ROS2 Humble upgrade code only - not integration tested

.circleci/config.yml

@@ -1,20 +1,20 @@
 version: 2
-#  Copyright (C) 2018-2022 LEIDOS.
-# 
+#  Copyright (C) 2025 LEIDOS.
+#
 #  Licensed under the Apache License, Version 2.0 (the "License"); you may not
 #  use this file except in compliance with the License. You may obtain a copy of
 #  the License at
-# 
+#
 #  http://www.apache.org/licenses/LICENSE-2.0
-# 
+#
 #  Unless required by applicable law or agreed to in writing, software
 #  distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 #  WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 #  License for the specific language governing permissions and limitations under
 #  the License.
-# 
+#
 
-# Configuration file for Circle CI 
+# Configuration file for Circle CI
 # CI will report failure if any executed command returns and error status
 # Operations performed are as follows
 # Build source code
@@ -29,7 +29,7 @@ jobs:
     # XTERM used for better catkin_make output
     # TODO (CAR-6024) move this worflow to github action to allow dynamic container selection
     docker:
-      - image: usdotfhwastoldev/autoware.ai:develop
+      - image: usdotfhwastoldev/carma-base:develop-humble
         user: carma
         environment:
           TERM: xterm # use xterm to get full display output from build
@@ -46,27 +46,45 @@ jobs:
             mkdir CARMASscInterfaceWrapper
       - checkout:
           path: src/CARMASscInterfaceWrapper
-      - run: 
+      - run:
           name: Pull Deps
           command: |
             source ${INIT_ENV}
-            ./src/CARMASscInterfaceWrapper/docker/checkout.bash -r ${PWD}
+            ./src/CARMASscInterfaceWrapper/docker/checkout.bash -ros2 -r ${PWD}
+      - run:
+          name: Install Deps
+          command: |
+            sudo sh -c 'echo "deb [trusted=yes] https://s3.amazonaws.com/autonomoustuff-repo/ $(lsb_release -sc) main" > /etc/apt/sources.list.d/autonomoustuff-public.list'
+            sudo apt-add-repository -y ppa:astuff/kvaser-linux
+            sudo apt update
+
+            sudo apt install -y kvaser-canlib-dev kvaser-drivers-dkms
+
+            sudo apt install -y libas-common \
+                ros-humble-automotive-autonomy-msgs \
+                ros-humble-automotive-navigation-msgs \
+                ros-humble-automotive-platform-msgs \
+                ros-humble-pacmod3-msgs \
+                ros-humble-pacmod3 \
+                ros-humble-kvaser-interface \
+                ros-humble-message-filters \
+                apt-utils
       - run:
           name: Build Driver
           command: |
             source ${INIT_ENV}
-            export ROS_PARALLEL_JOBS='-j1 -l1'
+            export ROS_PARALLEL_JOBS='-j4 -l4'
             build-wrapper-linux-x86-64 --out-dir /opt/carma/bw-output bash make_with_coverage.bash -m -e /opt/carma/ -o ./coverage_reports/gcov
       - run:
           name: Run C++ Tests
           command: |
             source ${INIT_ENV}
-            export ROS_PARALLEL_JOBS='-j1 -l1'
+            export ROS_PARALLEL_JOBS='-j4 -l4'
             bash make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov
       # Run SonarCloud analysis
       # PR Branchs and number extracted from Circle variables and github api
       # Circle CI seems to make a change to the base branch, so we must fetch --force to ensure correct git file change stats
-      # SONAR_SCANNER_TOKEN MUST be secured as an environment variable in Circle CI NOT in this file. 
+      # SONAR_SCANNER_TOKEN MUST be secured as an environment variable in Circle CI NOT in this file.
       # The following sonar settings MUST be set in SonarCloud UI NOT in this file
       # sonar.pullrequest.provider
       # sonar.pullrequest.github.endpoint
@@ -80,7 +98,7 @@ jobs:
             if [ -z "${CIRCLE_PULL_REQUEST}" ]; then
               echo "Non-PR Build Detected. Running analysis on ${CIRCLE_BRANCH}"
               cd src/CARMASscInterfaceWrapper
-              sonar-scanner -Dproject.settings=.sonarqube/sonar-scanner.properties -Dsonar.login=${SONAR_SCANNER_TOKEN} 
+              sonar-scanner -Dproject.settings=.sonarqube/sonar-scanner.properties -Dsonar.login=${SONAR_TOKEN}
               exit 0;
             fi
             echo "PR branch ${CIRCLE_BRANCH}"
@@ -89,8 +107,8 @@ jobs:
             export PR_NUM=`echo ${CIRCLE_PULL_REQUEST} | cut -d'/' -f7`
             echo "PR number ${PR_NUM}"
             export BASE_BRANCH_URL="https://api.github.com/repos/${CIRCLE_PROJECT_USERNAME}/${CIRCLE_PROJECT_REPONAME}/pulls/${PR_NUM}"
-            export TARGET_BRANCH=$(curl "$BASE_BRANCH_URL" | jq '.base.ref' | tr -d '"') 
+            export TARGET_BRANCH=$(curl "$BASE_BRANCH_URL" | jq '.base.ref' | tr -d '"')
             echo "Target Branch = ${TARGET_BRANCH}"
             cd src/CARMASscInterfaceWrapper
             git fetch --force origin ${TARGET_BRANCH}:${TARGET_BRANCH}
-            sonar-scanner -Dproject.settings=.sonarqube/sonar-scanner.properties -Dsonar.login=${SONAR_SCANNER_TOKEN} -Dsonar.pullrequest.base=${TARGET_BRANCH} -Dsonar.pullrequest.branch=${CIRCLE_BRANCH} -Dsonar.pullrequest.key=${PR_NUM}
+            sonar-scanner -X -Dproject.settings=.sonarqube/sonar-scanner.properties -Dsonar.login=${SONAR_TOKEN} -Dsonar.pullrequest.base=${TARGET_BRANCH} -Dsonar.pullrequest.branch=${CIRCLE_BRANCH} -Dsonar.pullrequest.key=${PR_NUM}

.github/workflows/docker-humble.yml

@@ -0,0 +1,15 @@
+name: Docker Humble build
+
+on:
+  pull_request:
+      types: [opened, synchronize, reopened]
+
+jobs:
+  docker:
+    uses: usdot-fhwa-stol/actions/.github/workflows/docker.yml@main
+    with:
+      file: ./humble/Dockerfile
+      tag_name_suffix: humble
+      replace_suffix: true # TODO: remove after develop-humble branch is merged to develop
+    secrets:
+      GH_PAT: ${{ secrets.GH_PAT }}

.github/workflows/docker-noetic.yml

@@ -0,0 +1,15 @@
+name: Docker Noetic build
+
+on:
+  pull_request:
+      types: [opened, synchronize, reopened]
+
+jobs:
+  docker:
+    uses: usdot-fhwa-stol/actions/.github/workflows/docker.yml@main
+    with:
+      file: ./noetic/Dockerfile
+      tag_name_suffix: noetic
+      replace_suffix: true # TODO: remove after develop-humble branch is merged to develop
+    secrets:
+      GH_PAT: ${{ secrets.GH_PAT }}

.github/workflows/dockerhub.yml → .github/workflows/dockerhub-humble.yml

@@ -1,11 +1,12 @@
-name: Docker Hub build
+name: Docker Hub Humble build
 
 on:
   push:
     branches:
       - develop
       - master
       - "release/*"
+      - develop-humble
     tags:
       - "carma-system-*"
 jobs:
@@ -14,5 +15,8 @@ jobs:
     secrets:
       DOCKERHUB_USERNAME: ${{ secrets.DOCKERHUB_USERNAME }}
       DOCKERHUB_TOKEN: ${{ secrets.DOCKERHUB_TOKEN }}
-      ACCESS_ID: ${{ secrets.ACCESS_ID }}
-      SECRET_KEY: ${{ secrets.SECRET_KEY }}
+      TOKEN: ${{ secrets.GH_PAT }}
+    with:
+      file: ./humble/Dockerfile
+      tag_name_suffix: humble
+      replace_suffix: true # TODO: remove after develop-humble branch is merged to develop

.github/workflows/dockerhub-noetic.yml

@@ -0,0 +1,22 @@
+name: Docker Hub Noetic build
+
+on:
+  push:
+    branches:
+      - develop
+      - master
+      - "release/*"
+      - develop-humble
+    tags:
+      - "carma-system-*"
+jobs:
+  dockerhub:
+    uses: usdot-fhwa-stol/actions/.github/workflows/dockerhub.yml@main
+    secrets:
+      DOCKERHUB_USERNAME: ${{ secrets.DOCKERHUB_USERNAME }}
+      DOCKERHUB_TOKEN: ${{ secrets.DOCKERHUB_TOKEN }}
+      TOKEN: ${{ secrets.GH_PAT }}
+    with:
+      file: ./noetic/Dockerfile
+      tag_name_suffix: noetic
+      replace_suffix: true # TODO: remove after develop-humble branch is merged to develop

.sonarqube/sonar-scanner.properties

@@ -1,4 +1,4 @@
-#  Copyright (C) 2018-2022 LEIDOS.
+#  Copyright (C) 2025 LEIDOS.
 #
 #  Licensed under the Apache License, Version 2.0 (the "License"); you may not
 #  use this file except in compliance with the License. You may obtain a copy of

README.md

@@ -12,7 +12,7 @@ The primary CARMA Platform repository can be found [here](https://github.com/usd
 github organization. Documentation on how the CARMA Platform functions, how it will evolve over time, and how you can contribute can be found at the above links as well.
 
 ## Current Status of ROS 1 and ROS 2 Packages
-The current CARMA Platform system operates as a hybrid of ROS 1 Noetic and ROS 2 Foxy components. While nearly all components have been upgraded to ROS 2 Foxy, a small amount of ROS 1 Noetic content still exists within the system, including some packages in this repository. For more information, please see the relevant documentation in the [carma-config](https://github.com/usdot-fhwa-stol/carma-config?tab=readme-ov-file#current-status-of-hybrid-ros-1ros-2-system) repository.
+The current CARMA Platform system operates as a hybrid of ROS 1 Noetic and ROS 2 Humble components. While nearly all components have been upgraded to ROS 2 Humble, a small amount of ROS 1 Noetic content still exists within the system, including some packages in this repository. For more information, please see the relevant documentation in the [carma-config](https://github.com/usdot-fhwa-stol/carma-config?tab=readme-ov-file#current-status-of-hybrid-ros-1ros-2-system) repository.
 
 ## 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](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/Contributing.md)

docker/build-image.sh

@@ -1,18 +1,19 @@
 #!/bin/bash
 
-#  Copyright (C) 2018-2022 LEIDOS.
-# 
+#  Copyright (C) 2025 LEIDOS.
+#
 #  Licensed under the Apache License, Version 2.0 (the "License"); you may not
 #  use this file except in compliance with the License. You may obtain a copy of
 #  the License at
-# 
+#
 #  http://www.apache.org/licenses/LICENSE-2.0
-# 
+#
 #  Unless required by applicable law or agreed to in writing, software
 #  distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 #  WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 #  License for the specific language governing permissions and limitations under
 #  the License.
+declare -i false=0 true=1
 
 USERNAME=usdotfhwastol
 
@@ -23,9 +24,28 @@ echo ""
 echo "##### $IMAGE Docker Image Build Script #####"
 echo ""
 
+token=""
+build_ros1_pkgs="$false"
+build_ros2_pkgs="$false"
+dockerfile_dir=""
+
 while [[ $# -gt 0 ]]; do
     arg="$1"
     case $arg in
+        -ros1|--ros1_build)
+            dir=~/workspace_ros1
+            echo "Install and build ros1 packages"
+            build_ros1_pkgs="$true"
+            build_ros2_pkgs="$false"
+            shift
+            ;;
+        -ros2|--ros2_build)
+            dir=~/workspace_ros2
+            echo "Install and build ros2 packages"
+            build_ros1_pkgs="$false"
+            build_ros2_pkgs="$true"
+            shift
+            ;;
         -v|--version)
             COMPONENT_VERSION_STRING="$2"
             shift
@@ -45,9 +65,7 @@ while [[ $# -gt 0 ]]; do
             shift
             ;;
         *) ##Arguments for ssc_pm_lexus
-            access_id=${arg}
-            secret_key="$2"
-            shift
+            token="$1"
             shift
             ;;
     esac
@@ -61,34 +79,33 @@ echo "Building docker image for $IMAGE version: $COMPONENT_VERSION_STRING"
 echo "Final image name: $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING"
 
 # Get arguments for ssc_pm_lexus
-if [ -z $access_id ];
-    then 
-        echo "No argument provided for access_id, this script needs to be run with <ACCESS_ID> <SECRET_KEY>"
-        exit 1
-fi
 
-if [ -z $secret_key ];
-    then 
-        echo "No argument provided for secret_key, this script needs to be run with <ACCESS_ID> <SECRET_KEY>"
+
+if [[ $build_ros1_pkgs -eq 1 ]]; then
+    cd ../noetic
+    echo "======= ROS1 build selected ========"
+elif [[ $build_ros2_pkgs -eq 1 ]]; then
+    cd ../humble
+    if [ -z $token ]; then
+        echo "No argument provided for token for ROS2 build, this script needs to be run with <TOKEN>"
         exit 1
+    fi
+    echo "======= ROS2 build selected ========"
 fi
 
-cd ..
 if [[ $COMPONENT_VERSION_STRING = "develop" ]]; then
     sed "s|usdotfhwastoldev/|$USERNAME/|g; s|usdotfhwastolcandidate/|$USERNAME/|g; s|usdotfhwastol/|$USERNAME/|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:$COMPONENT_VERSION_STRING|g; s|checkout.bash|checkout.bash -d|g" \
-        Dockerfile | docker build --network=host -f - --no-cache -t $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING \
+        Dockerfile | docker build --network=host -f - -t $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING \
         --build-arg VERSION="$COMPONENT_VERSION_STRING" \
         --build-arg VCS_REF=`git rev-parse --short HEAD` \
         --build-arg BUILD_DATE=`date -u +”%Y-%m-%dT%H:%M:%SZ”` \
-        --build-arg ACCESS_ID=$access_id \
-        --build-arg SECRET_KEY=$secret_key .
+        --build-arg TOKEN=$token ../
 else
-    docker build --network=host --no-cache -t $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING \
+    docker build --network=host -f Dockerfile -t $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING \
         --build-arg VERSION="$COMPONENT_VERSION_STRING" \
         --build-arg VCS_REF=`git rev-parse --short HEAD` \
         --build-arg BUILD_DATE=`date -u +”%Y-%m-%dT%H:%M:%SZ”` \
-        --build-arg ACCESS_ID=$access_id \
-        --build-arg SECRET_KEY=$secret_key .
+        --build-arg TOKEN=$token ../
 fi
 
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