration(FHWA) CARMA website. For more information, contact [email protected]. | ||
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| [](https://highways.dot.gov/research/research-programs/operations/CARMA) | ||
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| DOCKER_ORG=usdotfhwastoldev | ||
| DOCKER_TAG=develop | ||
| DOCKER_ORG=usdotfhwastol | ||
| DOCKER_TAG=carma-system-4.9.0 |
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| DOCKER_ORG=usdotfhwastoldev | ||
| DOCKER_TAG=develop | ||
| DOCKER_ORG=usdotfhwastol | ||
| DOCKER_TAG=carma-system-4.9.0 |
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7 changes: 7 additions & 0 deletions
7
carma-messenger-core/carma-messenger/config/rosbag2_qos_overrides.yaml
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| ## This file defines Quality of Service settings for subscribers created in rosbag2 recording. | ||
| ## Topics defined here have multiple publishers with different QoS settings which may lead to the rosbag ignoring messages. | ||
| ## The QoS settings defined here give the subscriber less restrictive settings, so all messages from the topic are retained. | ||
| /rosout: | ||
| history: keep_all | ||
| reliability: reliable | ||
| durability: volatile |
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56 changes: 56 additions & 0 deletions
56
carma-messenger-core/carma-messenger/launch/ros2_rosbag.launch.py
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| # Copyright (C) 2024 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. | ||
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| from launch import LaunchDescription, LaunchContext | ||
| from launch_ros.actions import Node | ||
| from launch.actions import OpaqueFunction | ||
| from launch.substitutions import LaunchConfiguration | ||
| from launch.actions import DeclareLaunchArgument, ExecuteProcess | ||
| from launch.substitutions import PathJoinSubstitution | ||
| from launch_ros.substitutions import FindPackageShare | ||
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| from datetime import datetime | ||
| import pathlib | ||
| import yaml | ||
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| # This function is used to generate a command to record a ROS 2 rosbag that excludes topics | ||
| # topics as provided in the appropriate configuration file. | ||
| def record_ros2_rosbag(context: LaunchContext, rosbag2_qos_override_param_file): | ||
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| overriding_qos_profiles = context.perform_substitution(rosbag2_qos_override_param_file) | ||
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| proc = ExecuteProcess( | ||
| cmd=['ros2', 'bag', 'record', '-s', 'mcap', '--qos-profile-overrides-path', overriding_qos_profiles, '-o', '/opt/carma/logs/rosbag2_' + str(datetime.now().strftime('%Y-%m-%d_%H%M%S')), '-a'], | ||
| output='screen', | ||
| shell='true' | ||
| ) | ||
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| return [proc] | ||
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| def generate_launch_description(): | ||
| rosbag2_qos_override_param_file = LaunchConfiguration('rosbag2_qos_override_param_file') | ||
| declare_rosbag2_qos_override_param_file = DeclareLaunchArgument( | ||
| name='rosbag2_qos_override_param_file', | ||
| default_value = PathJoinSubstitution([ | ||
| FindPackageShare('carma-messenger'),'config', | ||
| 'rosbag2_qos_overrides.yaml' | ||
| ]), | ||
| description = "Path to file containing rosbag2 override qos settings" | ||
| ) | ||
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| return LaunchDescription([ | ||
| declare_rosbag2_qos_override_param_file, | ||
| OpaqueFunction(function=record_ros2_rosbag, args=[rosbag2_qos_override_param_file]) | ||
| ]) |
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