Car 5924 Migrate ROS Bridge to ROS2

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

@@ -36,9 +36,6 @@
         args="pub -l /system_alert cav_msgs/SystemAlert '{ type: 5, description: Simulated Drivers Ready }'"
   />
 
-  <!-- UI -->
-  <include file="$(find carma-messenger)/launch/ui.launch"/>
-
    <!-- Traffic Incident Node -->
   <include file="$(find traffic_incident)/launch/traffic_incident.launch"/>
 

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

@@ -77,10 +77,19 @@ def generate_launch_description():
         ]
     )
 
+    ui_group = GroupAction(
+        actions=[
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/ui.launch.py']),
+            ),
+        ]
+    )
+
     return LaunchDescription([
         declare_configuration_delay_arg,
         declare_route_file_folder,
         transform_group,
         v2x_group,
-        plugins_group
+        plugins_group,
+        ui_group
     ])

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

@@ -0,0 +1,50 @@
+# 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.
+
+from launch import LaunchDescription
+from launch.actions import GroupAction, IncludeLaunchDescription
+from launch_ros.actions import SetRemap
+from ament_index_python.packages import get_package_share_directory
+from launch_xml.launch_description_sources import XMLLaunchDescriptionSource
+import os
+
+
+def generate_launch_description():
+    """
+    Launch file for launching the nodes in the CARMA Messenger user interface stack
+    """
+
+    params = os.path.join(
+        get_package_share_directory('carma-messenger'),
+        'ui',
+        'config',
+        'CommandAPIParams.yaml'
+        )
+
+    ui_group = GroupAction(
+        actions=[
+            SetRemap("system_alert", "/system_alert"),
+            SetRemap("bsm", "incoming_bsm"),
+            IncludeLaunchDescription(
+                XMLLaunchDescriptionSource(os.path.join(get_package_share_directory("rosbridge_server"), 'launch', 'rosbridge_websocket_launch.xml')),
+                launch_arguments = { 
+                    'params_glob' : [params],
+                }.items()
+            ),
+        ]
+    )
+
+    return LaunchDescription([
+        ui_group
+    ])

carma-messenger-ui/website/scripts/control.js

@@ -332,7 +332,7 @@ function sendModalResponse(operatorResponse, serviceName) {
     var serviceClient = new ROSLIB.Service({
     ros : ros,
     name : serviceName,
-    serviceType : 'std_srvs/SetBool'
+    serviceType : 'std_srvs/srv/SetBool'
     });
 
     // Then we create a Service Request. The object we pass in to ROSLIB.ServiceRequest matches the

carma-messenger-ui/website/thirdparty/ros/roslib.js

@@ -2774,7 +2774,7 @@
     this.statusListener = new Topic({
       ros : this.ros,
       name : this.serverName + '/status',
-      messageType : 'actionlib_msgs/GoalStatusArray'
+      messageType : 'actionlib_msgs/msg/GoalStatusArray'
     });
 
     this.resultListener = new Topic({
@@ -2792,7 +2792,7 @@
     this.cancelTopic = new Topic({
       ros : this.ros,
       name : this.serverName + '/cancel',
-      messageType : 'actionlib_msgs/GoalID'
+      messageType : 'actionlib_msgs/msg/GoalID'
     });
 
     // advertise the goal and cancel topics
@@ -2917,7 +2917,7 @@
     var statusListener = new Topic({
       ros : this.ros,
       name : this.serverName + '/status',
-      messageType : 'actionlib_msgs/GoalStatusArray'
+      messageType : 'actionlib_msgs/msg/GoalStatusArray'
     });
 
     var resultListener = new Topic({
@@ -3085,7 +3085,7 @@
       var statusPublisher = new Topic({
           ros : this.ros,
           name : this.serverName + '/status',
-          messageType : 'actionlib_msgs/GoalStatusArray'
+          messageType : 'actionlib_msgs/msg/GoalStatusArray'
       });
       statusPublisher.advertise();
 
@@ -3106,7 +3106,7 @@
       var cancelListener = new Topic({
           ros : this.ros,
           name : this.serverName + '/cancel',
-          messageType : 'actionlib_msgs/GoalID'
+          messageType : 'actionlib_msgs/msg/GoalID'
       });
 
       // Track the goals and their status in order to publish status...
@@ -4435,7 +4435,7 @@
    * @param {Object} options
    * @param {Ros} options.ros - The ROSLIB.Ros connection handle.
    * @param {string} options.name - The topic name, like '/cmd_vel'.
-   * @param {string} options.messageType - The message type, like 'std_msgs/String'.
+   * @param {string} options.messageType - The message type, like 'std_msgs/msg/String'.
    * @param {string} [options.compression=none] - The type of compression to use, like 'png', 'cbor', or 'cbor-raw'.
    * @param {number} [options.throttle_rate=0] - The rate (in ms in between messages) at which to throttle the topics.
    * @param {number} [options.queue_size=100] - The queue created at bridge side for re-publishing webtopics.

carma-messenger-ui/website/widgets/emergencyResponse/widget.js

@@ -51,7 +51,7 @@ var subscribe_bsm = () => {
     listenerBSM = new ROSLIB.Topic({
         ros: ros,
         name: '/bsm_outbound',
-        messageType: 'cav_msgs/BSM'
+        messageType: 'carma_v2x_msgs/msg/BSM'
     });
     listenerBSM.subscribe(function (message) {
         if (message.core_data != undefined && message.core_data.latitude != undefined && message.core_data.longitude != undefined) {
@@ -146,7 +146,7 @@ var subscribe_alert = () => {
     listenerAlert = new ROSLIB.Topic({
         ros: ros,
         name: '/emergency_vehicle_ui_warning',
-        messageType: 'cav_msgs/UIInstructions'
+        messageType: 'carma_msgs/msg/UIInstructions'
     });
     listenerAlert.subscribe(function (message) {
         if (message != undefined && message.msg != undefined) {
@@ -166,7 +166,7 @@ var service_arrive_at_emergency_destination = () => {
     var arrive_at_emergency_destination = new ROSLIB.Service({
         ros: ros,
         name: '/arrived_at_emergency_destination',
-        serviceType: 'std_srvs/Trigger.srv'
+        serviceType: 'std_srvs/srv/Trigger.srv'
     });
 
     var request = new ROSLIB.ServiceRequest({

carma-messenger-ui/website/widgets/eventManagement/widget.js

@@ -104,7 +104,7 @@ CarmaJS.WidgetFramework.eventManagement = (function () {
         var sendStartBCRequest = new ROSLIB.Service({
             ros: ros,
             name: '/start_broadcasting_traffic_event',
-            serviceType: 'cav_srvs/SetTrafficEvent.h'
+            serviceType: 'carma_msgs/srv/SetTrafficEvent.h'
         });
 
         //event UI form
@@ -187,7 +187,7 @@ CarmaJS.WidgetFramework.eventManagement = (function () {
          var listenerMobilityOperation = new ROSLIB.Topic({
             ros: ros,
             name: '/outgoing_mobility_operation',
-            messageType: 'cav_msgs/MobilityOperation'
+            messageType: 'carma_v2x_msgs/msg/MobilityOperation'
         });
 
         listenerMobilityOperation.subscribe(function (message) {
@@ -237,7 +237,7 @@ CarmaJS.WidgetFramework.eventManagement = (function () {
         var sendStopBCRequest = new ROSLIB.Service({
             ros: ros,
             name: '/stop_broadcasting_traffic_event',
-            serviceType: 'std_srvs/Trigger'
+            serviceType: 'std_srvs/srv/Trigger'
         });
         var request = new ROSLIB.ServiceRequest({});
         try{