Merge release to develop for release 4.5.0 (#222)

# PR Details ## Description Merge PR to formalize release of master into develop as part of CARMA release process for 4.5.0. PR created automatically via CARMA release tool and Github CLI ## Motivation and Context This PR brings the tested and reviewed contents of the master release/candidate into develop for final release preparation ## How Has This Been Tested? This release branch (minus final version number changes) has been tested through the CARMA verification test plan. ## Checklist: - [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** document. [CARMA Contributing Guide](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/Contributing.md) - [X] I have added tests to cover my changes. - [X] All new and existing tests passed.
usdot-fhwa-stol · Apr 16, 2024 · bafb7b1 · bafb7b1
2 parents af42cd3 + 399ffc9
commit bafb7b1
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diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -1,12 +1,12 @@
-name: CI
-
+name: "CI: Run tests"
 on:
-  push:
-   branches:
-     - "master"
-     - "develop"
   pull_request:
-      types: [opened, synchronize, reopened]
+    types: [opened, synchronize, reopened]
+  push:
+    branches: 
+      - develop
+      - master
+      - "release/*"
 jobs:
   build:
     defaults:
@@ -15,7 +15,7 @@ jobs:
         working-directory: "/opt/carma/"
     runs-on: ubuntu-latest
     container:
-      image: usdotfhwastoldev/carma-base:develop
+      image: usdotfhwastol/carma-base:carma-system-4.5.0
       env:
         INIT_ENV: "/home/carma/.base-image/init-env.sh"
         ROS_2_ENV: "/opt/ros/foxy/setup.bash"
@@ -75,4 +75,4 @@ jobs:
       uses: usdot-fhwa-stol/actions/sonar-scanner@main
       with:
         sonar-token: ${{ secrets.SONAR_TOKEN }}
-        working-dir: "/opt/carma/src/${{ github.event.repository.name }}"
+        working-dir: "/opt/carma/src/${{ github.event.repository.name }}"
diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
@@ -1,11 +1,7 @@
-name: Docker
-
+name: Docker build
 on:
-  push:
-    branches-ignore:
-      - "develop"
-      - "master"
-      - "release/*"
+  pull_request:
+    types: [opened, synchronize, reopened]
 jobs:
   build:
     runs-on: ubuntu-latest
@@ -30,25 +26,25 @@ jobs:
         with:
           context: ./carma-messenger-ui/
           push: true
-          tags: usdotfhwastoldev/carma-messenger-ui:${{ env.MODIFIED_BRANCH_NAME }}
+          tags: usdotfhwastol/carma-messenger-ui:${{ env.MODIFIED_BRANCH_NAME }}
 
       - name: Build and Push carma-messenger-core Docker Image
         uses: docker/build-push-action@v3
         with:
           context: ./carma-messenger-core/
           push: true
-          tags: usdotfhwastoldev/carma-messenger-core:${{ env.MODIFIED_BRANCH_NAME }}
+          tags: usdotfhwastol/carma-messenger-core:${{ env.MODIFIED_BRANCH_NAME }}
 
       - name: Build and Push chevrolet_tahoe_2018 Docker Image
         uses: docker/build-push-action@v3
         with:
           context: ./carma-messenger-config/chevrolet_tahoe_2018/
           push: true
-          tags: usdotfhwastoldev/carma-messenger-config:${{ env.MODIFIED_BRANCH_NAME }}-chevrolet_tahoe_2018
+          tags: usdotfhwastol/carma-messenger-config:${{ env.MODIFIED_BRANCH_NAME }}-chevrolet_tahoe_2018
 
       - name: Build and Push development Docker Image
         uses: docker/build-push-action@v3
         with:
           context: ./carma-messenger-config/development/
           push: true
-          tags: usdotfhwastoldev/carma-messenger-config:${{ env.MODIFIED_BRANCH_NAME }}-development
+          tags: usdotfhwastol/carma-messenger-config:${{ env.MODIFIED_BRANCH_NAME }}-development
diff --git a/.github/workflows/dockerhub.yml b/.github/workflows/dockerhub.yml
@@ -1,10 +1,12 @@
-name: DockerHub
-
+name: Docker Hub build
 on:
   push:
     branches:
       - "develop"
       - "master"
+      - "release/*"
+    tags:
+      - "carma-system-*"
 jobs:
   docker:
     runs-on: ubuntu-latest
@@ -24,28 +26,28 @@ jobs:
         with:
           context: ./carma-messenger-ui/
           push: true
-          tags: usdotfhwastoldev/carma-messenger-ui:${{ github.ref_name }}-carma-messenger-ui         
+          tags: usdotfhwastol/carma-messenger-ui:${{ github.ref_name }}-carma-messenger-ui         
 
       - name: Build and Push carma-messenger-core Docker Image
         uses: docker/build-push-action@v3
         with:
           context: ./carma-messenger-core/
           push: true
-          tags: usdotfhwastoldev/carma-messenger-core:${{ github.ref_name }}-carma-messenger-core       
+          tags: usdotfhwastol/carma-messenger-core:${{ github.ref_name }}-carma-messenger-core       
 
       - name: Build and Push chevrolet_tahoe_2018 Docker Image
         uses: docker/build-push-action@v3
         with:
           context: ./carma-messenger-config/chevrolet_tahoe_2018/
           push: true
-          tags: usdotfhwastoldev/carma-messenger-config:${{ github.ref_name }}-chevrolet_tahoe_2018  
+          tags: usdotfhwastol/carma-messenger-config:${{ github.ref_name }}-chevrolet_tahoe_2018  
 
       - name: Build and Push development Docker Image
         uses: docker/build-push-action@v3
         with:
           context: ./carma-messenger-config/development/
           push: true
-          tags: usdotfhwastoldev/carma-messenger-config:${{ github.ref_name }}-development            
+          tags: usdotfhwastol/carma-messenger-config:${{ github.ref_name }}-development            
 
 
 
diff --git a/carma-messenger-config/chevrolet_tahoe_2018/docker-compose-background.yml b/carma-messenger-config/chevrolet_tahoe_2018/docker-compose-background.yml
@@ -17,7 +17,7 @@ version: '2'
 
 services:
   carma-messenger-ui:
-    image: usdotfhwastoldev/carma-messenger-ui:develop
+    image: usdotfhwastol/carma-messenger-ui:carma-system-4.5.0
     network_mode: host
     container_name: carma-messenger-ui
     environment:

diff --git a/carma-messenger-config/chevrolet_tahoe_2018/docker-compose.yml b/carma-messenger-config/chevrolet_tahoe_2018/docker-compose.yml
@@ -17,7 +17,7 @@ version: '2'
 
 services:
   roscore:
-    image: usdotfhwastoldev/carma-base:develop
+    image: usdotfhwastol/carma-base:carma-system-4.5.0
     network_mode: host
     container_name: roscore
     volumes_from:
@@ -30,7 +30,7 @@ services:
     command: roscore
 
   ros1_bridge:
-    image: usdotfhwastoldev/carma-msgs:develop
+    image: usdotfhwastol/carma-msgs:carma-system-4.5.0
     network_mode: host
     container_name: ros1_bridge
     volumes_from:
@@ -45,7 +45,7 @@ services:
     command: bash -c 'wait-for-it.sh localhost:11311 -- rosparam load /opt/carma/vehicle/config/bridge.yml && source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --multi-threads'
 
   messenger:
-    image: usdotfhwastoldev/carma-messenger-core:develop
+    image: usdotfhwastol/carma-messenger-core:carma-system-4.5.0
     network_mode: host
     container_name: carma-messenger-core
     volumes_from:
@@ -58,7 +58,7 @@ services:
     command: wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/carma-messenger-docker.launch
 
   messenger_ros2:
-    image: usdotfhwastoldev/carma-messenger-core:develop
+    image: usdotfhwastol/carma-messenger-core:carma-system-4.5.0
     network_mode: host
     container_name: messenger_ros2
     volumes_from:
@@ -73,7 +73,7 @@ services:
     command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma-messenger-docker.launch.py'
 
   cohda_dsrc_driver:
-    image: usdotfhwastoldev/carma-cohda-dsrc-driver:develop
+    image: usdotfhwastol/carma-cohda-dsrc-driver:carma-system-4.5.0
     container_name: carma-cohda-dsrc-driver
     network_mode: host
     volumes_from:
@@ -87,7 +87,7 @@ services:
     command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=dsrc_driver'
 
   torc-pinpoint-driver:
-    image: usdotfhwastoldev/carma-torc-pinpoint-driver:develop
+    image: usdotfhwastol/carma-torc-pinpoint-driver:carma-system-4.5.0
     container_name: carma-torc-pinpoint-driver
     network_mode: host
     volumes_from:

diff --git a/carma-messenger-config/development/docker-compose-background.yml b/carma-messenger-config/development/docker-compose-background.yml
@@ -17,7 +17,7 @@ version: '2'
 
 services:
   carma-messenger-ui:
-    image: usdotfhwastoldev/carma-messenger-ui:develop
+    image: usdotfhwastol/carma-messenger-ui:carma-system-4.5.0
     network_mode: host
     container_name: carma-messenger-ui
     volumes_from: 

diff --git a/carma-messenger-config/development/docker-compose.yml b/carma-messenger-config/development/docker-compose.yml
@@ -17,7 +17,7 @@ version: '2'
 
 services:
   roscore:
-    image: usdotfhwastoldev/carma-base:develop
+    image: usdotfhwastol/carma-base:carma-system-4.5.0
     network_mode: host
     container_name: roscore
     volumes_from:
@@ -28,7 +28,7 @@ services:
     command: roscore
 
   ros1_bridge:
-    image: usdotfhwastoldev/carma-msgs:develop
+    image: usdotfhwastol/carma-msgs:carma-system-4.5.0
     network_mode: host
     container_name: ros1_bridge
     volumes_from:
@@ -42,7 +42,7 @@ services:
     command: bash -c 'wait-for-it.sh localhost:11311 -- rosparam load /opt/carma/vehicle/config/bridge.yml && source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --multi-threads'
 
   messenger:
-    image: usdotfhwastoldev/carma-messenger-core:develop
+    image: usdotfhwastol/carma-messenger-core:carma-system-4.5.0
     network_mode: host
     container_name: carma-messenger-core
     volumes_from:
@@ -54,7 +54,7 @@ services:
     command: wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/carma-messenger-docker.launch
 
   messenger_ros2:
-    image: usdotfhwastoldev/carma-messenger-core:develop
+    image: usdotfhwastol/carma-messenger-core:carma-system-4.5.0
     network_mode: host
     container_name: messenger_ros2
     volumes_from:
@@ -67,7 +67,7 @@ services:
     command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma-messenger-docker.launch.py'
 
   cohda_dsrc_driver:
-    image: usdotfhwastoldev/carma-cohda-dsrc-driver:develop
+    image: usdotfhwastol/carma-cohda-dsrc-driver:carma-system-4.5.0
     container_name: carma-cohda-dsrc-driver
     network_mode: host
     volumes_from:
@@ -78,7 +78,7 @@ services:
     command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=dsrc_driver'
 
   torc-pinpoint-driver:
-    image: usdotfhwastoldev/carma-torc-pinpoint-driver:develop
+    image: usdotfhwastol/carma-torc-pinpoint-driver:carma-system-4.5.0
     container_name: carma-torc-pinpoint-driver
     network_mode: host
     volumes_from:

diff --git a/carma-messenger-core/Dockerfile b/carma-messenger-core/Dockerfile
@@ -12,7 +12,7 @@
 #  License for the specific language governing permissions and limitations under
 #  the License.
 
-FROM usdotfhwastoldev/carma-base:develop as base_image
+FROM usdotfhwastol/carma-base:carma-system-4.5.0 as base_image
 FROM base_image as setup
 
 RUN mkdir ~/src

diff --git a/carma-messenger-core/cpp_message/src/SDSM_Message.cpp b/carma-messenger-core/cpp_message/src/SDSM_Message.cpp
@@ -61,6 +61,13 @@ namespace cpp_message
             message->value.choice.SensorDataSharingMessage.msgCnt = plainMessage.msg_cnt.msg_cnt;
         }
 
+        if (const auto id_size{std::size(plainMessage.source_id.id)}; id_size != 4U)
+        {
+            RCLCPP_ERROR_STREAM(node_logging_->get_logger(),
+                                "Cannot encode SDSM message: 'source_id' size is "
+                                    << id_size << " bytes (must be 4)");
+            return std::nullopt;
+        }
 
         // TemporaryID | sourceID - source_id
         uint8_t temp_id_content[4] ={0};
@@ -1923,4 +1930,4 @@ namespace cpp_message
 
 
     }
-}
+}
diff --git a/carma-messenger-core/docker/checkout.bash b/carma-messenger-core/docker/checkout.bash
@@ -39,6 +39,6 @@ if [[ "$BRANCH" = "develop" ]]; then
       git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ~/src/CARMAMsgs --branch $BRANCH
       git clone https://github.com/usdot-fhwa-stol/carma-utils.git ~/src/CARMAUtils --branch $BRANCH
 else
-      git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ${dir}/src/CARMAMsgs --branch develop
-      git clone https://github.com/usdot-fhwa-stol/carma-utils.git ${dir}/src/CARMAUtils --branch develop
+      git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ${dir}/src/CARMAMsgs --branch carma-system-4.5.0
+      git clone https://github.com/usdot-fhwa-stol/carma-utils.git ${dir}/src/CARMAUtils --branch carma-system-4.5.0
 fi