Merge pull request #170 from usdot-fhwa-stol/release/yenko

Release 3.7.0

.circleci/config.yml

@@ -28,7 +28,7 @@ jobs:
     # Pull docker image from docker hub
     # XTERM used for better catkin_make output
     docker:
-      - image: usdotfhwastol/carma-base:carma-system-3.6.0
+      - image: usdotfhwastol/carma-base:carma-system-3.7.0
         user: carma
         environment:
           TERM: xterm

Dockerfile

@@ -1,10 +1,12 @@
-FROM usdotfhwastol/carma-base:carma-system-3.6.0 as build
+FROM usdotfhwastol/carma-base:carma-system-3.7.0 as base_image
+
+FROM base_image as build
 
 COPY --chown=carma . /home/carma/autoware.ai
 RUN /home/carma/autoware.ai/docker/checkout.bash
 RUN ./home/carma/autoware.ai/docker/install.sh
 
-FROM usdotfhwastol/carma-base:carma-system-3.6.0
+FROM base_image
 
 ARG BUILD_DATE="NULL"
 ARG VCS_REF="NULL"

common/lanelet2_extension/include/lanelet2_extension/projection/local_frame_projector.h

@@ -46,7 +46,7 @@ class LocalFrameProjector : public Projector
   /**
    * [LocalFrameProjector::projectECEF projects between WGS-84 ECEF and local map]
    * @param  ecef_point             [point with x,y,z in ecef information]
-   * @param  proj_dir               [1 for forward -1 for reverse]
+   * @param  proj_dir               [1 for forward (output is in ecef) -1 for reverse (output is in map)]
    * @return                        [projected point in local map coordinate]
    * @throw  std::invalid_argument  [if direction is neither of 1 (forward) or -1 (reverse)]
    */
@@ -59,14 +59,15 @@ class LocalFrameProjector : public Projector
    */
   GPSPoint reverse(const BasicPoint3d& p) const override;
 
+  // The PROJ string used to define a WGS-84 ECEF frame
+  static constexpr char ECEF_PROJ_STR[] = "+proj=geocent +ellps=WGS84 +datum=WGS84 +units=m +no_defs";
+
 private:
 
   PJ *P_;
 
   const std::string map_proj_string_;
 
-  // The PROJ string used to define a WGS-84 ECEF frame
-  static constexpr char ECEF_PROJ_STR[] = "+proj=geocent +ellps=WGS84 +datum=WGS84 +units=m +no_defs";
 };
 
 }  // namespace projection

common/map_file/launch/map_param_loader.launch

@@ -13,7 +13,12 @@ the License.
 
 <launch>
  <arg name="file_name"/>	
+ <arg name="broadcast_earth_frame" default="false"
+  doc="If true this node will attempt to compute a homogenious transformation matrix between earth and the map frame origin. 
+       NOTE: Not all projections can be linearly described in this way and such a transformation may be inaccurate."/>
+
  <node pkg="map_file" type="map_param_loader" name="map_param_loader">  
   <param name = "file_name" value = "$(arg file_name)"/>
+  <param name = "broadcast_earth_frame" value = "$(arg broadcast_earth_frame)"/>
  </node>
 </launch>

common/map_file/nodes/map_param_loader/map_param_loader.cpp

@@ -78,16 +78,21 @@ int main(int argc, char **argv)
   int projector_type = 1; // default value
   std::string target_frame, lanelet2_filename;
   private_nh.param<std::string>("file_name", lanelet2_filename, "");
+
+  bool broadcast_earth_frame = false;
+  private_nh.param<bool>("broadcast_earth_frame", broadcast_earth_frame, broadcast_earth_frame);
 
 
   // Parse geo reference info from the lanelet map (.osm)
   lanelet::io_handlers::AutowareOsmParser::parseMapParams(lanelet2_filename, &projector_type, &target_frame);
 
-  // Get the transform to ecef (when parsed target_frame is map_frame)
-  tf2::Transform tf = map_param_loader::getTransform(target_frame);
+  if (broadcast_earth_frame) {
+    // Get the transform to ecef (when parsed target_frame is map_frame)
+    tf2::Transform tf = map_param_loader::getTransform(target_frame);
 
-  // Broadcast the transform
-  map_param_loader::broadcastTransform(tf);
+    // Broadcast the transform
+    map_param_loader::broadcastTransform(tf);
+  }
 
   // Broadcast the georeference
   ros::Publisher georef_pub = private_nh.advertise<std_msgs::String>("georeference", 1, true);

docker/checkout.bash

@@ -35,7 +35,7 @@ done
 cd ${dir}/autoware.ai
 
 if [[ "$BRANCH" = "carma-develop" ]]; then
-      git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-msgs.git --branch develop
+      git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-msgs.git --branch carma-system-3.7.0
 else
-      git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-msgs.git --branch carma-system-3.6.0
+      git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-msgs.git --branch carma-system-3.7.0
 fi