Merge pull request #412 from usdot-fhwa-stol/master

Resync master with develop

.circleci/config.yml

@@ -28,7 +28,7 @@ jobs:
     # Pull docker image from docker hub
     # XTERM used for better catkin_make output
     docker:
-      - image: usdotfhwastol/autoware.ai:3.1.0-Test
+      - image: usdotfhwastol/autoware.ai:3.1.0
         user: carma
         environment:
           TERM: xterm

ATTRIBUTION.md

@@ -1,18 +1,23 @@
-#### The following people have made direct and substantial contributions to the design and code in this repository, listed in alphabetical order:
+#### The following people have made direct and substantial contributions to the design and code in the CARMA Platform system, listed in alphabetical order:
 * David Ference - Software Engineer (Leidos)
 * Mae Fromm - Software Engineer (Leidos)
 * Michael McConnell - Software Engineer (Leidos)
 * Shuwei Qiang - Software Engineer (Leidos)
 * Kyle Rush - Software Engineer (Leidos) 
 * John Stark - Software Engineer & Principal Investigator (Leidos)
+* Samir Tabriz - Software Engineer (Leidos)
 
 #### Other significant contributions have been made by:
 * Philip Azeredo - System Test (Volpe) 
 * Monica Brito - Graphics, Communications & Publicity (Leidos)
 * Michael Chang - Unit Testing & Verification (Leidos) 
 * Laura Dailey - Graphics, Communications & Publicity (Leidos)
 * Darrell Dorman - Site setup & Configuration Management (Leidos) 
+* Kenji Funaoka - Autoware Integration (Tier IV)
 * Ed Leslie - Vehicle hardware & project management (Leidos)
+* Iwao Makino - Autoware integration (Tier IV)
+* Matt Marchese - Systems engineering (Leidos)
+* Ryohsuke Mitsudome - Autoware integration (Tier IV)
 * Sudkahar Nallamothu - Project Management (Leidos)
 * Tim Tiernan - System Test Lead (Volpe) 
 * Thomas Watters - Driver Development (formerly of TORC Robotics)
@@ -22,6 +27,7 @@
 * Matt Barth – Traffic Signal Algorithm (University of California Riverside)
 * Dave Bevly – Heavy truck integration & testing (Auburn University)
 * Lowell Brown - Heavy truck integration & testing (Auburn University)
+* Pavle Bujonovic - Platooning algorithm and government oversight (FHWA)
 * Patrick Chuang –Test Coordination (Transurban)
 * Aaron Dalton – Device driver & hardware integration (TORC Robotics)
 * Valerie Garrison – Project Management (TORC Robotics)

README.md

@@ -81,7 +81,7 @@ The CARMA Platform is distributed as a set of multiple independent packages host
 
 A full list of available packages may be found at in the [USDOT FHWA STOL](https://github.com/usdot-fhwa-stol) Github organization.
 
-CARMA Cloud<sup>SM</sup> is a downloadable, cloud-based open source software (OSS) service that provides information to support and enable cooperative driving automation. It enables communication with cloud services and vehicles, road users such as pedestrians, bicyclists, and scooters, and infrastructure devices capable of communication. It promotes collaboration between a community of engineers and researchers to accelerate the development, testing, and evaluation of cooperative driving automation while advancing the safety, security, data, and use of artificial intelligence in automated driving technology.
+CARMA Cloud<sup>SM</sup> is a downloadable, cloud-based open source software (OSS) service that provides information to support and enable cooperative driving automation. It enables communication with cloud services and vehicles, road users such as pedestrians, bicyclists, and scooters, and infrastructure devices capable of communication. It promotes collaboration between a community of engineers and researchers to accelerate the development, testing, and evaluation of cooperative driving automation while advancing the safety, security, data, and use of artificial intelligence in automated driving technology. The source code for CARMA Cloud can be found [here on GitHub](https://github.com/usdot-fhwa-stol/CARMACloud).
 
 ## Contribution
 Welcome to the CARMA contributing guide. Please read this guide to learn about our development process, how to propose pull requests and improvements, and how to build and test your changes to this project. [CARMA Contributing Guide](Contributing.md) 

autoware_plugin/package.xml

@@ -18,7 +18,7 @@
 
 <package format="2">
   <name>autoware_plugin</name>
-  <version>1.0.0</version>
+  <version>1.0.1</version>
   <description>The autoware_plugin converts final waypoint plan from autoware to a CARMA trajectory</description>
   <maintainer email="carma@todo.todo">carma</maintainer>
   <license>Apache License 2.0</license>

carma_transform_server/package.xml

@@ -16,7 +16,7 @@
 -->
 <package>
   <name>carma_transform_server</name>
-  <version>0.1.0</version>
+  <version>1.0.0</version>
   <description>The carma_transform_server package maintains a tf2 tree and makes this tree available via a service call</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->

carmajava/message/build.gradle

@@ -36,7 +36,7 @@ mainClassName = 'org.ros.RosRun'
 dependencies {
   /* An external maven artifact dependency */
   compile 'org.ros.rosjava_core:rosjava:[0.3,0.4)'
-  compile 'org.ros.rosjava_messages:cav_msgs:0.1.1'
+  compile 'org.ros.rosjava_messages:cav_msgs:1.0.0'
   compile 'org.ros.rosjava_messages:cav_srvs:0.1.0'
   compile 'org.ros.rosjava_messages:j2735_msgs:0.1.0'
   /* Local subproject dependency */

carmajava/mock_drivers/build.gradle

@@ -36,7 +36,7 @@ mainClassName = 'org.ros.RosRun'
 dependencies {
   /* An external maven artifact dependency */
   compile 'org.ros.rosjava_core:rosjava:[0.3,0.4)'
-  compile 'org.ros.rosjava_messages:cav_msgs:0.1.1'
+  compile 'org.ros.rosjava_messages:cav_msgs:1.0.0'
   compile 'org.ros.rosjava_messages:cav_srvs:0.1.0'
   compile 'org.ros.rosjava_messages:j2735_msgs:0.1.0'
   compile 'org.ros.rosjava_messages:bond:1.7.16'

carmajava/package.xml

@@ -16,7 +16,7 @@
 -->
 <package>
   <name>carma</name>
-  <version>3.0.0</version>
+  <version>3.1.0</version>
   <description>The carma package.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag --> 

carmajava/rosutils/build.gradle

@@ -26,7 +26,7 @@ dependencies {
   /* Example of an external maven artifact dependency */
     compile 'org.ros.rosjava_core:rosjava:[0.3,0.4)'
     compile 'junit:junit:4.12'
-    compile 'org.ros.rosjava_messages:cav_msgs:0.1.1'
+    compile 'org.ros.rosjava_messages:cav_msgs:1.0.0'
   /* compile 'org.ros.rosjava_core:rosjava:[0.2,)' */
   /* Example of a local subproject dependency */ 
   /* compile project(':sibling_gradle_project') */

carmajava/template/build.gradle

@@ -37,7 +37,7 @@ dependencies {
   /* An external maven artifact dependency */
   compile 'org.ros.rosjava_core:rosjava:[0.3,0.4)'
   compile 'org.ros.rosjava_messages:std_srvs:1.11.2'
-  compile 'org.ros.rosjava_messages:cav_msgs:0.1.1'
+  compile 'org.ros.rosjava_messages:cav_msgs:1.0.0'
   compile 'org.ros.rosjava_messages:cav_srvs:0.1.0'
   /* Local subproject dependency */
   compile project(':rosutils')

docker/checkout.sh

@@ -25,6 +25,7 @@ if [[ -n ${1} ]]; then
 fi
 
 cd ${dir}/src
-git clone --depth=1 https://github.com/usdot-fhwa-stol/CARMAMsgs.git --branch develop
-git clone --depth=1 https://github.com/usdot-fhwa-stol/CARMANovatelGpsDriver.git --branch develop
-git clone --depth=1 https://github.com/usdot-fhwa-stol/CARMAUtils.git --branch develop
+git clone --depth=1 https://github.com/usdot-fhwa-stol/CARMAMsgs.git --branch CARMASystem_3.1.0
+git clone --depth=1 https://github.com/usdot-fhwa-stol/CARMANovatelGpsDriver.git --branch CARMASystem_3.1.0
+git clone --depth=1 https://github.com/usdot-fhwa-stol/CARMAUtils.git --branch CARMASystem_3.1.0
+

docs/Release_notes.md

@@ -1,5 +1,136 @@
 CARMA Platform Release Notes
 ----------------------------
+
+Version 3.1.0, released 18 October 2019 
+--------------------------------------------------------
+
+**Summary:**
+CARMAPlatform Skyline release version 3.1.0 main highlight is the new Docker configuration and deployment for all the repositories for CARMA3. The images are now available in DockerHub under the organization name of "usdotfhwastol". Docker provides better management of library dependencies, ease of deployment and scalability. Other highlights of this release are the new configurations for the 3 different controllers such as PACMod, NewEagle and DataSpeed, the basic vehicle kinematic model, the updates to the guidance state machine, the updates to the GNSS to map converter, and the new functionality to auto select between GNSS and NDT pose.  
+
+Below are the highlights of the issues and pull requests (PRs) that have been addressed in this release.  
+
+- Issue 275: Novatel SPAN PwrPak7 and IMU-IGM-S1 report bad location when vehicle is moving on Lexus
+- Issue 309: Remove CARMA2 java packages that no longer applies to CARMA3
+- Issue 316: Update repo for conform with parameter standards
+- Issue 319: Resolve Blue Lexus shifter issue
+- Issue 322: Pacifica deviates from waypoints when running Autoware waypoint following
+- Issue 337: Data frequency changes in Docker 
+- Issue 343: Fix UI - Route Name not showing
+- Issue 348: Autoware plugin does not support plugin discovery
+- Issue 349: Guidance state machine does not transition properly from active to engaged on Lexus
+- Issue 352: CARMA launch file does not provide placeholder to pass map cell paths 
+- Issue 358: CI build fails due to missing ros-kinetic-swri-serial-util pkg
+- Issue 368: Unit test fails in GuidanceStateMachine
+- Issue 370: CARMASscInterfaceWrapper Docker image build failing due to dbw_mkz_msgs 
+- Issue 375: SonarCloud does not report code coverage correctly
+- Issue 381: Fusion CAN topic names mismatch
+- Issue 385: Automatically launch RVIZ configuration file
+
+**Repository: CARMAPlatform**  
+- PR 325: Initial implementation of CARMA3 guidance node
+- PR 327: Fix environment variables in launch files.
+- PR 329: Fix argument name for ray_ground_filter 
+- PR 330: Remove utility packages and update checkout.sh to depend on CARMAUtils
+- PR 331: Updating CARMAUtils repo name
+- PR 322: GNSS/NDT auto selector
+- PR 338: Add enhanced warning flag output to catkin build process
+- PR 339: Update Circle CI for CARMA3
+- PR 371: Update test cases for guidance node
+- PR 374: Created a new Turner Fairbank waypoints
+
+**Repository: autoware.ai**  
+- PR 12: Build new Autoware dockerization system on top of new carma-base
+- PR 17: Add calibration file for ray_ground_filter node
+- PR 18: Update ndt_matching.cpp 
+- PR 22: Disable genjava in Docker build as it causes instability 
+
+**Repository: CARMABase**  
+- PR 7:  Add Autoware dependencies and Sonar Scanner
+- PR 8:  Add code coverage scripts to Docker image
+- PR 10: Update init-env.sh to have proper Autoware install location
+- PR 11: Update SSC Dependencies
+- PR 12: Update for Component Release 3.1.0
+- PR 13: Update package version to 3.1.0 
+
+**Repository: CARMAWebUI**  
+- PR 17: Fix Docker image name 
+- PR 18: Update CircleCI For CARMA 3
+
+**Repository: CARMAUtils**  
+- PR 14: Add carma_utils and wgs84_utils packages to repo 
+- PR 15: Update checkout.sh script and CARMAUtils repo name
+- PR 16: Add uncertainty_tools package
+- PR 17: Update CircleCI For CARMA 3
+- PR 18: Feature/enhanced build warnings 
+
+**Repository: CARMAMsgs**  
+- PR 17: Update CircleCI for CARMA 3
+- PR 18: Update Plugin.msg 
+
+**Repository: CARMAConfig** 
+- PR 8: Create initial ford fusion configuration
+- PR 9: Update development config to match parameter standards 
+- PR 10: Remove outdated IMU config in drivers.launch 
+- PR 11: Fix Lexus can configuration
+- PR 12: Add state machine type
+- PR 13: Fix/pacifica configuration
+
+**Repository: CARMAVehicleCalibration** 
+- PR 1: Add initial development and Lexus calibration files
+- PR 2: Add vehicle calibration data
+- PR 3: Update Pacifica yaw offset
+- PR 5: Update blue Lexus LiDAR calibration
+- PR 6: Remove duplicated folders from blue Lexus calibration
+
+**Repository: CARMASscInterfaceWrapper** 
+- PR 13: Update for Docker 
+- PR 14: Use ssc module state for controller state
+- PR 16: Remove PACMod dependency for controller wrapper
+- PR 17: Update to match parameter standards
+- PR 19: Add SSC binaries to repo
+- PR 20: Add topic remapping for SSC
+- PR 21: Updating checkout.sh script and CARMAUtils repo name
+- PR 25: Fix Lexus configuration 
+- PR 26: Update kvaser 
+- PR 28: Fix Pacifica config
+
+**Repository: CARMAVehicleModelFramework** 
+- PR 8: Add -Wall flag to C/C++ build args
+- PR 9: Update for kinematic model and unit testing changes
+
+**Repository: CARMAVelodyneLidarDriver** 
+- PR 11: Update for Docker 
+- PR 12: Update driver to match new parameter standards
+- PR 13: Fix topic names in LiDAR launch file
+- PR 15: Update carma3 circle 
+- PR 16: Add -Wall flag to C/C++ build args 
+- PR 19: Update Docker file version numbers to target next release
+
+**Repository: CARMANovatelGpsDriver** 
+- PR 18: Update for Docker
+- PR 19: Update to match parameter standards"
+- PR 20: Fix dependency linkage in Docker file
+- PR 22: Refactor nodelet to have carma wrapper logic in separate nodelet
+- PR 23: Sync with Swri master 
+- PR 24: Add publishing for INSPVAX logs to driver 
+- PR 27: Add -Wall flag to C++ and C compiler flags
+- PR 29: Feature/update carma3 circle 
+- PR 30: Update docker version numbers to target next release
+
+**Repository: CARMAAvtVimbaDriver** 
+- PR 11: Update Docker file to match parameter standards
+- PR 13: CircleCI For CARMA3
+- PR 14: Add -Wall C++ and C compiler flag
+
+**Repository: CARMADelphiEsrDriver** 
+- PR 13: CircleCI For CARMA3 
+- PR 14: Add -Wall flag to C/C++ build args 
+
+**Repository: CARMADelphiSrr2Driver** 
+- PR 16: Update driver to match parameter standards 
+- PR 18: Update CircleCI For CARMA 3
+- PR 19: Add -Wall flag to C/C++ build args
+
 Pre-Release Version 3.0.0, released 15 July 2019 
 ----------------------------------- 
 

gnss_to_map_convertor/package.xml

@@ -16,7 +16,7 @@
 -->
 <package>
   <name>gnss_to_map_convertor</name>
-  <version>1.0.0</version>
+  <version>2.0.0</version>
   <description>The gnss_to_map_convertor converts incomping GNSS messages (NavSatFix) to poses in the ECEF and Map frames </description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->

trajectory_executor/package.xml

@@ -16,7 +16,7 @@
 -->
 <package format="2">
   <name>trajectory_executor</name>
-  <version>1.0.0</version>
+  <version>1.1.0</version>
   <description>CARMA Trajectory Executor pacakge</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->