Merge pull request #11 from usdot-fhwa-stol/release/Wanderer

Release/wanderer

.circleci/config.yml

@@ -0,0 +1,96 @@
+version: 2
+#  Copyright (C) 2018-2020 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 
+# CI will report failure if any executed command returns and error status
+# Operations performed are as follows
+# Build source code
+# Run unit tests for C++ and Java
+# Run static code analyzer for SourceCloud
+# Upload test results
+# Every run command should start with source ${INIT_ENV} to ensure all default dependancies are available
+
+jobs:
+  build:
+    # Pull docker image from docker hub
+    # XTERM used for better catkin_make output
+    docker:
+      - image: usdotfhwastol/carma-base:carma-system-3.4.0
+        user: carma
+        environment:
+          TERM: xterm # use xterm to get full display output from build
+          INIT_ENV: /home/carma/.base-image/init-env.sh
+    working_directory: "/opt/carma/"
+    # Execution steps
+    steps:
+      - run:
+          name: Create src folder
+          command: |
+            source ${INIT_ENV}
+            mkdir src
+            cd src
+            mkdir carma-simulation
+      - checkout:
+          path: src/carma-simulation
+      - run: 
+          name: Pull Deps
+          command: |
+            source ${INIT_ENV}
+            ./src/carma-simulation/docker/checkout.sh -r ${PWD}
+      - run:
+          name: Build Driver
+          command: |
+            source ${INIT_ENV}
+            export ROS_PARALLEL_JOBS='-j1 -l1' # Try to reduce memory consumption on build
+            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' # Try to reduce memory consumption on build
+            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. 
+      # The following sonar settings MUST be set in SonarCloud UI NOT in this file
+      # sonar.pullrequest.provider
+      # sonar.pullrequest.github.endpoint
+      # sonar.pullrequest.github.token.secured
+      # sonar.pullrequest.github.repository
+      # Use -X on sonar-scanner to enable debug output
+      - run:
+          name: Run Sonar Scanner
+          command: |
+            set -x
+            source ${INIT_ENV}
+            if [ -z "${CIRCLE_PULL_REQUEST}" ]; then
+              echo "Non-PR Build Detected. Running analysis on ${CIRCLE_BRANCH}"
+              cd src/carma-simulation
+              sonar-scanner -Dproject.settings=.sonarqube/sonar-scanner.properties -Dsonar.login=${SONAR_SCANNER_TOKEN} 
+              exit 0;
+            fi
+            echo "PR branch ${CIRCLE_BRANCH}"
+            echo "Repo name ${CIRCLE_PROJECT_USERNAME}/${CIRCLE_PROJECT_REPONAME}"
+            echo "URL ${CIRCLE_PULL_REQUEST}"
+            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 '"') 
+            echo "Target Branch = ${TARGET_BRANCH}"
+            cd src/carma-simulation
+            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}

.sonarqube/sonar-scanner.properties

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+#  Copyright (C) 2018-2020 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 Sonar Scanner used for CI 
+
+sonar.projectKey=usdot-fhwa-stol_carma-simulation
+sonar.organization=usdot-fhwa-stol
+sonar.cfamily.build-wrapper-output=/opt/carma/bw-output
+sonar.host.url=https://sonarcloud.io
+sonar.cfamily.gcov.reportsPath=/opt/carma/coverage_reports/gcov
+# Set Git as SCM sensor
+sonar.scm.disabled=false
+sonar.scm.enabled=true
+sonar.scm.provider=git
+sonar.cfamily.cache.enabled=false
+
+# Modules
+sonar.modules=carla_ackermann_control_wrapper
+
+carla_ackermann_control_wrapper.sonar.projectBaseDir=/opt/carma/src/carma-simulation/carla_ackermann_control_wrapper
+
+# C++ Package differences
+# Sources
+carla_ackermann_control_wrapper.sonar.sources=src
+# Tests
+# Note: For C++ setting this field does not cause test analysis to occur. It only allows the test source code to be evaluated.
+carla_ackermann_control_wrapper.sonar.tests=test

Dockerfile

@@ -0,0 +1,42 @@
+#  Copyright (C) 2018-2020 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.
+
+FROM usdotfhwastol/carma-base:carma-system-3.4.0 as deps
+
+FROM deps as setup
+
+RUN mkdir ~/src
+COPY --chown=carma . /home/carma/src/
+RUN ~/src/docker/checkout.sh
+RUN ~/src/docker/install.sh
+
+FROM deps
+
+ARG BUILD_DATE="NULL"
+ARG VERSION="NULL"
+ARG VCS_REF="NULL"
+
+LABEL org.label-schema.schema-version="1.0"
+LABEL org.label-schema.name="carla-ackermann-control-wrapper-driver"
+LABEL org.label-schema.description="carla ackermann control wrapper driver for the CARMA Platform"
+LABEL org.label-schema.vendor="Leidos"
+LABEL org.label-schema.version=${VERSION}
+LABEL org.label-schema.url="https://highways.dot.gov/research/research-programs/operations/CARMA"
+LABEL org.label-schema.vcs-url="https://github.com/usdot-fhwa-stol/carma-simulation/"
+LABEL org.label-schema.vcs-ref=${VCS_REF}
+LABEL org.label-schema.build-date=${BUILD_DATE}
+
+COPY --from=deps /home/carma/install /opt/carma/install
+
+CMD [ "wait-for-it.sh", "localhost:11311", "--", "roslaunch", "carla_ackermann_control_wrapper", "carla_ackermann_control_wrapper.launch"]

README.md

@@ -1 +1,30 @@
-# carma-simulation
+# CARMASimulation
+CARMA Simulation is a CARMA execution environment that integrates the CARLA vehicle simulator and the CARMA Platform vehicle on-board software (hereinafter referred to simply as CARMA) for the simulation of vehicle dynamics and feedback control (in CARMA) and the environment in which the subject vehicle runs. 
+
+# carla_ackermann_control
+The carla_ackermann_control package is under MIT license and te orginal repository can be found [here](https://github.com/carla-simulator/ros-bridge.git).
+
+## CARMAPlatform
+The primary CARMAPlatform repository can be found [here](https://github.com/usdot-fhwa-stol/carma-platform) and is part of the [USDOT FHWA STOL](https://github.com/usdot-fhwa-stol/)
+github organization. Documentation on how the CARMAPlatform functions, how it will evolve over time, and how you can contribute can be found at the above links as well
+
+## 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) 
+
+## Code of Conduct 
+Please read our [CARMA Code of Conduct](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/Code_of_Conduct.md) which outlines our expectations for participants within the CARMA community, as well as steps to reporting unacceptable behavior. We are committed to providing a welcoming and inspiring community for all and expect our code of conduct to be honored. Anyone who violates this code of conduct may be banned from the community.
+
+## Attribution
+The development team would like to acknowledge the people who have made direct contributions to the design and code in this repository. [CARMA Attribution](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/ATTRIBUTION.txt) 
+
+## License
+By contributing to the Federal Highway Administration (FHWA) Connected Automated Research Mobility Applications (CARMA), you agree that your contributions will be licensed under its Apache License 2.0 license. [CARMA License](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/docs/License.md)  
+
+### NOTE
+
+Some of the packages within this repo contain different licensing restrictions. Consult the README in each package for details.  
+
+## Contact
+Please click on the CARMA logo below to visit the Federal Highway Adminstration(FHWA) CARMA website.
+
+[![CARMA Image](https://raw.githubusercontent.com/usdot-fhwa-stol/carma-platform/develop/docs/image/CARMA_icon.png)](https://highways.dot.gov/research/research-programs/operations/CARMA)

carla_ackermann_control/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(carla_ackermann_control)
+
+## Find catkin macros and libraries
+find_package(catkin REQUIRED COMPONENTS
+  rospy
+  std_msgs
+  ackermann_msgs
+  dynamic_reconfigure
+  carla_msgs
+  roslaunch
+  message_generation
+)
+
+catkin_python_setup()
+
+add_message_files(
+  FILES
+  EgoVehicleControlCurrent.msg
+  EgoVehicleControlInfo.msg
+  EgoVehicleControlMaxima.msg
+  EgoVehicleControlStatus.msg
+  EgoVehicleControlTarget.msg
+)
+
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+  carla_msgs
+)
+
+generate_dynamic_reconfigure_options(
+  config/EgoVehicleControlParameter.cfg
+)
+
+roslaunch_add_file_check(launch)
+
+catkin_package(
+  CATKIN_DEPENDS message_runtime carla_msgs std_msgs
+)
+
+install(PROGRAMS
+  src/carla_ackermann_control/carla_ackermann_control_node.py
+  src/carla_ackermann_control/carla_control_physics.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY launch/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+)
+
+install(DIRECTORY config/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config
+)

carla_ackermann_control/LICENSE

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+MIT License
+
+Copyright (c) 2018-2019 CARLA
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

carla_ackermann_control/README.md

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+# Carla Ackermann Control
+
+ROS Node to convert [AckermannDrive](http://docs.ros.org/api/ackermann_msgs/html/msg/AckermannDrive.html) messages to [CarlaEgoVehicleControl](carla_ros_bridge/msg/CarlaEgoVehicleControl.msg).
+
+-   A PID controller is used to control the acceleration/velocity.
+-   Reads the Vehicle Info, required for controlling from Carla (via carla ros bridge)
+
+## Prerequisites
+
+    #install python simple-pid
+    pip install --user simple-pid
+
+### Configuration
+
+Initial parameters can be set via [configuration file](config/settings.yaml).
+
+It is possible to modify the parameters during runtime via ROS dynamic reconfigure.
+
+## Available Topics
+
+| Topic                                               | Type                                                                                                 | Description                                                   |
+| --------------------------------------------------- | ---------------------------------------------------------------------------------------------------- | ------------------------------------------------------------- |
+| `/carla/<ROLE NAME>/ackermann_cmd` (subscriber)     | [ackermann_msgs.AckermannDrive](http://docs.ros.org/api/ackermann_msgs/html/msg/AckermannDrive.html) | Subscriber for stearing commands                              |
+| `/carla/<ROLE NAME>/ackermann_control/control_info` | [carla_ackermann_control.EgoVehicleControlInfo](msg/EgoVehicleControlInfo.msg)                       | The current values used within the controller (for debugging) |
+
+The role name is specified within the configuration.
+
+### Test control messages
+
+You can send command to the car using the topic `/carla/<ROLE NAME>/ackermann_cmd`.
+
+Examples for a ego vehicle with role_name 'ego_vehicle':
+
+Forward movements, speed in in meters/sec.
+
+     rostopic pub /carla/ego_vehicle/ackermann_cmd ackermann_msgs/AckermannDrive "{steering_angle: 0.0, steering_angle_velocity: 0.0, speed: 10, acceleration: 0.0,
+      jerk: 0.0}" -r 10
+
+Forward with steering
+
+     rostopic pub /carla/ego_vehicle/ackermann_cmd ackermann_msgs/AckermannDrive "{steering_angle: 1.22, steering_angle_velocity: 0.0, speed: 10, acceleration: 0.0,
+      jerk: 0.0}" -r 10
+
+Info: the steering_angle is the driving angle (in radians) not the wheel angle.