Merge pull request #1561 from usdot-fhwa-stol/release/elise

Carma System 3.10.0 Release
usdot-fhwa-stol · Dec 15, 2021 · 45bd7d9 · 45bd7d9
2 parents a0d1cc4 + e4a1f57
commit 45bd7d9
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Showing 97 changed files with 369 additions and 290 deletions.
diff --git a/.circleci/config.yml b/.circleci/config.yml
@@ -28,11 +28,12 @@ jobs:
     # Pull docker image from docker hub
     # XTERM used for better catkin_make output
     docker:
-      - image: usdotfhwastol/autoware.ai:carma-system-3.9.0
+      - image: usdotfhwastol/autoware.ai:carma-system-3.10.0
         user: carma
         environment:
           TERM: xterm
           INIT_ENV: /home/carma/.base-image/init-env.sh
+    resource_class: large
     # Set working directory
     working_directory: "/opt/carma/"
     # Pull code and execute tests
@@ -59,13 +60,13 @@ jobs:
           name: Build CARMA
           command: |
             source ${INIT_ENV}
-            export ROS_PARALLEL_JOBS='-j2 -l2' # Try to reduce memory consumption on build
+            export ROS_PARALLEL_JOBS='-j3 -l3' # Try to reduce memory consumption on build
             build-wrapper-linux-x86-64 --out-dir /opt/carma/bw-output bash make_with_coverage.bash -m -e /opt/carma/ -o ./coverage_reports/gcov
       - run:
           name: Run C++ Tests
           command: |
             source ${INIT_ENV}
-            export ROS_PARALLEL_JOBS='-j2 -l2' # Try to reduce memory consumption on build
+            export ROS_PARALLEL_JOBS='-j3 -l3' # Try to reduce memory consumption on build
             bash make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov
           
       # Run SonarCloud analysis

diff --git a/.sonarqube/sonar-scanner.properties b/.sonarqube/sonar-scanner.properties
@@ -17,6 +17,7 @@ sonar.scanner.force-deprecated-java-version-grace-period=true
 sonar.projectKey=usdot-fhwa-stol_CARMAPlatform
 sonar.organization=usdot-fhwa-stol
 sonar.cfamily.build-wrapper-output=/opt/carma/bw-output
+sonar.cfamily.threads=4
 sonar.host.url=https://sonarcloud.io
 sonar.sources=src/main
 sonar.tests=src/test
@@ -182,4 +183,4 @@ basic_autonomy.sonar.tests = test
 mobilitypath_visualizer.sonar.tests = test
 wz_strategic_plugin.sonar.tests = test
 sci_strategic_plugin.sonar.tests = test
-stop_controlled_intersection_tactical_plugin.sonar.tests = test
+stop_controlled_intersection_tactical_plugin.sonar.tests = test
diff --git a/Dockerfile b/Dockerfile
@@ -33,7 +33,7 @@
 # Stage 1 - Acquire the CARMA source as well as any extra packages
 # /////////////////////////////////////////////////////////////////////////////
 
-FROM usdotfhwastol/autoware.ai:carma-system-3.9.0 AS base-image
+FROM usdotfhwastol/autoware.ai:carma-system-3.10.0 AS base-image
 
 FROM base-image AS source-code
 
@@ -52,7 +52,6 @@ FROM base-image AS install
 RUN mkdir ~/carma_ws
 COPY --from=source-code --chown=carma /home/carma/src /home/carma/carma_ws/src
 
-
 RUN ~/carma_ws/src/carma-platform/docker/install.sh
 
 # /////////////////////////////////////////////////////////////////////////////

diff --git a/arbitrator/CMakeLists.txt b/arbitrator/CMakeLists.txt
@@ -16,7 +16,7 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(arbitrator)
 
-## Compile as C++11, supported in ROS Kinetic and newer
+## Compile as C++14, supported in ROS Noetic and newer
 add_compile_options(-std=c++14)
 set( CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall")
 set( CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall")

diff --git a/basic_autonomy/src/basic_autonomy.cpp b/basic_autonomy/src/basic_autonomy.cpp
@@ -222,8 +222,10 @@ namespace basic_autonomy
                     break;
                 }
 
-                // If there are no more points to add but we haven't reached the ending downtrack then get the following lanelet and keep iterating
-                if (i == points_and_target_speeds.size() - 1)
+                // If there are no more points to add but we haven't reached the ending downtrack then
+                // construct an extrapolated straight line from the final point and keep adding to this line until the downtrack is met
+                // Since this is purely needed to allow for a spline fit edge case, it should have minimal impact on the actual steering behavior of the vehicle
+                if (i == points_and_target_speeds.size() - 1) // dist_accumulator < ending_downtrack is guaranteed by earlier conditional
                 {
 
                     ROS_DEBUG_STREAM("Extending trajectory using buffer beyond end of target lanelet");

diff --git a/basic_autonomy/test/test_waypoint_generation.cpp b/basic_autonomy/test/test_waypoint_generation.cpp
@@ -22,13 +22,13 @@
 #include <math.h>
 #include <tf/LinearMath/Vector3.h>
 #include <carma_wm/WMTestLibForGuidance.h>
-#include <lanelet2_extension/io/autoware_osm_parser.h>
 #include <lanelet2_routing/RoutingGraph.h>
 #include <lanelet2_io/Io.h>
 #include <lanelet2_io/io_handlers/Factory.h>
 #include <lanelet2_io/io_handlers/Writer.h>
-#include <lanelet2_extension/projection/local_frame_projector.h>
 #include <lanelet2_core/geometry/LineString.h>
+#include <lanelet2_extension/projection/local_frame_projector.h>
+#include <lanelet2_extension/io/autoware_osm_parser.h>
 #include <string>
 #include <sstream>
 #include <ros/package.h>

diff --git a/bsm_generator/CMakeLists.txt b/bsm_generator/CMakeLists.txt
@@ -17,7 +17,7 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(bsm_generator)
 
-## Compile as C++11, supported in ROS Kinetic and newer
+## Compile as C++14, supported in ROS Noetic and newer
 add_compile_options(-std=c++14)
 set( CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall")
 set( CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall")

diff --git a/carma-platform.repos b/carma-platform.repos
@@ -1,77 +1,85 @@
 repositories:
-  carma/src/avt_vimba_camera:
+  src/astuff_sensor_msgs:
+    type: git
+    url: https://github.com/astuff/astuff_sensor_msgs.git
+    version: melodic
+  src/autoware.ai:
+    type: git
+    url: [email protected]:usdot-fhwa-stol/autoware.ai.git
+    version: develop
+  src/avt_vimba_camera:
     type: git
     url: [email protected]:usdot-fhwa-stol/avt_vimba_camera.git
     version: develop
-  carma/src/carma-base:
+  src/carma-base:
     type: git
     url: [email protected]:usdot-fhwa-stol/carma-base.git
     version: develop
-  carma/src/carma-cohda-dsrc-driver:
+  src/carma-cohda-dsrc-driver:
     type: git
     url: [email protected]:usdot-fhwa-stol/carma-cohda-dsrc-driver.git
     version: develop
-  carma/src/carma-config:
+  src/carma-config:
     type: git
     url: [email protected]:usdot-fhwa-stol/carma-config.git
     version: develop
-  carma/src/carma-delphi-esr-driver:
+  src/carma-delphi-esr-driver:
     type: git
     url: [email protected]:usdot-fhwa-stol/carma-delphi-esr-driver.git
     version: develop
-  carma/src/carma-delphi-srr2-driver:
+  src/carma-delphi-srr2-driver:
     type: git
     url: [email protected]:usdot-fhwa-stol/carma-delphi-srr2-driver.git
     version: develop
-  carma/src/carma-utils:
+  src/carma-garmin-lidar-lite-v3-driver-wrapper:
     type: git
-    url: [email protected]:usdot-fhwa-stol/carma-utils.git
+    url: [email protected]:usdot-fhwa-stol/carma-garmin-lidar-lite-v3-driver-wrapper.git
     version: develop
-  carma/src/carma-msgs:
+  src/carma-messenger:
     type: git
-    url: [email protected]:usdot-fhwa-stol/carma-msgs.git
+    url: [email protected]:usdot-fhwa-stol/carma-messenger.git
     version: develop
-  carma/src/novatel_gps_driver:
+  src/carma-msgs:
     type: git
-    url: [email protected]:usdot-fhwa-stol/novatel_gps_driver.git
+    url: [email protected]:usdot-fhwa-stol/carma-msgs.git
     version: develop
-  carma/src/carma-platform:
+  src/carma-platform:
     type: git
     url: [email protected]:usdot-fhwa-stol/carma-platform.git
     version: develop
-  carma/src/carma-ssc-interface-wrapper:
+  src/carma-ssc-interface-wrapper:
     type: git
     url: [email protected]:usdot-fhwa-stol/carma-ssc-interface-wrapper.git
     version: develop
-  carma/src/carma-vehicle-model-framework:
+  src/carma-utils:
+    type: git
+    url: [email protected]:usdot-fhwa-stol/carma-utils.git
+    version: develop
+  src/carma-vehicle-model-framework:
     type: git
     url: [email protected]:usdot-fhwa-stol/carma-vehicle-model-framework.git
     version: develop
-  carma/src/carma-velodyne-lidar-driver:
+  src/carma-velodyne-lidar-driver:
     type: git
     url: [email protected]:usdot-fhwa-stol/carma-velodyne-lidar-driver.git
     version: develop
-  carma/src/carma-web-ui:
+  src/carma-web-ui:
     type: git
     url: [email protected]:usdot-fhwa-stol/carma-web-ui.git
     version: develop
-  carma/src/carma-garmin-lidar-lite-v3-driver-wrapper:
-    type: git
-    url: [email protected]:usdot-fhwa-stol/carma-garmin-lidar-lite-v3-driver-wrapper.git
-    version: develop
-  carma/src/carma-lightbar-driver:
+  src/carma-lightbar-driver:
     type: git
     url: [email protected]:usdot-fhwa-stol/carma-lightbar-driver.git
     version: develop
-  carma/src/carma-messenger:
+  src/kvaser_interface:
     type: git
-    url: [email protected]:usdot-fhwa-stol/carma-messenger.git
+    url: [email protected]:astuff/kvaser_interface.git
+    version: master
+  src/novatel_gps_driver:
+    type: git
+    url: [email protected]:usdot-fhwa-stol/novatel_gps_driver.git
     version: develop
-  carma/src/opendrive2lanelet:
+  src/opendrive2lanelet:
     type: git
     url: [email protected]:usdot-fhwa-stol/opendrive2lanelet.git
     version: develop
-  autoware.ai:
-    type: git
-    url: [email protected]:usdot-fhwa-stol/autoware.ai.git
-    version: carma-develop
diff --git a/carma/CMakeLists.txt b/carma/CMakeLists.txt
@@ -30,7 +30,6 @@ find_package(catkin REQUIRED
         j2735_msgs
         autoware_msgs
         derived_object_msgs
-        radar_msgs
 )
 
 catkin_package()

diff --git a/carma/launch/environment.launch b/carma/launch/environment.launch
@@ -131,30 +131,30 @@
   <remap to="$(optenv CARMA_ENV_NS)/detection/lidar_detector/objects_markers" from="/detection/lidar_detector/objects_markers"/>
 
   <include file="$(find lidar_euclidean_cluster_detect)/launch/lidar_euclidean_cluster_detect.launch">
-  <arg name="points_node" value="ray_ground_filter/points_no_ground" />
-
-  <arg name="remove_ground" value="false" />
-  <arg name="downsample_cloud" value="false" /> <!-- Apply VoxelGrid Filter with the value given by "leaf_size"-->
-  <arg name="leaf_size" value="0.1" /><!-- Voxel Grid Filter leaf size-->
-  <arg name="cluster_size_min" value="20" /><!-- Minimum number of points to consider a cluster as valid-->
-  <arg name="cluster_size_max" value="100000" /><!-- Maximum number of points to allow inside a cluster-->
-  <arg name="sync" value="false" />
-  <arg name="use_diffnormals" value="false" />
-  <arg name="pose_estimation" value="true" />
-  <arg name="calibration_params_file" value="$(arg vehicle_calibration_dir)/lidar_euclidean_cluster_detect/calibration.yaml"/> <!-- clip_max_height,clip_min_height and output_frame-->
-  <arg name="keep_lanes" value="false" />
-  <arg name="keep_lane_left_distance" value="5" />
-  <arg name="keep_lane_right_distance" value="5" />
-  <arg name="cluster_merge_threshold" value="1.5" />
-  <arg name="clustering_distance" value="0.75" />
-  <arg name="use_vector_map" value="false" />
-  <arg name="wayarea_gridmap_layer" value="wayarea" />
-  <arg name="remove_points_upto" value="0.0" />
-  <arg name="use_gpu" value="$(arg cuda)" />
-  <arg name="use_multiple_thres" value="false"/>
-  <arg name="clustering_ranges" value="[15,30,45,60]"/><!-- Distances to segment pointcloud -->
-  <arg name="clustering_distances"
-       value="[0.5,1.1,1.6,2.1,2.6]"/><!-- Euclidean Clustering threshold distance for each segment -->
+    <arg name="points_node" value="points_no_ground" />
+
+    <arg name="remove_ground" value="false" />
+    <arg name="downsample_cloud" value="false" /> <!-- Apply VoxelGrid Filter with the value given by "leaf_size"-->
+    <arg name="leaf_size" value="0.1" /><!-- Voxel Grid Filter leaf size-->
+    <arg name="cluster_size_min" value="20" /><!-- Minimum number of points to consider a cluster as valid-->
+    <arg name="cluster_size_max" value="100000" /><!-- Maximum number of points to allow inside a cluster-->
+    <arg name="sync" value="false" />
+    <arg name="use_diffnormals" value="false" />
+    <arg name="pose_estimation" value="true" />
+    <arg name="calibration_params_file" value="$(arg vehicle_calibration_dir)/lidar_euclidean_cluster_detect/calibration.yaml"/> <!-- clip_max_height,clip_min_height and output_frame-->
+    <arg name="keep_lanes" value="false" />
+    <arg name="keep_lane_left_distance" value="5" />
+    <arg name="keep_lane_right_distance" value="5" />
+    <arg name="cluster_merge_threshold" value="1.5" />
+    <arg name="clustering_distance" value="0.75" />
+    <arg name="use_vector_map" value="false" />
+    <arg name="wayarea_gridmap_layer" value="wayarea" />
+    <arg name="remove_points_upto" value="0.0" />
+    <arg name="use_gpu" value="$(arg cuda)" />
+    <arg name="use_multiple_thres" value="false"/>
+    <arg name="clustering_ranges" value="[15,30,45,60]"/><!-- Distances to segment pointcloud -->
+    <arg name="clustering_distances"
+        value="[0.5,1.1,1.6,2.1,2.6]"/><!-- Euclidean Clustering threshold distance for each segment -->
 
   </include>
   </group>
@@ -167,67 +167,65 @@
   <remap to="detection/fusion_tools/objects" from="/detection/fusion_tools/objects"/>
 
   <include file="$(find range_vision_fusion)/launch/range_vision_fusion.launch">
-  <arg name="detected_objects_range" value="detection/lidar_detector/objects"/>
-  <arg name="detected_objects_vision" value="detection/image_detector/objects"/>
-  <arg name="camera_info_src" value="$(optenv CARMA_INTR_NS)/camera/camera_info"/>
-  <arg name="min_car_dimensions" value="[3,2,2]"/>
-  <arg name="min_person_dimensions" value="[1,2,1]"/>
-  <arg name="min_truck_dimensions" value="[4,2,2]"/>
-  <arg name="sync_topics" value="false"/>
-  <arg name="overlap_threshold" value="0.6"/>
-  <arg name="use_vector_map" value="false"/>
-  <arg name="namespace" value="detection/fusion_tools"/>
+    <arg name="detected_objects_range" value="detection/lidar_detector/objects"/>
+    <arg name="detected_objects_vision" value="detection/image_detector/objects"/>
+    <arg name="camera_info_src" value="$(optenv CARMA_INTR_NS)/camera/camera_info"/>
+    <arg name="min_car_dimensions" value="[3,2,2]"/>
+    <arg name="min_person_dimensions" value="[1,2,1]"/>
+    <arg name="min_truck_dimensions" value="[4,2,2]"/>
+    <arg name="sync_topics" value="false"/>
+    <arg name="overlap_threshold" value="0.6"/>
+    <arg name="use_vector_map" value="false"/>
+    <arg name="namespace" value="detection/fusion_tools"/>
 
   </include>
   </group>
 
   <!-- imm_ukf_pda_track -->
   <group>
-  <remap to="detected_objects" from="/detection/objects"/>
-
   <include file="$(find imm_ukf_pda_track)/launch/imm_ukf_pda_track_lanelet2.launch">
-  <arg name="namespace" value="detection/object_tracker"/>
-  <arg name="tracker_input_topic" value="detection/fusion_tools/objects" />
-  <arg name="tracker_output_topic" value="detection/object_tracker/objects" />
-
-  <arg name="tracking_frame" value="map" />
-  <arg name="gating_threshold" value="9.22" />
-  <arg name="gate_probability" value="0.99" />
-  <arg name="detection_probability" value="0.9" />
-  <arg name="life_time_threshold" value="8" />
-  <arg name="static_velocity_threshold" value="0.5" />
-  <arg name="static_num_history_threshold" value="3" />
-  <arg name="prevent_explosion_threshold" value="1000" />
-  <arg name="merge_distance_threshold" value="0.5"/>
-  <arg name="use_sukf" value="false" />
-
-  <!-- Vectormap -->
-  <arg name="use_map_info" value="false"/>
-  <arg name="lane_direction_chi_threshold" value="2.71" />
-  <arg name="nearest_lane_distance_threshold" value="1.0" />
-  <arg name="map_frame" value="map" />
+    <arg name="namespace" value="detection"/>
+    <arg name="tracker_input_topic" value="fusion_tools/objects" />
+    <arg name="tracker_output_topic" value="object_tracker/objects" />
+
+    <arg name="tracking_frame" value="map" />
+    <arg name="gating_threshold" value="9.22" />
+    <arg name="gate_probability" value="0.99" />
+    <arg name="detection_probability" value="0.9" />
+    <arg name="life_time_threshold" value="8" />
+    <arg name="static_velocity_threshold" value="0.5" />
+    <arg name="static_num_history_threshold" value="3" />
+    <arg name="prevent_explosion_threshold" value="1000" />
+    <arg name="merge_distance_threshold" value="0.5"/>
+    <arg name="use_sukf" value="false" />
+
+    <!-- Vectormap -->
+    <arg name="use_map_info" value="false"/>
+    <arg name="lane_direction_chi_threshold" value="2.71" />
+    <arg name="nearest_lane_distance_threshold" value="1.0" />
+    <arg name="map_frame" value="map" />
 
   </include>
   </group>
 
   <!-- naive_motion_predict -->
   <!-- todo: remove CARMA_ENV_NS namespace without the node generating extra unwanted topics-->
   <group>
-  <remap to="$(optenv CARMA_ENV_NS)/prediction/motion_predictor/objects" from="/prediction/motion_predictor/objects"/>
-  <remap to="$(optenv CARMA_ENV_NS)/prediction/motion_predictor/path_markers" from="/prediction/motion_predictor/path_markers"/>
-  <remap to="$(optenv CARMA_ENV_NS)/prediction/motion_predictor/objects_markers" from="/prediction/motion_predictor/objects_markers"/>
-  <include file="$(find naive_motion_predict)/launch/naive_motion_predict.launch">
-  <arg name="interval_sec" value="0.1"/>
-  <arg name="num_prediction" value="10"/>
-  <arg name="sensor_height_calibration_params_file" value="$(arg vehicle_calibration_dir)/naive_motion_predict/calibration.yaml"/>
-  <arg name="filter_out_close_object_threshold" value="1.5"/>
-  <arg name="input_topic" value="detected_objects"/>
-  </include>
+    <remap to="$(optenv CARMA_ENV_NS)/prediction/motion_predictor/objects" from="/prediction/motion_predictor/objects"/>
+    <remap to="$(optenv CARMA_ENV_NS)/prediction/motion_predictor/path_markers" from="/prediction/motion_predictor/path_markers"/>
+    <remap to="$(optenv CARMA_ENV_NS)/prediction/motion_predictor/objects_markers" from="/prediction/motion_predictor/objects_markers"/>
+    <include file="$(find naive_motion_predict)/launch/naive_motion_predict.launch">
+      <arg name="interval_sec" value="0.1"/>
+      <arg name="num_prediction" value="10"/>
+      <arg name="sensor_height_calibration_params_file" value="$(arg vehicle_calibration_dir)/naive_motion_predict/calibration.yaml"/>
+      <arg name="filter_out_close_object_threshold" value="1.5"/>
+      <arg name="input_topic" value="detection/object_tracker/objects"/>
+    </include>
   </group>
 
   <!-- Ray Ground Filter -->
   <group>
-    <remap from="/points_raw" to="$(optenv CARMA_INTR_NS)/lidar/points_raw"/>
+    <remap from="points_raw" to="$(optenv CARMA_INTR_NS)/lidar/points_raw"/>
     <include file="$(find points_preprocessor)/launch/ray_ground_filter.launch">
       <arg name="no_ground_point_topic" value="points_no_ground" />
       <arg name="ground_point_topic" value="points_ground" />