Sync develop to master

.circleci/config.yml

@@ -23,6 +23,7 @@ version: 2
 # 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
+# TODO Replace with GitHub action to remove branch coupling (develop/release-candidate/master)
 jobs:
   build:
     # Pull docker image from docker hub

.github/workflows/docker.yml

@@ -1,23 +1,11 @@
 name: Docker build
 
 on:
-  push:
-    branches-ignore:
-      - "carma-develop"
-      - "master"
-      - "release/*"
   pull_request:
       types: [opened, synchronize, reopened]
 
 jobs:
   docker:
-    runs-on: ubuntu-latest-8-cores
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v3
-      - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v2
-      - name: Build
-        uses: docker/build-push-action@v3
-        with:
-          context: .
+    uses: usdot-fhwa-stol/actions/.github/workflows/docker.yml@main
+    secrets:
+      GH_PAT: ${{ secrets.GH_PAT }}

.github/workflows/dockerhub.yml

@@ -3,25 +3,15 @@ name: Docker Hub build
 on:
   push:
     branches:
-      - "carma-develop"
-      - "master"
+      - carma-develop
+      - carma-master
       - "release/*"
+    tags:
+      - carma-system-*
 jobs:
   dockerhub:
-    runs-on: ubuntu-latest-8-cores
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v3
-      - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v2
-      - name: Login to DockerHub
-        uses: docker/login-action@v2
-        with:
-          username: ${{ secrets.DOCKERHUB_USERNAME }}
-          password: ${{ secrets.DOCKERHUB_TOKEN }}
-      - name: Build
-        uses: docker/build-push-action@v3
-        with:
-          context: .
-          push: true
-          tags: usdotfhwastoldev/${{ github.event.repository.name }}:develop
+    uses: usdot-fhwa-stol/actions/.github/workflows/dockerhub.yml@main
+    secrets:
+      DOCKERHUB_USERNAME: ${{ secrets.DOCKERHUB_USERNAME }}
+      DOCKERHUB_TOKEN: ${{ secrets.DOCKERHUB_TOKEN }}
+      GH_PAT: ${{ secrets.GH_PAT }}

Dockerfile

@@ -1,14 +1,16 @@
-FROM usdotfhwastoldev/carma-base:develop AS base_image
+ARG DOCKER_ORG=usdotfhwastoldev
+ARG DOCKER_TAG=develop
+FROM ${DOCKER_ORG}/carma-base:${DOCKER_TAG} as base_image
 
 FROM base_image AS build
-
+ARG GIT_BRANCH=develop
 ARG ROS1_PACKAGES=""
 ENV ROS1_PACKAGES=${ROS1_PACKAGES}
 ARG ROS2_PACKAGES=""
 ENV ROS2_PACKAGES=${ROS2_PACKAGES}
 
 COPY --chown=carma . /home/carma/autoware.ai
-RUN /home/carma/autoware.ai/docker/checkout.bash
+RUN /home/carma/autoware.ai/docker/checkout.bash -b ${GIT_BRANCH}
 RUN ./home/carma/autoware.ai/docker/install.sh
 
 FROM base_image

common/hardcoded_params/include/hardcoded_params/control_limits/control_limits.h

@@ -21,9 +21,19 @@ namespace hardcoded_params
 namespace control_limits
 {
 /**
- * The maximum allowable longitudinal velocity of the vehicle in m/s 
+ * The maximum allowable longitudinal velocity of the vehicle in m/s
  */
 constexpr double MAX_LONGITUDINAL_VELOCITY_MPS = 35.7632;
 constexpr double MAX_LONGITUDINAL_ACCEL_MPS2 = 3.5;
+
+/**
+* The maximum allowable simulation parameters
+* At the time of writing this, platform uses CARLA 0.9.10 as the vehicle's physics simulator.
+* CARLA 0.9.10 uses below hardcoded value for its vehicles (so even if increasing this value,
+* actual simulation won't support larger values unless forked and compiled)
+* https://github.com/carla-simulator/ros-bridge/blob/0.9.10.1/carla_ackermann_control/src/carla_ackermann_control/carla_control_physics.py#L254
+*/
+constexpr double MAX_SIMULATION_LONGITUDINAL_ACCEL_MPS2 = 8.0;
+
 }
 }  // namespace hardcoded_params

core_planning/twist_filter/include/accel_limiter.hpp

@@ -8,10 +8,12 @@
 namespace twist_filter{
 
 constexpr double MAX_LONGITUDINAL_ACCEL_HARDCODED_LIMIT_M_S_2 = hardcoded_params::control_limits::MAX_LONGITUDINAL_ACCEL_MPS2;
+constexpr double MAX_SIMULATION_LONGITUDINAL_ACCEL_HARDCODED_LIMIT_M_S_2 = hardcoded_params::control_limits::MAX_SIMULATION_LONGITUDINAL_ACCEL_MPS2;
+
 
 class LongitudinalAccelLimiter
 {
-    public: 
+    public:
         /**
          * Default constructor, not recommended for use.
          */
@@ -24,31 +26,31 @@ class LongitudinalAccelLimiter
 
         /**
          * \brief Constructor for LongitudinalAccelLimiter
-         * 
+         *
          * \param accel_limit The acceleration limit that should be enforced, in
          * units of m/s/s
          */
         LongitudinalAccelLimiter(double accel_limit):
             _accel_limit(accel_limit),
             _initialized(false),
             _prev_v(0.0),
-            _prev_t(0.0) {};  
+            _prev_t(0.0) {};
 
         /**
          * Limit the longitudinal acceleration found in the input ControlCommandStamped
-         * 
+         *
          * \param msg The message to be evaluated
-         * \return A copy of the message with the longitudinal accel limited 
+         * \return A copy of the message with the longitudinal accel limited
          * based on params or hardcoded limit
          */
         autoware_msgs::msg::ControlCommandStamped
             longitudinalAccelLimitCtrl(const autoware_msgs::msg::ControlCommandStamped& msg);
 
                 /**
          * Limit the longitudinal acceleration found in the input TwistStamped
-         * 
+         *
          * \param msg The message to be evaluated
-         * \return A copy of the message with the longitudinal accel limited 
+         * \return A copy of the message with the longitudinal accel limited
          * based on params or hardcoded limit
          */
         geometry_msgs::msg::TwistStamped
@@ -58,7 +60,7 @@ class LongitudinalAccelLimiter
         double _accel_limit;
         bool _initialized;
         double _prev_v;
-        rclcpp::Time _prev_t; 
+        rclcpp::Time _prev_t;
 };
 
 }

core_planning/twist_filter/include/twist_filter.hpp

@@ -19,7 +19,7 @@
  * Modifications:
  * - Added limiting for longitudinal velocity per CARMA specifications. Refactored
  *   namespacing and header as needed to support unit testing.
- *   - Kyle Rush 
+ *   - Kyle Rush
  *   - 9/11/2020
  * - Refactored for ros2
  *    - 11/16/2022
@@ -75,12 +75,12 @@ class TwistFilter : public carma_ros2_utils::CarmaLifecycleNode
     carma_ros2_utils::PubPtr<std_msgs::msg::Float32> ctrl_lacc_limit_debug_pub_, ctrl_ljerk_limit_debug_pub_;
     carma_ros2_utils::PubPtr<std_msgs::msg::Float32> twist_lacc_result_pub_, twist_ljerk_result_pub_;
     carma_ros2_utils::PubPtr<std_msgs::msg::Float32> ctrl_lacc_result_pub_, ctrl_ljerk_result_pub_;
-    
+
     //subscribers
     carma_ros2_utils::SubPtr<geometry_msgs::msg::TwistStamped> twist_sub_;
     carma_ros2_utils::SubPtr<autoware_msgs::msg::ControlCommandStamped> ctrl_sub_;
     carma_ros2_utils::SubPtr<autoware_config_msgs::msg::ConfigTwistFilter> config_sub_;
-    
+
     //ros params
     double wheel_base_;
     double longitudinal_velocity_limit_;

core_planning/twist_filter/src/twist_filter.cpp

@@ -18,7 +18,7 @@
  * Modifications:
  * - Added limiting for longitudinal velocity per CARMA specifications. Refactored
  *   namespacing and header as needed to support unit testing.
- *   - Kyle Rush 
+ *   - Kyle Rush
  *   - 9/11/2020
  */
 
@@ -53,17 +53,34 @@ carma_ros2_utils::CallbackReturn TwistFilter::handle_on_configure(const rclcpp_l
   // parameters on private handles
   get_parameter<double>("config_speed_limit", longitudinal_velocity_limit_);
   longitudinal_velocity_limit_ = longitudinal_velocity_limit_ * 0.44704;
-  
+
   get_parameter<double>("vehicle_acceleration_limit", longitudinal_accel_limit_);
+
+  bool use_sim_time = false;
+  get_parameter<bool>("use_sim_time", use_sim_time);
+
+  auto hardcoded_acceleration_limit = MAX_LONGITUDINAL_ACCEL_HARDCODED_LIMIT_M_S_2;
+
+  // if simulation
+  if (use_sim_time)
+  {
+    hardcoded_acceleration_limit = MAX_SIMULATION_LONGITUDINAL_ACCEL_HARDCODED_LIMIT_M_S_2;
+    RCLCPP_INFO_STREAM(get_logger(), "Simulation mode detected. Accounting for hardcoded limit, longitudinal acceleration limit used: " << hardcoded_acceleration_limit);
+  }
+  else
+  {
+    RCLCPP_INFO_STREAM(get_logger(), "Accounting for hardcoded limit, longitudinal acceleration limit used: " << hardcoded_acceleration_limit);
+  }
+
   _lon_accel_limiter = LongitudinalAccelLimiter{
-    std::min(longitudinal_accel_limit_, MAX_LONGITUDINAL_ACCEL_HARDCODED_LIMIT_M_S_2)};
-  
+    std::min(longitudinal_accel_limit_, hardcoded_acceleration_limit)};
+
   get_parameter<double>("vehicle_lateral_accel_limit", lateral_accel_limit_);
   get_parameter<double>("vehicle_lateral_jerk_limit", lateral_jerk_limit_);
   get_parameter<double>("lowpass_gain_linear_x", lowpass_gain_linear_x_);
   get_parameter<double>("lowpass_gain_angular_x", lowpass_gain_angular_z_);
   get_parameter<double>("lowpass_gain_steering_angle", lowpass_gain_steering_angle_);
-  
+
 
   //Setup subscribers
   twist_sub_ = create_subscription<geometry_msgs::msg::TwistStamped>("twist_raw", 1, std::bind(&TwistFilter::TwistCmdCallback, this, std_ph::_1));
@@ -73,7 +90,7 @@ carma_ros2_utils::CallbackReturn TwistFilter::handle_on_configure(const rclcpp_l
   //Setup publishers
   twist_pub_ = create_publisher<geometry_msgs::msg::TwistStamped>("twist_cmd", 5);
   ctrl_pub_ = create_publisher<autoware_msgs::msg::ControlCommandStamped>("ctrl_cmd", 5);
-  
+
   // Publishers on private handles
   twist_lacc_limit_debug_pub_ = create_publisher<std_msgs::msg::Float32>("~/limitation_debug/twist/lateral_accel", 5);
   twist_ljerk_limit_debug_pub_ = create_publisher<std_msgs::msg::Float32>("~/limitation_debug/twist/lateral_jerk", 5);
@@ -83,7 +100,7 @@ carma_ros2_utils::CallbackReturn TwistFilter::handle_on_configure(const rclcpp_l
   twist_ljerk_result_pub_ = create_publisher<std_msgs::msg::Float32>("~/result/twist/lateral_jerk", 5);
   ctrl_lacc_result_pub_ = create_publisher<std_msgs::msg::Float32>("~/result/ctrl/lateral_accel", 5);
   ctrl_ljerk_result_pub_ = create_publisher<std_msgs::msg::Float32>("~/result/ctrl/lateral_jerk", 5);
-  
+
 
   return CallbackReturn::SUCCESS;
 
@@ -413,4 +430,4 @@ void TwistFilter::CtrlCmdCallback(
 #include "rclcpp_components/register_node_macro.hpp"
 
 // Register the component with class_loader
-RCLCPP_COMPONENTS_REGISTER_NODE(twist_filter::TwistFilter)
+RCLCPP_COMPONENTS_REGISTER_NODE(twist_filter::TwistFilter)

docker/checkout.bash

@@ -17,11 +17,12 @@
 set -exo pipefail
 
 dir=~
+BRANCH=develop
 while [[ $# -gt 0 ]]; do
       arg="$1"
       case $arg in
-            -d|--develop)
-                  BRANCH=develop
+            -b|--branch)
+                  BRANCH=$2
                   shift
             ;;
             -r|--root)
@@ -33,16 +34,9 @@ while [[ $# -gt 0 ]]; do
 done
 
 cd ${dir}/autoware.ai
-
-if [[ "$BRANCH" = "develop" ]]; then
-      git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-msgs.git --branch $BRANCH
-      git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-utils.git --branch $BRANCH
-      git clone --depth=1 https://github.com/usdot-fhwa-stol/autoware.auto.git --branch $BRANCH
-else
-      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-utils.git --branch develop
-      git clone --depth=1 https://github.com/usdot-fhwa-stol/autoware.auto.git --branch develop
-fi
-
+git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-msgs.git --branch $BRANCH
+git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-utils.git --branch $BRANCH
+git clone --depth=1 https://github.com/usdot-fhwa-stol/autoware.auto.git --branch $BRANCH
+# TODO: Should this external dependencies be moved into install.sh
 # Required to build pacmod_msgs
 git clone https://github.com/astuff/astuff_sensor_msgs.git ${dir}/src/astuff_sensor_msgs -b 3.0.1