Port pinpoint to ros2 and update carma script (#228)

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# PR Details
## Description
This PR supports migration of pinpoint driver to ROS2 in this PR:
usdot-fhwa-stol/carma-torc-pinpoint-driver#46
- It adds ROS2 version of pinpoint to the configs
- It adds commands to include .env file in the image which started to be
convention on this PR:
usdot-fhwa-stol/carma-config#352
<!--- Describe your changes in detail -->

## Related GitHub Issue
NA
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issues or Jira Keys -->
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issue first -->
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to reproduce -->
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specific to this fix -->
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## Related Jira Key
https://usdot-carma.atlassian.net/browse/CAR-5907
<!-- e.g. CAR-123 -->

## Motivation and Context
Migration of pinpoint to ROS2
<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?
Set the config and tried starting without issue. Just needs to test on
actual Tahoe vehicle now.
NOTE: image intentionally comments out the other components other than
pinpoint

![image](https://github.com/usdot-fhwa-stol/carma-messenger/assets/20613282/8e656fa9-7638-48cf-966b-7c4c7618dfb0)

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to -->
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## 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
- [ ] 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.

carma-messenger-config/chevrolet_tahoe_2018/Dockerfile

@@ -1,11 +1,11 @@
-#  Copyright (C) 2018-2021 LEIDOS.
-# 
+#  Copyright (C) 2018-2024 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
@@ -35,5 +35,7 @@ LABEL org.label-schema.build-date=${BUILD_DATE}
 
 ADD . /root/vehicle/config
 VOLUME /opt/carma/vehicle/config
+RUN mkdir -p /opt/carma/vehicle/config
+RUN cp -a /root/vehicle/config/.env /opt/carma/vehicle/config/
 
 CMD  cp /root/vehicle/config/* /opt/carma/vehicle/config

carma-messenger-config/chevrolet_tahoe_2018/docker-compose.yml

@@ -13,8 +13,6 @@
 #  the License.
 
 # Docker Compose Spec Version
-version: '2'
-
 services:
   roscore:
     image: ${DOCKER_ORG}/carma-base:${DOCKER_TAG}
@@ -99,4 +97,4 @@ services:
       - /opt/carma/logs:/opt/carma/logs
       - /opt/carma/.ros:/opt/carma/.ros
       - /opt/carma/vehicle:/opt/carma/vehicle
-    command: bash -c 'wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=pinpoint_driver'
+    command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=pinpoint_driver'

carma-messenger-config/chevrolet_tahoe_2018/drivers.launch.py

@@ -29,66 +29,165 @@
 import launch.events
 
 import launch_ros.actions
-import launch_ros.events 
+import launch_ros.events
 import launch_ros.events.lifecycle
 import lifecycle_msgs.msg
 
+
 def generate_launch_description():
     """
     Launch desired CARMA Messenger drivers
     """
 
-    env_log_levels = EnvironmentVariable('CARMA_ROS_LOGGING_CONFIG', default_value='{ "default_level" : "WARN" }')
+    env_log_levels = EnvironmentVariable(
+        "CARMA_ROS_LOGGING_CONFIG", default_value='{ "default_level" : "WARN" }'
+    )
 
-    configuration_delay = LaunchConfiguration('configuration_delay')
+    configuration_delay = LaunchConfiguration("configuration_delay")
     declare_configuration_delay_arg = DeclareLaunchArgument(
-        name ='configuration_delay', default_value='4.0')
+        name="configuration_delay", default_value="4.0"
+    )
 
-    drivers = LaunchConfiguration('drivers')
+    drivers = LaunchConfiguration("drivers")
     declare_drivers_arg = DeclareLaunchArgument(
-        name = 'drivers', default_value = 'dsrc_driver', description = "Desired drivers to launch specified by package name."
+        name="drivers",
+        default_value="dsrc_driver",
+        description="Desired drivers to launch specified by package name.",
     )
 
     dsrc_group = GroupAction(
-        condition=IfCondition(PythonExpression(["'dsrc_driver' in '", drivers, "'.split()"])),
+        condition=IfCondition(
+            PythonExpression(["'dsrc_driver' in '", drivers, "'.split()"])
+        ),
         actions=[
-            PushRosNamespace(EnvironmentVariable('CARMA_INTR_NS', default_value='hardware_interface')),
+            PushRosNamespace(
+                EnvironmentVariable("CARMA_INTR_NS", default_value="hardware_interface")
+            ),
             IncludeLaunchDescription(
-                PythonLaunchDescriptionSource([ FindPackageShare('dsrc_driver'), '/launch/dsrc_driver.py']),
-                launch_arguments = { 
-                    'log_level' : GetLogLevel('dsrc_driver', env_log_levels),
-                    }.items()
+                PythonLaunchDescriptionSource(
+                    [FindPackageShare("dsrc_driver"), "/launch/dsrc_driver.py"]
+                ),
+                launch_arguments={
+                    "log_level": GetLogLevel("dsrc_driver", env_log_levels),
+                }.items(),
             ),
-        ]
+        ],
+    )
+
+    pinpoint_group = GroupAction(
+        condition=IfCondition(
+            PythonExpression(["'pinpoint_driver' in '", drivers, "'.split()"])
+        ),
+        actions=[
+            PushRosNamespace(
+                EnvironmentVariable("CARMA_INTR_NS", default_value="hardware_interface")
+            ),
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(
+                    [FindPackageShare("pinpoint"), "/launch/pinpoint.launch.py"]
+                ),
+                launch_arguments={
+                    "log_level": GetLogLevel("pinpoint", env_log_levels),
+                }.items(),
+            ),
+        ],
     )
 
-    ros2_cmd = launch.substitutions.FindExecutable(name='ros2')
+    ros2_cmd = launch.substitutions.FindExecutable(name="ros2")
 
     process_configure_dsrc_driver_node = launch.actions.ExecuteProcess(
-        cmd=[ros2_cmd, "lifecycle", "set", [ EnvironmentVariable('CARMA_INTR_NS', default_value='hardware_interface'), "/dsrc_driver_node" ], "configure"],
+        condition=IfCondition(
+            PythonExpression(["'dsrc_driver' in '", drivers, "'.split()"])
+        ),
+        cmd=[
+            ros2_cmd,
+            "lifecycle",
+            "set",
+            [
+                EnvironmentVariable(
+                    "CARMA_INTR_NS", default_value="hardware_interface"
+                ),
+                "/dsrc_driver_node",
+            ],
+            "configure",
+        ],
     )
 
-    configuration_trigger = launch.actions.TimerAction(
-        period=configuration_delay,
-        actions=[
-            process_configure_dsrc_driver_node
-        ]
+    configured_event_handler_dsrc_driver_node = launch.actions.RegisterEventHandler(
+        launch.event_handlers.OnExecutionComplete(
+            target_action=process_configure_dsrc_driver_node,
+            on_completion=[
+                launch.actions.ExecuteProcess(
+                    cmd=[
+                        ros2_cmd,
+                        "lifecycle",
+                        "set",
+                        [
+                            EnvironmentVariable(
+                                "CARMA_INTR_NS", default_value="hardware_interface"
+                            ),
+                            "/dsrc_driver_node",
+                        ],
+                        "activate",
+                    ],
+                )
+            ],
+        )
     )
 
-    configured_event_handler_dsrc_driver_node = launch.actions.RegisterEventHandler(launch.event_handlers.OnExecutionComplete(
-            target_action=process_configure_dsrc_driver_node,
-            on_completion=[ 
+    process_configure_pinpoint_node = launch.actions.ExecuteProcess(
+        condition=IfCondition(
+            PythonExpression(["'pinpoint_driver' in '", drivers, "'.split()"])
+        ),
+        cmd=[
+            ros2_cmd,
+            "lifecycle",
+            "set",
+            [
+                EnvironmentVariable(
+                    "CARMA_INTR_NS", default_value="hardware_interface"
+                ),
+                "/pinpoint",
+            ],
+            "configure",
+        ],
+    )
+
+    configured_event_handler_pinpoint_node = launch.actions.RegisterEventHandler(
+        launch.event_handlers.OnExecutionComplete(
+            target_action=process_configure_pinpoint_node,
+            on_completion=[
                 launch.actions.ExecuteProcess(
-                    cmd=[ros2_cmd, "lifecycle", "set", [ EnvironmentVariable('CARMA_INTR_NS', default_value='hardware_interface'), "/dsrc_driver_node" ], "activate"],
+                    cmd=[
+                        ros2_cmd,
+                        "lifecycle",
+                        "set",
+                        [
+                            EnvironmentVariable(
+                                "CARMA_INTR_NS", default_value="hardware_interface"
+                            ),
+                            "/pinpoint",
+                        ],
+                        "activate",
+                    ],
                 )
-            ]
+            ],
         )
     )
 
-    return LaunchDescription([
-        declare_configuration_delay_arg,
-        declare_drivers_arg,
-        dsrc_group,
-        configuration_trigger,
-        configured_event_handler_dsrc_driver_node
-    ])
+    configuration_trigger = launch.actions.TimerAction(
+        period=configuration_delay,
+        actions=[process_configure_dsrc_driver_node, process_configure_pinpoint_node],
+    )
+
+    return LaunchDescription(
+        [
+            declare_configuration_delay_arg,
+            declare_drivers_arg,
+            dsrc_group,
+            pinpoint_group,
+            configuration_trigger,
+            configured_event_handler_dsrc_driver_node,
+            configured_event_handler_pinpoint_node,
+        ]
+    )

carma-messenger-config/development/Dockerfile

@@ -1,11 +1,11 @@
-#  Copyright (C) 2018-2021 LEIDOS.
-# 
+#  Copyright (C) 2018-2024 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
@@ -35,5 +35,7 @@ LABEL org.label-schema.build-date=${BUILD_DATE}
 
 ADD . /root/vehicle/config
 VOLUME /opt/carma/vehicle/config
+RUN mkdir -p /opt/carma/vehicle/config
+RUN cp -a /root/vehicle/config/.env /opt/carma/vehicle/config/
 
 CMD  cp /root/vehicle/config/* /opt/carma/vehicle/config

carma-messenger-config/development/docker-compose.yml

@@ -13,8 +13,6 @@
 #  the License.
 
 # Docker Compose Spec Version
-version: '2'
-
 services:
   roscore:
     image: ${DOCKER_ORG}/carma-base:${DOCKER_TAG}
@@ -86,4 +84,4 @@ services:
     volumes:
       - /opt/carma/logs:/opt/carma/logs
       - /opt/carma/.ros:/opt/carma/.ros
-    command: bash -c 'wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=pinpoint_driver'
+    command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=pinpoint_driver'