ROS2 Humble upgrade code only - not integration tested #166

MishkaMN · 2024-12-23T20:14:04Z

PR Details

Description

This is upgrade to Humble for ROS2 ssc-wrapper. Main changes are:

Separated the dockerfile into ROS1 (noetic) and ROS2 (humble). Thus splitting the dependency code as well from each dockerfiles
Added binary files from Hexagon (autonomoustuff) from CARMASensitive because it is not available in public repo list. They emailed it to us
Removed unnecessary git clones for ROS2 because all of the required packages are available as Humble deb file.
Removed dependency from autoware.ai because previously we separated all that carma-ssc-interface-wrapper needs from autoware.ai
Now this PR makes it generate 2 different images with following tags:
usdotfhwastoldev/carma-ssc-interface-wrapper:develop-humble
usdotfhwastoldev/carma-ssc-interface-wrapper:develop-noetic

Related GitHub Issue

NA

Related Jira Key

ARC-199

Motivation and Context

Upgrade to Humble

How Has This Been Tested?

For now it is only whether if the Docker image builds or not.
Next story will be integration testing in Lexus.

Types of changes

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:

I have added any new packages to the sonar-scanner.properties file
My change requires a change to the documentation.
I have updated the documentation accordingly.
I have read the CONTRIBUTING document.
I have added tests to cover my changes.
All new and existing tests passed.

MishkaMN · 2025-01-12T23:08:30Z

I wasn't able to fix the Sonar scan. I'll have Sai take a look at this as it seems to have exist on develop too. Considering how the code hasn't changed in a while it is pretty low priority fix anyways. https://usdot-carma.atlassian.net/browse/CAR-6098

ssc_interface_wrapper_ros2/package.xml

.github/workflows/docker-humble.yml

docker/install.sh

humble/Dockerfile

adev4a · 2025-01-16T18:13:14Z

ssc_interface_wrapper_ros2/src/converter_worker.cpp

                                                                    std::bind(&Converter::callback_from_ssc_module_states, this, std_ph::_1));
        // TO DO: The output from callback_from_ssc_feedbacks and callback_for_twist_update needs to be kept synchronized
-        // This was being done in autoware.ai using message_filters https://github.com/usdot-fhwa-stol/autoware.ai/blob/1cb4e74b810111369a6bbe49b0e64e07767454c0/drivers/as/nodes/ssc_interface/ssc_interface.h#L58
+        // This was being done in autoware using message_filters https://github.com/usdot-fhwa-stol/autoware.ai/blob/1cb4e74b810111369a6bbe49b0e64e07767454c0/drivers/as/nodes/ssc_interface/ssc_interface.h#L58


Message filters humble version should support synchronization using message_filters. The current synchronization is done with a workaround using flags

okay I removed the TODO comment

For this one, we should be implementing the change suggested in the todo comments. We can probably just take the implementation from autoware which was updated here for foxy since message_filters wasn't supporting the required function on that release. https://github.com/usdot-fhwa-stol/autoware.ai/blob/1cb4e74b810111369a6bbe49b0e64e07767454c0/drivers/as/nodes/ssc_interface/ssc_interface.h#L58

ssc_interface_wrapper_ros2/include/ssc_interface_wrapper/converter_node.hpp

humble/Dockerfile

adev4a · 2025-01-20T23:25:18Z

.circleci/config.yml

@@ -1,20 +1,20 @@
 version: 2
-#  Copyright (C) 2018-2022 LEIDOS.
-# 
+#  Copyright (C) 2025 LEIDOS.


The copyright should be 2018-2022

adev4a · 2025-01-20T23:33:15Z

docker/install.sh

@@ -1,6 +1,6 @@
 #!/bin/bash

-#  Copyright (C) 2022 LEIDOS.
+#  Copyright (C) 2025 LEIDOS.


This should be 2022-2025

adev4a · 2025-01-20T23:59:39Z

ssc_interface_wrapper_ros2/src/converter_worker.cpp

                                                                    std::bind(&Converter::callback_from_ssc_module_states, this, std_ph::_1));
        // TO DO: The output from callback_from_ssc_feedbacks and callback_for_twist_update needs to be kept synchronized
-        // This was being done in autoware.ai using message_filters https://github.com/usdot-fhwa-stol/autoware.ai/blob/1cb4e74b810111369a6bbe49b0e64e07767454c0/drivers/as/nodes/ssc_interface/ssc_interface.h#L58
+        // This was being done in autoware using message_filters https://github.com/usdot-fhwa-stol/autoware.ai/blob/1cb4e74b810111369a6bbe49b0e64e07767454c0/drivers/as/nodes/ssc_interface/ssc_interface.h#L58


For this one, we should be implementing the change suggested in the todo comments. We can probably just take the implementation from autoware which was updated here for foxy since message_filters wasn't supporting the required function on that release. https://github.com/usdot-fhwa-stol/autoware.ai/blob/1cb4e74b810111369a6bbe49b0e64e07767454c0/drivers/as/nodes/ssc_interface/ssc_interface.h#L58

adev4a · 2025-01-21T00:00:05Z

.sonarqube/sonar-scanner.properties

@@ -1,4 +1,4 @@
-#  Copyright (C) 2018-2022 LEIDOS.
+#  Copyright (C) 2025 LEIDOS.


This should be 2018-2025

adev4a · 2025-01-21T00:00:15Z

docker/build-image.sh

@@ -1,18 +1,19 @@
 #!/bin/bash

-#  Copyright (C) 2018-2022 LEIDOS.
-# 
+#  Copyright (C) 2025 LEIDOS.


adev4a · 2025-01-21T00:00:29Z

docker/checkout.bash

@@ -1,13 +1,13 @@
 #!/bin/bash

 #  Copyright (C) 2022 LEIDOS.


Also 2018-2025

adev4a · 2025-01-21T00:00:42Z

docker/system_release.sh

@@ -1,20 +1,20 @@
 #!/bin/bash

 #  Copyright (C) 2018-2021 LEIDOS.


I think same comment for all files here to update copyright year

MishkaMN added 19 commits December 23, 2024 15:11

initial humble change

d23d398

circle ci to humble

ef9b4e9

dockerhub trigger for develop-humble

fa5432f

update source list

fa5ba3e

lexus to gem

9d07cb6

fix install paths

b414252

remove ros1 steps

c4e39fa

remove extra ros1

4d4c729

make it most recent ros2

2362824

try make it faster

568aa31

humble

bdc0093

add sensit9ve

88dd9c4

replace checkouts to installs

f946615

split into noetic and humble

c5cb881

Split noetic and humble

9692ff8

fix syntax

69ae6f0

rename access_token

5b8614a

introduce tag replacing functionality

ef63e1f

remove dependency from autoware

6835b41

MishkaMN mentioned this pull request Jan 10, 2025

Create correct suffixes usdot-fhwa-stol/carma-base#227

Merged

9 tasks

comment

233a93b

MishkaMN requested a review from adev4a January 10, 2025 21:00

MishkaMN self-assigned this Jan 10, 2025

MishkaMN added the enhancement New feature or request label Jan 10, 2025

MishkaMN added 6 commits January 10, 2025 16:51

deps from autoware.ai

eafb414

Fix autoware checkout

b8f80ba

Fix messages

1429231

Fix git checkout for ros1

180bbd8

Fix syntax error

20473f3

Fix weird syntax

b2e9e4d

MishkaMN added 7 commits January 11, 2025 20:20

Fix

348a38d

Fix docker stuff

966452e

Relax failure

49a8747

Optimize

dcfb1da

optimize ROS1 build

2ba0dbc

Make ROS1 Fail if didn't complete

c2cd204

Remove incorrect requirement

53efa7e

MishkaMN changed the title ~~initial humble change~~ ROS2 Humble upgrade code only - not integration tested Jan 12, 2025

MishkaMN added 8 commits January 11, 2025 20:58

Working version final

ad3d224

Fix CI failing

ac4026b

Fix CI

31f04ed

Install deps

4142632

elevate privilege

318a203

try apt instead of apt-get

5cfe552

add yes to commands

2bd7a52

avoid interactiveness for all

acb52d1

Rename to correct variable name SONAR_TOKEN

14d16ef

adev4a reviewed Jan 16, 2025

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adev4a reviewed Jan 16, 2025

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ssc_interface_wrapper_ros2/include/ssc_interface_wrapper/converter_node.hpp Outdated Show resolved Hide resolved

adev4a reviewed Jan 16, 2025

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MishkaMN added 3 commits January 17, 2025 12:29

Address PR

0aa4025

remove extra change

7619aa3

Fix the github action branch

614ef00

MishkaMN requested a review from adev4a January 17, 2025 19:33

MishkaMN added 2 commits January 17, 2025 12:51

Try removing std_srvs from cpp

db14aeb

remove std_srvs I missed

ac0fed2

adev4a reviewed Jan 20, 2025

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adev4a reviewed Jan 21, 2025

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ROS2 Humble upgrade code only - not integration tested #166

ROS2 Humble upgrade code only - not integration tested #166

MishkaMN commented Dec 23, 2024 •

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MishkaMN commented Jan 12, 2025

adev4a Jan 16, 2025 •

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adev4a Jan 21, 2025

		@@ -1,4 +1,4 @@
		# Copyright (C) 2018-2022 LEIDOS.
		# Copyright (C) 2025 LEIDOS.

		@@ -1,20 +1,20 @@
		#!/bin/bash

		# Copyright (C) 2018-2021 LEIDOS.

ROS2 Humble upgrade code only - not integration tested #166

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ROS2 Humble upgrade code only - not integration tested #166

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MishkaMN commented Dec 23, 2024 • edited Loading

PR Details

Description

Related GitHub Issue

Related Jira Key

Motivation and Context

How Has This Been Tested?

Types of changes

Checklist:

MishkaMN commented Jan 12, 2025

adev4a Jan 16, 2025 • edited Loading

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MishkaMN commented Dec 23, 2024 •

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adev4a Jan 16, 2025 •

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