Arc 259 to humble and beyond (#2477)

* removed work-in-progress related elements

* removed tracing and rosbag2 since they are already installed and in humble

* removed stale comment

* removed unneeded astuff_sensor_msgs install

* added ci/rebuilding improvements

* fixed command to get package names

* actually fixed package collector

* configured dependencies to not reinstall on rebuild

* limited v2xhub to only install necessary components

.github/workflows/Ci.yml

@@ -66,10 +66,11 @@ jobs:
     - name: Install external dependencies
       # Install the multiple object tracking deps
       run: sudo bash /opt/carma/src/multiple_object_tracking/scripts/install_dependencies.sh
-    # TODO WIP Humble Upgrade: Remove after humble upgrade is done
-    - name: Read packages from file
+
+    - name: Compile list of packages
+      # Get all packages in the respository
       run: |
-        PACKAGES=$(cat /opt/carma/src/${{ github.event.repository.name }}/.github/workflows/humble-upgraded-packages.txt)
+        PACKAGES=$(find ./src/carma-platform -maxdepth 2 -type f -name "package.xml" -exec sh -c 'grep -oPm1 "(?<=<name>)[^<]+" "{}"' \; | cut -d/ -f1 | tr '\n' ' ' | sed 's/ $//')
         echo "PACKAGES=$PACKAGES" >> $GITHUB_ENV
 
     - name: Build ROS2

Dockerfile

@@ -39,11 +39,12 @@ FROM ${DOCKER_ORG}/autoware.ai:${DOCKER_TAG} as base-image
 FROM base-image AS source-code
 
 RUN mkdir ~/src
-COPY --chown=carma . /home/carma/src/carma-platform/
+COPY --chown=carma ./docker /home/carma/src/carma-platform/docker
 
 ARG GIT_BRANCH="develop"
 RUN ~/src/carma-platform/docker/checkout.bash -b ${GIT_BRANCH}
 
+COPY --chown=carma . /home/carma/src/carma-platform
 # /////////////////////////////////////////////////////////////////////////////
 # Stage 2 - Build and install the software
 # /////////////////////////////////////////////////////////////////////////////

carma_cloud_client/package.xml

@@ -39,10 +39,6 @@
   <depend>j2735_convertor</depend>
   <depend>std_srvs</depend>
 
-  <!-- <depend>qhttpengine</depend> -->
-  <!-- <depend>v2xhubWebAPI</depend> -->
-
-
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>
 

docker/build-image.sh

@@ -114,12 +114,12 @@ echo "Final image name: $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING"
 cd ..
 if [[ $COMPONENT_VERSION_STRING = "develop" ]]; then
     sed "s|usdotfhwastoldev/|$USERNAME/|g; s|usdotfhwastolcandidate/|$USERNAME/|g; s|usdotfhwastol/|$USERNAME/|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:$COMPONENT_VERSION_STRING|g; s|checkout.bash|checkout.bash -d|g" \
-        Dockerfile | docker build -f - --no-cache -t $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING \
+        Dockerfile | docker build -f - -t $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING \
         --build-arg VERSION="$COMPONENT_VERSION_STRING" \
         --build-arg VCS_REF=`git rev-parse --short HEAD` \
         --build-arg BUILD_DATE=`date -u +”%Y-%m-%dT%H:%M:%SZ”` .
 elif [[ $COMPONENT_VERSION_STRING = "SNAPSHOT" ]]; then
-    docker build --network=host --no-cache -t $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING \
+    docker build --network=host -t $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING \
         --build-arg PACKAGES="$PACKAGES" \
         --build-arg VERSION="$COMPONENT_VERSION_STRING" \
         --build-arg VCS_REF=`git rev-parse --short HEAD` \
@@ -128,7 +128,7 @@ else
     #The addition of --network=host was a fix for a DNS resolution error that occured
     #when running the platform inside an Ubuntu 20.04 virtual machine. The error and possible soliutions are
     # discussed here: https://github.com/moby/moby/issues/41003
-    docker build --network=host --no-cache -t $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING \
+    docker build --network=host -t $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING \
         --build-arg VERSION="$COMPONENT_VERSION_STRING" \
         --build-arg VCS_REF=`git rev-parse --short HEAD` \
         --build-arg BUILD_DATE=`date -u +”%Y-%m-%dT%H:%M:%SZ”` .

docker/checkout.bash

@@ -42,53 +42,16 @@ cd "${dir}"/src
 git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-msgs.git --branch "${BRANCH}"
 git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-utils.git --branch "${BRANCH}"
 git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-messenger.git --branch "${BRANCH}"
-# Get humble branch of message filters which supports template Node arguments (foxy version supports rclcpp::Node only)
 git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-message-filters.git --branch "${BRANCH}"
 git clone --depth=1 https://github.com/usdot-fhwa-stol/multiple_object_tracking --branch "${BRANCH}"
-git clone --depth=1 https://github.com/ros2/rosbag2 --branch humble
-
-# add astuff messages
-# NOTE: The ibeo_msgs package is ignored because on build the cmake files in that package run a sed command
-#       which can make them incompatible with a new ros version after a source switch
-git clone https://github.com/astuff/astuff_sensor_msgs
-
-cd astuff_sensor_msgs
-git checkout 41d5ef0c33fb27eb3c9ba808b51332bcce186a83
-
-# Disable ibeo_msgs
-cd ibeo_msgs
-echo "" > COLCON_IGNORE
-cd ../astuff_sensor_msgs
-echo "" > COLCON_IGNORE
-
-cd ../
-
-# Clone the humble branch of ros2_tracing in order to enable certain analyses of CARMA Platform
-# made possible through collected trace data, such as analyzing ROS 2 callback durations.
-git clone -b humble https://github.com/ros2/ros2_tracing
 
 #rosbridge_suite is a ROS meta-package including all the rosbridge packages.
 # NOTE: clone -b flag is used instead of --branch to avoid hook rewriting it
 git clone -b ros2 https://github.com/usdot-fhwa-stol/rosbridge_suite
 
-
-# Novatel OEM7 Driver
-# NOTE: This is required since otherwise this image will not contain the novatel_oem7_msgs package, and a missing ROS 2 message package
-#       can cause ROS 2 rosbag logging to fail in Foxy.
-# Related GitHub discussion for fix that was not backported to Foxy: https://github.com/ros2/rosbag2/pull/858
-git clone https://github.com/novatel/novatel_oem7_driver.git "${dir}"/src/novatel_oem7_driver -b ros2-dev
-# Checkout verified commit
-cd "${dir}"/src/novatel_oem7_driver
-git checkout 3055e220bb9715b59c3ef53ab0aba05a495d9d5
-# Ignore novatel_oem7_driver package; only novatel_oem7_msgs is required
-cd "${dir}"/src/novatel_oem7_driver/src/novatel_oem7_driver
-echo "" > COLCON_IGNORE
-cd "${dir}"/src
 # TODO: Remove V2X-Hub Depedency (CAR-6029)
 git clone -b master --depth 1 https://github.com/etherealjoy/qhttpengine.git
 
-git clone -b 7.6.0 --depth 1 https://github.com/usdot-fhwa-OPS/V2X-Hub.git
+git clone -b 7.6.0 --depth 1 --sparse https://github.com/usdot-fhwa-OPS/V2X-Hub.git
 cd V2X-Hub
-git config core.sparsecheckout true
-git sparse-checkout init
 git sparse-checkout set ext/ccserver

docker/install.sh

@@ -20,8 +20,10 @@ set -e
 
 cd ~/carma_ws
 
-echo "Installing multiple object tracking dependencies"
-sudo ./src/multiple_object_tracking/scripts/install_dependencies.sh
+if [[ -z "$PACKAGES" ]]; then
+    echo "Installing multiple object tracking dependencies"
+    sudo ./src/multiple_object_tracking/scripts/install_dependencies.sh
+fi
 
 sudo mkdir -p /opt/carma # Create install directory
 sudo chown carma /opt/carma # Set owner to expose permissions for build