clean

Dockerfile

@@ -33,9 +33,9 @@
 # Stage 1 - Acquire the CARMA source as well as any extra packages
 # /////////////////////////////////////////////////////////////////////////////
 
-FROM 2630f4c62a70 AS base-image
+FROM usdotfhwastoldev/autoware.ai:develop AS base-image
 
-FROM 2630f4c62a70 AS source-code
+FROM base-image AS source-code
 
 RUN mkdir ~/src
 COPY --chown=carma . /home/carma/src/carma-platform/
@@ -46,7 +46,7 @@ RUN ~/src/carma-platform/docker/checkout.bash
 # /////////////////////////////////////////////////////////////////////////////
 
 
-FROM 2630f4c62a70 AS install
+FROM base-image AS install
 ARG ROS1_PACKAGES=""
 ENV ROS1_PACKAGES=${ROS1_PACKAGES}
 ARG ROS2_PACKAGES=""
@@ -63,7 +63,7 @@ RUN ~/carma_ws/src/carma-platform/docker/install.sh
 # /////////////////////////////////////////////////////////////////////////////
 
 
-FROM 2630f4c62a70
+FROM base-image
 
 ARG BUILD_DATE="NULL"
 ARG VCS_REF="NULL"

docker/checkout.bash

@@ -37,3 +37,64 @@ done
 
 cd ${dir}/src
 
+
+# clone carma repos
+
+if [[ "$BRANCH" = "develop" ]]; then
+      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
+else
+      git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-msgs.git --branch develop
+      git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-utils.git --branch develop
+      git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-messenger.git --branch develop
+fi
+
+# Get humble branch of message filters which supports template Node arguments (foxy version supports rclcpp::Node only)
+git clone https://github.com/usdot-fhwa-stol/carma-message-filters.git --branch develop
+
+git clone https://github.com/usdot-fhwa-stol/multiple_object_tracking --branch develop
+
+# 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 ../
+
+#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
+
+# The feature/integrate-carma branch of rosbag2 includes improvements that were not possible to backport into the foxy branch
+# of rosbag2. These rosbag2 packages will replace the originally built foxy rosbag2 packages.
+# NOTE: Additional information regarding the rosbag2 improvements on this branch are included in the forked repository's README.
+git clone -b carma-develop https://github.com/usdot-fhwa-stol/rosbag2
+
+# 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
+sudo 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
+sudo git checkout 3055e220bb9715b59c3ef53ab0aba05a495d9d5
+
+cd ${dir}/src
+
+# git clone --branch master --depth 1 https://github.com/nitroshare/qhttpengine.git
+git clone -b master --depth 1 https://github.com/etherealjoy/qhttpengine.git
+git clone -b develop --depth 1 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

subsystem_controllers/config/drivers_controller_config.yaml

@@ -2,11 +2,11 @@
   ros__parameters:
     # Long: Timeout for each service to be detected as available in milliseconds
     # Units: milliseconds
-    service_timeout_ms : 2000
+    service_timeout_ms : 200
 
     # Long: Timeout for each service call in milliseconds
     # Units: milliseconds
-    call_timeout_ms : 10000
+    call_timeout_ms : 1000
 
     # String: The namespace for nodes in this subsystem. All nodes under this namespace will have their lifecycle's managed by this controller
     subsystem_namespace: /hardware_interface
@@ -35,4 +35,4 @@
     startup_duration: 30
 
     # Double: The timeout threshold for essential drivers in ms
-    required_driver_timeout: 3000.0
+    required_driver_timeout: 3000.0

subsystem_controllers/config/environment_perception_controller_config.yaml

@@ -2,11 +2,11 @@
   ros__parameters:
     # Long: Timeout for each service to be detected as available in milliseconds
     # Units: milliseconds
-    service_timeout_ms : 2000
+    service_timeout_ms : 200
 
     # Long: Timeout for each service call in milliseconds
     # Units: milliseconds
-    call_timeout_ms : 15000
+    call_timeout_ms : 1500
 
     # String: The namespace for nodes in this subsystem. All nodes under this namespace will have their lifecycle's managed by this controller
     subsystem_namespace: /environment
@@ -22,4 +22,4 @@
       - /hardware_interface/velodyne_lidar_driver_wrapper_node
 
     # Boolean: If this flag is true then all nodes under subsystem_namespace are treated as required in addition to any nodes in required_subsystem_nodes
-    full_subsystem_required: true
+    full_subsystem_required: true

subsystem_controllers/config/guidance_controller_config.yaml

@@ -2,11 +2,11 @@
   ros__parameters:
     # Long: Timeout for each service to be detected as available in milliseconds
     # Units: milliseconds
-    service_timeout_ms : 2000
+    service_timeout_ms : 200
 
     # Long: Timeout for each service call in milliseconds
     # Units: milliseconds
-    call_timeout_ms : 10000
+    call_timeout_ms : 1000
 
     # String: The namespace for nodes in this subsystem. All nodes under this namespace will have their lifecycle's managed by this controller
     subsystem_namespace: /guidance
@@ -65,4 +65,4 @@
       - /guidance/plugins/cooperative_lanechange
       - /guidance/plugins/platooning_tactical_plugin_node
       - /guidance/plugins/yield_plugin
-      - /guidance/plugins/pure_pursuit_wrapper
+      - /guidance/plugins/pure_pursuit_wrapper

subsystem_controllers/config/localization_controller_config.yaml

@@ -2,11 +2,11 @@
   ros__parameters:
     # Long: Timeout for each service to be detected as available in milliseconds
     # Units: milliseconds
-    service_timeout_ms : 2000
+    service_timeout_ms : 200
 
     # Long: Timeout for each service call in milliseconds
     # Units: milliseconds
-    call_timeout_ms : 10000
+    call_timeout_ms : 1000
 
     # String: The namespace for nodes in this subsystem. All nodes under this namespace will have their lifecycle's managed by this controller
     subsystem_namespace: /localization

subsystem_controllers/config/v2x_controller_config.yaml

@@ -2,11 +2,11 @@
   ros__parameters:
     # Long: Timeout for each service to be detected as available in milliseconds
     # Units: milliseconds
-    service_timeout_ms : 2000
+    service_timeout_ms : 200
 
     # Long: Timeout for each service call in milliseconds
     # Units: milliseconds
-    call_timeout_ms : 10000
+    call_timeout_ms : 1000
 
     # String: The namespace for nodes in this subsystem. All nodes under this namespace will have their lifecycle's managed by this controller
     subsystem_namespace: /message
@@ -23,4 +23,4 @@
       - /hardware_interface/dsrc_driver_node
 
     # Boolean: If this flag is true then all nodes under subsystem_namespace are treated as required in addition to any nodes in required_subsystem_nodes
-    full_subsystem_required: true
+    full_subsystem_required: true