Merge pull request #184 from usdot-fhwa-stol/release/hudson

Merge release to master for release carma-system-4.1.0

.circleci/config.yml

@@ -3,7 +3,7 @@ jobs:
   build:
     # Setup docker
     docker:
-      - image: usdotfhwastol/carma-base:carma-system-4.0.0
+      - image: usdotfhwastol/carma-base:carma-system-4.1.0
         user: carma
         environment:
           TERM: xterm # use xterm to get full display output from build

Dockerfile

@@ -1,4 +1,4 @@
-FROM usdotfhwastol/carma-base:carma-system-4.0.0 as base_image
+FROM usdotfhwastol/carma-base:carma-system-4.1.0 as base_image
 SHELL ["/bin/bash", "-c"]
 
 ARG DEBIAN_FRONTEND="noninteractive"
@@ -14,7 +14,7 @@ LABEL org.label-schema.vcs-ref=${VCS_REF}
 LABEL org.label-schema.build-date=${BUILD_DATE}
 
 # Clone autoware repo to access messages
-RUN cd /home/carma/ && git clone https://github.com/usdot-fhwa-stol/autoware.ai.git --depth 1 --branch carma-system-4.0.3
+RUN cd /home/carma/ && git clone https://github.com/usdot-fhwa-stol/autoware.ai.git --depth 1 --branch carma-system-4.1.0
 
 # ROS 1 msgs setup
 RUN mkdir -p ~/.base-image/ros1_msgs_ws/src/carma_msgs
@@ -47,7 +47,7 @@ RUN source /opt/ros/noetic/setup.bash \
 && source ~/.base-image/ros1_msgs_ws/install/local_setup.bash \
 && source ~/.base-image/ros2_msgs_ws/install/local_setup.bash \
 && cd ~/.base-image/workspace/src \
-&& git clone --depth 1 --branch carma-system-4.0.0  https://github.com/usdot-fhwa-stol/ros1_bridge.git \
+&& git clone --depth 1 --branch carma-system-4.1.0  https://github.com/usdot-fhwa-stol/ros1_bridge.git \
 && cd ../ \
 && sudo apt-get update \
 && colcon build --packages-select ros1_bridge --cmake-args "--debug-output" \

carma_v2x_msgs/msg/CoarseHeading.msg

@@ -0,0 +1,17 @@
+#
+# CoarseHeading.msg
+#
+# Modified J2735 2016 message format, adjusted to use base SI units (m,s, etc) in most case.
+#
+# Parsed description of CoarseHeading from the SAE J2735 2016 specification.
+# For further usage details consult the specification. See note on SI units above.
+#
+# CoarseHeading in degrees (0..358.5) derived from 1.5 resolution data
+
+float32 heading
+
+# If true then heading is unavailable
+bool unavailable
+
+float32 MIN=0.0
+float32 MAX=358.5

carma_v2x_msgs/msg/OffsetLLB18.msg

@@ -0,0 +1,17 @@
+#
+# OffsetLLB18.msg
+#
+# Modified J2735 2016 message format, adjusted to use base SI units (m,s, etc) in most case.
+#
+# Parsed description of OffsetLL-B18 from the SAE J2735 2016 specification.
+# For further usage details consult the specification. See note on SI units above.
+#
+# OffsetLL-B18 offset in degrees in range of +- 0.0131071 degrees
+
+float64 offset
+
+# If true the offset is unset
+bool unavailable
+
+float64 MIN=-0.0131071
+float64 MAX=0.0131071

carma_v2x_msgs/msg/PathHistory.msg

@@ -18,6 +18,8 @@ uint8 HAS_CURR_GNSS_STATUS = 1
 uint8 HAS_INITIAL_POSITION = 2
 
 
+carma_v2x_msgs/PathHistoryPointList crumb_data
+
 ####
 # OPTIONAL FIELDS
 # All fields below this section are optional.

carma_v2x_msgs/msg/PathHistoryPoint.msg

@@ -0,0 +1,35 @@
+#
+# PathHistoryPoint.msg
+#
+# Modified J2735 2016 message format, adjusted to use base SI units (m,s, etc) in most case.
+#
+# Parsed description of PathHistoryPoint from the SAE J2735 2016 specification.
+# For further usage details consult the specification. See note on SI units above.
+#
+# PathHistoryPoint ::= SEQUENCE {
+#    latOffset       OffsetLL-B18,
+#    lonOffset       OffsetLL-B18,
+#    elevationOffset VertOffset-B12,  
+#    timeOffset      TimeOffset,
+#                    -- Offset backwards in time 
+#    speed           Speed                 OPTIONAL, 
+#                    -- Speed over the reported period
+#    posAccuracy     PositionalAccuracy    OPTIONAL, 
+#                    -- The accuracy of this value
+#    heading         CoarseHeading         OPTIONAL, 
+#                    -- overall heading 
+#    ...
+#    }
+
+carma_v2x_msgs/OffsetLLB18 lat_offset
+carma_v2x_msgs/OffsetLLB18 lon_offset
+
+carma_v2x_msgs/VertOffsetB12 elevation_offset
+
+carma_v2x_msgs/TimeOffset time_offset
+
+carma_v2x_msgs/Speed speed
+
+carma_v2x_msgs/PositionalAccuracy pos_accuracy
+
+carma_v2x_msgs/CoarseHeading heading

carma_v2x_msgs/msg/PathHistoryPointList.msg

@@ -0,0 +1,14 @@
+#
+# PathHistoryPointList.msg
+#
+# Modified J2735 2016 message format, adjusted to use base SI units (m,s, etc) in most case.
+#
+# Parsed description of PathHistoryPointList from the SAE J2735 2016 specification.
+# For further usage details consult the specification. See note on SI units above.
+#
+# PathHistoryPointList ::= SEQUENCE (SIZE(1..23)) OF PathHistoryPoint
+
+carma_v2x_msgs/PathHistoryPoint[] points
+
+uint8 MIN_SIZE=1
+uint8 MAX_SIZE=23

carma_v2x_msgs/msg/PathPrediction.msg

@@ -14,8 +14,8 @@ float32 MIN_RADIUS=-327.67
 float32 MAX_RADIUS=327.67
 
 
-# Confidence percentage in range (0..200)
+# Confidence percentage in range (0..1.0)
 float32 confidence
 
 float32 MIN_CONFIDENCE=0.0
-float32 MAX_CONFIDENCE=200.0
+float32 MAX_CONFIDENCE=1.0

carma_v2x_msgs/msg/Speed.msg

@@ -0,0 +1,17 @@
+#
+# Speed.msg
+#
+# Modified J2735 2016 message format, adjusted to use base SI units (m,s, etc) in most case.
+#
+# Parsed description of Speed from the SAE J2735 2016 specification.
+# For further usage details consult the specification. See note on SI units above.
+#
+# Speed in m/s in range (0..163.8)
+
+float32 speed
+
+# True if the speed is unavailable
+bool unavailable
+
+float32 MIN=0.0
+float32 MAX=163.8

carma_v2x_msgs/msg/TimeOffset.msg

@@ -0,0 +1,16 @@
+#
+# TimeOffset.msg
+#
+# Modified J2735 2016 message format, adjusted to use base SI units (m,s, etc) in most case.
+#
+# Parsed description of TimeOffset from the SAE J2735 2016 specification.
+# For further usage details consult the specification. See note on SI units above.
+#
+# TimeOffset in seconds in range (0.01..655.34)
+float32 offset
+
+# If true the offset is unavailable
+bool unavailable
+
+float32 MIN=1
+float32 MAX=655.34

carma_v2x_msgs/msg/VertOffsetB12.msg

@@ -0,0 +1,16 @@
+#
+# VertOffsetB12.msg
+#
+# Modified J2735 2016 message format, adjusted to use base SI units (m,s, etc) in most case.
+#
+# Parsed description of VertOffset-B12 from the SAE J2735 2016 specification.
+# For further usage details consult the specification. See note on SI units above.
+#
+# Vertical Offset in meters in range (-204.7..204.7)  
+float32 offset
+
+# If true the offset is unavailable
+bool unavailable
+
+float32 MIN=-204.7
+float32 MAX=204.7

cav_msgs/msg/CoarseHeading.msg

@@ -0,0 +1,17 @@
+#
+# CoarseHeading.msg
+#
+# Modified J2735 2016 message format, adjusted to use base SI units (m,s, etc) in most case.
+#
+# Parsed description of CoarseHeading from the SAE J2735 2016 specification.
+# For further usage details consult the specification. See note on SI units above.
+#
+# CoarseHeading in degrees (0..358.5) derived from 1.5 resolution data
+
+float32 heading
+
+# If true then heading is unavailable
+bool unavailable
+
+float32 MIN=0.0
+float32 MAX=358.5

cav_msgs/msg/OffsetLLB18.msg

@@ -0,0 +1,17 @@
+#
+# OffsetLLB18.msg
+#
+# Modified J2735 2016 message format, adjusted to use base SI units (m,s, etc) in most case.
+#
+# Parsed description of OffsetLL-B18 from the SAE J2735 2016 specification.
+# For further usage details consult the specification. See note on SI units above.
+#
+# OffsetLL-B18 offset in degrees in range of +- 0.0131071 degrees
+
+float64 offset
+
+# If true the offset is unset
+bool unavailable
+
+float64 MIN=-0.0131071
+float64 MAX=0.0131071

cav_msgs/msg/PathHistory.msg

@@ -17,6 +17,7 @@ uint8 presence_vector
 uint8 HAS_CURR_GNSS_STATUS = 1
 uint8 HAS_INITIAL_POSITION = 2
 
+cav_msgs/PathHistoryPointList crumb_data
 
 ####
 # OPTIONAL FIELDS

cav_msgs/msg/PathHistoryPoint.msg

@@ -0,0 +1,35 @@
+#
+# PathHistoryPoint.msg
+#
+# Modified J2735 2016 message format, adjusted to use base SI units (m,s, etc) in most case.
+#
+# Parsed description of PathHistoryPoint from the SAE J2735 2016 specification.
+# For further usage details consult the specification. See note on SI units above.
+#
+# PathHistoryPoint ::= SEQUENCE {
+#    latOffset       OffsetLL-B18,
+#    lonOffset       OffsetLL-B18,
+#    elevationOffset VertOffset-B12,  
+#    timeOffset      TimeOffset,
+#                    -- Offset backwards in time 
+#    speed           Speed                 OPTIONAL, 
+#                    -- Speed over the reported period
+#    posAccuracy     PositionalAccuracy    OPTIONAL, 
+#                    -- The accuracy of this value
+#    heading         CoarseHeading         OPTIONAL, 
+#                    -- overall heading 
+#    ...
+#    }
+
+cav_msgs/OffsetLLB18 lat_offset
+cav_msgs/OffsetLLB18 lon_offset
+
+cav_msgs/VertOffsetB12 elevation_offset
+
+cav_msgs/TimeOffset time_offset
+
+cav_msgs/Speed speed
+
+cav_msgs/PositionalAccuracy pos_accuracy
+
+cav_msgs/CoarseHeading heading

cav_msgs/msg/PathHistoryPointList.msg

@@ -0,0 +1,14 @@
+#
+# PathHistoryPointList.msg
+#
+# Modified J2735 2016 message format, adjusted to use base SI units (m,s, etc) in most case.
+#
+# Parsed description of PathHistoryPointList from the SAE J2735 2016 specification.
+# For further usage details consult the specification. See note on SI units above.
+#
+# PathHistoryPointList ::= SEQUENCE (SIZE(1..23)) OF PathHistoryPoint
+
+cav_msgs/PathHistoryPoint[] points
+
+uint8 MIN_SIZE=1
+uint8 MAX_SIZE=23

cav_msgs/msg/Speed.msg

@@ -0,0 +1,17 @@
+#
+# Speed.msg
+#
+# Modified J2735 2016 message format, adjusted to use base SI units (m,s, etc) in most case.
+#
+# Parsed description of Speed from the SAE J2735 2016 specification.
+# For further usage details consult the specification. See note on SI units above.
+#
+# Speed in m/s in range (0..163.8)
+
+float32 speed
+
+# True if the speed is unavailable
+bool unavailable
+
+float32 MIN=0.0
+float32 MAX=163.8

cav_msgs/msg/TimeOffset.msg

@@ -0,0 +1,16 @@
+#
+# TimeOffset.msg
+#
+# Modified J2735 2016 message format, adjusted to use base SI units (m,s, etc) in most case.
+#
+# Parsed description of TimeOffset from the SAE J2735 2016 specification.
+# For further usage details consult the specification. See note on SI units above.
+#
+# TimeOffset in seconds in range (0.01..655.34)
+float32 offset
+
+# If true the offset is unavailable
+bool unavailable
+
+float32 MIN=1
+float32 MAX=655.34

cav_msgs/msg/VertOffsetB12.msg

@@ -0,0 +1,16 @@
+#
+# VertOffsetB12.msg
+#
+# Modified J2735 2016 message format, adjusted to use base SI units (m,s, etc) in most case.
+#
+# Parsed description of VertOffset-B12 from the SAE J2735 2016 specification.
+# For further usage details consult the specification. See note on SI units above.
+#
+# Vertical Offset in meters in range (-204.7..204.7)  
+float32 offset
+
+# If true the offset is unavailable
+bool unavailable
+
+float32 MIN=-204.7
+float32 MAX=204.7

j2735_msgs/msg/CoarseHeading.msg

@@ -0,0 +1,19 @@
+#
+# CoarseHeading.msg
+#
+# J2735 2016 message format.
+#
+# Parsed description of CoarseHeading from the SAE J2735 2016 specification.
+# For further usage details consult the specification.
+#
+# CoarseHeading ::= INTEGER (0..240)
+#    -- Where the LSB is in units of 1.5 degrees 
+#    -- over a range of 0~358.5 degrees
+#    -- the value 240 shall be used for unavailable
+
+uint8 heading
+
+uint8 MIN=0
+uint8 MAX=239
+
+uint8 UNAVAILABLE=240

j2735_msgs/msg/OffsetLLB18.msg

@@ -0,0 +1,21 @@
+#
+# OffsetLLB18.msg
+#
+# J2735 2016 message format.
+#
+# Parsed description of OffsetLL-B18 from the SAE J2735 2016 specification.
+# For further usage details consult the specification.
+#
+# OffsetLL-B18 ::= INTEGER (-131072..131071)     
+#    -- A range of +- 0.0131071 degrees
+#    -- The value +131071 shall be used for values >= than +0.0131071 degrees
+#    -- The value -131071 shall be used for values <= than -0.0131071 degrees
+#    -- The value -131072 shall be used unknown
+#    -- In LSB units of 0.1 microdegrees (unless a zoom is employed)
+
+int32 offset
+
+int32 MIN=-131071
+int32 MAX=131071
+
+int32 UNAVAILABLE=-131072

j2735_msgs/msg/PathHistory.msg

@@ -23,6 +23,7 @@ uint8 presence_vector
 uint8 HAS_CURR_GNSS_STATUS = 1
 uint8 HAS_INITIAL_POSITION = 2
 
+j2735_msgs/PathHistoryPointList crumb_data
 
 ####
 # OPTIONAL FIELDS