Car 5920 Traffic Incident ROS2 Migration (#230)

<!-- Thanks for the contribution, this is awesome. -->

# PR Details
## Description

This PR migrates the `traffic_incident` package to ROS2.

## Related GitHub Issue

NA

## Related Jira Key

[CAR-5920](https://usdot-carma.atlassian.net/browse/CAR-5920)

## Motivation and Context

Migration to ROS2

## How Has This Been Tested?

1.  Set the config and launched using `carma start all`
2. Entered the `messenger_ros2` container using `docker exec -it
messenger_ros2 bash`
3. Verified that `/traffic_incident` shows up when running `ros2 node
list`
4. Verified that the state of `/traffic_incident` automatically switches
to `active` using `ros2 lifecycle get /traffic_incident`
5. Open the CARMA Messenger GUI and started a traffic event broadcast in
the event management plugin
a. Verified that the correct message starts publishing on
`/outgoing_mobility_operation`
    b. Verified that publishing stops after clicking "Stop Broadcast"

## Types of changes

- [ ] 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:

- [ ] 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.
- [x] 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.
- [x] All new and existing tests passed.


[CAR-5920]:
https://usdot-carma.atlassian.net/browse/CAR-5920?atlOrigin=eyJpIjoiNWRkNTljNzYxNjVmNDY3MDlhMDU5Y2ZhYzA5YTRkZjUiLCJwIjoiZ2l0aHViLWNvbS1KU1cifQ

carma-messenger-core/carma-messenger/launch/carma-messenger.launch

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <!--
-  Copyright (C) 2018-2021 LEIDOS.
+  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
@@ -36,7 +36,4 @@
         args="pub -l /system_alert cav_msgs/SystemAlert '{ type: 5, description: Simulated Drivers Ready }'"
   />
 
-   <!-- Traffic Incident Node -->
-  <include file="$(find traffic_incident)/launch/traffic_incident.launch"/>
-
 </launch>

carma-messenger-core/carma-messenger/launch/carma-messenger.launch.py

@@ -1,4 +1,4 @@
-# Copyright (C) 2022-2023 LEIDOS.
+# 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.
@@ -85,11 +85,20 @@ def generate_launch_description():
         ]
     )
 
+    traffic_incident_group = GroupAction(
+        actions=[
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource([get_package_share_directory('traffic_incident'), '/launch', '/traffic_incident.launch.py']),
+            ),
+        ]
+    )
+
     return LaunchDescription([
         declare_configuration_delay_arg,
         declare_route_file_folder,
         transform_group,
         v2x_group,
         plugins_group,
-        ui_group
+        ui_group,
+        traffic_incident_group
     ])

carma-messenger-core/traffic_incident/CMakeLists.txt

@@ -1,5 +1,5 @@
 
-# Copyright (C) 2020-2021 LEIDOS.
+# 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
@@ -13,91 +13,60 @@
 # License for the specific language governing permissions and limitations under
 # the License.
 
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(traffic_incident)
 
 find_package(carma_cmake_common REQUIRED)
-carma_check_ros_version(1)
+carma_check_ros_version(2)
 carma_package()
 
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
-  carma_utils
-  cav_msgs
-  cav_srvs
-  gps_common
-  roscpp
-)
-
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-   INCLUDE_DIRS include
-#  LIBRARIES traffic_incident
-   CATKIN_DEPENDS carma_utils cav_msgs gps_common roscpp
-#  DEPENDS system_lib
-)
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
 
-###########
-## Build ##
-###########
+# Name build targets
+set(node_exec traffic_node_exec)
+set(node_lib traffic_node)
 
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
+# Includes
 include_directories(
   include
-  ${catkin_INCLUDE_DIRS}
 )
 
-add_executable(traffic_incident_node src/main.cpp src/traffic_incident_node.cpp)
+ament_export_include_directories(include)
 
-add_library(traffic_incident_worker_lib src/traffic_incident_worker.cpp)
-add_dependencies(traffic_incident_worker_lib ${catkin_EXPORTED_TARGETS})
+# Build
+ament_auto_add_library(${node_lib} SHARED
+  src/traffic_incident_node.cpp
+  src/traffic_incident_worker.cpp
+)
 
-## Specify libraries to link a library or executable target against
-target_link_libraries(traffic_incident_node traffic_incident_worker_lib ${catkin_LIBRARIES})
+ament_auto_add_executable(${node_exec}
+  src/main.cpp
+)
 
-#############
-## Install ##
-#############
+# Register component
+rclcpp_components_register_nodes(${node_lib} "traffic::TrafficIncidentNode")
 
-## Mark executables for installation
-install(TARGETS traffic_incident_node traffic_incident_worker_lib
-        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# All locally created targets will need to be manually linked
+# ament auto will handle linking of external dependencies
+target_link_libraries(${node_exec}
+  ${node_lib}
 )
 
-## Mark cpp header files for installation
-install(DIRECTORY include/
-        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-)
+# Testing
+if(BUILD_TESTING)
 
-## Mark other files for installation (e.g. launch and bag files, etc.)
-install(DIRECTORY
-        launch
-        config
-        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies() # This populates the ${${PROJECT_NAME}_FOUND_TEST_DEPENDS} variable
 
-#############
-## Testing ##
-#############
+  ament_add_gtest(test_traffic_incident test/test_traffic.cpp)
 
-## Add gtest based cpp test target and link libraries
-catkin_add_gmock(${PROJECT_NAME}-test 
-  test/main.cpp 
-  test/test_traffic.cpp
-  WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/test # Add test directory as working directory for unit tests
-)
-target_link_libraries(${PROJECT_NAME}-test traffic_incident_worker_lib ${catkin_LIBRARIES})
+  ament_target_dependencies(test_traffic_incident ${${PROJECT_NAME}_FOUND_TEST_DEPENDS})
+
+  target_link_libraries(test_traffic_incident ${node_lib})
+
+endif()
+
+ament_auto_package(
+  INSTALL_TO_SHARE config launch
+)

carma-messenger-core/traffic_incident/include/traffic_incident_node.hpp

@@ -0,0 +1,93 @@
+/*
+ * 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.
+ */
+
+#ifndef TRAFFIC_INCIDENT_H
+#define TRAFFIC_INCIDENT_H
+
+#include <functional>
+#include <string>
+
+#include "traffic_incident_worker.hpp"
+#include <carma_ros2_utils/carma_ros2_utils.hpp>
+#include <rclcpp/rclcpp.hpp>
+#include <std_srvs/srv/trigger.hpp>
+
+#include <carma_msgs/srv/set_traffic_event.hpp>
+#include <carma_v2x_msgs/msg/mobility_operation.hpp>
+#include <gps_msgs/msg/gps_fix.hpp>
+
+namespace traffic
+{
+class TrafficIncidentNode : public carma_ros2_utils::CarmaLifecycleNode
+{
+public:
+  /*! \fn TrafficIncidentNode()
+    \brief TrafficIncidentNode constructor
+  */
+  explicit TrafficIncidentNode(const rclcpp::NodeOptions &);
+
+  /*! \fn publishTrafficIncidentMobilityOperation()
+    \brief Publish mobility operation message
+  */
+  void publishTrafficIncidentMobilityOperation(
+    const carma_v2x_msgs::msg::MobilityOperation & traffic_msg);
+
+  // Service callback
+  bool startTrafficBroadcastCallback(
+    const std::shared_ptr<rmw_request_id_t>,
+    const carma_msgs::srv::SetTrafficEvent::Request::SharedPtr req,
+    carma_msgs::srv::SetTrafficEvent::Response::SharedPtr resp);
+  bool stopTrafficBroadcastCallback(
+    const std::shared_ptr<rmw_request_id_t>,
+    const std_srvs::srv::Trigger::Request::SharedPtr req,
+    std_srvs::srv::Trigger::Response::SharedPtr resp);
+
+private:
+  carma_ros2_utils::CallbackReturn handle_on_configure(const rclcpp_lifecycle::State &);
+
+  carma_ros2_utils::CallbackReturn handle_on_activate(const rclcpp_lifecycle::State &);
+
+  void spin_callback(void);
+
+  // subscriber
+  carma_ros2_utils::SubPtr<gps_msgs::msg::GPSFix> pinpoint_driver_sub_;
+
+  // publisher
+  carma_ros2_utils::PubPtr<carma_v2x_msgs::msg::MobilityOperation> traffic_mobility_operation_pub_;
+
+  // services
+  carma_ros2_utils::ServicePtr<carma_msgs::srv::SetTrafficEvent>
+    start_broadcast_request_service_server;
+  carma_ros2_utils::ServicePtr<std_srvs::srv::Trigger> stop_broadcast_request_service_server;
+
+  // timer
+  rclcpp::TimerBase::SharedPtr spin_timer_;
+
+  // TrafficIncidentWorker class object
+  TrafficIncidentWorker traffic_worker_;
+
+  // ROS Params
+  std::string sender_id_;
+  std::string event_reason_;
+  std::string event_type_;
+  double down_track_;
+  double up_track_;
+  double min_gap_;
+};
+
+}  // namespace traffic
+
+#endif /* TRAFFIC_INCIDENT_H */