Merge branch 'develop' into develop-humble

usdot-fhwa-stol · Dec 2, 2024 · e9c0455 · e9c0455
2 parents 481c0e6 + 4fc1479
commit e9c0455
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Showing 5 changed files with 29 additions and 5 deletions.
diff --git a/.github/workflows/auto-merge-workflow.yml b/.github/workflows/auto-merge-workflow.yml
@@ -0,0 +1,14 @@
+name: Auto Merge develop to develop-humble
+
+on:
+  schedule:
+    - cron: '0 0 * * 1'  # Weekly on Monday
+  workflow_dispatch:  
+
+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
diff --git a/carma-messenger-core/carma-messenger/launch/carma-messenger.launch.py b/carma-messenger-core/carma-messenger/launch/carma-messenger.launch.py
@@ -54,6 +54,15 @@ def generate_launch_description():
         description = 'Path of folder on host PC containing route CSV file(s) that can be accessed by plugins'
     )
 
+    # Launch ROS2 rosbag logging
+    ros2_rosbag_launch = GroupAction(
+        actions=[
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/ros2_rosbag.launch.py']),
+            )
+        ]
+    )
+
     transform_group = GroupAction(
         actions=[
             PushRosNamespace(EnvironmentVariable('CARMA_TF_NS', default_value='/')),
@@ -67,7 +76,7 @@ def generate_launch_description():
         actions=[
             IncludeLaunchDescription(
                 PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/message.launch.py']),
-                launch_arguments = { 
+                launch_arguments = {
                     'configuration_delay' : [configuration_delay]
                 }.items()
             ),
@@ -78,7 +87,7 @@ def generate_launch_description():
         actions=[
             IncludeLaunchDescription(
                 PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/plugins.launch.py']),
-                launch_arguments = { 
+                launch_arguments = {
                     'configuration_delay' : [configuration_delay],
                     'route_file_folder' : route_file_folder
                 }.items()
@@ -121,6 +130,7 @@ def generate_launch_description():
         declare_configuration_delay_arg,
         declare_use_rosbag,
         declare_route_file_folder,
+        ros2_rosbag_launch,
         transform_group,
         v2x_group,
         plugins_group,

diff --git a/carma-messenger-core/carma-messenger/launch/ros2_rosbag.launch.py b/carma-messenger-core/carma-messenger/launch/ros2_rosbag.launch.py
@@ -1,4 +1,4 @@
-# Copyright (C) 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.

diff --git a/carma-messenger-core/traffic_incident/include/traffic_incident_node.hpp b/carma-messenger-core/traffic_incident/include/traffic_incident_node.hpp
@@ -86,6 +86,7 @@ class TrafficIncidentNode : public carma_ros2_utils::CarmaLifecycleNode
   double down_track_;
   double up_track_;
   double min_gap_;
+  static constexpr double epsilon_ = 1e-6;
 };
 
 }  // namespace traffic

diff --git a/carma-messenger-core/traffic_incident/src/traffic_incident_node.cpp b/carma-messenger-core/traffic_incident/src/traffic_incident_node.cpp
@@ -150,8 +150,7 @@ bool TrafficIncidentNode::stopTrafficBroadcastCallback(
 void TrafficIncidentNode::spin_callback(void)
 {
   if (
-    traffic_worker_.getDownTrack() > 0 && traffic_worker_.getUpTrack() > 0 &&
-    traffic_worker_.getMinGap() > 0 && traffic_worker_.getAdvisorySpeed() > 0) {
+    std::fabs(traffic_worker_.getDownTrack()) > epsilon_ || std::fabs(traffic_worker_.getUpTrack() > epsilon_) || std::fabs(traffic_worker_.getAdvisorySpeed() > epsilon_)) {
     // construct local mobilityOperation msg
     carma_v2x_msgs::msg::MobilityOperation traffic_mobility_msg =
       traffic_worker_.mobilityMessageGenerator(traffic_worker_.getPinPoint());