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Fix carla bridge is not detecting route event #2187
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This was referenced Nov 8, 2023
adev4a
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Nov 8, 2023
MishkaMN
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Nov 9, 2023
<!-- Thanks for the contribution, this is awesome. --> # PR Details ## Description Added an ability to latch the route_event so that components starting late can detect the correct route events. This is mainly intended for components outside carma-platform such as carma-carla-integration tool as the live vehicle normally didn't have this issue. Related PRs: usdot-fhwa-stol/carma-carla-integration#45 usdot-fhwa-stol/carma-platform#2187 <!--- Describe your changes in detail --> ## Related GitHub Issue usdot-fhwa-stol/carma-platform#2188 <!--- This project only accepts pull requests related to open GitHub issues or Jira Keys --> <!--- If suggesting a new feature or change, please discuss it in an issue first --> <!--- If fixing a bug, there should be an issue describing it with steps to reproduce --> <!--- Please DO NOT name partially fixed issues, instead open an issue specific to this fix --> <!--- Please link to the issue here: --> ## Related Jira Key <!-- e.g. CAR-123 --> ## Motivation and Context Integration testing of VRU use case <!--- Why is this change required? What problem does it solve? --> ## How Has This Been Tested? Tested on a new Simulation PC (using fastDDS) <!--- Please describe in detail how you tested your changes. --> <!--- Include details of your testing environment, and the tests you ran to --> <!--- see how your change affects other areas of the code, etc. --> ## Types of changes <!--- What types of changes does your code introduce? Put an `x` in all the boxes that apply: --> - [X] Defect fix (non-breaking change that fixes an issue) - [ ] New feature (non-breaking change that adds functionality) - [ ] Breaking change (fix or feature that cause existing functionality to change) ## Checklist: <!--- Go over all the following points, and put an `x` in all the boxes that apply. --> <!--- If you're unsure about any of these, don't hesitate to ask. We're here to help! --> - [X] I have added any new packages to the sonar-scanner.properties file - [X] My change requires a change to the documentation. - [X] I have updated the documentation accordingly. - [X] I have read the [**CONTRIBUTING**](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/Contributing.md) document. - [X] I have added tests to cover my changes. - [X] All new and existing tests passed.
MishkaMN
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Nov 9, 2023
<!-- Thanks for the contribution, this is awesome. --> # PR Details ## Description carma-carla-integration tool's nodes currently can start later than when the route is selected. So added extra topic to broadcast when the guidance node is active in the tool so that the route node can select the route afterwards. Also carma-platform's last route event is ROUTE_STARTED not ROUTE_SELECTED, which can lead the guidance node into thinking the route is never selected. Related PRs: route_event latched in carma-platform: usdot-fhwa-stol/carma-platform#2187 route_event bridged correctly in carma-config: usdot-fhwa-stol/carma-config#280 <!--- Describe your changes in detail --> ## Related GitHub Issue usdot-fhwa-stol/carma-platform#2188 <!--- This project only accepts pull requests related to open GitHub issues or Jira Keys --> <!--- If suggesting a new feature or change, please discuss it in an issue first --> <!--- If fixing a bug, there should be an issue describing it with steps to reproduce --> <!--- Please DO NOT name partially fixed issues, instead open an issue specific to this fix --> <!--- Please link to the issue here: --> ## Related Jira Key <!-- e.g. CAR-123 --> ## Motivation and Context Integration testing of VRU use case <!--- Why is this change required? What problem does it solve? --> ## How Has This Been Tested? Simulation PC 1 with fastDDS <!--- Please describe in detail how you tested your changes. --> <!--- Include details of your testing environment, and the tests you ran to --> <!--- see how your change affects other areas of the code, etc. --> ## Types of changes <!--- What types of changes does your code introduce? Put an `x` in all the boxes that apply: --> - [X] Defect fix (non-breaking change that fixes an issue) - [ ] New feature (non-breaking change that adds functionality) - [ ] Breaking change (fix or feature that cause existing functionality to change) ## Checklist: <!--- Go over all the following points, and put an `x` in all the boxes that apply. --> <!--- If you're unsure about any of these, don't hesitate to ask. We're here to help! --> - [X] I have added any new packages to the sonar-scanner.properties file - [X] My change requires a change to the documentation. - [X] I have updated the documentation accordingly. - [X] I have read the [**CONTRIBUTING**](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/Contributing.md) document. - [X] I have added tests to cover my changes. - [X] All new and existing tests passed.
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PR Details
Description
Added an ability to latch the route_event so that components starting late can detect the correct route events. This is mainly intended for components outside carma-platform such as carma-carla-integration tool as the live vehicle normally didn't have this issue.
related PRs:
usdot-fhwa-stol/carma-carla-integration#45
usdot-fhwa-stol/carma-config#280
Related GitHub Issue
#2188
Related Jira Key
Motivation and Context
Integration testing of VRU use case
How Has This Been Tested?
Tested on a new Simulation PC (using fastDDS)
Types of changes
Checklist: