Merge pull request usdot-fhwa-stol#115 from usdot-fhwa-stol/release/z…

…ephyr

Release/zephyr

.circleci/config.yml

@@ -3,7 +3,7 @@ jobs:
  build:
  # Setup docker
  docker:
- - image: usdotfhwastol/carma-base:carma-system-3.5.0
+ - image: usdotfhwastol/carma-base:carma-system-3.6.0
  user: carma
  environment:
  TERM: xterm # use xterm to get full display output from build

carma_debug_msgs/CMakeLists.txt

@@ -0,0 +1,78 @@
+#
+# Copyright (C) 2021 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:https://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.
+#
+
+cmake_minimum_required(VERSION 2.8.3)
+project(carma_debug_msgs)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ message_generation
+ std_msgs
+ geometry_msgs
+ cav_msgs
+)
+
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+
+file(GLOB msg_files msg/*.msg)
+set(msgs )
+foreach(filePath ${msg_files})
+ get_filename_component(name ${filePath} NAME)
+ set(msgs ${msgs} ${name})
+endforeach(filePath)
+
+## Generate messages in the 'msg' folder
+add_message_files(
+ FILES
+ ${msgs}
+)
+
+
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+ DEPENDENCIES
+ std_msgs
+ geometry_msgs
+ cav_msgs
+)
+
+###################################
+## catkin specific configuration ##
+###################################
+
+catkin_package(
+ CATKIN_DEPENDS message_runtime std_msgs geometry_msgs cav_msgs
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+ ${catkin_INCLUDE_DIRS}
+)
+

carma_debug_msgs/README.md

@@ -0,0 +1,5 @@
+# carma_debug_msgs
+
+This package is for message specs meant to support debugging in carma platform and should not be considered a stable message set.
+The intended use case for these messages is not as interfaces between components see the cav_msgs package for that.
+If one of these messages seems useful as an interface it should be ported to cav_msgs so as to preserve the separation between both message sets.

carma_debug_msgs/msg/LaneletIdRegulatoryElementPair.msg

@@ -0,0 +1,9 @@
+# LaneletIdRegulatoryElementPair.msg
+
+# This is a debug message used to reflect the data type std::pair<lanelet::Id, lanelet::RegulatoryElementPtr>
+
+# The id of the lanelet which the regulatory element will be applied to
+uint64 lanelet_id
+
+# The regulatory element to be added
+RegulatoryElement element

carma_debug_msgs/msg/MapUpdateReadable.msg

@@ -0,0 +1,39 @@
+# MapUpdateReadable.msg
+
+# This message attempts to make carma_wm map updates readable for debugging. 
+# At runtime map updates are communicated bin a binary format. This is efficient for communications 
+# but makes debugging difficult. This message will show as much information about the update as is practical. 
+
+####
+# Map Bin Details
+####
+Header header # Exact header of the origin autoware_lanelet2_msgs/MapBin.msg
+
+# version of map format. keep this as empty string if unnecessary
+string format_version
+
+# version of map version. keep this as empty string if unnecessary
+string map_version
+
+# The route filename
+string route_id
+
+# The version of current route, monotonically increasing integer starting at 1
+uint32 route_version
+
+# route flag to set the route invalidation status
+bool invalidates_route
+
+####
+# Update Information
+####
+
+# Traffic Control Message Unique Id
+string traffic_control_id
+
+# Regulatory elements to update
+carma_debug_msgs/LaneletIdRegulatoryElementPair[] update_list
+
+# Regulatory elements to remove
+carma_debug_msgs/LaneletIdRegulatoryElementPair[] remove_list
+

carma_debug_msgs/msg/RegulatoryElement.msg

@@ -0,0 +1,51 @@
+# RegulatoryElement.msg
+
+# This is a debug message which contains all the fields of the various Lanelet2 Regulatory Element's used by carma_wm
+
+string rule_name
+
+# Pariticpant list if applicable
+string[] participants
+
+bool unsupported_type
+
+##
+# digital_minimum_gap
+##
+float64 min_gap
+# Uses participants
+# Uses refers_ids
+
+## 
+# digital_speed_limit
+##
+float64 speed_limit
+# Uses participants
+# Uses refers_ids
+
+##
+# direction_of_travel
+##
+string direction
+# Uses participants
+# Uses refers_ids
+
+##
+# passing_control_line
+##
+# First value is the participant type, second value is the passing direction for that participant
+string[] left_participants
+string[] right_participants
+# Uses reference_line_ids
+
+##
+# region_access_rule
+##
+string reason
+# Uses participants
+
+##
+# stop_rule
+##
+# Uses participants
+

carma_debug_msgs/msg/TrajectoryCurvatureSpeeds.msg

@@ -0,0 +1,33 @@
+# TrajectoryCurvatureSpeeds.msg
+
+# This message contains the computed curvatures and expected speed limits along the specified trajectory based on the provided acceleration limit
+# The initial intended use case is as a debug message for inlane-cruising
+# The header of the message can be found in the trajectroy_plan.header field. 
+
+# The trajectory the provided data corresponds too
+cav_msgs/TrajectoryPlan trajectory_plan
+
+# The computed curvatures of lane for the provided trajectroy at each point.
+# This array should have the same length as the trajectory_plan
+float64[] curvatures
+
+# The computed speed limits based on lateral accel at each curvature point
+float64[] speed_limits
+
+# The planned velocity profile of the provided trajectory before it was converted to timestamps
+float64[] velocity_profile
+
+# The computed tangents of the points in the trajectory plan
+float64[] tangent_headings
+
+# The relative downtracks between points in the trajectory plan
+float64[] relative_downtrack
+
+# The lateral acceleration limit used to generate the plan
+float64 lat_accel_limit
+
+# The longitudinal acceleration limit used to generate the plan
+float64 lon_accel_limit
+
+# Starting state for trajectory planning that resulted in the trajectory
+cav_msgs/VehicleState starting_state

carma_debug_msgs/package.xml

@@ -0,0 +1,48 @@
+<?xml version="1.0"?>
+<!--
+ Copyright (C) 2021 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:https://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.
+-->
+<package format="3">
+ <name>carma_debug_msgs</name>
+ <version>1.3.0</version>
+ <description>The carma_debug_msgs package</description>
+
+ <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <!-- Example: -->
+ <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
+ <maintainer email="[email protected]">carma</maintainer>
+
+
+ <!-- One license tag required, multiple allowed, one license per tag -->
+ <!-- Commonly used license strings: -->
+ <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+ <license>Apache 2.0</license>
+
+ <buildtool_depend>catkin</buildtool_depend>
+ <depend>geometry_msgs</depend>
+ <depend>message_generation</depend>
+ <depend>std_msgs</depend>
+ <depend>cav_msgs</depend>
+
+
+ <exec_depend>message_runtime</exec_depend>
+
+
+ <!-- The export tag contains other, unspecified, tags -->
+ <export>
+ <!-- Other tools can request additional information be placed here -->
+
+ </export>
+</package>

cav_msgs/msg/CheckActiveGeofence.msg

@@ -19,10 +19,21 @@ uint8 type
 
 #Geofence type enumerated values
 uint8 SPEED_LIMIT = 1
+uint8 LANE_CLOSED = 2
+uint8 LANE_OPEN = 3
+
+
+# Reason of boradcasting active Geofence
+string reason
 
 #Speed limit value
 float64 value
 
 #Distance in meters to the next geofence
  float64 distance_to_next_geofence
 
+# Road vehicles minimum following distance (meters) within geofence
+float64 minimum_gap
+
+# Recommended speed within geofence (MPH). This is max_speed allowed within an active Geofence
+float64 advisory_speed

cav_msgs/msg/LaneChangeStatus.msg

@@ -8,8 +8,15 @@ uint8 status
 
 # enumeration values for status:
 uint8 PLAN_SENT=1
-uint8 ACCEPTANCE_RECEIVED=2
-uint8 REJECTION_RECEIVED=3
-uint8 OTHER_RECEIVED=4
-uint8 PLANNING_SUCCESS=5
-uint8 TIMED_OUT=6
+uint8 REQUEST_RECEIVED=2
+uint8 REQUEST_ACCEPTED=3
+uint8 REQUEST_REJECTED=4
+uint8 RESPONSE_SENT=5
+uint8 ACCEPTANCE_RECEIVED=6
+uint8 REJECTION_RECEIVED=7
+uint8 OTHER_RECEIVED=8
+uint8 PLANNING_SUCCESS=9
+uint8 TIMED_OUT=10
+
+# Description of the status of the lane change stages. Will be filled at each step by involved plugins.
+string description

cav_msgs/msg/Route.msg

@@ -16,9 +16,15 @@ string route_id
 # The version of current route, monotonically increasing integer starting at 1
 uint32 route_version
 
+# The map version used to generate this route
+uint32 map_version
+
 # Route name, for display purpose
 string route_name
 
+# Is new route after route invalidation
+bool is_rerouted
+
 # LaneLet IDs of the route shortest path
 int64[] shortest_path_lanelet_ids
 

cav_msgs/msg/RouteEvent.msg

@@ -19,3 +19,4 @@ uint8 ROUTE_COMPLETED=3
 uint8 ROUTE_DEPARTED=4
 uint8 ROUTE_ABORTED=5
 uint8 ROUTE_GEN_FAILED=6
+uint8 ROUTE_INVALIDATION=7

cav_msgs/msg/TrafficControlRequestPolygon.msg

@@ -0,0 +1,9 @@
+#
+# TrafficControlRequestPolygon.msg
+#
+# @author Misheel Bayartsengel
+# @version 0.1
+# describes the four vertices of polygon created by CARMA to form an TrafficControlRequest zone
+# each points are in EPSG:4326 lat/long 
+
+cav_msgs/Position3D[] polygon_list

cav_msgs/msg/UpcomingLaneChangeStatus.msg

@@ -0,0 +1,19 @@
+#
+# UpcomingLaneChangeStatus.msg
+#
+
+# downtrack until next lanechange
+float64 downtrack_until_lanechange
+
+# last recorded lanechange downtrack
+float64 last_recorded_lanechange_downtrack
+
+# choice for lane change
+uint8 lane_change
+
+# enums for lane change
+uint8 NONE = 0
+
+uint8 LEFT = 1
+
+uint8 RIGHT= 2

cav_msgs/package.xml

@@ -22,13 +22,13 @@
  <!-- One maintainer tag required, multiple allowed, one person per tag -->
  <!-- Example: -->
  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
- <maintainer email="[email protected]">watters</maintainer>
+ <maintainer email="[email protected]">carma</maintainer>
 
 
  <!-- One license tag required, multiple allowed, one license per tag -->
  <!-- Commonly used license strings: -->
  <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
- <license>TODO</license>
+ <license>Apache 2.0</license>
 
 
  <!-- Url tags are optional, but multiple are allowed, one per tag -->