From e2926c70135adb6e3f25c5f9f87690269bccbb45 Mon Sep 17 00:00:00 2001
From: JonSmet <34752540+JonSmet@users.noreply.github.com>
Date: Fri, 7 Apr 2023 08:23:44 -0400
Subject: [PATCH 01/22] Update SubsystemControllerParams.yaml to auto-activate
approaching_emergency_vehicle_plugin on trucks (#238)
# PR Details
## Description
This PR updates the SubsystemControllerParams.yaml file to auto-activate
the approaching_emergency_vehicle_plugin (Strategic Plugin) on trucks.
## Related Issue
TODO
## Motivation and Context
In support of the CARMA Freight Emergency Response Use Case.
## How Has This Been Tested?
Integration tested with trucks at Suntrax.
## Types of changes
- [ ] Defect fix (non-breaking change that fixes an issue)
- [x] New feature (non-breaking change that adds functionality)
- [ ] Breaking change (fix or feature that cause existing functionality
to change)
## Checklist:
- [ ] I have added any new packages to the sonar-scanner.properties file
- [ ] My change requires a change to the documentation.
- [ ] I have updated the documentation accordingly.
- [x] I have read the **CONTRIBUTING** document.
[CARMA Contributing
Guide](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/Contributing.md)
- [ ] I have added tests to cover my changes.
- [ ] All new and existing tests passed.
---
.../SubsystemControllerParams.yaml | 2 ++
.../SubsystemControllerParams.yaml | 2 ++
.../SubsystemControllerParams.yaml | 2 ++
.../SubsystemControllerParams.yaml | 2 ++
4 files changed, 8 insertions(+)
diff --git a/freightliner_cascadia_2012_dot_10002/SubsystemControllerParams.yaml b/freightliner_cascadia_2012_dot_10002/SubsystemControllerParams.yaml
index c6144396..32f9dcfd 100644
--- a/freightliner_cascadia_2012_dot_10002/SubsystemControllerParams.yaml
+++ b/freightliner_cascadia_2012_dot_10002/SubsystemControllerParams.yaml
@@ -52,6 +52,7 @@ guidance:
- /guidance/plugins/platoon_strategic_ihp_node
- /guidance/plugins/platooning_tactical_plugin_node
- /guidance/plugins/yield_plugin
+ - /guidance/plugins/approaching_emergency_vehicle_plugin
ros2_initial_plugins:
- /guidance/plugins/lci_strategic_plugin
- /guidance/plugins/inlanecruising_plugin
@@ -65,6 +66,7 @@ guidance:
- /guidance/plugins/stop_controlled_intersection_tactical_plugin
- /guidance/plugins/yield_plugin
- /guidance/plugins/pure_pursuit_wrapper
+ - /guidance/plugins/approaching_emergency_vehicle_plugin
localization:
localization_controller:
diff --git a/freightliner_cascadia_2012_dot_10003/SubsystemControllerParams.yaml b/freightliner_cascadia_2012_dot_10003/SubsystemControllerParams.yaml
index c6144396..32f9dcfd 100644
--- a/freightliner_cascadia_2012_dot_10003/SubsystemControllerParams.yaml
+++ b/freightliner_cascadia_2012_dot_10003/SubsystemControllerParams.yaml
@@ -52,6 +52,7 @@ guidance:
- /guidance/plugins/platoon_strategic_ihp_node
- /guidance/plugins/platooning_tactical_plugin_node
- /guidance/plugins/yield_plugin
+ - /guidance/plugins/approaching_emergency_vehicle_plugin
ros2_initial_plugins:
- /guidance/plugins/lci_strategic_plugin
- /guidance/plugins/inlanecruising_plugin
@@ -65,6 +66,7 @@ guidance:
- /guidance/plugins/stop_controlled_intersection_tactical_plugin
- /guidance/plugins/yield_plugin
- /guidance/plugins/pure_pursuit_wrapper
+ - /guidance/plugins/approaching_emergency_vehicle_plugin
localization:
localization_controller:
diff --git a/freightliner_cascadia_2012_dot_10004/SubsystemControllerParams.yaml b/freightliner_cascadia_2012_dot_10004/SubsystemControllerParams.yaml
index c6144396..32f9dcfd 100644
--- a/freightliner_cascadia_2012_dot_10004/SubsystemControllerParams.yaml
+++ b/freightliner_cascadia_2012_dot_10004/SubsystemControllerParams.yaml
@@ -52,6 +52,7 @@ guidance:
- /guidance/plugins/platoon_strategic_ihp_node
- /guidance/plugins/platooning_tactical_plugin_node
- /guidance/plugins/yield_plugin
+ - /guidance/plugins/approaching_emergency_vehicle_plugin
ros2_initial_plugins:
- /guidance/plugins/lci_strategic_plugin
- /guidance/plugins/inlanecruising_plugin
@@ -65,6 +66,7 @@ guidance:
- /guidance/plugins/stop_controlled_intersection_tactical_plugin
- /guidance/plugins/yield_plugin
- /guidance/plugins/pure_pursuit_wrapper
+ - /guidance/plugins/approaching_emergency_vehicle_plugin
localization:
localization_controller:
diff --git a/freightliner_cascadia_2012_dot_80550/SubsystemControllerParams.yaml b/freightliner_cascadia_2012_dot_80550/SubsystemControllerParams.yaml
index 8f70230f..11e23b71 100644
--- a/freightliner_cascadia_2012_dot_80550/SubsystemControllerParams.yaml
+++ b/freightliner_cascadia_2012_dot_80550/SubsystemControllerParams.yaml
@@ -52,6 +52,7 @@ guidance:
- /guidance/plugins/platoon_strategic_ihp_node
- /guidance/plugins/platooning_tactical_plugin_node
- /guidance/plugins/yield_plugin
+ - /guidance/plugins/approaching_emergency_vehicle_plugin
ros2_initial_plugins:
- /guidance/plugins/lci_strategic_plugin
- /guidance/plugins/inlanecruising_plugin
@@ -65,6 +66,7 @@ guidance:
- /guidance/plugins/stop_controlled_intersection_tactical_plugin
- /guidance/plugins/yield_plugin
- /guidance/plugins/pure_pursuit_wrapper
+ - /guidance/plugins/approaching_emergency_vehicle_plugin
localization:
localization_controller:
From 658619b57eeb87f134d18654a75a3b48f1a72b16 Mon Sep 17 00:00:00 2001
From: Saikrishna Bairamoni
<84093461+SaikrishnaBairamoni@users.noreply.github.com>
Date: Tue, 9 May 2023 16:14:06 -0400
Subject: [PATCH 02/22] Update dockercompose files to point back develop
---
.../docker-compose-background.yml | 2 +-
.../docker-compose.yml | 20 ++++++-------
development/docker-compose-background.yml | 2 +-
development/docker-compose.yml | 28 +++++++++----------
.../docker-compose-background.yml | 2 +-
ford_fusion_sehybrid_2019/docker-compose.yml | 20 ++++++-------
.../docker-compose-background.yml | 2 +-
.../docker-compose.yml | 26 ++++++++---------
.../docker-compose-background.yml | 2 +-
.../docker-compose.yml | 26 ++++++++---------
.../docker-compose-background.yml | 2 +-
.../docker-compose.yml | 26 ++++++++---------
.../docker-compose-background.yml | 2 +-
.../docker-compose.yml | 26 ++++++++---------
.../docker-compose-background.yml | 2 +-
lexus_rx_450h_2019/docker-compose.yml | 20 ++++++-------
16 files changed, 104 insertions(+), 104 deletions(-)
diff --git a/chrysler_pacifica_ehybrid_s_2019/docker-compose-background.yml b/chrysler_pacifica_ehybrid_s_2019/docker-compose-background.yml
index 0b1bdc9a..3e677f0c 100644
--- a/chrysler_pacifica_ehybrid_s_2019/docker-compose-background.yml
+++ b/chrysler_pacifica_ehybrid_s_2019/docker-compose-background.yml
@@ -17,7 +17,7 @@ version: '2'
services:
web-ui:
- image: usdotfhwastol/carma-web-ui:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-web-ui:develop
network_mode: host
container_name: web-ui
environment:
diff --git a/chrysler_pacifica_ehybrid_s_2019/docker-compose.yml b/chrysler_pacifica_ehybrid_s_2019/docker-compose.yml
index 1f064d45..f740242c 100644
--- a/chrysler_pacifica_ehybrid_s_2019/docker-compose.yml
+++ b/chrysler_pacifica_ehybrid_s_2019/docker-compose.yml
@@ -17,7 +17,7 @@ version: '2'
services:
roscore:
- image: usdotfhwastol/carma-base:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-base:develop
network_mode: host
container_name: roscore
volumes_from:
@@ -31,7 +31,7 @@ services:
command: roscore
platform:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
network_mode: host
container_name: platform
runtime: nvidia
@@ -50,7 +50,7 @@ services:
command: bash -c 'wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/carma_docker.launch'
platform_ros2:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
network_mode: host
container_name: platform_ros2
volumes_from:
@@ -65,7 +65,7 @@ services:
command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma_docker.launch.py'
ros1_bridge:
- image: usdotfhwastol/carma-msgs:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-msgs:develop
network_mode: host
container_name: ros1_bridge
volumes_from:
@@ -83,7 +83,7 @@ services:
command: bash -c 'wait-for-it.sh localhost:11311 -- rosparam load /opt/carma/vehicle/config/bridge.yml && source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --multi-threads'
lightbar-driver:
- image: usdotfhwastol/carma-lightbar-driver:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-lightbar-driver:develop
network_mode: host
container_name: lightbar-driver
volumes_from:
@@ -97,7 +97,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=lightbar_driver'
cohda_dsrc_driver:
- image: usdotfhwastol/carma-cohda-dsrc-driver:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-cohda-dsrc-driver:develop
container_name: carma-cohda-dsrc-driver
network_mode: host
volumes_from:
@@ -108,7 +108,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=dsrc_driver'
ssc_controller_driver:
- image: usdotfhwastol/carma-ssc-interface-wrapper:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-ssc-interface-wrapper:develop
container_name: ssc_controller_driver
network_mode: host
privileged: true # Grant access to usb for can data
@@ -123,7 +123,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=ssc_interface_wrapper'
novatel_gnss_imu_driver:
- image: usdotfhwastol/carma-novatel-oem7-driver-wrapper:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-novatel-oem7-driver-wrapper:develop
container_name: carma-novatel-oem7-driver-wrapper
network_mode: host
volumes_from:
@@ -135,7 +135,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=carma_novatel_driver_wrapper'
velodyne_lidar_driver:
- image: usdotfhwastol/carma-velodyne-lidar-driver:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-velodyne-lidar-driver:develop
container_name: velodyne-lidar-driver
network_mode: host
volumes_from:
@@ -149,7 +149,7 @@ services:
# It is being used instead as camera input is currently not supported in the Autoware.Auto
# system integrated in release carma-system-4.0
mock-camera-driver:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
network_mode: host
container_name: carma-mock-camera-driver
volumes_from:
diff --git a/development/docker-compose-background.yml b/development/docker-compose-background.yml
index 4d71169b..0aca73ae 100644
--- a/development/docker-compose-background.yml
+++ b/development/docker-compose-background.yml
@@ -17,7 +17,7 @@ version: '2'
services:
web-ui:
- image: usdotfhwastol/carma-web-ui:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-web-ui:develop
network_mode: host
container_name: carma-web-ui
environment:
diff --git a/development/docker-compose.yml b/development/docker-compose.yml
index cbf6b1bf..1a2ee32e 100644
--- a/development/docker-compose.yml
+++ b/development/docker-compose.yml
@@ -17,7 +17,7 @@ version: '2'
services:
roscore:
- image: usdotfhwastol/carma-base:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-base:develop
network_mode: host
container_name: roscore
volumes_from:
@@ -31,7 +31,7 @@ services:
command: roscore
platform:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
network_mode: host
container_name: platform
volumes_from:
@@ -49,7 +49,7 @@ services:
command: bash -c 'wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/carma_docker.launch'
platform_ros2:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
network_mode: host
container_name: platform_ros2
volumes_from:
@@ -64,7 +64,7 @@ services:
command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma_docker.launch.py'
ros1_bridge:
- image: usdotfhwastol/carma-msgs:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-msgs:develop
network_mode: host
container_name: ros1_bridge
volumes_from:
@@ -82,7 +82,7 @@ services:
command: bash -c 'wait-for-it.sh localhost:11311 -- rosparam load /opt/carma/vehicle/config/bridge.yml && source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --multi-threads'
mock-lightbar-driver:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
network_mode: host
container_name: carma-mock-lightbar-driver
volumes_from:
@@ -97,7 +97,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch carma mock_drivers.launch mock_drivers:="lightbar bag_parser"'
mock-can-driver:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
network_mode: host
container_name: carma-mock-can-driver
volumes_from:
@@ -111,7 +111,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch carma mock_drivers.launch mock_drivers:=can'
mock-comms-driver:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
network_mode: host
container_name: carma-mock-comms-driver
volumes_from:
@@ -125,7 +125,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch carma mock_drivers.launch mock_drivers:=comms'
mock-controller-driver:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
network_mode: host
container_name: carma-srx-controller-driver
volumes_from:
@@ -139,7 +139,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch carma mock_drivers.launch mock_drivers:=controller'
mock-radar-driver:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
network_mode: host
container_name: carma-mock-radar-driver
volumes_from:
@@ -153,7 +153,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch carma mock_drivers.launch mock_drivers:=radar'
mock-gnss-driver:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
network_mode: host
container_name: carma-mock-gnss-driver
volumes_from:
@@ -167,7 +167,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch carma mock_drivers.launch mock_drivers:=gnss'
mock-imu-driver:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
network_mode: host
container_name: carma-mock-imu-driver
volumes_from:
@@ -181,7 +181,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch carma mock_drivers.launch mock_drivers:=imu'
mock-lidar-driver:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
network_mode: host
container_name: carma-mock-lidar-driver
volumes_from:
@@ -195,7 +195,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch carma mock_drivers.launch mock_drivers:=lidar'
mock-camera-driver:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
network_mode: host
container_name: carma-mock-camera-driver
volumes_from:
@@ -209,7 +209,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch carma mock_drivers.launch mock_drivers:=camera'
mock-roadway-sensor-driver:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
network_mode: host
container_name: carma-mock-roadway-sensor-driver
volumes_from:
diff --git a/ford_fusion_sehybrid_2019/docker-compose-background.yml b/ford_fusion_sehybrid_2019/docker-compose-background.yml
index 0b1bdc9a..3e677f0c 100644
--- a/ford_fusion_sehybrid_2019/docker-compose-background.yml
+++ b/ford_fusion_sehybrid_2019/docker-compose-background.yml
@@ -17,7 +17,7 @@ version: '2'
services:
web-ui:
- image: usdotfhwastol/carma-web-ui:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-web-ui:develop
network_mode: host
container_name: web-ui
environment:
diff --git a/ford_fusion_sehybrid_2019/docker-compose.yml b/ford_fusion_sehybrid_2019/docker-compose.yml
index d46438b8..2dd95f0a 100644
--- a/ford_fusion_sehybrid_2019/docker-compose.yml
+++ b/ford_fusion_sehybrid_2019/docker-compose.yml
@@ -17,7 +17,7 @@ version: '2'
services:
roscore:
- image: usdotfhwastol/carma-base:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-base:develop
network_mode: host
container_name: roscore
volumes_from:
@@ -31,7 +31,7 @@ services:
command: roscore
platform:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
network_mode: host
container_name: platform
volumes_from:
@@ -50,7 +50,7 @@ services:
command: bash -c 'wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/carma_docker.launch'
platform_ros2:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
network_mode: host
container_name: platform_ros2
volumes_from:
@@ -67,7 +67,7 @@ services:
command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma_docker.launch.py'
ros1_bridge:
- image: usdotfhwastol/carma-msgs:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-msgs:develop
network_mode: host
container_name: ros1_bridge
volumes_from:
@@ -86,7 +86,7 @@ services:
command: bash -c 'wait-for-it.sh localhost:11311 -- rosparam load /opt/carma/vehicle/config/bridge.yml && source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --multi-threads'
lightbar-driver:
- image: usdotfhwastol/carma-lightbar-driver:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-lightbar-driver:develop
network_mode: host
container_name: lightbar-driver
volumes_from:
@@ -100,7 +100,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=lightbar_driver'
cohda_dsrc_driver:
- image: usdotfhwastol/carma-cohda-dsrc-driver:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-cohda-dsrc-driver:develop
container_name: carma-cohda-dsrc-driver
network_mode: host
volumes_from:
@@ -114,7 +114,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=dsrc_driver'
ssc_controller_driver:
- image: usdotfhwastol/carma-ssc-interface-wrapper:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-ssc-interface-wrapper:develop
container_name: ssc_controller_driver
network_mode: host
privileged: true # Grant access to usb for can data
@@ -131,7 +131,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=ssc_interface_wrapper'
novatel_gnss_imu_driver:
- image: usdotfhwastol/carma-novatel-oem7-driver-wrapper:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-novatel-oem7-driver-wrapper:develop
container_name: carma-novatel-oem7-driver-wrapper
network_mode: host
volumes_from:
@@ -145,7 +145,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=carma_novatel_driver_wrapper'
velodyne_lidar_driver:
- image: usdotfhwastol/carma-velodyne-lidar-driver:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-velodyne-lidar-driver:develop
container_name: velodyne-lidar-driver
network_mode: host
volumes_from:
@@ -162,7 +162,7 @@ services:
# It is being used instead as camera input is currently not supported in the Autoware.Auto
# system integrated in release carma-system-4.0
mock-camera-driver:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
network_mode: host
container_name: carma-mock-camera-driver
volumes_from:
diff --git a/freightliner_cascadia_2012_dot_10002/docker-compose-background.yml b/freightliner_cascadia_2012_dot_10002/docker-compose-background.yml
index 0b1bdc9a..3e677f0c 100644
--- a/freightliner_cascadia_2012_dot_10002/docker-compose-background.yml
+++ b/freightliner_cascadia_2012_dot_10002/docker-compose-background.yml
@@ -17,7 +17,7 @@ version: '2'
services:
web-ui:
- image: usdotfhwastol/carma-web-ui:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-web-ui:develop
network_mode: host
container_name: web-ui
environment:
diff --git a/freightliner_cascadia_2012_dot_10002/docker-compose.yml b/freightliner_cascadia_2012_dot_10002/docker-compose.yml
index 766666a4..ad66c2b9 100644
--- a/freightliner_cascadia_2012_dot_10002/docker-compose.yml
+++ b/freightliner_cascadia_2012_dot_10002/docker-compose.yml
@@ -17,7 +17,7 @@ version: '2'
services:
roscore:
- image: usdotfhwastol/carma-base:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-base:develop
network_mode: host
container_name: roscore
volumes_from:
@@ -31,7 +31,7 @@ services:
command: roscore
platform:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
network_mode: host
container_name: platform
runtime: nvidia
@@ -50,7 +50,7 @@ services:
command: bash -c 'wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/carma_docker.launch'
platform_ros2:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
network_mode: host
container_name: platform_ros2
volumes_from:
@@ -65,7 +65,7 @@ services:
command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma_docker.launch.py'
ros1_bridge:
- image: usdotfhwastol/carma-msgs:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-msgs:develop
network_mode: host
container_name: ros1_bridge
volumes_from:
@@ -83,7 +83,7 @@ services:
command: bash -c 'wait-for-it.sh localhost:11311 -- rosparam load /opt/carma/vehicle/config/bridge.yml && source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --multi-threads'
truck-inspection:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
network_mode: host
container_name: carma-truck-inspection
volumes_from:
@@ -100,7 +100,7 @@ services:
command: wait-for-it.sh localhost:11311 -- roslaunch truck_inspection_client truck_inspection_client.launch truck_inspection_client_param_file:=/opt/carma/vehicle/calibration/truck_inspection_client/parameters.yaml
lightbar-driver:
- image: usdotfhwastol/carma-lightbar-driver:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-lightbar-driver:develop
network_mode: host
container_name: lightbar-driver
volumes_from:
@@ -114,7 +114,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=lightbar_driver'
cohda_dsrc_driver:
- image: usdotfhwastol/carma-cohda-dsrc-driver:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-cohda-dsrc-driver:develop
container_name: carma-cohda-dsrc-driver
network_mode: host
volumes_from:
@@ -125,7 +125,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=dsrc_driver'
ssc_controller_driver:
- image: usdotfhwastol/carma-ssc-interface-wrapper:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-ssc-interface-wrapper:develop
container_name: ssc_controller_driver
network_mode: host
privileged: true # Grant access to kvaser
@@ -140,7 +140,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=ssc_interface_wrapper'
novatel_gnss_imu_driver:
- image: usdotfhwastol/carma-novatel-oem7-driver-wrapper:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-novatel-oem7-driver-wrapper:develop
container_name: carma-novatel-oem7-driver-wrapper
network_mode: host
volumes_from:
@@ -152,7 +152,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=carma_novatel_driver_wrapper'
velodyne_lidar_driver:
- image: usdotfhwastol/carma-velodyne-lidar-driver:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-velodyne-lidar-driver:develop
container_name: velodyne-lidar-driver
network_mode: host
volumes_from:
@@ -163,7 +163,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=velodyne_lidar_driver_wrapper'
velodyne_concatenator:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
container_name: velodyne-concatenator
network_mode: host
volumes_from:
@@ -176,7 +176,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=velodyne_lidar_driver_wrapper'
lidar_lite_trailer_angle_driver:
- image: usdotfhwastol/carma-garmin-lidar-lite-v3-driver-wrapper:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-garmin-lidar-lite-v3-driver-wrapper:develop
container_name: lidar_lite_trailer_angle_driver
network_mode: host
privileged: true # Grant access to usb
@@ -197,7 +197,7 @@ services:
# It is being used instead as camera input is currently not supported in the Autoware.Auto
# system integrated in release carma-system-4.0
mock-camera-driver:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
network_mode: host
container_name: carma-mock-camera-driver
volumes_from:
diff --git a/freightliner_cascadia_2012_dot_10003/docker-compose-background.yml b/freightliner_cascadia_2012_dot_10003/docker-compose-background.yml
index 0b1bdc9a..3e677f0c 100644
--- a/freightliner_cascadia_2012_dot_10003/docker-compose-background.yml
+++ b/freightliner_cascadia_2012_dot_10003/docker-compose-background.yml
@@ -17,7 +17,7 @@ version: '2'
services:
web-ui:
- image: usdotfhwastol/carma-web-ui:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-web-ui:develop
network_mode: host
container_name: web-ui
environment:
diff --git a/freightliner_cascadia_2012_dot_10003/docker-compose.yml b/freightliner_cascadia_2012_dot_10003/docker-compose.yml
index cc5421ba..a9544877 100644
--- a/freightliner_cascadia_2012_dot_10003/docker-compose.yml
+++ b/freightliner_cascadia_2012_dot_10003/docker-compose.yml
@@ -17,7 +17,7 @@ version: '2'
services:
roscore:
- image: usdotfhwastol/carma-base:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-base:develop
network_mode: host
container_name: roscore
volumes_from:
@@ -31,7 +31,7 @@ services:
command: roscore
platform:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
network_mode: host
container_name: platform
runtime: nvidia
@@ -50,7 +50,7 @@ services:
command: bash -c 'wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/carma_docker.launch'
platform_ros2:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
network_mode: host
container_name: platform_ros2
volumes_from:
@@ -65,7 +65,7 @@ services:
command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma_docker.launch.py'
ros1_bridge:
- image: usdotfhwastol/carma-msgs:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-msgs:develop
network_mode: host
container_name: ros1_bridge
volumes_from:
@@ -83,7 +83,7 @@ services:
command: bash -c 'wait-for-it.sh localhost:11311 -- rosparam load /opt/carma/vehicle/config/bridge.yml && source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --multi-threads'
truck-inspection:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
network_mode: host
container_name: carma-truck-inspection
volumes_from:
@@ -100,7 +100,7 @@ services:
command: wait-for-it.sh localhost:11311 -- roslaunch truck_inspection_client truck_inspection_client.launch truck_inspection_client_param_file:=/opt/carma/vehicle/calibration/truck_inspection_client/parameters.yaml
lightbar-driver:
- image: usdotfhwastol/carma-lightbar-driver:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-lightbar-driver:develop
network_mode: host
container_name: lightbar-driver
volumes_from:
@@ -114,7 +114,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=lightbar_driver'
cohda_dsrc_driver:
- image: usdotfhwastol/carma-cohda-dsrc-driver:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-cohda-dsrc-driver:develop
container_name: carma-cohda-dsrc-driver
network_mode: host
volumes_from:
@@ -125,7 +125,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=dsrc_driver'
ssc_controller_driver:
- image: usdotfhwastol/carma-ssc-interface-wrapper:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-ssc-interface-wrapper:develop
container_name: ssc_controller_driver
network_mode: host
privileged: true # Grant access to kvaser
@@ -140,7 +140,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=ssc_interface_wrapper'
novatel_gnss_imu_driver:
- image: usdotfhwastol/carma-novatel-oem7-driver-wrapper:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-novatel-oem7-driver-wrapper:develop
container_name: carma-novatel-oem7-driver-wrapper
network_mode: host
volumes_from:
@@ -152,7 +152,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=carma_novatel_driver_wrapper'
velodyne_lidar_driver:
- image: usdotfhwastol/carma-velodyne-lidar-driver:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-velodyne-lidar-driver:develop
container_name: velodyne-lidar-driver
network_mode: host
volumes_from:
@@ -163,7 +163,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=velodyne_lidar_driver_wrapper'
velodyne_concatenator:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
container_name: velodyne-concatenator
network_mode: host
volumes_from:
@@ -176,7 +176,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=velodyne_lidar_driver_wrapper'
lidar_lite_trailer_angle_driver:
- image: usdotfhwastol/carma-garmin-lidar-lite-v3-driver-wrapper:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-garmin-lidar-lite-v3-driver-wrapper:develop
container_name: lidar_lite_trailer_angle_driver
network_mode: host
privileged: true # Grant access to usb
@@ -197,7 +197,7 @@ services:
# It is being used instead as camera input is currently not supported in the Autoware.Auto
# system integrated in release carma-system-4.0
mock-camera-driver:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
network_mode: host
container_name: carma-mock-camera-driver
volumes_from:
diff --git a/freightliner_cascadia_2012_dot_10004/docker-compose-background.yml b/freightliner_cascadia_2012_dot_10004/docker-compose-background.yml
index 0b1bdc9a..3e677f0c 100644
--- a/freightliner_cascadia_2012_dot_10004/docker-compose-background.yml
+++ b/freightliner_cascadia_2012_dot_10004/docker-compose-background.yml
@@ -17,7 +17,7 @@ version: '2'
services:
web-ui:
- image: usdotfhwastol/carma-web-ui:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-web-ui:develop
network_mode: host
container_name: web-ui
environment:
diff --git a/freightliner_cascadia_2012_dot_10004/docker-compose.yml b/freightliner_cascadia_2012_dot_10004/docker-compose.yml
index ee50c2b1..d3b0b617 100644
--- a/freightliner_cascadia_2012_dot_10004/docker-compose.yml
+++ b/freightliner_cascadia_2012_dot_10004/docker-compose.yml
@@ -17,7 +17,7 @@ version: '2'
services:
roscore:
- image: usdotfhwastol/carma-base:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-base:develop
network_mode: host
container_name: roscore
volumes_from:
@@ -31,7 +31,7 @@ services:
command: roscore
platform:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
network_mode: host
container_name: platform
runtime: nvidia
@@ -50,7 +50,7 @@ services:
command: bash -c 'wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/carma_docker.launch'
platform_ros2:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
network_mode: host
container_name: platform_ros2
volumes_from:
@@ -65,7 +65,7 @@ services:
command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma_docker.launch.py'
ros1_bridge:
- image: usdotfhwastol/carma-msgs:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-msgs:develop
network_mode: host
container_name: ros1_bridge
volumes_from:
@@ -83,7 +83,7 @@ services:
command: bash -c 'wait-for-it.sh localhost:11311 -- rosparam load /opt/carma/vehicle/config/bridge.yml && source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --multi-threads'
truck-inspection:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
network_mode: host
container_name: carma-truck-inspection
volumes_from:
@@ -100,7 +100,7 @@ services:
command: wait-for-it.sh localhost:11311 -- roslaunch truck_inspection_client truck_inspection_client.launch truck_inspection_client_param_file:=/opt/carma/vehicle/calibration/truck_inspection_client/parameters.yaml
lightbar-driver:
- image: usdotfhwastol/carma-lightbar-driver:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-lightbar-driver:develop
network_mode: host
container_name: lightbar-driver
volumes_from:
@@ -114,7 +114,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=lightbar_driver'
cohda_dsrc_driver:
- image: usdotfhwastol/carma-cohda-dsrc-driver:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-cohda-dsrc-driver:develop
container_name: carma-cohda-dsrc-driver
network_mode: host
volumes_from:
@@ -125,7 +125,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=dsrc_driver'
ssc_controller_driver:
- image: usdotfhwastol/carma-ssc-interface-wrapper:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-ssc-interface-wrapper:develop
container_name: ssc_controller_driver
network_mode: host
privileged: true # Grant access to kvaser
@@ -140,7 +140,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=ssc_interface_wrapper'
novatel_gnss_imu_driver:
- image: usdotfhwastol/carma-novatel-oem7-driver-wrapper:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-novatel-oem7-driver-wrapper:develop
container_name: carma-novatel-oem7-driver-wrapper
network_mode: host
volumes_from:
@@ -152,7 +152,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=carma_novatel_driver_wrapper'
velodyne_lidar_driver:
- image: usdotfhwastol/carma-velodyne-lidar-driver:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-velodyne-lidar-driver:develop
container_name: velodyne-lidar-driver
network_mode: host
volumes_from:
@@ -163,7 +163,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=velodyne_lidar_driver_wrapper'
velodyne_concatenator:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
container_name: velodyne-concatenator
network_mode: host
volumes_from:
@@ -176,7 +176,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=velodyne_lidar_driver_wrapper'
lidar_lite_trailer_angle_driver:
- image: usdotfhwastol/carma-garmin-lidar-lite-v3-driver-wrapper:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-garmin-lidar-lite-v3-driver-wrapper:develop
container_name: lidar_lite_trailer_angle_driver
network_mode: host
privileged: true # Grant access to usb
@@ -197,7 +197,7 @@ services:
# It is being used instead as camera input is currently not supported in the Autoware.Auto
# system integrated in release carma-system-4.0
mock-camera-driver:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
network_mode: host
container_name: carma-mock-camera-driver
volumes_from:
diff --git a/freightliner_cascadia_2012_dot_80550/docker-compose-background.yml b/freightliner_cascadia_2012_dot_80550/docker-compose-background.yml
index 0b1bdc9a..3e677f0c 100644
--- a/freightliner_cascadia_2012_dot_80550/docker-compose-background.yml
+++ b/freightliner_cascadia_2012_dot_80550/docker-compose-background.yml
@@ -17,7 +17,7 @@ version: '2'
services:
web-ui:
- image: usdotfhwastol/carma-web-ui:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-web-ui:develop
network_mode: host
container_name: web-ui
environment:
diff --git a/freightliner_cascadia_2012_dot_80550/docker-compose.yml b/freightliner_cascadia_2012_dot_80550/docker-compose.yml
index ee50c2b1..d3b0b617 100644
--- a/freightliner_cascadia_2012_dot_80550/docker-compose.yml
+++ b/freightliner_cascadia_2012_dot_80550/docker-compose.yml
@@ -17,7 +17,7 @@ version: '2'
services:
roscore:
- image: usdotfhwastol/carma-base:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-base:develop
network_mode: host
container_name: roscore
volumes_from:
@@ -31,7 +31,7 @@ services:
command: roscore
platform:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
network_mode: host
container_name: platform
runtime: nvidia
@@ -50,7 +50,7 @@ services:
command: bash -c 'wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/carma_docker.launch'
platform_ros2:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
network_mode: host
container_name: platform_ros2
volumes_from:
@@ -65,7 +65,7 @@ services:
command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma_docker.launch.py'
ros1_bridge:
- image: usdotfhwastol/carma-msgs:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-msgs:develop
network_mode: host
container_name: ros1_bridge
volumes_from:
@@ -83,7 +83,7 @@ services:
command: bash -c 'wait-for-it.sh localhost:11311 -- rosparam load /opt/carma/vehicle/config/bridge.yml && source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --multi-threads'
truck-inspection:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
network_mode: host
container_name: carma-truck-inspection
volumes_from:
@@ -100,7 +100,7 @@ services:
command: wait-for-it.sh localhost:11311 -- roslaunch truck_inspection_client truck_inspection_client.launch truck_inspection_client_param_file:=/opt/carma/vehicle/calibration/truck_inspection_client/parameters.yaml
lightbar-driver:
- image: usdotfhwastol/carma-lightbar-driver:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-lightbar-driver:develop
network_mode: host
container_name: lightbar-driver
volumes_from:
@@ -114,7 +114,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=lightbar_driver'
cohda_dsrc_driver:
- image: usdotfhwastol/carma-cohda-dsrc-driver:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-cohda-dsrc-driver:develop
container_name: carma-cohda-dsrc-driver
network_mode: host
volumes_from:
@@ -125,7 +125,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=dsrc_driver'
ssc_controller_driver:
- image: usdotfhwastol/carma-ssc-interface-wrapper:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-ssc-interface-wrapper:develop
container_name: ssc_controller_driver
network_mode: host
privileged: true # Grant access to kvaser
@@ -140,7 +140,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=ssc_interface_wrapper'
novatel_gnss_imu_driver:
- image: usdotfhwastol/carma-novatel-oem7-driver-wrapper:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-novatel-oem7-driver-wrapper:develop
container_name: carma-novatel-oem7-driver-wrapper
network_mode: host
volumes_from:
@@ -152,7 +152,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=carma_novatel_driver_wrapper'
velodyne_lidar_driver:
- image: usdotfhwastol/carma-velodyne-lidar-driver:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-velodyne-lidar-driver:develop
container_name: velodyne-lidar-driver
network_mode: host
volumes_from:
@@ -163,7 +163,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=velodyne_lidar_driver_wrapper'
velodyne_concatenator:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
container_name: velodyne-concatenator
network_mode: host
volumes_from:
@@ -176,7 +176,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=velodyne_lidar_driver_wrapper'
lidar_lite_trailer_angle_driver:
- image: usdotfhwastol/carma-garmin-lidar-lite-v3-driver-wrapper:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-garmin-lidar-lite-v3-driver-wrapper:develop
container_name: lidar_lite_trailer_angle_driver
network_mode: host
privileged: true # Grant access to usb
@@ -197,7 +197,7 @@ services:
# It is being used instead as camera input is currently not supported in the Autoware.Auto
# system integrated in release carma-system-4.0
mock-camera-driver:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
network_mode: host
container_name: carma-mock-camera-driver
volumes_from:
diff --git a/lexus_rx_450h_2019/docker-compose-background.yml b/lexus_rx_450h_2019/docker-compose-background.yml
index d1d1729a..db1fb646 100644
--- a/lexus_rx_450h_2019/docker-compose-background.yml
+++ b/lexus_rx_450h_2019/docker-compose-background.yml
@@ -17,7 +17,7 @@ version: '2'
services:
web-ui:
- image: usdotfhwastol/carma-web-ui:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-web-ui:develop
network_mode: host
container_name: web-ui
environment:
diff --git a/lexus_rx_450h_2019/docker-compose.yml b/lexus_rx_450h_2019/docker-compose.yml
index be4c62fb..0eb6a08c 100644
--- a/lexus_rx_450h_2019/docker-compose.yml
+++ b/lexus_rx_450h_2019/docker-compose.yml
@@ -16,7 +16,7 @@ version: '2'
services:
roscore:
- image: usdotfhwastol/carma-base:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-base:develop
network_mode: host
container_name: roscore
volumes_from:
@@ -30,7 +30,7 @@ services:
command: roscore
platform:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
network_mode: host
container_name: platform
volumes_from:
@@ -49,7 +49,7 @@ services:
command: bash -c 'wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/carma_docker.launch'
platform_ros2:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
network_mode: host
container_name: platform_ros2
volumes_from:
@@ -69,7 +69,7 @@ services:
command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma_docker.launch.py'
ros1_bridge:
- image: usdotfhwastol/carma-msgs:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-msgs:develop
network_mode: host
container_name: ros1_bridge
volumes_from:
@@ -88,7 +88,7 @@ services:
command: bash -c 'wait-for-it.sh localhost:11311 -- rosparam load /opt/carma/vehicle/config/bridge.yml && source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --multi-threads'
lightbar-driver:
- image: usdotfhwastol/carma-lightbar-driver:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-lightbar-driver:develop
network_mode: host
container_name: lightbar-driver
volumes_from:
@@ -102,7 +102,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=lightbar_driver'
cohda_dsrc_driver:
- image: usdotfhwastol/carma-cohda-dsrc-driver:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-cohda-dsrc-driver:develop
container_name: carma-cohda-dsrc-driver
network_mode: host
volumes_from:
@@ -116,7 +116,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=dsrc_driver'
ssc_controller_driver:
- image: usdotfhwastol/carma-ssc-interface-wrapper:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-ssc-interface-wrapper:develop
container_name: ssc_controller_driver
network_mode: host
privileged: true # Grant access to kvaser
@@ -132,7 +132,7 @@ services:
command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=ssc_interface_wrapper_ros2'
novatel_gnss_imu_driver:
- image: usdotfhwastol/carma-novatel-oem7-driver-wrapper:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-novatel-oem7-driver-wrapper:develop
container_name: carma-novatel-oem7-driver-wrapper
network_mode: host
volumes_from:
@@ -146,7 +146,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=carma_novatel_driver_wrapper'
velodyne_lidar_driver:
- image: usdotfhwastol/carma-velodyne-lidar-driver:carma-system-4.4.0
+ image: usdotfhwastoldev/carma-velodyne-lidar-driver:develop
container_name: velodyne-lidar-driver
network_mode: host
volumes_from:
@@ -163,7 +163,7 @@ services:
# It is being used instead as camera input is currently not supported in the Autoware.Auto
# system integrated in release carma-system-4.0
mock-camera-driver:
- image: usdotfhwastol/carma-platform:carma-system-4.4.1
+ image: usdotfhwastoldev/carma-platform:develop
network_mode: host
container_name: carma-mock-camera-driver
volumes_from:
From 2ee8357d5f8b872111df044421c3d7dfd5475542 Mon Sep 17 00:00:00 2001
From: Cheng Yuan <84340069+chengyuan0124@users.noreply.github.com>
Date: Mon, 22 May 2023 09:57:04 -0400
Subject: [PATCH 03/22] Commit tested carma-config
---
xil_cloud/SubsystemControllerParams.yaml | 13 +-
xil_cloud/VehicleConfigParams.yaml | 4 +-
xil_cloud/bridge.yml | 2 +-
xil_cloud/carma.config.js | 26 +---
xil_cloud/carma_docker.launch | 2 +-
xil_cloud/carma_rosconsole.conf | 6 +-
xil_cloud/docker-compose-background.yml | 29 -----
xil_cloud/docker-compose.yml | 150 ++++++++++++++---------
xil_cloud/system_release.sh | 0
9 files changed, 106 insertions(+), 126 deletions(-)
delete mode 100644 xil_cloud/docker-compose-background.yml
mode change 100644 => 100755 xil_cloud/system_release.sh
diff --git a/xil_cloud/SubsystemControllerParams.yaml b/xil_cloud/SubsystemControllerParams.yaml
index bb250e36..290a8f70 100644
--- a/xil_cloud/SubsystemControllerParams.yaml
+++ b/xil_cloud/SubsystemControllerParams.yaml
@@ -1,5 +1,5 @@
# This file contains configurations for the subsystem_controllers which manage the lifecycle of each individual subsystem
-# For brevity the parameter descriptions are not provided here. The descriptions can be found in the default parameter files located
+# For brevity the parameter descriptions are not provided here. The descriptions can be found in the default parameter files located
# in the subsystem_controllers parameter directory here: https://github.com/usdot-fhwa-stol/carma-platform/tree/develop/subsystem_controllers/config
# The parameters specified in this file override the parameters in the default parameter files.
# NOTE: Due to a limitation in ROS2 empty arrays in this file should be denoted with ['']
@@ -8,7 +8,7 @@ environment:
ros__parameters:
subsystem_namespace: /environment
required_subsystem_nodes: ['']
- unmanaged_required_nodes:
+ unmanaged_required_nodes:
- /hardware_interface/velodyne_lidar_driver_wrapper_node
full_subsystem_required: true
@@ -25,7 +25,7 @@ message:
ros__parameters:
subsystem_namespace: /message
required_subsystem_nodes: ['']
- unmanaged_required_nodes:
+ unmanaged_required_nodes:
- /hardware_interface/dsrc_driver_node
full_subsystem_required: true
@@ -53,8 +53,7 @@ guidance:
- /guidance/plugins/platooning_tactical_plugin_node
- /guidance/plugins/yield_plugin
ros2_initial_plugins:
- - /guidance/plugins/lci_strategic_plugin
- - /guidance/plugins/inlanecruising_plugin
+ - /guidance/plugins/inlanecruising_plugin
- /guidance/plugins/platoon_strategic_ihp_node
- /guidance/plugins/stop_and_wait_plugin
- /guidance/plugins/route_following_plugin
@@ -79,9 +78,9 @@ localization:
# TODO update the fault map once ros2 gps is integrated
sensor_fault_map: '
{
- "sensor_fault_map":
+ "sensor_fault_map":
[
[0,0]
]
}
- '
+ '
\ No newline at end of file
diff --git a/xil_cloud/VehicleConfigParams.yaml b/xil_cloud/VehicleConfigParams.yaml
index d623ac8c..b049219e 100644
--- a/xil_cloud/VehicleConfigParams.yaml
+++ b/xil_cloud/VehicleConfigParams.yaml
@@ -111,7 +111,7 @@ excluded_default_topics:
- (.*)/sent_messages
- (.*)/scan
-exclude_lidar: false
+exclude_lidar: true
excluded_lidar_topics:
- /detection/lidar_detector/objects
- /detection/lidar_detector/objects_markers
@@ -124,7 +124,7 @@ excluded_lidar_topics:
- /environment/detection/object_tracker/objects_markers
- /environment/detection/objects
-exclude_camera: false
+exclude_camera: true
excluded_camera_topics:
- /hardware_interface/camera/camera_info
- /hardware_interface/camera/image_raw
diff --git a/xil_cloud/bridge.yml b/xil_cloud/bridge.yml
index 01718429..c535505b 100644
--- a/xil_cloud/bridge.yml
+++ b/xil_cloud/bridge.yml
@@ -48,4 +48,4 @@ topics:
history: keep_last
depth: 5
durability: transient_local
-services_1_to_2: []
+services_1_to_2: []
\ No newline at end of file
diff --git a/xil_cloud/carma.config.js b/xil_cloud/carma.config.js
index 0d898ed5..4df0df8d 100644
--- a/xil_cloud/carma.config.js
+++ b/xil_cloud/carma.config.js
@@ -41,34 +41,16 @@ CarmaJS.registerNamespace("CarmaJS.Config");
CarmaJS.Config = (function () {
//Private variables
- var ip = '127.0.0.1'; //'192.168.88.10'; 192.168.32.146;
- var refresh_interval = 30; //30 seconds
- var ros_connect_wait = 5000; //5 miliseconds to wait for platform to launch and ros to connect.
- var ros_connect_retry = 24; //# of times to wait. Total 2 minutes
- var speed_limit = 30; //Default Speed Limit
+ var ip = '127.0.0.1';
+
//Private methods
//Creating functions to prevent access by reference to private variables
var getIP = function() {
return ip;
};
- var getRefreshInterval = function(){
- return refresh_interval;
- };
- var getRosConnectionWaitTime = function() {
- return ros_connect_wait;
- };
- var getRosConnectionRetry = function() {
- return ros_connect_retry;
- };
- var getSPEEDLIMIT = function() {
- return speed_limit;
- };
+
//Public API
return {
- getIP: getIP,
- getRefreshInterval: getRefreshInterval,
- getRosConnectionWaitTime:getRosConnectionWaitTime,
- getRosConnectionRetry:getRosConnectionRetry,
- getSPEEDLIMIT: getSPEEDLIMIT
+ getIP: getIP
};
})();
diff --git a/xil_cloud/carma_docker.launch b/xil_cloud/carma_docker.launch
index 04d368ce..955b7cef 100644
--- a/xil_cloud/carma_docker.launch
+++ b/xil_cloud/carma_docker.launch
@@ -57,7 +57,7 @@
-
+
diff --git a/xil_cloud/carma_rosconsole.conf b/xil_cloud/carma_rosconsole.conf
index ed993d3e..f7d359c0 100644
--- a/xil_cloud/carma_rosconsole.conf
+++ b/xil_cloud/carma_rosconsole.conf
@@ -5,13 +5,11 @@ log4j.logger.ros.roscpp.superdebug=WARN
# Set package specific log level
# Syntax is log4j.logger.ros.< my package name>=< Log level>
# Log levels
-# ALL All levels including custom levels.
# DEBUG Detailed logs useful for debugging
# INFO Useful logs for understanding system events
# WARN Warning notifications that represent problems but will not severly degrade system operation
# ERROR Error notifications that severly degrade system operation, but the system might still be able to operate
# FATAL Error notification that the system cannot recover from
-# OFF Disable logging
log4j.logger.ros.mpc_follower=INFO
log4j.logger.ros.as=WARN
log4j.logger.ros.waypoint_generator=INFO
@@ -20,7 +18,9 @@ log4j.logger.ros.mpc_follower_wrapper=INFO
log4j.logger.ros.carma_wm=INFO
log4j.logger.ros.arbitrator=WARN
log4j.logger.ros.trajectory_executor=INFO
-log4j.logger.ros.plan_delegator=INFO
+log4j.logger.ros.plan_delegator=WARN
log4j.logger.ros.inlanecruising_plugin=INFO
log4j.logger.ros.route_following_plugin=INFO
log4j.logger.ros.pure_pursuit_wrapper=INFO
+log4j.logger.ros.system_controller=INFO
+log4j.logger.ros.subsystem_controllers=INFO
diff --git a/xil_cloud/docker-compose-background.yml b/xil_cloud/docker-compose-background.yml
deleted file mode 100644
index 1fb11f81..00000000
--- a/xil_cloud/docker-compose-background.yml
+++ /dev/null
@@ -1,29 +0,0 @@
-# Copyright (C) 2018-2021 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://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.
-
-# Docker Compose Spec Version
-version: '2'
-
-services:
- web-ui:
- image: usdotfhwastol/carma-web-ui:carma-system-4.2.0
- network_mode: host
- container_name: web-ui
- environment:
- - ROS_IP=127.0.0.1
- volumes_from:
- - container:carma-config:ro
- volumes:
- - /var/run/docker.sock:/var/run/docker.sock
- restart: always
diff --git a/xil_cloud/docker-compose.yml b/xil_cloud/docker-compose.yml
index 92995c54..bfac4c8b 100644
--- a/xil_cloud/docker-compose.yml
+++ b/xil_cloud/docker-compose.yml
@@ -1,70 +1,83 @@
-version: '3'
-services:
+# Copyright (C) 2018-2021 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://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.
+
+# Docker Compose Spec Version
+version: '2'
+services:
carma-simulation:
privileged: true
- image: usdotfhwastol/carma-simulation:carma-simulation-1.0.1
- networks:
- carma_sim_net:
- ipv4_address: 172.2.0.2
+ image: usdotfhwastoldev/carma-simulation:develop
+ network_mode: host
+# networks:
+# carma_sim_net:
+# ipv4_address: 172.2.0.2
container_name: carma-simulation
environment:
- DISPLAY=${DISPLAY}
- QT_X11_NO_MITSHM=1
+ - ROS_IP=127.0.0.1
volumes:
- /tmp/.X11-unix:/tmp/.X11-unix
+ # - /opt/carma-simulation/logs:/opt/carma-simulation/logs
+ # - /opt/carma-simulation/etc:/opt/carma-simulation/etc
+ # - /opt/carma-simulation/scenarios:/opt/carma-simulation/scenarios
deploy:
resources:
reservations:
devices:
- capabilities: [gpu]
- command: "./mosaic.sh -s Town04_20"
+ command: bash -c "./mosaic.sh -s Town04_test4"
- roscore_1:
+ roscore:
image: usdotfhwastol/carma-base:carma-system-4.2.0
networks:
- carma_net_1:
- ipv4_address: 172.3.0.2
- container_name: roscore_1
+ carma_sim_net:
+ ipv4_address: 172.2.0.2
+ container_name: roscore
volumes_from:
- container:carma-config:ro
+ environment:
+ - ROS_IP=127.0.0.1
volumes:
- /opt/carma/.ros:/home/carma/.ros
- /opt/carma/logs:/opt/carma/logs
restart: always
- environment:
- - ROS_IP=172.3.0.2
- - ROS_MASTER_URI=http://172.3.0.2:11311/
command: roscore
- platform_1:
+ platform:
image: usdotfhwastol/carma-platform:carma-system-4.2.0
- networks:
- carma_net_1:
- ipv4_address: 172.3.0.3
- container_name: platform_1
+ network_mode: service:roscore
+ container_name: platform
volumes_from:
- container:carma-config:ro
+ environment:
+ - ROS_IP=127.0.0.1
+ - NVIDIA_VISIBLE_DEVICES=all
volumes:
- /opt/carma/logs:/opt/carma/logs
- /opt/carma/.ros:/home/carma/.ros
- /opt/carma/vehicle/calibration:/opt/carma/vehicle/calibration
- - /opt/carma/yolo:/opt/carma/yolo
- /opt/carma/maps:/opt/carma/maps
- /opt/carma/routes:/opt/carma/routes
- - /opt/carma/data:/opt/carma/data
- - /opt/carma/simulation:/opt/carma/simulation
- environment:
- - ROS_IP=172.3.0.3
- - ROS_MASTER_URI=http://172.3.0.2:11311/
- command: bash -c 'wait-for-it.sh 172.3.0.2:11311 -- roslaunch /opt/carma/vehicle/config/carma_docker.launch'
+ - /opt/carma/yolo:/opt/carma/yolo
+ command: bash -c 'wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/carma_docker.launch'
- platform_ros2_1:
+ platform_ros2:
image: usdotfhwastol/carma-platform:carma-system-4.2.0
- networks:
- carma_net_1:
- ipv4_address: 172.3.0.4
- container_name: platform_ros2_1
+ network_mode: service:roscore
+ container_name: platform_ros2
volumes_from:
- container:carma-config:ro
volumes:
@@ -76,17 +89,15 @@ services:
- /opt/carma/yolo:/opt/carma/yolo
command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma_docker.launch.py'
- ros1_bridge_1:
+ ros1_bridge:
image: usdotfhwastol/carma-msgs:carma-system-4.2.0
- networks:
- carma_net_1:
- ipv4_address: 172.3.0.5
- container_name: ros1_bridge_1
+ network_mode: service:roscore
+ container_name: ros1_bridge
volumes_from:
- container:carma-config:ro
environment:
- - ROS_IP=172.3.0.5
- - ROS_MASTER_URI=http://172.3.0.2:11311/
+ - ROS_IP=127.0.0.1
+ - ROS_MASTER_URI=http://localhost:11311
volumes:
- /opt/carma/logs:/opt/carma/logs
- /opt/carma/.ros:/home/carma/.ros
@@ -94,10 +105,10 @@ services:
- /opt/carma/maps:/opt/carma/maps
- /opt/carma/routes:/opt/carma/routes
- /opt/carma/yolo:/opt/carma/yolo
- command: bash -c 'wait-for-it.sh 172.3.0.2:11311 -- rosparam load /opt/carma/vehicle/config/bridge.yml && source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --multi-threads'
+ command: bash -c 'wait-for-it.sh localhost:11311 -- rosparam load /opt/carma/vehicle/config/bridge.yml && source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --multi-threads'
carma-carla-integration_1:
- image: usdotfhwastol/carma-carla-integration:carma-ros-2-aws-test
+ image: usdotfhwastoldev/carma-carla-integration:develop
networks:
carma_net_1:
ipv4_address: 172.3.0.6
@@ -109,33 +120,50 @@ services:
environment:
- ROS_IP=172.3.0.6
- ROS_MASTER_URI=http://172.3.0.2:11311/
- command: bash -c "sleep 10;
- export PYTHONPATH=$PYTHONPATH:/home/PythonAPI/carla/dist/carla-0.9.10-py3.7-linux-x86_64.egg &&
- source /home/carma_carla_ws/devel/setup.bash &&
- roslaunch carma_carla_agent carma_carla_agent.launch role_name:='hero1'
- town:='Town04'
- host:='172.2.0.2'
- spawn_point:='15.4,-90.1,0,0,0,90'
- selected_route:='Release_test_case_1'
- selected_plugins:='RouteFollowingPlugin,InLaneCruisingPlugin,StopAndWaitPlugin,Pure Pursuit'
- speed_Kp:='0.4'
- speed_Ki:='0.0'
- speed_Kd:='0.05'
- accel_Kp:='0.05'
- accel_Ki:='0.0'
- accel_Kd:='0.05'
- init_speed:='5'
- init_acceleration:='1'
- init_steering_angle:='0'
- init_jerk:='0'
- max_steering_degree:='70'"
+ command: bash -c "sleep 10;
+ export PYTHONPATH=$PYTHONPATH:~/PythonAPI/carla/dist/carla-0.9.10-py3.7-linux-x86_64.egg &&
+ source ~/carma_carla_ws/devel/setup.bash && roslaunch carma_carla_agent carma_carla_agent.launch role_name:='carma_2' host:='127.0.0.1'"
+ web-ui:
+ image: usdotfhwastol/carma-web-ui:carma-system-4.2.0
+ network_mode: service:roscore
+# ports:
+# - 8080:8080
+ container_name: web-ui
+ environment:
+ - ROS_IP=127.0.0.1
+ - ROS_MASTER_URI=http://localhost:11311/
+ volumes_from:
+ - container:carma-config:ro
+ volumes:
+ - /var/run/docker.sock:/var/run/docker.sock
+
+ ns3_adapter:
+ image: usdotfhwastoldev/carma-ns3-adapter:develop
+ networks:
+ carma_net_1:
+ ipv4_address: 172.3.0.8
+ carma_sim_net:
+ ipv4_address: 172.2.0.3
+ container_name: ns3_adapter
+ volumes_from:
+ - container:carma-config:ro
+ environment:
+ - ROS_IP=172.3.0.8
+ - ROS_MASTER_URI=http://172.3.0.8:11311/
+ - NVIDIA_VISIBLE_DEVICES=all
+ volumes:
+ - /opt/carma/logs:/opt/carma/logs
+ - /opt/carma/.ros:/home/carma/.ros
+ - /opt/carma/vehicle/calibration:/opt/carma/vehicle/calibration
+ - /opt/carma/maps:/opt/carma/maps
+ - /opt/carma/routes:/opt/carma/routes
+ - /opt/carma/yolo:/opt/carma/yolo
networks:
carma_sim_net:
ipam:
config:
- subnet: 172.2.0.0/16
-
carma_net_1:
ipam:
config:
diff --git a/xil_cloud/system_release.sh b/xil_cloud/system_release.sh
old mode 100644
new mode 100755
From f654b5a17cd3fb098520192ee2ceacd98d9cc216 Mon Sep 17 00:00:00 2001
From: Cheng Yuan <84340069+chengyuan0124@users.noreply.github.com>
Date: Mon, 22 May 2023 11:24:23 -0400
Subject: [PATCH 04/22] add docker net and ns3
---
xil_cloud/docker-compose.yml | 117 ++++++++++++++---------------------
1 file changed, 48 insertions(+), 69 deletions(-)
diff --git a/xil_cloud/docker-compose.yml b/xil_cloud/docker-compose.yml
index bfac4c8b..2d30fe94 100644
--- a/xil_cloud/docker-compose.yml
+++ b/xil_cloud/docker-compose.yml
@@ -1,83 +1,70 @@
-# Copyright (C) 2018-2021 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://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.
-
-# Docker Compose Spec Version
-version: '2'
-
+version: '3'
services:
+
carma-simulation:
privileged: true
image: usdotfhwastoldev/carma-simulation:develop
- network_mode: host
-# networks:
-# carma_sim_net:
-# ipv4_address: 172.2.0.2
+ networks:
+ carma_sim_net:
+ ipv4_address: 172.2.0.2
container_name: carma-simulation
environment:
- DISPLAY=${DISPLAY}
- QT_X11_NO_MITSHM=1
- - ROS_IP=127.0.0.1
volumes:
- /tmp/.X11-unix:/tmp/.X11-unix
- # - /opt/carma-simulation/logs:/opt/carma-simulation/logs
- # - /opt/carma-simulation/etc:/opt/carma-simulation/etc
- # - /opt/carma-simulation/scenarios:/opt/carma-simulation/scenarios
deploy:
resources:
reservations:
devices:
- capabilities: [gpu]
- command: bash -c "./mosaic.sh -s Town04_test4"
+ command: "./mosaic.sh -s Town04_20"
- roscore:
+ roscore_1:
image: usdotfhwastol/carma-base:carma-system-4.2.0
networks:
- carma_sim_net:
- ipv4_address: 172.2.0.2
- container_name: roscore
+ carma_net_1:
+ ipv4_address: 172.3.0.2
+ container_name: roscore_1
volumes_from:
- container:carma-config:ro
- environment:
- - ROS_IP=127.0.0.1
volumes:
- /opt/carma/.ros:/home/carma/.ros
- /opt/carma/logs:/opt/carma/logs
restart: always
+ environment:
+ - ROS_IP=172.3.0.2
+ - ROS_MASTER_URI=http://172.3.0.2:11311/
command: roscore
- platform:
+ platform_1:
image: usdotfhwastol/carma-platform:carma-system-4.2.0
- network_mode: service:roscore
- container_name: platform
+ networks:
+ carma_net_1:
+ ipv4_address: 172.3.0.3
+ container_name: platform_1
volumes_from:
- container:carma-config:ro
- environment:
- - ROS_IP=127.0.0.1
- - NVIDIA_VISIBLE_DEVICES=all
volumes:
- /opt/carma/logs:/opt/carma/logs
- /opt/carma/.ros:/home/carma/.ros
- /opt/carma/vehicle/calibration:/opt/carma/vehicle/calibration
+ - /opt/carma/yolo:/opt/carma/yolo
- /opt/carma/maps:/opt/carma/maps
- /opt/carma/routes:/opt/carma/routes
- - /opt/carma/yolo:/opt/carma/yolo
- command: bash -c 'wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/carma_docker.launch'
+ - /opt/carma/data:/opt/carma/data
+ - /opt/carma/simulation:/opt/carma/simulation
+ environment:
+ - ROS_IP=172.3.0.3
+ - ROS_MASTER_URI=http://172.3.0.2:11311/
+ command: bash -c 'wait-for-it.sh 172.3.0.2:11311 -- roslaunch /opt/carma/vehicle/config/carma_docker.launch'
- platform_ros2:
+ platform_ros2_1:
image: usdotfhwastol/carma-platform:carma-system-4.2.0
- network_mode: service:roscore
- container_name: platform_ros2
+ networks:
+ carma_net_1:
+ ipv4_address: 172.3.0.4
+ container_name: platform_ros2_1
volumes_from:
- container:carma-config:ro
volumes:
@@ -89,15 +76,17 @@ services:
- /opt/carma/yolo:/opt/carma/yolo
command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma_docker.launch.py'
- ros1_bridge:
+ ros1_bridge_1:
image: usdotfhwastol/carma-msgs:carma-system-4.2.0
- network_mode: service:roscore
- container_name: ros1_bridge
+ networks:
+ carma_net_1:
+ ipv4_address: 172.3.0.5
+ container_name: ros1_bridge_1
volumes_from:
- container:carma-config:ro
environment:
- - ROS_IP=127.0.0.1
- - ROS_MASTER_URI=http://localhost:11311
+ - ROS_IP=172.3.0.5
+ - ROS_MASTER_URI=http://172.3.0.2:11311/
volumes:
- /opt/carma/logs:/opt/carma/logs
- /opt/carma/.ros:/home/carma/.ros
@@ -105,7 +94,7 @@ services:
- /opt/carma/maps:/opt/carma/maps
- /opt/carma/routes:/opt/carma/routes
- /opt/carma/yolo:/opt/carma/yolo
- command: bash -c 'wait-for-it.sh localhost:11311 -- rosparam load /opt/carma/vehicle/config/bridge.yml && source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --multi-threads'
+ command: bash -c 'wait-for-it.sh 172.3.0.2:11311 -- rosparam load /opt/carma/vehicle/config/bridge.yml && source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --multi-threads'
carma-carla-integration_1:
image: usdotfhwastoldev/carma-carla-integration:develop
@@ -120,36 +109,25 @@ services:
environment:
- ROS_IP=172.3.0.6
- ROS_MASTER_URI=http://172.3.0.2:11311/
- command: bash -c "sleep 10;
- export PYTHONPATH=$PYTHONPATH:~/PythonAPI/carla/dist/carla-0.9.10-py3.7-linux-x86_64.egg &&
- source ~/carma_carla_ws/devel/setup.bash && roslaunch carma_carla_agent carma_carla_agent.launch role_name:='carma_2' host:='127.0.0.1'"
- web-ui:
- image: usdotfhwastol/carma-web-ui:carma-system-4.2.0
- network_mode: service:roscore
-# ports:
-# - 8080:8080
- container_name: web-ui
- environment:
- - ROS_IP=127.0.0.1
- - ROS_MASTER_URI=http://localhost:11311/
- volumes_from:
- - container:carma-config:ro
- volumes:
- - /var/run/docker.sock:/var/run/docker.sock
+ command: bash -c "sleep 10;
+ export PYTHONPATH=$PYTHONPATH:~/PythonAPI/carla/dist/carla-0.9.10-py3.7-linux-x86_64.egg &&
+ source ~/carma_carla_ws/devel/setup.bash &&
+ roslaunch carma_carla_agent carma_carla_agent.launch role_name:='carma_1'
+ host:='172.2.0.2'"
ns3_adapter:
image: usdotfhwastoldev/carma-ns3-adapter:develop
networks:
carma_net_1:
- ipv4_address: 172.3.0.8
+ ipv4_address: 172.3.0.7
carma_sim_net:
- ipv4_address: 172.2.0.3
+ ipv4_address: 172.2.0.7
container_name: ns3_adapter
volumes_from:
- container:carma-config:ro
environment:
- - ROS_IP=172.3.0.8
- - ROS_MASTER_URI=http://172.3.0.8:11311/
+ - ROS_IP=172.3.0.7
+ - ROS_MASTER_URI=http://172.3.0.2:11311/
- NVIDIA_VISIBLE_DEVICES=all
volumes:
- /opt/carma/logs:/opt/carma/logs
@@ -164,6 +142,7 @@ networks:
ipam:
config:
- subnet: 172.2.0.0/16
+
carma_net_1:
ipam:
config:
From 66617ad324e2bfc50015906dd48c8dbc20108cd9 Mon Sep 17 00:00:00 2001
From: Cheng Yuan <84340069+chengyuan0124@users.noreply.github.com>
Date: Mon, 22 May 2023 11:59:44 -0400
Subject: [PATCH 05/22] change docker compose version to 2
---
xil_cloud/docker-compose.yml | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/xil_cloud/docker-compose.yml b/xil_cloud/docker-compose.yml
index 2d30fe94..d2983af7 100644
--- a/xil_cloud/docker-compose.yml
+++ b/xil_cloud/docker-compose.yml
@@ -1,4 +1,4 @@
-version: '3'
+version: '2'
services:
carma-simulation:
From a329d5f1bc439b885d3407a0b2f62651aac38396 Mon Sep 17 00:00:00 2001
From: Cheng Yuan <84340069+chengyuan0124@users.noreply.github.com>
Date: Mon, 22 May 2023 15:46:59 -0400
Subject: [PATCH 06/22] Added infrastructure components
---
xil_cloud/docker-compose.yml | 125 +++++++++++++++++++++++++++++++++++
1 file changed, 125 insertions(+)
diff --git a/xil_cloud/docker-compose.yml b/xil_cloud/docker-compose.yml
index d2983af7..6ed3214b 100644
--- a/xil_cloud/docker-compose.yml
+++ b/xil_cloud/docker-compose.yml
@@ -137,6 +137,127 @@ services:
- /opt/carma/routes:/opt/carma/routes
- /opt/carma/yolo:/opt/carma/yolo
+ zookeeper:
+ image: wurstmeister/zookeeper
+ container_name: zookeeper
+ ports:
+ - "2181:2182"
+ volumes:
+ - zookeeper-datavolume:/opt/zookeeper-3.4.13/data
+ kafka:
+ image: wurstmeister/kafka
+ container_name: kafka
+ depends_on:
+ - zookeeper
+ ports:
+ - "9092:9092"
+ environment:
+ DOCKER_HOST_IP: ${DOCKER_HOST_IP}
+ KAFKA_ADVERTISED_HOST_NAME: ${DOCKER_HOST_IP}
+ KAFKA_CREATE_TOPICS: "v2xhub_scheduling_plan_sub:1:1,v2xhub_bsm_in:1:1,v2xhub_mobility_operation_in:1:1,v2xhub_mobility_path_in:1:1,vehicle_status_intent_output:1:1,v2xhub_map_msg_in:1:1,modified_spat:1:1,desired_phase_plan:1:1, tsc_config_state:1:1"
+ KAFKA_ZOOKEEPER_CONNECT: zookeeper:2181
+ KAFKA_LOG_DIRS: "/kafka/kafka-logs"
+ volumes:
+ - /var/run/docker.sock:/var/run/docker.sock
+ - kafka-datavolume:/kafka/kafka-logs
+##############################################################
+# Kafka Owl for monitoring kafka traffic. UI can be accessed on
+# configurable port set in performance/kowl.yaml NOTE: IS NOT
+# NECESSARY FOR DEPLOYMENT BUT HELFUL FOR DEBUGGING!
+################################################################
+ kowl:
+ image: quay.io/cloudhut/kowl
+ container_name: kowl
+ restart: on-failure
+ network_mode: host
+ volumes_from:
+ - container:carma-config:ro
+ depends_on:
+ - kafka
+ environment:
+ CONFIG_FILEPATH: /etc/kowl/kowl.yaml
+ volumes:
+ - ./kowl:/etc/kowl/
+ db:
+ image: mysql:5.7
+ container_name: mysql
+ restart: always
+ environment:
+ - MYSQL_DATABASE=IVP
+ - MYSQL_USER=IVP
+ - MYSQL_PASSWORD_FILE=/secrets/mysql_password.txt
+ - MYSQL_ROOT_PASSWORD_FILE=/secrets/mysql_root_password.txt
+ network_mode: host
+ volumes:
+ - mysql-datavolume:/var/lib/mysql
+ - ./secrets:/secrets
+ - ./mysql:/docker-entrypoint-initdb.d
+ php:
+ image: usdotfhwaops/php:latest
+ container_name: php
+ network_mode: host
+ depends_on:
+ - v2xhub
+ stdin_open: true
+ tty: true
+ v2xhub:
+ image: usdotfhwaops/v2xhubamd:integration_test_xil
+ container_name: v2xhub
+ network_mode: host
+ restart: always
+ depends_on:
+ - db
+ environment:
+ - MYSQL_PASSWORD=/home/V2X-Hub/secrets/mysql_password.txt
+ - SIMULATION_MODE=${SIMULATION_MODE}
+ - SIMULATION_IP=172.2.0.2
+ - SIMULATION_REGISTRATION_PORT=1615
+ - LOCAL_IP=${DOCKER_HOST_IP}
+ - TIME_SYNC_TOPIC=time_sync
+ - TIME_SYNC_PORT=7575
+ - SIM_V2X_PORT=1517
+ - V2X_PORT=8686
+ - INFRASTRUCTURE_ID=rsu_15
+ - KAFKA_BROKER_ADDRESS=${DOCKER_HOST_IP}:9092
+ volumes:
+ - ./logs:/var/log/tmx
+ - ./MAP:/var/www/plugins/MAP
+ - ./secrets:/home/V2X-Hub/secrets
+
+ intersection_model:
+ image: usdotfhwastoldev/intersection_model:develop
+ container_name: intersection_model
+ restart: always
+ network_mode: host
+ depends_on:
+ - kafka
+ environment:
+ DOCKER_HOST_IP: ${DOCKER_HOST_IP}
+ volumes:
+ - ./intersection_model/manifest.json:/home/carma-streets/intersection_model/manifest.json
+ - ./logs/:/home/carma-streets/intersection_model/logs/
+ - ./MAP:/home/carma-streets/intersection_model/MAP
+
+ tsc_service:
+ image: usdotfhwastoldev/tsc_service:develop
+ command: sh -c "/wait && /home/carma-streets/tsc_client_service/build/traffic_signal_controller_service"
+ container_name: tsc_service
+ restart: always
+ network_mode: host
+ depends_on:
+ - kafka
+ - intersection_model
+ environment:
+ DOCKER_HOST_IP: ${DOCKER_HOST_IP}
+ WAIT_HOSTS: localhost:8080
+ WAIT_HOSTS_TIMEOUT: 300
+ WAIT_SLEEP_INTERVAL: 30
+ WAIT_HOST_CONNECT_TIMEOUT: 30
+ SIMULATION_MODE: ${SIMULATION_MODE}
+ CONFIG_FILEPATH: /opt/carma/vehicle/config/tsc_service/manifest.json
+ volumes:
+ - ./tsc_client_service/manifest.json:/home/carma-streets/tsc_client_service/manifest.json
+ - ./tsc_client_service/logs/:/home/carma-streets/tsc_client_service/logs/
networks:
carma_sim_net:
ipam:
@@ -147,3 +268,7 @@ networks:
ipam:
config:
- subnet: 172.3.0.0/16
+volumes:
+ mysql-datavolume:
+ kafka-datavolume:
+ zookeeper-datavolume:
From 57132d3a955b0042da22eb014cd7ad3c73e9ec7e Mon Sep 17 00:00:00 2001
From: paulbourelly999 <77466294+paulbourelly999@users.noreply.github.com>
Date: Thu, 25 May 2023 17:21:52 -0400
Subject: [PATCH 07/22] Added EVC and infrastructure containers in virtual
network (#245)
# PR Details
## Description
This PR includes changes for adding CARMA Streets/V2X-Hub services to
the CDASim docker compose deployment. All CARMA-Streets/V2X-Hub
components are isolated in their own virtual network. This deployment
also includes EVC docker compose setup to integration with CARMA-Streets
and CDASim
## Related Issue
## Motivation and Context
XIL Integration testing
## How Has This Been Tested?
Tested in AWS Cloudformation deployment.
1. Build and set xil-cloud carma config.
2. Setup local files:
create `MAP` directory and add `East_Intersection.uper` and
`East_Intersection.osm`
create `mysql` directory and add `add_v2xhub_user.sh` and
`localhost.sql` file for database initialization
create `intersection_model` directory and add `manifest.json` file for
configuration
create `tsc_client_service` directory and add `manifest.json` file for
configuration
create `kowl` directory and add `kowl.yaml` file for configuration
create 'secrets` directory and add 'mysql_password.txt` and
`mysql_root_password.txt`
3. Run carma start all
4. Currently due to a bug all the services start up but after about 30s
(with or without starting the simulation) the tsc_service will crash
with the following terminal/docker log:
```
[2023-05-24 16:16:22.947] [debug] [monitor_tsc_state.cpp:79] 4
[2023-05-24 16:16:22.947] [debug] [monitor_tsc_state.cpp:79] 1
[2023-05-24 16:16:22.947] [debug] [monitor_tsc_state.cpp:82] Concurrent Signal Groups:
[2023-05-24 16:16:22.947] [debug] [monitor_tsc_state.cpp:84] 6
[2023-05-24 16:16:22.947] [debug] [monitor_tsc_state.cpp:68] Signal group id: 1
[2023-05-24 16:16:22.947] [debug] [monitor_tsc_state.cpp:69] Phase num: 1
[2023-05-24 16:16:22.947] [debug] [monitor_tsc_state.cpp:70] Max green: 35000
[2023-05-24 16:16:22.947] [debug] [monitor_tsc_state.cpp:71] Min green: 5000
[2023-05-24 16:16:22.947] [debug] [monitor_tsc_state.cpp:72] Green Duration: 5000
[2023-05-24 16:16:22.947] [debug] [monitor_tsc_state.cpp:73] yellow duration: 3000
[2023-05-24 16:16:22.947] [debug] [monitor_tsc_state.cpp:74] Red clearance: 1000
[2023-05-24 16:16:22.947] [debug] [monitor_tsc_state.cpp:75] Red duration: 28000
[2023-05-24 16:16:22.947] [debug] [monitor_tsc_state.cpp:77] Phase sequence:
[2023-05-24 16:16:22.947] [debug] [monitor_tsc_state.cpp:79] 1
[2023-05-24 16:16:22.947] [debug] [monitor_tsc_state.cpp:79] 2
[2023-05-24 16:16:22.947] [debug] [monitor_tsc_state.cpp:79] 3
[2023-05-24 16:16:22.947] [debug] [monitor_tsc_state.cpp:79] 4
[2023-05-24 16:16:22.947] [debug] [monitor_tsc_state.cpp:82] Concurrent Signal Groups:
[2023-05-24 16:16:22.947] [debug] [tsc_service.cpp:121] TSC State initialized!
[2023-05-24 16:16:22.947] [debug] [spat_worker.cpp:11] Creating Spat Worker
[2023-05-24 16:16:22.947] [debug] [tsc_service.cpp:146] Spat worker initialized successfully!
[2023-05-24 16:16:23.214] [debug] [tsc_service.cpp:156] Intersection client initialized successfully!
[2023-05-24 16:16:23.214] [debug] [snmp_client.cpp:69] Attemping to SET value for 1.3.6.1.4.1.1206.3.5.2.9.44.1.0
[2023-05-24 16:16:23.214] [debug] [snmp_client.cpp:104] Created OID for input: 1.3.6.1.4.1.1206.3.5.2.9.44.1.0
[2023-05-24 16:16:23.214] [debug] [snmp_client.cpp:113] STAT_SUCCESS, received a response
[2023-05-24 16:16:23.214] [debug] [snmp_client.cpp:154] Success in SET for OID: 1.3.6.1.4.1.1206.3.5.2.9.44.1.0 Value: 2
[2023-05-24 16:16:23.214] [debug] [tsc_service.cpp:133] Enabled UDP broadcasting of NTCIP SPaT data from TSC!
[2023-05-24 16:16:23.214] [info] [tsc_service.cpp:92] Traffic Signal Controller Service initialized successfully!
[2023-05-24 16:16:23.214] [info] [tsc_service.cpp:339] Starting TSC Service threads
Segmentation fault (core dumped)
```
## Types of changes
- [ ] Defect fix (non-breaking change that fixes an issue)
- [x] New feature (non-breaking change that adds functionality)
- [ ] Breaking change (fix or feature that cause existing functionality
to change)
## Checklist:
- [ ] I have added any new packages to the sonar-scanner.properties file
- [ ] My change requires a change to the documentation.
- [ ] I have updated the documentation accordingly.
- [x] I have read the **CONTRIBUTING** document.
[CARMA Contributing
Guide](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/Contributing.md)
- [ ] I have added tests to cover my changes.
- [ ] All new and existing tests passed.
---
xil_cloud/docker-compose.yml | 84 ++++++++++++++++++++++++------------
1 file changed, 56 insertions(+), 28 deletions(-)
diff --git a/xil_cloud/docker-compose.yml b/xil_cloud/docker-compose.yml
index 6ed3214b..07d3fd56 100644
--- a/xil_cloud/docker-compose.yml
+++ b/xil_cloud/docker-compose.yml
@@ -13,12 +13,13 @@ services:
- QT_X11_NO_MITSHM=1
volumes:
- /tmp/.X11-unix:/tmp/.X11-unix
+ - /opt/carma-simulation/logs:/opt/carma-simulation/logs
deploy:
resources:
reservations:
devices:
- capabilities: [gpu]
- command: "./mosaic.sh -s Town04_20"
+ command: bash -c "./mosaic.sh -s Town04"
roscore_1:
image: usdotfhwastol/carma-base:carma-system-4.2.0
@@ -140,20 +141,21 @@ services:
zookeeper:
image: wurstmeister/zookeeper
container_name: zookeeper
- ports:
- - "2181:2182"
+ networks:
+ carma_streets_net_1:
+ ipv4_address: 172.4.0.3
volumes:
- zookeeper-datavolume:/opt/zookeeper-3.4.13/data
kafka:
image: wurstmeister/kafka
container_name: kafka
- depends_on:
+ depends_on:
- zookeeper
- ports:
- - "9092:9092"
+ network_mode: service:zookeeper
environment:
- DOCKER_HOST_IP: ${DOCKER_HOST_IP}
- KAFKA_ADVERTISED_HOST_NAME: ${DOCKER_HOST_IP}
+ DOCKER_HOST_IP: 172.4.0.3
+ KAFKA_ADVERTISED_HOST_NAME: 172.4.0.3
+ KAFKA_ADVERTISED_PORT: 9092
KAFKA_CREATE_TOPICS: "v2xhub_scheduling_plan_sub:1:1,v2xhub_bsm_in:1:1,v2xhub_mobility_operation_in:1:1,v2xhub_mobility_path_in:1:1,vehicle_status_intent_output:1:1,v2xhub_map_msg_in:1:1,modified_spat:1:1,desired_phase_plan:1:1, tsc_config_state:1:1"
KAFKA_ZOOKEEPER_CONNECT: zookeeper:2181
KAFKA_LOG_DIRS: "/kafka/kafka-logs"
@@ -161,17 +163,15 @@ services:
- /var/run/docker.sock:/var/run/docker.sock
- kafka-datavolume:/kafka/kafka-logs
##############################################################
-# Kafka Owl for monitoring kafka traffic. UI can be accessed on
-# configurable port set in performance/kowl.yaml NOTE: IS NOT
-# NECESSARY FOR DEPLOYMENT BUT HELFUL FOR DEBUGGING!
+# Kafka Owl for monitoring kafka traffic. UI can be accessed on
+# configurable port set in performance/kowl.yaml NOTE: IS NOT
+# NECESSARY FOR DEPLOYMENT BUT HELFUL FOR DEBUGGING!
################################################################
kowl:
image: quay.io/cloudhut/kowl
container_name: kowl
restart: on-failure
- network_mode: host
- volumes_from:
- - container:carma-config:ro
+ network_mode: service:zookeeper
depends_on:
- kafka
environment:
@@ -187,7 +187,11 @@ services:
- MYSQL_USER=IVP
- MYSQL_PASSWORD_FILE=/secrets/mysql_password.txt
- MYSQL_ROOT_PASSWORD_FILE=/secrets/mysql_root_password.txt
- network_mode: host
+ networks:
+ carma_streets_net_1:
+ ipv4_address: 172.4.0.2
+ carma_sim_net:
+ ipv4_address: 172.2.0.8
volumes:
- mysql-datavolume:/var/lib/mysql
- ./secrets:/secrets
@@ -195,7 +199,7 @@ services:
php:
image: usdotfhwaops/php:latest
container_name: php
- network_mode: host
+ network_mode: service:db
depends_on:
- v2xhub
stdin_open: true
@@ -203,7 +207,7 @@ services:
v2xhub:
image: usdotfhwaops/v2xhubamd:integration_test_xil
container_name: v2xhub
- network_mode: host
+ network_mode: service:db
restart: always
depends_on:
- db
@@ -212,13 +216,13 @@ services:
- SIMULATION_MODE=${SIMULATION_MODE}
- SIMULATION_IP=172.2.0.2
- SIMULATION_REGISTRATION_PORT=1615
- - LOCAL_IP=${DOCKER_HOST_IP}
+ - LOCAL_IP=172.2.0.8
- TIME_SYNC_TOPIC=time_sync
- TIME_SYNC_PORT=7575
- SIM_V2X_PORT=1517
- V2X_PORT=8686
- INFRASTRUCTURE_ID=rsu_15
- - KAFKA_BROKER_ADDRESS=${DOCKER_HOST_IP}:9092
+ - KAFKA_BROKER_ADDRESS= 172.4.0.3:9092
volumes:
- ./logs:/var/log/tmx
- ./MAP:/var/www/plugins/MAP
@@ -228,14 +232,15 @@ services:
image: usdotfhwastoldev/intersection_model:develop
container_name: intersection_model
restart: always
- network_mode: host
+ network_mode: service:zookeeper
depends_on:
- kafka
environment:
- DOCKER_HOST_IP: ${DOCKER_HOST_IP}
- volumes:
+ DOCKER_HOST_IP: 172.4.0.3
+
+ volumes:
- ./intersection_model/manifest.json:/home/carma-streets/intersection_model/manifest.json
- - ./logs/:/home/carma-streets/intersection_model/logs/
+ - ./intersection_model/logs:/home/carma-streets/intersection_model/logs
- ./MAP:/home/carma-streets/intersection_model/MAP
tsc_service:
@@ -243,21 +248,39 @@ services:
command: sh -c "/wait && /home/carma-streets/tsc_client_service/build/traffic_signal_controller_service"
container_name: tsc_service
restart: always
- network_mode: host
+ network_mode: service:zookeeper
depends_on:
- kafka
- intersection_model
environment:
- DOCKER_HOST_IP: ${DOCKER_HOST_IP}
- WAIT_HOSTS: localhost:8080
+ DOCKER_HOST_IP: 172.4.0.3
+ WAIT_HOSTS: 127.0.0.1:8080
WAIT_HOSTS_TIMEOUT: 300
WAIT_SLEEP_INTERVAL: 30
WAIT_HOST_CONNECT_TIMEOUT: 30
SIMULATION_MODE: ${SIMULATION_MODE}
- CONFIG_FILEPATH: /opt/carma/vehicle/config/tsc_service/manifest.json
- volumes:
+ TIME_SYNC_TOPIC: time_sync
+ CONFIG_FILE_PATH: /home/carma-streets/tsc_client_service/manifest.json
+ volumes:
- ./tsc_client_service/manifest.json:/home/carma-streets/tsc_client_service/manifest.json
- ./tsc_client_service/logs/:/home/carma-streets/tsc_client_service/logs/
+ econolite-virtual-controller:
+ image: usdotfhwastol/econolite-virtual-controller:latest
+ container_name: evc
+ restart: always
+ networks:
+ carma_sim_net:
+ ipv4_address: 172.2.0.4
+ carma_streets_net_1:
+ ipv4_address: 172.4.0.4
+ environment:
+ - DISPLAY=${DISPLAY}
+ volumes:
+ - /tmp/.X11-unix:/tmp/.X11-unix
+ depends_on:
+ - carma-simulation
+ command: bash -c "sleep 10;x-terminal-emulator -e python3.8 evc_sumo_bridge.py --asc3app-path '../evcfile/asc3app-application.zip' --traci-ip 172.2.0.2"
+
networks:
carma_sim_net:
ipam:
@@ -268,6 +291,11 @@ networks:
ipam:
config:
- subnet: 172.3.0.0/16
+
+ carma_streets_net_1:
+ ipam:
+ config:
+ - subnet: 172.4.0.0/16
volumes:
mysql-datavolume:
kafka-datavolume:
From 08d96043f6e3c7abbe2df6090aff60ec2950fc8e Mon Sep 17 00:00:00 2001
From: Eric Chen <122404059+EricChen-Lei@users.noreply.github.com>
Date: Tue, 30 May 2023 17:44:44 -0400
Subject: [PATCH 08/22] Updated docker-compose for integration test (#247)
# PR Details
## Description
## Related Issue
## Motivation and Context
## How Has This Been Tested?
## Types of changes
- [ ] Defect fix (non-breaking change that fixes an issue)
- [x] New feature (non-breaking change that adds functionality)
- [ ] Breaking change (fix or feature that cause existing functionality
to change)
## Checklist:
- [ ] I have added any new packages to the sonar-scanner.properties file
- [ ] My change requires a change to the documentation.
- [ ] I have updated the documentation accordingly.
- [ ] I have read the **CONTRIBUTING** document.
[CARMA Contributing
Guide](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/Contributing.md)
- [ ] I have added tests to cover my changes.
- [x] All new and existing tests passed.
---
xil_cloud/docker-compose.yml | 8 +++++---
1 file changed, 5 insertions(+), 3 deletions(-)
diff --git a/xil_cloud/docker-compose.yml b/xil_cloud/docker-compose.yml
index 07d3fd56..8ddd074e 100644
--- a/xil_cloud/docker-compose.yml
+++ b/xil_cloud/docker-compose.yml
@@ -113,8 +113,10 @@ services:
command: bash -c "sleep 10;
export PYTHONPATH=$PYTHONPATH:~/PythonAPI/carla/dist/carla-0.9.10-py3.7-linux-x86_64.egg &&
source ~/carma_carla_ws/devel/setup.bash &&
- roslaunch carma_carla_agent carma_carla_agent.launch role_name:='carma_1'
- host:='172.2.0.2'"
+ roslaunch carma_carla_agent carma_carla_agent.launch role_name:='carma_1'
+ host:='172.2.0.2'
+ selected_route:='Release_test_case_2'
+ spawn_point:='201.4,-291.5,0,0,0,-90'"
ns3_adapter:
image: usdotfhwastoldev/carma-ns3-adapter:develop
@@ -156,7 +158,7 @@ services:
DOCKER_HOST_IP: 172.4.0.3
KAFKA_ADVERTISED_HOST_NAME: 172.4.0.3
KAFKA_ADVERTISED_PORT: 9092
- KAFKA_CREATE_TOPICS: "v2xhub_scheduling_plan_sub:1:1,v2xhub_bsm_in:1:1,v2xhub_mobility_operation_in:1:1,v2xhub_mobility_path_in:1:1,vehicle_status_intent_output:1:1,v2xhub_map_msg_in:1:1,modified_spat:1:1,desired_phase_plan:1:1, tsc_config_state:1:1"
+ KAFKA_CREATE_TOPICS: "v2xhub_scheduling_plan_sub:1:1,v2xhub_bsm_in:1:1,v2xhub_mobility_operation_in:1:1,v2xhub_mobility_path_in:1:1,vehicle_status_intent_output:1:1,v2xhub_map_msg_in:1:1,modified_spat:1:1,desired_phase_plan:1:1, tsc_config_state:1:1, time_sync:1:1"
KAFKA_ZOOKEEPER_CONNECT: zookeeper:2181
KAFKA_LOG_DIRS: "/kafka/kafka-logs"
volumes:
From cccd9a6053b563362d15028cd5134bcc7299d598 Mon Sep 17 00:00:00 2001
From: Cheng Yuan
Date: Thu, 1 Jun 2023 09:01:36 -0400
Subject: [PATCH 09/22] Added in lane cruising parameters for platform 1
---
xil_cloud/docker-compose.yml | 1 +
1 file changed, 1 insertion(+)
diff --git a/xil_cloud/docker-compose.yml b/xil_cloud/docker-compose.yml
index 8ddd074e..7a918c8e 100644
--- a/xil_cloud/docker-compose.yml
+++ b/xil_cloud/docker-compose.yml
@@ -55,6 +55,7 @@ services:
- /opt/carma/routes:/opt/carma/routes
- /opt/carma/data:/opt/carma/data
- /opt/carma/simulation:/opt/carma/simulation
+ - ./parameters.yaml:/opt/carma/install/inlanecruising_plugin/share/inlanecruising_plugin/config/parameters.yaml
environment:
- ROS_IP=172.3.0.3
- ROS_MASTER_URI=http://172.3.0.2:11311/
From 56a8571ed6faebd37ae0dbc27b75d9147c9cd996 Mon Sep 17 00:00:00 2001
From: saina-ramyar
Date: Fri, 2 Jun 2023 12:48:12 -0400
Subject: [PATCH 10/22] add binary msgs to rosbridge
---
xil_cloud/bridge.yml | 13 +++++++++++++
1 file changed, 13 insertions(+)
diff --git a/xil_cloud/bridge.yml b/xil_cloud/bridge.yml
index c535505b..af8b83ea 100644
--- a/xil_cloud/bridge.yml
+++ b/xil_cloud/bridge.yml
@@ -40,6 +40,19 @@ topics:
topic: /environment/external_object_predictions
type: carma_perception_msgs/msg/ExternalObjectList
queue_size: 1
+
+ -
+ topic: /hardware_interface/comms/outbound_binary_msg
+ type: carma_driver_msgs/msg/ByteArray
+ queue_size: 100
+ direction: 2to1
+
+ -
+ topic: /hardware_interface/comms/inbound_binary_msg
+ type: carma_driver_msgs/msg/ByteArray
+ queue_size: 100
+ direction: 1to2
+
-
topic: /system_alert
type: carma_msgs/msg/SystemAlert
From 2a5440b4d537ad833baf76de3e13328ff24b1f1e Mon Sep 17 00:00:00 2001
From: Saikrishna Bairamoni
<84093461+SaikrishnaBairamoni@users.noreply.github.com>
Date: Tue, 6 Jun 2023 15:21:31 -0400
Subject: [PATCH 11/22] update docker compose file to point release images and
update prebuild script
---
xil_cloud/docker-compose.yml | 14 +++++++-------
xil_cloud/hooks/pre_build | 24 +++++++++++++++---------
2 files changed, 22 insertions(+), 16 deletions(-)
diff --git a/xil_cloud/docker-compose.yml b/xil_cloud/docker-compose.yml
index 7a918c8e..2bb7e15e 100644
--- a/xil_cloud/docker-compose.yml
+++ b/xil_cloud/docker-compose.yml
@@ -3,7 +3,7 @@ services:
carma-simulation:
privileged: true
- image: usdotfhwastoldev/carma-simulation:develop
+ image: usdotfhwastolcandidate/cdasim:k900-xil
networks:
carma_sim_net:
ipv4_address: 172.2.0.2
@@ -99,7 +99,7 @@ services:
command: bash -c 'wait-for-it.sh 172.3.0.2:11311 -- rosparam load /opt/carma/vehicle/config/bridge.yml && source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --multi-threads'
carma-carla-integration_1:
- image: usdotfhwastoldev/carma-carla-integration:develop
+ image: usdotfhwastolcandidate/carma-carla-integration:k900-xil
networks:
carma_net_1:
ipv4_address: 172.3.0.6
@@ -120,7 +120,7 @@ services:
spawn_point:='201.4,-291.5,0,0,0,-90'"
ns3_adapter:
- image: usdotfhwastoldev/carma-ns3-adapter:develop
+ image: usdotfhwastolcandidate/carma-ns3-adapter:k900-xil
networks:
carma_net_1:
ipv4_address: 172.3.0.7
@@ -200,7 +200,7 @@ services:
- ./secrets:/secrets
- ./mysql:/docker-entrypoint-initdb.d
php:
- image: usdotfhwaops/php:latest
+ image: usdotfhwaops/php:k900-xil
container_name: php
network_mode: service:db
depends_on:
@@ -208,7 +208,7 @@ services:
stdin_open: true
tty: true
v2xhub:
- image: usdotfhwaops/v2xhubamd:integration_test_xil
+ image: usdotfhwaops/v2xhubamd:k900-xil
container_name: v2xhub
network_mode: service:db
restart: always
@@ -232,7 +232,7 @@ services:
- ./secrets:/home/V2X-Hub/secrets
intersection_model:
- image: usdotfhwastoldev/intersection_model:develop
+ image: usdotfhwastolcandidate/intersection_model:k900
container_name: intersection_model
restart: always
network_mode: service:zookeeper
@@ -247,7 +247,7 @@ services:
- ./MAP:/home/carma-streets/intersection_model/MAP
tsc_service:
- image: usdotfhwastoldev/tsc_service:develop
+ image: usdotfhwastolcandidate/tsc_service:k900-xil
command: sh -c "/wait && /home/carma-streets/tsc_client_service/build/traffic_signal_controller_service"
container_name: tsc_service
restart: always
diff --git a/xil_cloud/hooks/pre_build b/xil_cloud/hooks/pre_build
index 828b666e..8d1c573a 100644
--- a/xil_cloud/hooks/pre_build
+++ b/xil_cloud/hooks/pre_build
@@ -1,16 +1,22 @@
#!/bin/bash
if [[ "$SOURCE_BRANCH" = "develop" ]]; then
- # change docker-compose.yml to point to usdotfhwastoldev images
- sed -i "s|usdotfhwastol/|usdotfhwastoldev/|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:develop|g; s|:CARMASystem_[0-9]*\.[0-9]*\.[0-9]*|:develop|g; s|:carma-system_[0-9]*\.[0-9]*\.[0-9]*|:develop|g; s|:latest|:candidate|g;" \
- docker-compose.yml
- sed -i "s|usdotfhwastol/|usdotfhwastoldev/|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:develop|g; s|:CARMASystem_[0-9]*\.[0-9]*\.[0-9]*|:develop|g; s|:carma-system_[0-9]*\.[0-9]*\.[0-9]*|:develop|g; s|:latest|:candidate|g;" \
- docker-compose-background.yml
+ # add -d flag to checkout.bash and update image dependencies
+ sed -i "s|checkout.bash|checkout.bash -d|g; s|usdotfhwastol/|usdotfhwastoldev/|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:develop|g; s|:CARMA[a-zA-Z]*_[0-9]*\.[0-9]*\.[0-9]*|:develop|g; s|:carma-[a-zA-Z]*-[0-9]*\.[0-9]*\.[0-9]*|:develop|g" \
+ Dockerfile
elif [[ "$SOURCE_BRANCH" =~ ^release/.*$ ]]; then
- # swap checkout branch in checkout.bash to release branch
+
+ # Update Dockerfile to point to release images
RELEASE_NAME=$(echo $SOURCE_BRANCH | cut -d "/" -f 2)
sed -i "s|usdotfhwastol/|usdotfhwastolcandidate/|g; s|usdotfhwastoldev/|usdotfhwastolcandidate/|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:$RELEASE_NAME|g; s|:CARMA[a-zA-Z]*_[0-9]*\.[0-9]*\.[0-9]*|:$RELEASE_NAME|g; s|:carma-[a-zA-Z]*-[0-9]*\.[0-9]*\.[0-9]*|:$RELEASE_NAME|g; s|:develop|:$RELEASE_NAME|g" \
- docker-compose.yml
+ Dockerfile
+ # swap checkout branch in checkout.bash to release branch
+ sed -i "/usdot-fhwa-stol/ s|--branch .*|--branch $SOURCE_BRANCH|g" \
+
+ # swap checkout branch in checkout.bash to release branch
+ RELEASE_NAME=$(echo $SOURCE_BRANCH | cut -d "/" -f 2)
sed -i "s|usdotfhwastol/|usdotfhwastolcandidate/|g; s|usdotfhwastoldev/|usdotfhwastolcandidate/|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:$RELEASE_NAME|g; s|:CARMA[a-zA-Z]*_[0-9]*\.[0-9]*\.[0-9]*|:$RELEASE_NAME|g; s|:carma-[a-zA-Z]*-[0-9]*\.[0-9]*\.[0-9]*|:$RELEASE_NAME|g; s|:develop|:$RELEASE_NAME|g" \
- docker-compose-background.yml
-fi
+ Dockerfile
+ sed -i "s|--branch .*|--branch $SOURCE_BRANCH|g" \
+ docker/checkout.bash
+fi
\ No newline at end of file
From 7565a8baa2ef86554b9919a90b9ffeb8ffd04524 Mon Sep 17 00:00:00 2001
From: Saikrishna Bairamoni
<84093461+SaikrishnaBairamoni@users.noreply.github.com>
Date: Tue, 6 Jun 2023 15:41:45 -0400
Subject: [PATCH 12/22] fix dockerhub hooks
---
xil_cloud/hooks/build | 8 ++++++++
xil_cloud/hooks/pre_build | 20 +++++---------------
2 files changed, 13 insertions(+), 15 deletions(-)
create mode 100644 xil_cloud/hooks/build
diff --git a/xil_cloud/hooks/build b/xil_cloud/hooks/build
new file mode 100644
index 00000000..e3ba8caf
--- /dev/null
+++ b/xil_cloud/hooks/build
@@ -0,0 +1,8 @@
+#!/bin/bash
+
+echo "Building $IMAGE_NAME"
+
+docker build --no-cache -t $IMAGE_NAME \
+ --build-arg VERSION="$DOCKER_TAG" \
+ --build-arg VCS_REF=`git rev-parse --short HEAD` \
+ --build-arg BUILD_DATE=`date -u +”%Y-%m-%dT%H:%M:%SZ”` .
diff --git a/xil_cloud/hooks/pre_build b/xil_cloud/hooks/pre_build
index 8d1c573a..4b6f2e21 100644
--- a/xil_cloud/hooks/pre_build
+++ b/xil_cloud/hooks/pre_build
@@ -1,22 +1,12 @@
#!/bin/bash
if [[ "$SOURCE_BRANCH" = "develop" ]]; then
- # add -d flag to checkout.bash and update image dependencies
- sed -i "s|checkout.bash|checkout.bash -d|g; s|usdotfhwastol/|usdotfhwastoldev/|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:develop|g; s|:CARMA[a-zA-Z]*_[0-9]*\.[0-9]*\.[0-9]*|:develop|g; s|:carma-[a-zA-Z]*-[0-9]*\.[0-9]*\.[0-9]*|:develop|g" \
- Dockerfile
+ # change docker-compose.yml to point to usdotfhwastoldev images
+ sed -i "s|usdotfhwastol/|usdotfhwastoldev/|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:develop|g; s|:CARMASystem_[0-9]*\.[0-9]*\.[0-9]*|:develop|g; s|:carma-system_[0-9]*\.[0-9]*\.[0-9]*|:develop|g; s|:latest|:candidate|g;" \
+ docker-compose.yml
elif [[ "$SOURCE_BRANCH" =~ ^release/.*$ ]]; then
-
- # Update Dockerfile to point to release images
- RELEASE_NAME=$(echo $SOURCE_BRANCH | cut -d "/" -f 2)
- sed -i "s|usdotfhwastol/|usdotfhwastolcandidate/|g; s|usdotfhwastoldev/|usdotfhwastolcandidate/|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:$RELEASE_NAME|g; s|:CARMA[a-zA-Z]*_[0-9]*\.[0-9]*\.[0-9]*|:$RELEASE_NAME|g; s|:carma-[a-zA-Z]*-[0-9]*\.[0-9]*\.[0-9]*|:$RELEASE_NAME|g; s|:develop|:$RELEASE_NAME|g" \
- Dockerfile
- # swap checkout branch in checkout.bash to release branch
- sed -i "/usdot-fhwa-stol/ s|--branch .*|--branch $SOURCE_BRANCH|g" \
-
# swap checkout branch in checkout.bash to release branch
RELEASE_NAME=$(echo $SOURCE_BRANCH | cut -d "/" -f 2)
sed -i "s|usdotfhwastol/|usdotfhwastolcandidate/|g; s|usdotfhwastoldev/|usdotfhwastolcandidate/|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:$RELEASE_NAME|g; s|:CARMA[a-zA-Z]*_[0-9]*\.[0-9]*\.[0-9]*|:$RELEASE_NAME|g; s|:carma-[a-zA-Z]*-[0-9]*\.[0-9]*\.[0-9]*|:$RELEASE_NAME|g; s|:develop|:$RELEASE_NAME|g" \
- Dockerfile
- sed -i "s|--branch .*|--branch $SOURCE_BRANCH|g" \
- docker/checkout.bash
-fi
\ No newline at end of file
+ docker-compose.yml
+fi
From 07e3809585aeae089612b7efa1c1679914f4b9c1 Mon Sep 17 00:00:00 2001
From: Saikrishna Bairamoni
<84093461+SaikrishnaBairamoni@users.noreply.github.com>
Date: Wed, 7 Jun 2023 14:21:11 -0400
Subject: [PATCH 13/22] Update idockercompose file with intersection model to
point k900-xil
---
xil_cloud/docker-compose.yml | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/xil_cloud/docker-compose.yml b/xil_cloud/docker-compose.yml
index 2bb7e15e..29b25d91 100644
--- a/xil_cloud/docker-compose.yml
+++ b/xil_cloud/docker-compose.yml
@@ -232,7 +232,7 @@ services:
- ./secrets:/home/V2X-Hub/secrets
intersection_model:
- image: usdotfhwastolcandidate/intersection_model:k900
+ image: usdotfhwastolcandidate/intersection_model:k900-xil
container_name: intersection_model
restart: always
network_mode: service:zookeeper
From 408f7faf0d9967eee2ab6fb41df6f16e1bb62bd5 Mon Sep 17 00:00:00 2001
From: Cheng Yuan
Date: Wed, 7 Jun 2023 14:39:46 -0400
Subject: [PATCH 14/22] Correct in-lane cruising parameter path
---
xil_cloud/docker-compose.yml | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/xil_cloud/docker-compose.yml b/xil_cloud/docker-compose.yml
index 29b25d91..7fb7c269 100644
--- a/xil_cloud/docker-compose.yml
+++ b/xil_cloud/docker-compose.yml
@@ -55,7 +55,7 @@ services:
- /opt/carma/routes:/opt/carma/routes
- /opt/carma/data:/opt/carma/data
- /opt/carma/simulation:/opt/carma/simulation
- - ./parameters.yaml:/opt/carma/install/inlanecruising_plugin/share/inlanecruising_plugin/config/parameters.yaml
+ - ./inlanecruising_config/parameters.yaml:/opt/carma/install/inlanecruising_plugin/share/inlanecruising_plugin/config/parameters.yaml
environment:
- ROS_IP=172.3.0.3
- ROS_MASTER_URI=http://172.3.0.2:11311/
From 3e31cfb63d2845b7ef95863dca09e2da15016d9c Mon Sep 17 00:00:00 2001
From: Cheng Yuan
Date: Tue, 13 Jun 2023 02:42:53 -0400
Subject: [PATCH 15/22] Create docker-compose-two-vehicles.yml
---
xil_cloud/docker-compose-two-vehicles.yml | 435 ++++++++++++++++++++++
1 file changed, 435 insertions(+)
create mode 100644 xil_cloud/docker-compose-two-vehicles.yml
diff --git a/xil_cloud/docker-compose-two-vehicles.yml b/xil_cloud/docker-compose-two-vehicles.yml
new file mode 100644
index 00000000..2142708b
--- /dev/null
+++ b/xil_cloud/docker-compose-two-vehicles.yml
@@ -0,0 +1,435 @@
+version: '2'
+services:
+
+ carma-simulation:
+ privileged: true
+ image: usdotfhwastolcandidate/cdasim:k900-xil
+ networks:
+ carma_sim_net:
+ ipv4_address: 172.2.0.2
+ container_name: carma-simulation
+ environment:
+ - DISPLAY=${DISPLAY}
+ - QT_X11_NO_MITSHM=1
+ volumes:
+ - /tmp/.X11-unix:/tmp/.X11-unix
+ - /opt/carma-simulation/logs:/opt/carma-simulation/logs
+ deploy:
+ resources:
+ reservations:
+ devices:
+ - capabilities: [gpu]
+ command: bash -c "./mosaic.sh -s Town04"
+
+## carma_1 vehicle
+ roscore_1:
+ image: usdotfhwastol/carma-base:carma-system-4.2.0
+ networks:
+ carma_net_1:
+ ipv4_address: 172.3.0.2
+ container_name: roscore_1
+ volumes_from:
+ - container:carma-config:ro
+ volumes:
+ - /opt/carma/.ros/carma_1:/home/carma/.ros
+ - /opt/carma/logs/carma_1:/opt/carma/logs
+ restart: always
+ environment:
+ - ROS_IP=172.3.0.2
+ - ROS_MASTER_URI=http://172.3.0.2:11311/
+ command: roscorecarma_net_2
+
+ platform_1:
+ image: usdotfhwastol/carma-platform:carma-system-4.2.0
+ networks:
+ carma_net_1:
+ ipv4_address: 172.3.0.3
+ container_name: platform_1
+ volumes_from:
+ - container:carma-config:ro
+ volumes:
+ - /opt/carma/logs/carma_1:/opt/carma/logs
+ - /opt/carma/.ros/carma_1:/home/carma/.ros
+ - /opt/carma/vehicle/calibration/carma_1:/opt/carma/vehicle/calibration
+ - /opt/carma/yolo/carma_1:/opt/carma/yolo
+ - /opt/carma/maps/carma_1:/opt/carma/maps
+ - /opt/carma/routes/carma_1:/opt/carma/routes
+ - /opt/carma/data/carma_1:/opt/carma/data
+ - /opt/carma/simulation/carma_1:/opt/carma/simulation
+ - ./inlanecruising_config/parameters.yaml:/opt/carma/install/inlanecruising_plugin/share/inlanecruising_plugin/config/parameters.yaml
+ environment:
+ - ROS_IP=172.3.0.3
+ - ROS_MASTER_URI=http://172.3.0.2:11311/
+ command: bash -c 'wait-for-it.sh 172.3.0.2:11311 -- roslaunch /opt/carma/vehicle/config/carma_docker.launch'
+
+ platform_ros2_1:
+ image: usdotfhwastol/carma-platform:carma-system-4.2.0
+ networks:
+ carma_net_1:
+ ipv4_address: 172.3.0.4
+ container_name: platform_ros2_1
+ volumes_from:
+ - container:carma-config:ro
+ volumes:
+ - /opt/carma/logs/carma_1:/opt/carma/logs
+ - /opt/carma/.ros/carma_1:/home/carma/.ros
+ - /opt/carma/vehicle/calibration/carma_1:/opt/carma/vehicle/calibration
+ - /opt/carma/maps/carma_1:/opt/carma/maps
+ - /opt/carma/routes/carma_1:/opt/carma/routes
+ - /opt/carma/yolo/carma_1:/opt/carma/yolo
+ command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma_docker.launch.py'
+
+ ros1_bridge_1:
+ image: usdotfhwastol/carma-msgs:carma-system-4.2.0
+ networks:
+ carma_net_1:
+ ipv4_address: 172.3.0.5
+ container_name: ros1_bridge_1
+ volumes_from:
+ - container:carma-config:ro
+ environment:
+ - ROS_IP=172.3.0.5
+ - ROS_MASTER_URI=http://172.3.0.2:11311/
+ volumes:
+ - /opt/carma/logs/carma_1:/opt/carma/logs
+ - /opt/carma/.ros/carma_1:/home/carma/.ros
+ - /opt/carma/vehicle/calibration/carma_1:/opt/carma/vehicle/calibration
+ - /opt/carma/maps/carma_1:/opt/carma/maps
+ - /opt/carma/routes/carma_1:/opt/carma/routes
+ - /opt/carma/yolo/carma_1:/opt/carma/yolo
+ command: bash -c 'wait-for-it.sh 172.3.0.2:11311 -- rosparam load /opt/carma/vehicle/config/bridge.yml && source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --multi-threads'
+
+ carma-carla-integration_1:
+ image: usdotfhwastolcandidate/carma-carla-integration:k900-xil
+ networks:
+ carma_net_1:
+ ipv4_address: 172.3.0.6
+ carma_sim_net:
+ ipv4_address: 172.2.0.6
+ container_name: carma-carla-integration_1
+ volumes_from:
+ - container:carma-config:ro
+ environment:
+ - ROS_IP=172.3.0.6
+ - ROS_MASTER_URI=http://172.3.0.2:11311/
+ command: bash -c "sleep 10;
+ export PYTHONPATH=$PYTHONPATH:~/PythonAPI/carla/dist/carla-0.9.10-py3.7-linux-x86_64.egg &&
+ source ~/carma_carla_ws/devel/setup.bash &&
+ roslaunch carma_carla_agent carma_carla_agent.launch role_name:='carma_1'
+ host:='172.2.0.2'
+ selected_route:='Release_test_case_1'
+ spawn_point:='151.2,-305.9,0,0,0,0'"
+
+ ns3_adapter_1:
+ image: usdotfhwastolcandidate/carma-ns3-adapter:k900-xil
+ networks:
+ carma_net_1:
+ ipv4_address: 172.3.0.7
+ carma_sim_net:
+ ipv4_address: 172.2.0.7
+ container_name: ns3_adapter_1
+ volumes_from:
+ - container:carma-config:ro
+ environment:
+ - ROS_IP=172.3.0.7
+ - ROS_MASTER_URI=http://172.3.0.2:11311/
+ - NVIDIA_VISIBLE_DEVICES=all
+ volumes:
+ - /opt/carma/logs/carma_1:/opt/carma/logs
+ - /opt/carma/.ros/carma_1:/home/carma/.ros
+ - /opt/carma/vehicle/calibration/carma_1:/opt/carma/vehicle/calibration
+ - /opt/carma/maps/carma_1:/opt/carma/maps
+ - /opt/carma/routes/carma_1:/opt/carma/routes
+ - /opt/carma/yolo/carma_1:/opt/carma/yolo
+##################
+## carma_2 vehicle
+
+ roscore_2:
+ image: usdotfhwastol/carma-base:carma-system-4.2.0
+ networks:
+ carma_net_2:
+ ipv4_address: 172.5.0.2
+ container_name: roscore_2
+ volumes_from:
+ - container:carma-config:ro
+ volumes:
+ - /opt/carma/.ros/carma_2:/home/carma/.ros
+ - /opt/carma/logs/carma_2:/opt/carma/logs
+ restart: always
+ environment:
+ - ROS_IP=172.5.0.2
+ - ROS_MASTER_URI=http://172.5.0.2:11311/
+ command: roscore
+
+ platform_2:
+ image: usdotfhwastol/carma-platform:carma-system-4.2.0
+ networks:
+ carma_net_2:
+ ipv4_address: 172.5.0.3
+ container_name: platform_1
+ volumes_from:
+ - container:carma-config:ro
+ volumes:
+ - /opt/carma/logs/carma_2:/opt/carma/logs
+ - /opt/carma/.ros/carma_2:/home/carma/.ros
+ - /opt/carma/vehicle/calibration/carma_2:/opt/carma/vehicle/calibration
+ - /opt/carma/yolo/carma_2:/opt/carma/yolo
+ - /opt/carma/maps/carma_2:/opt/carma/maps
+ - /opt/carma/routes/carma_2:/opt/carma/routes
+ - /opt/carma/data/carma_2:/opt/carma/data
+ - /opt/carma/simulation/carma_2:/opt/carma/simulation
+ - ./inlanecruising_config/parameters.yaml:/opt/carma/install/inlanecruising_plugin/share/inlanecruising_plugin/config/parameters.yaml
+ environment:
+ - ROS_IP=172.5.0.3
+ - ROS_MASTER_URI=http://172.5.0.2:11311/
+ command: bash -c 'wait-for-it.sh 172.3.0.2:11311 -- roslaunch /opt/carma/vehicle/config/carma_docker.launch'
+
+ platform_ros2_2:
+ image: usdotfhwastol/carma-platform:carma-system-4.2.0
+ networks:
+ carma_net_2:
+ ipv4_address: 172.5.0.4
+ container_name: platform_ros2_1
+ volumes_from:
+ - container:carma-config:ro
+ volumes:
+ - /opt/carma/logs/carma_2:/opt/carma/logs
+ - /opt/carma/.ros/carma_2:/home/carma/.ros
+ - /opt/carma/vehicle/calibration/carma_2:/opt/carma/vehicle/calibration
+ - /opt/carma/maps/carma_2:/opt/carma/maps
+ - /opt/carma/routes/carma_2:/opt/carma/routes
+ - /opt/carma/yolo/carma_2:/opt/carma/yolo
+ command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma_docker.launch.py'
+
+ ros1_bridge_2:
+ image: usdotfhwastol/carma-msgs:carma-system-4.2.0
+ networks:
+ carma_net_2:
+ ipv4_address: 172.5.0.5
+ container_name: ros1_bridge_1
+ volumes_from:
+ - container:carma-config:ro
+ environment:
+ - ROS_IP=172.5.0.5
+ - ROS_MASTER_URI=http://172.5.0.2:11311/
+ volumes:
+ - /opt/carma/logs/carma_2:/opt/carma/logs
+ - /opt/carma/.ros/carma_2:/home/carma/.ros
+ - /opt/carma/vehicle/calibration/carma_2:/opt/carma/vehicle/calibration
+ - /opt/carma/maps/carma_2:/opt/carma/maps
+ - /opt/carma/routes/carma_2:/opt/carma/routes3
+ - /opt/carma/yolo/carma_2:/opt/carma/yolo
+ command: bash -c 'wait-for-it.sh 172.5.0.2:11311 -- rosparam load /opt/carma/vehicle/config/bridge.yml && source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --multi-threads'
+
+ carma-carla-integration_2:
+ image: usdotfhwastolcandidate/carma-carla-integration:k900-xil
+ networks:
+ carma_net_2:
+ ipv4_address: 172.5.0.6
+ carma_sim_net:
+ ipv4_address: 172.2.0.8
+ container_name: carma-carla-integration_1
+ volumes_from:
+ - container:carma-config:ro
+ environment:
+ - ROS_IP=172.5.0.6
+ - ROS_MASTER_URI=http://172.5.0.2:11311/
+ command: bash -c "sleep 10;
+ export PYTHONPATH=$PYTHONPATH:~/PythonAPI/carla/dist/carla-0.9.10-py3.7-linux-x86_64.egg &&
+ source ~/carma_carla_ws/devel/setup.bash &&
+ roslaunch carma_carla_agent carma_carla_agent.launch role_name:='carma_2'
+ host:='172.2.0.2'
+ selected_route:='Release_test_case_2'
+ spawn_point:='201.4,-291.5,0,0,0,-90'"
+
+ ns3_adapter_2:
+ image: usdotfhwastolcandidate/carma-ns3-adapter:k900-xil
+ networks:
+ carma_net_2:
+ ipv4_address: 172.5.0.7
+ carma_sim_net:
+ ipv4_address: 172.2.0.9
+ container_name: ns3_adapter_2
+ volumes_from:
+ - container:carma-config:ro
+ environment:
+ - ROS_IP=172.5.0.7
+ - ROS_MASTER_URI=http://172.5.0.2:11311/
+ - NVIDIA_VISIBLE_DEVICES=all
+ volumes:
+ - /opt/carma/logs/carma_2:/opt/carma/logs
+ - /opt/carma/.ros/carma_2:/home/carma/.ros
+ - /opt/carma/vehicle/calibration/carma_2:/opt/carma/vehicle/calibration
+ - /opt/carma/maps/carma_2:/opt/carma/maps
+ - /opt/carma/routes/carma_2:/opt/carma/routes
+ - /opt/carma/yolo/carma_2:/opt/carma/yolo
+##################
+
+
+ zookeeper:
+ image: wurstmeister/zookeeper
+ container_name: zookeeper
+ networks:
+ carma_streets_net_1:
+ ipv4_address: 172.4.0.3
+ volumes:
+ - zookeeper-datavolume:/opt/zookeeper-3.4.13/data
+ kafka:
+ image: wurstmeister/kafka
+ container_name: kafka
+ depends_on:
+ - zookeeper
+ network_mode: service:zookeeper
+ environment:
+ DOCKER_HOST_IP: 172.4.0.3
+ KAFKA_ADVERTISED_HOST_NAME: 172.4.0.3
+ KAFKA_ADVERTISED_PORT: 9092
+ KAFKA_CREATE_TOPICS: "v2xhub_scheduling_plan_sub:1:1,v2xhub_bsm_in:1:1,v2xhub_mobility_operation_in:1:1,v2xhub_mobility_path_in:1:1,vehicle_status_intent_output:1:1,v2xhub_map_msg_in:1:1,modified_spat:1:1,desired_phase_plan:1:1, tsc_config_state:1:1, time_sync:1:1"
+ KAFKA_ZOOKEEPER_CONNECT: zookeeper:2181
+ KAFKA_LOG_DIRS: "/kafka/kafka-logs"
+ volumes:
+ - /var/run/docker.sock:/var/run/docker.sock
+ - kafka-datavolume:/kafka/kafka-logs
+##############################################################
+# Kafka Owl for monitoring kafka traffic. UI can be accessed on
+# configurable port set in performance/kowl.yaml NOTE: IS NOT
+# NECESSARY FOR DEPLOYMENT BUT HELFUL FOR DEBUGGING!
+################################################################
+ kowl:
+ image: quay.io/cloudhut/kowl
+ container_name: kowl
+ restart: on-failure
+ network_mode: service:zookeeper
+ depends_on:
+ - kafka
+ environment:
+ CONFIG_FILEPATH: /etc/kowl/kowl.yaml
+ volumes:
+ - ./kowl:/etc/kowl/
+ db:
+ image: mysql:5.7
+ container_name: mysql
+ restart: always
+ environment:
+ - MYSQL_DATABASE=IVP
+ - MYSQL_USER=IVP
+ - MYSQL_PASSWORD_FILE=/secrets/mysql_password.txt
+ - MYSQL_ROOT_PASSWORD_FILE=/secrets/mysql_root_password.txt
+ networks:
+ carma_streets_net_1:
+ ipv4_address: 172.4.0.2
+ carma_sim_net:
+ ipv4_address: 172.2.0.8
+ volumes:
+ - mysql-datavolume:/var/lib/mysql
+ - ./secrets:/secrets
+ - ./mysql:/docker-entrypoint-initdb.d
+ php:
+ image: usdotfhwaops/php:k900-xil
+ container_name: php
+ network_mode: service:db
+ depends_on:
+ - v2xhub
+ stdin_open: true
+ tty: true
+ v2xhub:
+ image: usdotfhwaops/v2xhubamd:k900-xil
+ container_name: v2xhub
+ network_mode: service:db
+ restart: always
+ depends_on:
+ - db
+ environment:
+ - MYSQL_PASSWORD=/home/V2X-Hub/secrets/mysql_password.txt
+ - SIMULATION_MODE=${SIMULATION_MODE}
+ - SIMULATION_IP=172.2.0.2
+ - SIMULATION_REGISTRATION_PORT=1615
+ - LOCAL_IP=172.2.0.8
+ - TIME_SYNC_TOPIC=time_sync
+ - TIME_SYNC_PORT=7575
+ - SIM_V2X_PORT=1517
+ - V2X_PORT=8686
+ - INFRASTRUCTURE_ID=rsu_15
+ - KAFKA_BROKER_ADDRESS= 172.4.0.3:9092
+ volumes:
+ - ./logs:/var/log/tmx
+ - ./MAP:/var/www/plugins/MAP
+ - ./secrets:/home/V2X-Hub/secrets
+
+ intersection_model:
+ image: usdotfhwastolcandidate/intersection_model:k900-xil
+ container_name: intersection_model
+ restart: always
+ network_mode: service:zookeeper
+ depends_on:
+ - kafka
+ environment:
+ DOCKER_HOST_IP: 172.4.0.3
+
+ volumes:
+ - ./intersection_model/manifest.json:/home/carma-streets/intersection_model/manifest.json
+ - ./intersection_model/logs:/home/carma-streets/intersection_model/logs
+ - ./MAP:/home/carma-streets/intersection_model/MAP
+
+ tsc_service:
+ image: usdotfhwastolcandidate/tsc_service:k900-xil
+ command: sh -c "/wait && /home/carma-streets/tsc_client_service/build/traffic_signal_controller_service"
+ container_name: tsc_service
+ restart: always
+ network_mode: service:zookeeper
+ depends_on:
+ - kafka
+ - intersection_model
+ environment:
+ DOCKER_HOST_IP: 172.4.0.3
+ WAIT_HOSTS: 127.0.0.1:8080
+ WAIT_HOSTS_TIMEOUT: 300
+ WAIT_SLEEP_INTERVAL: 30
+ WAIT_HOST_CONNECT_TIMEOUT: 30
+ SIMULATION_MODE: ${SIMULATION_MODE}
+ TIME_SYNC_TOPIC: time_sync
+ CONFIG_FILE_PATH: /home/carma-streets/tsc_client_service/manifest.json
+ volumes:
+ - ./tsc_client_service/manifest.json:/home/carma-streets/tsc_client_service/manifest.json
+ - ./tsc_client_service/logs/:/home/carma-streets/tsc_client_service/logs/
+ econolite-virtual-controller:
+ image: usdotfhwastol/econolite-virtual-controller:latest
+ container_name: evc
+ restart: always
+ networks:
+ carma_sim_net:
+ ipv4_address: 172.2.0.4
+ carma_streets_net_1:
+ ipv4_address: 172.4.0.4
+ environment:
+ - DISPLAY=${DISPLAY}
+ volumes:
+ - /tmp/.X11-unix:/tmp/.X11-unix
+ depends_on:
+ - carma-simulation
+ command: bash -c "sleep 10;x-terminal-emulator -e python3.8 evc_sumo_bridge.py --asc3app-path '../evcfile/asc3app-application.zip' --traci-ip 172.2.0.2"
+
+networks:
+ carma_sim_net:
+ ipam:
+ config:
+ - subnet: 172.2.0.0/16
+
+ carma_net_1:
+ ipam:
+ config:
+ - subnet: 172.3.0.0/16
+
+ carma_net_2:
+ ipam:
+ config:
+ - subnet: 172.5.0.0/16
+
+ carma_streets_net_1:
+ ipam:
+ config:
+ - subnet: 172.4.0.0/16
+volumes:
+ mysql-datavolume:
+ kafka-datavolume:
+ zookeeper-datavolume:
From 57cfe4e3558199878f21336d3df09394ddd1ed64 Mon Sep 17 00:00:00 2001
From: Cheng Yuan <84340069+chengyuan0124@users.noreply.github.com>
Date: Tue, 13 Jun 2023 15:29:23 -0400
Subject: [PATCH 16/22] Added command and role_id value for ns3_adapter
---
xil_cloud/docker-compose-two-vehicles.yml | 2 ++
1 file changed, 2 insertions(+)
diff --git a/xil_cloud/docker-compose-two-vehicles.yml b/xil_cloud/docker-compose-two-vehicles.yml
index 2142708b..53b5c70d 100644
--- a/xil_cloud/docker-compose-two-vehicles.yml
+++ b/xil_cloud/docker-compose-two-vehicles.yml
@@ -141,6 +141,7 @@ services:
- /opt/carma/maps/carma_1:/opt/carma/maps
- /opt/carma/routes/carma_1:/opt/carma/routes
- /opt/carma/yolo/carma_1:/opt/carma/yolo
+ command: bash -c "wait-for-it.sh 172.3.0.2:11311 -- roslaunch ns3_adapter ns3_adapter.launch role_id:='carma_1' remap_ns:=/hardware_interface/comms"
##################
## carma_2 vehicle
@@ -263,6 +264,7 @@ services:
- /opt/carma/maps/carma_2:/opt/carma/maps
- /opt/carma/routes/carma_2:/opt/carma/routes
- /opt/carma/yolo/carma_2:/opt/carma/yolo
+ command: bash -c "wait-for-it.sh 172.5.0.2:11311 -- roslaunch ns3_adapter ns3_adapter.launch role_id:='carma_2' remap_ns:=/hardware_interface/comms"
##################
From b2b50f01b324d0bfc71f18844fe0322d892cffb1 Mon Sep 17 00:00:00 2001
From: Cheng Yuan <84340069+chengyuan0124@users.noreply.github.com>
Date: Tue, 13 Jun 2023 16:00:39 -0400
Subject: [PATCH 17/22] Update docker-compose-two-vehicles.yml
---
xil_cloud/docker-compose-two-vehicles.yml | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/xil_cloud/docker-compose-two-vehicles.yml b/xil_cloud/docker-compose-two-vehicles.yml
index 53b5c70d..2a51bb7f 100644
--- a/xil_cloud/docker-compose-two-vehicles.yml
+++ b/xil_cloud/docker-compose-two-vehicles.yml
@@ -37,7 +37,7 @@ services:
environment:
- ROS_IP=172.3.0.2
- ROS_MASTER_URI=http://172.3.0.2:11311/
- command: roscorecarma_net_2
+ command: roscorec
platform_1:
image: usdotfhwastol/carma-platform:carma-system-4.2.0
From 5710c805bf48b741803bc77045b645e50c247066 Mon Sep 17 00:00:00 2001
From: Cheng Yuan
Date: Wed, 14 Jun 2023 10:33:11 -0400
Subject: [PATCH 18/22] Merge two vehicles docker compose to normal docker
compose
---
xil_cloud/docker-compose-two-vehicles.yml | 437 ----------------------
xil_cloud/docker-compose.yml | 197 ++++++++--
2 files changed, 165 insertions(+), 469 deletions(-)
delete mode 100644 xil_cloud/docker-compose-two-vehicles.yml
diff --git a/xil_cloud/docker-compose-two-vehicles.yml b/xil_cloud/docker-compose-two-vehicles.yml
deleted file mode 100644
index 2a51bb7f..00000000
--- a/xil_cloud/docker-compose-two-vehicles.yml
+++ /dev/null
@@ -1,437 +0,0 @@
-version: '2'
-services:
-
- carma-simulation:
- privileged: true
- image: usdotfhwastolcandidate/cdasim:k900-xil
- networks:
- carma_sim_net:
- ipv4_address: 172.2.0.2
- container_name: carma-simulation
- environment:
- - DISPLAY=${DISPLAY}
- - QT_X11_NO_MITSHM=1
- volumes:
- - /tmp/.X11-unix:/tmp/.X11-unix
- - /opt/carma-simulation/logs:/opt/carma-simulation/logs
- deploy:
- resources:
- reservations:
- devices:
- - capabilities: [gpu]
- command: bash -c "./mosaic.sh -s Town04"
-
-## carma_1 vehicle
- roscore_1:
- image: usdotfhwastol/carma-base:carma-system-4.2.0
- networks:
- carma_net_1:
- ipv4_address: 172.3.0.2
- container_name: roscore_1
- volumes_from:
- - container:carma-config:ro
- volumes:
- - /opt/carma/.ros/carma_1:/home/carma/.ros
- - /opt/carma/logs/carma_1:/opt/carma/logs
- restart: always
- environment:
- - ROS_IP=172.3.0.2
- - ROS_MASTER_URI=http://172.3.0.2:11311/
- command: roscorec
-
- platform_1:
- image: usdotfhwastol/carma-platform:carma-system-4.2.0
- networks:
- carma_net_1:
- ipv4_address: 172.3.0.3
- container_name: platform_1
- volumes_from:
- - container:carma-config:ro
- volumes:
- - /opt/carma/logs/carma_1:/opt/carma/logs
- - /opt/carma/.ros/carma_1:/home/carma/.ros
- - /opt/carma/vehicle/calibration/carma_1:/opt/carma/vehicle/calibration
- - /opt/carma/yolo/carma_1:/opt/carma/yolo
- - /opt/carma/maps/carma_1:/opt/carma/maps
- - /opt/carma/routes/carma_1:/opt/carma/routes
- - /opt/carma/data/carma_1:/opt/carma/data
- - /opt/carma/simulation/carma_1:/opt/carma/simulation
- - ./inlanecruising_config/parameters.yaml:/opt/carma/install/inlanecruising_plugin/share/inlanecruising_plugin/config/parameters.yaml
- environment:
- - ROS_IP=172.3.0.3
- - ROS_MASTER_URI=http://172.3.0.2:11311/
- command: bash -c 'wait-for-it.sh 172.3.0.2:11311 -- roslaunch /opt/carma/vehicle/config/carma_docker.launch'
-
- platform_ros2_1:
- image: usdotfhwastol/carma-platform:carma-system-4.2.0
- networks:
- carma_net_1:
- ipv4_address: 172.3.0.4
- container_name: platform_ros2_1
- volumes_from:
- - container:carma-config:ro
- volumes:
- - /opt/carma/logs/carma_1:/opt/carma/logs
- - /opt/carma/.ros/carma_1:/home/carma/.ros
- - /opt/carma/vehicle/calibration/carma_1:/opt/carma/vehicle/calibration
- - /opt/carma/maps/carma_1:/opt/carma/maps
- - /opt/carma/routes/carma_1:/opt/carma/routes
- - /opt/carma/yolo/carma_1:/opt/carma/yolo
- command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma_docker.launch.py'
-
- ros1_bridge_1:
- image: usdotfhwastol/carma-msgs:carma-system-4.2.0
- networks:
- carma_net_1:
- ipv4_address: 172.3.0.5
- container_name: ros1_bridge_1
- volumes_from:
- - container:carma-config:ro
- environment:
- - ROS_IP=172.3.0.5
- - ROS_MASTER_URI=http://172.3.0.2:11311/
- volumes:
- - /opt/carma/logs/carma_1:/opt/carma/logs
- - /opt/carma/.ros/carma_1:/home/carma/.ros
- - /opt/carma/vehicle/calibration/carma_1:/opt/carma/vehicle/calibration
- - /opt/carma/maps/carma_1:/opt/carma/maps
- - /opt/carma/routes/carma_1:/opt/carma/routes
- - /opt/carma/yolo/carma_1:/opt/carma/yolo
- command: bash -c 'wait-for-it.sh 172.3.0.2:11311 -- rosparam load /opt/carma/vehicle/config/bridge.yml && source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --multi-threads'
-
- carma-carla-integration_1:
- image: usdotfhwastolcandidate/carma-carla-integration:k900-xil
- networks:
- carma_net_1:
- ipv4_address: 172.3.0.6
- carma_sim_net:
- ipv4_address: 172.2.0.6
- container_name: carma-carla-integration_1
- volumes_from:
- - container:carma-config:ro
- environment:
- - ROS_IP=172.3.0.6
- - ROS_MASTER_URI=http://172.3.0.2:11311/
- command: bash -c "sleep 10;
- export PYTHONPATH=$PYTHONPATH:~/PythonAPI/carla/dist/carla-0.9.10-py3.7-linux-x86_64.egg &&
- source ~/carma_carla_ws/devel/setup.bash &&
- roslaunch carma_carla_agent carma_carla_agent.launch role_name:='carma_1'
- host:='172.2.0.2'
- selected_route:='Release_test_case_1'
- spawn_point:='151.2,-305.9,0,0,0,0'"
-
- ns3_adapter_1:
- image: usdotfhwastolcandidate/carma-ns3-adapter:k900-xil
- networks:
- carma_net_1:
- ipv4_address: 172.3.0.7
- carma_sim_net:
- ipv4_address: 172.2.0.7
- container_name: ns3_adapter_1
- volumes_from:
- - container:carma-config:ro
- environment:
- - ROS_IP=172.3.0.7
- - ROS_MASTER_URI=http://172.3.0.2:11311/
- - NVIDIA_VISIBLE_DEVICES=all
- volumes:
- - /opt/carma/logs/carma_1:/opt/carma/logs
- - /opt/carma/.ros/carma_1:/home/carma/.ros
- - /opt/carma/vehicle/calibration/carma_1:/opt/carma/vehicle/calibration
- - /opt/carma/maps/carma_1:/opt/carma/maps
- - /opt/carma/routes/carma_1:/opt/carma/routes
- - /opt/carma/yolo/carma_1:/opt/carma/yolo
- command: bash -c "wait-for-it.sh 172.3.0.2:11311 -- roslaunch ns3_adapter ns3_adapter.launch role_id:='carma_1' remap_ns:=/hardware_interface/comms"
-##################
-## carma_2 vehicle
-
- roscore_2:
- image: usdotfhwastol/carma-base:carma-system-4.2.0
- networks:
- carma_net_2:
- ipv4_address: 172.5.0.2
- container_name: roscore_2
- volumes_from:
- - container:carma-config:ro
- volumes:
- - /opt/carma/.ros/carma_2:/home/carma/.ros
- - /opt/carma/logs/carma_2:/opt/carma/logs
- restart: always
- environment:
- - ROS_IP=172.5.0.2
- - ROS_MASTER_URI=http://172.5.0.2:11311/
- command: roscore
-
- platform_2:
- image: usdotfhwastol/carma-platform:carma-system-4.2.0
- networks:
- carma_net_2:
- ipv4_address: 172.5.0.3
- container_name: platform_1
- volumes_from:
- - container:carma-config:ro
- volumes:
- - /opt/carma/logs/carma_2:/opt/carma/logs
- - /opt/carma/.ros/carma_2:/home/carma/.ros
- - /opt/carma/vehicle/calibration/carma_2:/opt/carma/vehicle/calibration
- - /opt/carma/yolo/carma_2:/opt/carma/yolo
- - /opt/carma/maps/carma_2:/opt/carma/maps
- - /opt/carma/routes/carma_2:/opt/carma/routes
- - /opt/carma/data/carma_2:/opt/carma/data
- - /opt/carma/simulation/carma_2:/opt/carma/simulation
- - ./inlanecruising_config/parameters.yaml:/opt/carma/install/inlanecruising_plugin/share/inlanecruising_plugin/config/parameters.yaml
- environment:
- - ROS_IP=172.5.0.3
- - ROS_MASTER_URI=http://172.5.0.2:11311/
- command: bash -c 'wait-for-it.sh 172.3.0.2:11311 -- roslaunch /opt/carma/vehicle/config/carma_docker.launch'
-
- platform_ros2_2:
- image: usdotfhwastol/carma-platform:carma-system-4.2.0
- networks:
- carma_net_2:
- ipv4_address: 172.5.0.4
- container_name: platform_ros2_1
- volumes_from:
- - container:carma-config:ro
- volumes:
- - /opt/carma/logs/carma_2:/opt/carma/logs
- - /opt/carma/.ros/carma_2:/home/carma/.ros
- - /opt/carma/vehicle/calibration/carma_2:/opt/carma/vehicle/calibration
- - /opt/carma/maps/carma_2:/opt/carma/maps
- - /opt/carma/routes/carma_2:/opt/carma/routes
- - /opt/carma/yolo/carma_2:/opt/carma/yolo
- command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma_docker.launch.py'
-
- ros1_bridge_2:
- image: usdotfhwastol/carma-msgs:carma-system-4.2.0
- networks:
- carma_net_2:
- ipv4_address: 172.5.0.5
- container_name: ros1_bridge_1
- volumes_from:
- - container:carma-config:ro
- environment:
- - ROS_IP=172.5.0.5
- - ROS_MASTER_URI=http://172.5.0.2:11311/
- volumes:
- - /opt/carma/logs/carma_2:/opt/carma/logs
- - /opt/carma/.ros/carma_2:/home/carma/.ros
- - /opt/carma/vehicle/calibration/carma_2:/opt/carma/vehicle/calibration
- - /opt/carma/maps/carma_2:/opt/carma/maps
- - /opt/carma/routes/carma_2:/opt/carma/routes3
- - /opt/carma/yolo/carma_2:/opt/carma/yolo
- command: bash -c 'wait-for-it.sh 172.5.0.2:11311 -- rosparam load /opt/carma/vehicle/config/bridge.yml && source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --multi-threads'
-
- carma-carla-integration_2:
- image: usdotfhwastolcandidate/carma-carla-integration:k900-xil
- networks:
- carma_net_2:
- ipv4_address: 172.5.0.6
- carma_sim_net:
- ipv4_address: 172.2.0.8
- container_name: carma-carla-integration_1
- volumes_from:
- - container:carma-config:ro
- environment:
- - ROS_IP=172.5.0.6
- - ROS_MASTER_URI=http://172.5.0.2:11311/
- command: bash -c "sleep 10;
- export PYTHONPATH=$PYTHONPATH:~/PythonAPI/carla/dist/carla-0.9.10-py3.7-linux-x86_64.egg &&
- source ~/carma_carla_ws/devel/setup.bash &&
- roslaunch carma_carla_agent carma_carla_agent.launch role_name:='carma_2'
- host:='172.2.0.2'
- selected_route:='Release_test_case_2'
- spawn_point:='201.4,-291.5,0,0,0,-90'"
-
- ns3_adapter_2:
- image: usdotfhwastolcandidate/carma-ns3-adapter:k900-xil
- networks:
- carma_net_2:
- ipv4_address: 172.5.0.7
- carma_sim_net:
- ipv4_address: 172.2.0.9
- container_name: ns3_adapter_2
- volumes_from:
- - container:carma-config:ro
- environment:
- - ROS_IP=172.5.0.7
- - ROS_MASTER_URI=http://172.5.0.2:11311/
- - NVIDIA_VISIBLE_DEVICES=all
- volumes:
- - /opt/carma/logs/carma_2:/opt/carma/logs
- - /opt/carma/.ros/carma_2:/home/carma/.ros
- - /opt/carma/vehicle/calibration/carma_2:/opt/carma/vehicle/calibration
- - /opt/carma/maps/carma_2:/opt/carma/maps
- - /opt/carma/routes/carma_2:/opt/carma/routes
- - /opt/carma/yolo/carma_2:/opt/carma/yolo
- command: bash -c "wait-for-it.sh 172.5.0.2:11311 -- roslaunch ns3_adapter ns3_adapter.launch role_id:='carma_2' remap_ns:=/hardware_interface/comms"
-##################
-
-
- zookeeper:
- image: wurstmeister/zookeeper
- container_name: zookeeper
- networks:
- carma_streets_net_1:
- ipv4_address: 172.4.0.3
- volumes:
- - zookeeper-datavolume:/opt/zookeeper-3.4.13/data
- kafka:
- image: wurstmeister/kafka
- container_name: kafka
- depends_on:
- - zookeeper
- network_mode: service:zookeeper
- environment:
- DOCKER_HOST_IP: 172.4.0.3
- KAFKA_ADVERTISED_HOST_NAME: 172.4.0.3
- KAFKA_ADVERTISED_PORT: 9092
- KAFKA_CREATE_TOPICS: "v2xhub_scheduling_plan_sub:1:1,v2xhub_bsm_in:1:1,v2xhub_mobility_operation_in:1:1,v2xhub_mobility_path_in:1:1,vehicle_status_intent_output:1:1,v2xhub_map_msg_in:1:1,modified_spat:1:1,desired_phase_plan:1:1, tsc_config_state:1:1, time_sync:1:1"
- KAFKA_ZOOKEEPER_CONNECT: zookeeper:2181
- KAFKA_LOG_DIRS: "/kafka/kafka-logs"
- volumes:
- - /var/run/docker.sock:/var/run/docker.sock
- - kafka-datavolume:/kafka/kafka-logs
-##############################################################
-# Kafka Owl for monitoring kafka traffic. UI can be accessed on
-# configurable port set in performance/kowl.yaml NOTE: IS NOT
-# NECESSARY FOR DEPLOYMENT BUT HELFUL FOR DEBUGGING!
-################################################################
- kowl:
- image: quay.io/cloudhut/kowl
- container_name: kowl
- restart: on-failure
- network_mode: service:zookeeper
- depends_on:
- - kafka
- environment:
- CONFIG_FILEPATH: /etc/kowl/kowl.yaml
- volumes:
- - ./kowl:/etc/kowl/
- db:
- image: mysql:5.7
- container_name: mysql
- restart: always
- environment:
- - MYSQL_DATABASE=IVP
- - MYSQL_USER=IVP
- - MYSQL_PASSWORD_FILE=/secrets/mysql_password.txt
- - MYSQL_ROOT_PASSWORD_FILE=/secrets/mysql_root_password.txt
- networks:
- carma_streets_net_1:
- ipv4_address: 172.4.0.2
- carma_sim_net:
- ipv4_address: 172.2.0.8
- volumes:
- - mysql-datavolume:/var/lib/mysql
- - ./secrets:/secrets
- - ./mysql:/docker-entrypoint-initdb.d
- php:
- image: usdotfhwaops/php:k900-xil
- container_name: php
- network_mode: service:db
- depends_on:
- - v2xhub
- stdin_open: true
- tty: true
- v2xhub:
- image: usdotfhwaops/v2xhubamd:k900-xil
- container_name: v2xhub
- network_mode: service:db
- restart: always
- depends_on:
- - db
- environment:
- - MYSQL_PASSWORD=/home/V2X-Hub/secrets/mysql_password.txt
- - SIMULATION_MODE=${SIMULATION_MODE}
- - SIMULATION_IP=172.2.0.2
- - SIMULATION_REGISTRATION_PORT=1615
- - LOCAL_IP=172.2.0.8
- - TIME_SYNC_TOPIC=time_sync
- - TIME_SYNC_PORT=7575
- - SIM_V2X_PORT=1517
- - V2X_PORT=8686
- - INFRASTRUCTURE_ID=rsu_15
- - KAFKA_BROKER_ADDRESS= 172.4.0.3:9092
- volumes:
- - ./logs:/var/log/tmx
- - ./MAP:/var/www/plugins/MAP
- - ./secrets:/home/V2X-Hub/secrets
-
- intersection_model:
- image: usdotfhwastolcandidate/intersection_model:k900-xil
- container_name: intersection_model
- restart: always
- network_mode: service:zookeeper
- depends_on:
- - kafka
- environment:
- DOCKER_HOST_IP: 172.4.0.3
-
- volumes:
- - ./intersection_model/manifest.json:/home/carma-streets/intersection_model/manifest.json
- - ./intersection_model/logs:/home/carma-streets/intersection_model/logs
- - ./MAP:/home/carma-streets/intersection_model/MAP
-
- tsc_service:
- image: usdotfhwastolcandidate/tsc_service:k900-xil
- command: sh -c "/wait && /home/carma-streets/tsc_client_service/build/traffic_signal_controller_service"
- container_name: tsc_service
- restart: always
- network_mode: service:zookeeper
- depends_on:
- - kafka
- - intersection_model
- environment:
- DOCKER_HOST_IP: 172.4.0.3
- WAIT_HOSTS: 127.0.0.1:8080
- WAIT_HOSTS_TIMEOUT: 300
- WAIT_SLEEP_INTERVAL: 30
- WAIT_HOST_CONNECT_TIMEOUT: 30
- SIMULATION_MODE: ${SIMULATION_MODE}
- TIME_SYNC_TOPIC: time_sync
- CONFIG_FILE_PATH: /home/carma-streets/tsc_client_service/manifest.json
- volumes:
- - ./tsc_client_service/manifest.json:/home/carma-streets/tsc_client_service/manifest.json
- - ./tsc_client_service/logs/:/home/carma-streets/tsc_client_service/logs/
- econolite-virtual-controller:
- image: usdotfhwastol/econolite-virtual-controller:latest
- container_name: evc
- restart: always
- networks:
- carma_sim_net:
- ipv4_address: 172.2.0.4
- carma_streets_net_1:
- ipv4_address: 172.4.0.4
- environment:
- - DISPLAY=${DISPLAY}
- volumes:
- - /tmp/.X11-unix:/tmp/.X11-unix
- depends_on:
- - carma-simulation
- command: bash -c "sleep 10;x-terminal-emulator -e python3.8 evc_sumo_bridge.py --asc3app-path '../evcfile/asc3app-application.zip' --traci-ip 172.2.0.2"
-
-networks:
- carma_sim_net:
- ipam:
- config:
- - subnet: 172.2.0.0/16
-
- carma_net_1:
- ipam:
- config:
- - subnet: 172.3.0.0/16
-
- carma_net_2:
- ipam:
- config:
- - subnet: 172.5.0.0/16
-
- carma_streets_net_1:
- ipam:
- config:
- - subnet: 172.4.0.0/16
-volumes:
- mysql-datavolume:
- kafka-datavolume:
- zookeeper-datavolume:
diff --git a/xil_cloud/docker-compose.yml b/xil_cloud/docker-compose.yml
index 7fb7c269..7cad6df2 100644
--- a/xil_cloud/docker-compose.yml
+++ b/xil_cloud/docker-compose.yml
@@ -21,6 +21,7 @@ services:
- capabilities: [gpu]
command: bash -c "./mosaic.sh -s Town04"
+## carma_1 vehicle
roscore_1:
image: usdotfhwastol/carma-base:carma-system-4.2.0
networks:
@@ -30,8 +31,8 @@ services:
volumes_from:
- container:carma-config:ro
volumes:
- - /opt/carma/.ros:/home/carma/.ros
- - /opt/carma/logs:/opt/carma/logs
+ - /opt/carma/.ros/carma_1:/home/carma/.ros
+ - /opt/carma/logs/carma_1:/opt/carma/logs
restart: always
environment:
- ROS_IP=172.3.0.2
@@ -47,14 +48,14 @@ services:
volumes_from:
- container:carma-config:ro
volumes:
- - /opt/carma/logs:/opt/carma/logs
- - /opt/carma/.ros:/home/carma/.ros
- - /opt/carma/vehicle/calibration:/opt/carma/vehicle/calibration
- - /opt/carma/yolo:/opt/carma/yolo
- - /opt/carma/maps:/opt/carma/maps
- - /opt/carma/routes:/opt/carma/routes
- - /opt/carma/data:/opt/carma/data
- - /opt/carma/simulation:/opt/carma/simulation
+ - /opt/carma/logs/carma_1:/opt/carma/logs
+ - /opt/carma/.ros/carma_1:/home/carma/.ros
+ - /opt/carma/vehicle/calibration/carma_1:/opt/carma/vehicle/calibration
+ - /opt/carma/yolo/carma_1:/opt/carma/yolo
+ - /opt/carma/maps/carma_1:/opt/carma/maps
+ - /opt/carma/routes/carma_1:/opt/carma/routes
+ - /opt/carma/data/carma_1:/opt/carma/data
+ - /opt/carma/simulation/carma_1:/opt/carma/simulation
- ./inlanecruising_config/parameters.yaml:/opt/carma/install/inlanecruising_plugin/share/inlanecruising_plugin/config/parameters.yaml
environment:
- ROS_IP=172.3.0.3
@@ -70,12 +71,12 @@ services:
volumes_from:
- container:carma-config:ro
volumes:
- - /opt/carma/logs:/opt/carma/logs
- - /opt/carma/.ros:/home/carma/.ros
- - /opt/carma/vehicle/calibration:/opt/carma/vehicle/calibration
- - /opt/carma/maps:/opt/carma/maps
- - /opt/carma/routes:/opt/carma/routes
- - /opt/carma/yolo:/opt/carma/yolo
+ - /opt/carma/logs/carma_1:/opt/carma/logs
+ - /opt/carma/.ros/carma_1:/home/carma/.ros
+ - /opt/carma/vehicle/calibration/carma_1:/opt/carma/vehicle/calibration
+ - /opt/carma/maps/carma_1:/opt/carma/maps
+ - /opt/carma/routes/carma_1:/opt/carma/routes
+ - /opt/carma/yolo/carma_1:/opt/carma/yolo
command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma_docker.launch.py'
ros1_bridge_1:
@@ -90,12 +91,12 @@ services:
- ROS_IP=172.3.0.5
- ROS_MASTER_URI=http://172.3.0.2:11311/
volumes:
- - /opt/carma/logs:/opt/carma/logs
- - /opt/carma/.ros:/home/carma/.ros
- - /opt/carma/vehicle/calibration:/opt/carma/vehicle/calibration
- - /opt/carma/maps:/opt/carma/maps
- - /opt/carma/routes:/opt/carma/routes
- - /opt/carma/yolo:/opt/carma/yolo
+ - /opt/carma/logs/carma_1:/opt/carma/logs
+ - /opt/carma/.ros/carma_1:/home/carma/.ros
+ - /opt/carma/vehicle/calibration/carma_1:/opt/carma/vehicle/calibration
+ - /opt/carma/maps/carma_1:/opt/carma/maps
+ - /opt/carma/routes/carma_1:/opt/carma/routes
+ - /opt/carma/yolo/carma_1:/opt/carma/yolo
command: bash -c 'wait-for-it.sh 172.3.0.2:11311 -- rosparam load /opt/carma/vehicle/config/bridge.yml && source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --multi-threads'
carma-carla-integration_1:
@@ -116,17 +117,17 @@ services:
source ~/carma_carla_ws/devel/setup.bash &&
roslaunch carma_carla_agent carma_carla_agent.launch role_name:='carma_1'
host:='172.2.0.2'
- selected_route:='Release_test_case_2'
- spawn_point:='201.4,-291.5,0,0,0,-90'"
+ selected_route:='Release_test_case_1'
+ spawn_point:='151.2,-305.9,0,0,0,0'"
- ns3_adapter:
+ ns3_adapter_1:
image: usdotfhwastolcandidate/carma-ns3-adapter:k900-xil
networks:
carma_net_1:
ipv4_address: 172.3.0.7
carma_sim_net:
ipv4_address: 172.2.0.7
- container_name: ns3_adapter
+ container_name: ns3_adapter_1
volumes_from:
- container:carma-config:ro
environment:
@@ -134,12 +135,139 @@ services:
- ROS_MASTER_URI=http://172.3.0.2:11311/
- NVIDIA_VISIBLE_DEVICES=all
volumes:
- - /opt/carma/logs:/opt/carma/logs
- - /opt/carma/.ros:/home/carma/.ros
- - /opt/carma/vehicle/calibration:/opt/carma/vehicle/calibration
- - /opt/carma/maps:/opt/carma/maps
- - /opt/carma/routes:/opt/carma/routes
- - /opt/carma/yolo:/opt/carma/yolo
+ - /opt/carma/logs/carma_1:/opt/carma/logs
+ - /opt/carma/.ros/carma_1:/home/carma/.ros
+ - /opt/carma/vehicle/calibration/carma_1:/opt/carma/vehicle/calibration
+ - /opt/carma/maps/carma_1:/opt/carma/maps
+ - /opt/carma/routes/carma_1:/opt/carma/routes
+ - /opt/carma/yolo/carma_1:/opt/carma/yolo
+ command: bash -c "wait-for-it.sh 172.3.0.2:11311 -- roslaunch ns3_adapter ns3_adapter.launch role_id:='carma_1' remap_ns:=/hardware_interface/comms"
+##################
+## carma_2 vehicle
+
+ # roscore_2:
+ # image: usdotfhwastol/carma-base:carma-system-4.2.0
+ # networks:
+ # carma_net_2:
+ # ipv4_address: 172.5.0.2
+ # container_name: roscore_2
+ # volumes_from:
+ # - container:carma-config:ro
+ # volumes:
+ # - /opt/carma/.ros/carma_2:/home/carma/.ros
+ # - /opt/carma/logs/carma_2:/opt/carma/logs
+ # restart: always
+ # environment:
+ # - ROS_IP=172.5.0.2
+ # - ROS_MASTER_URI=http://172.5.0.2:11311/
+ # command: roscore
+
+ # platform_2:
+ # image: usdotfhwastol/carma-platform:carma-system-4.2.0
+ # networks:
+ # carma_net_2:
+ # ipv4_address: 172.5.0.3
+ # container_name: platform_1
+ # volumes_from:
+ # - container:carma-config:ro
+ # volumes:
+ # - /opt/carma/logs/carma_2:/opt/carma/logs
+ # - /opt/carma/.ros/carma_2:/home/carma/.ros
+ # - /opt/carma/vehicle/calibration/carma_2:/opt/carma/vehicle/calibration
+ # - /opt/carma/yolo/carma_2:/opt/carma/yolo
+ # - /opt/carma/maps/carma_2:/opt/carma/maps
+ # - /opt/carma/routes/carma_2:/opt/carma/routes
+ # - /opt/carma/data/carma_2:/opt/carma/data
+ # - /opt/carma/simulation/carma_2:/opt/carma/simulation
+ # - ./inlanecruising_config/parameters.yaml:/opt/carma/install/inlanecruising_plugin/share/inlanecruising_plugin/config/parameters.yaml
+ # environment:
+ # - ROS_IP=172.5.0.3
+ # - ROS_MASTER_URI=http://172.5.0.2:11311/
+ # command: bash -c 'wait-for-it.sh 172.3.0.2:11311 -- roslaunch /opt/carma/vehicle/config/carma_docker.launch'
+
+ # platform_ros2_2:
+ # image: usdotfhwastol/carma-platform:carma-system-4.2.0
+ # networks:
+ # carma_net_2:
+ # ipv4_address: 172.5.0.4
+ # container_name: platform_ros2_1
+ # volumes_from:
+ # - container:carma-config:ro
+ # volumes:
+ # - /opt/carma/logs/carma_2:/opt/carma/logs
+ # - /opt/carma/.ros/carma_2:/home/carma/.ros
+ # - /opt/carma/vehicle/calibration/carma_2:/opt/carma/vehicle/calibration
+ # - /opt/carma/maps/carma_2:/opt/carma/maps
+ # - /opt/carma/routes/carma_2:/opt/carma/routes
+ # - /opt/carma/yolo/carma_2:/opt/carma/yolo
+ # command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma_docker.launch.py'
+
+ # ros1_bridge_2:
+ # image: usdotfhwastol/carma-msgs:carma-system-4.2.0
+ # networks:
+ # carma_net_2:
+ # ipv4_address: 172.5.0.5
+ # container_name: ros1_bridge_1
+ # volumes_from:
+ # - container:carma-config:ro
+ # environment:
+ # - ROS_IP=172.5.0.5
+ # - ROS_MASTER_URI=http://172.5.0.2:11311/
+ # volumes:
+ # - /opt/carma/logs/carma_2:/opt/carma/logs
+ # - /opt/carma/.ros/carma_2:/home/carma/.ros
+ # - /opt/carma/vehicle/calibration/carma_2:/opt/carma/vehicle/calibration
+ # - /opt/carma/maps/carma_2:/opt/carma/maps
+ # - /opt/carma/routes/carma_2:/opt/carma/routes3
+ # - /opt/carma/yolo/carma_2:/opt/carma/yolo
+ # command: bash -c 'wait-for-it.sh 172.5.0.2:11311 -- rosparam load /opt/carma/vehicle/config/bridge.yml && source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --multi-threads'
+
+ # carma-carla-integration_2:
+ # image: usdotfhwastolcandidate/carma-carla-integration:k900-xil
+ # networks:
+ # carma_net_2:
+ # ipv4_address: 172.5.0.6
+ # carma_sim_net:
+ # ipv4_address: 172.2.0.8
+ # container_name: carma-carla-integration_1
+ # volumes_from:
+ # - container:carma-config:ro
+ # environment:
+ # - ROS_IP=172.5.0.6
+ # - ROS_MASTER_URI=http://172.5.0.2:11311/
+ # command: bash -c "sleep 10;
+ # export PYTHONPATH=$PYTHONPATH:~/PythonAPI/carla/dist/carla-0.9.10-py3.7-linux-x86_64.egg &&
+ # source ~/carma_carla_ws/devel/setup.bash &&
+ # roslaunch carma_carla_agent carma_carla_agent.launch role_name:='carma_2'
+ # host:='172.2.0.2'
+ # selected_route:='Release_test_case_2'
+ # spawn_point:='201.4,-291.5,0,0,0,-90'"
+
+ # ns3_adapter_2:
+ # image: usdotfhwastolcandidate/carma-ns3-adapter:k900-xil
+ # networks:
+ # carma_net_2:
+ # ipv4_address: 172.5.0.7
+ # carma_sim_net:
+ # ipv4_address: 172.2.0.9
+ # container_name: ns3_adapter_2
+ # volumes_from:
+ # - container:carma-config:ro
+ # environment:
+ # - ROS_IP=172.5.0.7
+ # - ROS_MASTER_URI=http://172.5.0.2:11311/
+ # - NVIDIA_VISIBLE_DEVICES=all
+ # volumes:
+ # - /opt/carma/logs/carma_2:/opt/carma/logs
+ # - /opt/carma/.ros/carma_2:/home/carma/.ros
+ # - /opt/carma/vehicle/calibration/carma_2:/opt/carma/vehicle/calibration
+ # - /opt/carma/maps/carma_2:/opt/carma/maps
+ # - /opt/carma/routes/carma_2:/opt/carma/routes
+ # - /opt/carma/yolo/carma_2:/opt/carma/yolo
+ # command: bash -c "wait-for-it.sh 172.5.0.2:11311 -- roslaunch ns3_adapter ns3_adapter.launch role_id:='carma_2' remap_ns:=/hardware_interface/comms"
+
+##################
+
zookeeper:
image: wurstmeister/zookeeper
@@ -294,6 +422,11 @@ networks:
ipam:
config:
- subnet: 172.3.0.0/16
+
+ # carma_net_2:
+ # ipam:
+ # config:
+ # - subnet: 172.5.0.0/16
carma_streets_net_1:
ipam:
From e191dd90d0b7ae71d9b2128b55cc185d0c6a9b74 Mon Sep 17 00:00:00 2001
From: eric
Date: Wed, 14 Jun 2023 19:02:15 -0400
Subject: [PATCH 19/22] Update docker-compose.yml
---
xil_cloud/docker-compose.yml | 112 ++++++++++++++++++-----------------
1 file changed, 57 insertions(+), 55 deletions(-)
diff --git a/xil_cloud/docker-compose.yml b/xil_cloud/docker-compose.yml
index 7cad6df2..39bddc3c 100644
--- a/xil_cloud/docker-compose.yml
+++ b/xil_cloud/docker-compose.yml
@@ -31,7 +31,7 @@ services:
volumes_from:
- container:carma-config:ro
volumes:
- - /opt/carma/.ros/carma_1:/home/carma/.ros
+ - /opt/carma/.ros:/home/carma/.ros
- /opt/carma/logs/carma_1:/opt/carma/logs
restart: always
environment:
@@ -49,13 +49,13 @@ services:
- container:carma-config:ro
volumes:
- /opt/carma/logs/carma_1:/opt/carma/logs
- - /opt/carma/.ros/carma_1:/home/carma/.ros
- - /opt/carma/vehicle/calibration/carma_1:/opt/carma/vehicle/calibration
- - /opt/carma/yolo/carma_1:/opt/carma/yolo
- - /opt/carma/maps/carma_1:/opt/carma/maps
- - /opt/carma/routes/carma_1:/opt/carma/routes
- - /opt/carma/data/carma_1:/opt/carma/data
- - /opt/carma/simulation/carma_1:/opt/carma/simulation
+ - /opt/carma/.ros:/home/carma/.ros
+ - /opt/carma/vehicle/calibration:/opt/carma/vehicle/calibration
+ - /opt/carma/yolo:/opt/carma/yolo
+ - /opt/carma/maps:/opt/carma/maps
+ - /opt/carma/routes:/opt/carma/routes
+ - /opt/carma/data:/opt/carma/data
+ - /opt/carma/simulation:/opt/carma/simulation
- ./inlanecruising_config/parameters.yaml:/opt/carma/install/inlanecruising_plugin/share/inlanecruising_plugin/config/parameters.yaml
environment:
- ROS_IP=172.3.0.3
@@ -72,11 +72,11 @@ services:
- container:carma-config:ro
volumes:
- /opt/carma/logs/carma_1:/opt/carma/logs
- - /opt/carma/.ros/carma_1:/home/carma/.ros
- - /opt/carma/vehicle/calibration/carma_1:/opt/carma/vehicle/calibration
- - /opt/carma/maps/carma_1:/opt/carma/maps
- - /opt/carma/routes/carma_1:/opt/carma/routes
- - /opt/carma/yolo/carma_1:/opt/carma/yolo
+ - /opt/carma/.ros:/home/carma/.ros
+ - /opt/carma/vehicle/calibration:/opt/carma/vehicle/calibration
+ - /opt/carma/maps:/opt/carma/maps
+ - /opt/carma/routes:/opt/carma/routes
+ - /opt/carma/yolo:/opt/carma/yolo
command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma_docker.launch.py'
ros1_bridge_1:
@@ -92,11 +92,11 @@ services:
- ROS_MASTER_URI=http://172.3.0.2:11311/
volumes:
- /opt/carma/logs/carma_1:/opt/carma/logs
- - /opt/carma/.ros/carma_1:/home/carma/.ros
- - /opt/carma/vehicle/calibration/carma_1:/opt/carma/vehicle/calibration
- - /opt/carma/maps/carma_1:/opt/carma/maps
- - /opt/carma/routes/carma_1:/opt/carma/routes
- - /opt/carma/yolo/carma_1:/opt/carma/yolo
+ - /opt/carma/.ros:/home/carma/.ros
+ - /opt/carma/vehicle/calibration:/opt/carma/vehicle/calibration
+ - /opt/carma/maps:/opt/carma/maps
+ - /opt/carma/routes:/opt/carma/routes
+ - /opt/carma/yolo:/opt/carma/yolo
command: bash -c 'wait-for-it.sh 172.3.0.2:11311 -- rosparam load /opt/carma/vehicle/config/bridge.yml && source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --multi-threads'
carma-carla-integration_1:
@@ -136,14 +136,15 @@ services:
- NVIDIA_VISIBLE_DEVICES=all
volumes:
- /opt/carma/logs/carma_1:/opt/carma/logs
- - /opt/carma/.ros/carma_1:/home/carma/.ros
- - /opt/carma/vehicle/calibration/carma_1:/opt/carma/vehicle/calibration
- - /opt/carma/maps/carma_1:/opt/carma/maps
- - /opt/carma/routes/carma_1:/opt/carma/routes
- - /opt/carma/yolo/carma_1:/opt/carma/yolo
+ - /opt/carma/.ros:/home/carma/.ros
+ - /opt/carma/vehicle/calibration:/opt/carma/vehicle/calibration
+ - /opt/carma/maps:/opt/carma/maps
+ - /opt/carma/routes:/opt/carma/routes
+ - /opt/carma/yolo:/opt/carma/yolo
+ - ./ns3_adapter/adapter_1/parameters.yaml:/opt/carma/install/ns3_adapter/share/ns3_adapter/config/parameters.yaml
command: bash -c "wait-for-it.sh 172.3.0.2:11311 -- roslaunch ns3_adapter ns3_adapter.launch role_id:='carma_1' remap_ns:=/hardware_interface/comms"
-##################
-## carma_2 vehicle
+#################
+# carma_2 vehicle
# roscore_2:
# image: usdotfhwastol/carma-base:carma-system-4.2.0
@@ -154,7 +155,7 @@ services:
# volumes_from:
# - container:carma-config:ro
# volumes:
- # - /opt/carma/.ros/carma_2:/home/carma/.ros
+ # - /opt/carma/.ros/:/home/carma/.ros
# - /opt/carma/logs/carma_2:/opt/carma/logs
# restart: always
# environment:
@@ -167,18 +168,18 @@ services:
# networks:
# carma_net_2:
# ipv4_address: 172.5.0.3
- # container_name: platform_1
+ # container_name: platform_2
# volumes_from:
# - container:carma-config:ro
# volumes:
# - /opt/carma/logs/carma_2:/opt/carma/logs
- # - /opt/carma/.ros/carma_2:/home/carma/.ros
- # - /opt/carma/vehicle/calibration/carma_2:/opt/carma/vehicle/calibration
- # - /opt/carma/yolo/carma_2:/opt/carma/yolo
- # - /opt/carma/maps/carma_2:/opt/carma/maps
- # - /opt/carma/routes/carma_2:/opt/carma/routes
- # - /opt/carma/data/carma_2:/opt/carma/data
- # - /opt/carma/simulation/carma_2:/opt/carma/simulation
+ # - /opt/carma/.ros:/home/carma/.ros
+ # - /opt/carma/vehicle/calibration:/opt/carma/vehicle/calibration
+ # - /opt/carma/yolo:/opt/carma/yolo
+ # - /opt/carma/maps:/opt/carma/maps
+ # - /opt/carma/routes:/opt/carma/routes
+ # - /opt/carma/data:/opt/carma/data
+ # - /opt/carma/simulation:/opt/carma/simulation
# - ./inlanecruising_config/parameters.yaml:/opt/carma/install/inlanecruising_plugin/share/inlanecruising_plugin/config/parameters.yaml
# environment:
# - ROS_IP=172.5.0.3
@@ -190,16 +191,16 @@ services:
# networks:
# carma_net_2:
# ipv4_address: 172.5.0.4
- # container_name: platform_ros2_1
+ # container_name: platform_ros2_2
# volumes_from:
# - container:carma-config:ro
# volumes:
# - /opt/carma/logs/carma_2:/opt/carma/logs
- # - /opt/carma/.ros/carma_2:/home/carma/.ros
- # - /opt/carma/vehicle/calibration/carma_2:/opt/carma/vehicle/calibration
- # - /opt/carma/maps/carma_2:/opt/carma/maps
- # - /opt/carma/routes/carma_2:/opt/carma/routes
- # - /opt/carma/yolo/carma_2:/opt/carma/yolo
+ # - /opt/carma/.ros:/home/carma/.ros
+ # - /opt/carma/vehicle/calibration:/opt/carma/vehicle/calibration
+ # - /opt/carma/maps:/opt/carma/maps
+ # - /opt/carma/routes:/opt/carma/routes
+ # - /opt/carma/yolo:/opt/carma/yolo
# command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma_docker.launch.py'
# ros1_bridge_2:
@@ -207,7 +208,7 @@ services:
# networks:
# carma_net_2:
# ipv4_address: 172.5.0.5
- # container_name: ros1_bridge_1
+ # container_name: ros1_bridge_2
# volumes_from:
# - container:carma-config:ro
# environment:
@@ -215,11 +216,11 @@ services:
# - ROS_MASTER_URI=http://172.5.0.2:11311/
# volumes:
# - /opt/carma/logs/carma_2:/opt/carma/logs
- # - /opt/carma/.ros/carma_2:/home/carma/.ros
- # - /opt/carma/vehicle/calibration/carma_2:/opt/carma/vehicle/calibration
- # - /opt/carma/maps/carma_2:/opt/carma/maps
- # - /opt/carma/routes/carma_2:/opt/carma/routes3
- # - /opt/carma/yolo/carma_2:/opt/carma/yolo
+ # - /opt/carma/.ros:/home/carma/.ros
+ # - /opt/carma/vehicle/calibration:/opt/carma/vehicle/calibration
+ # - /opt/carma/maps:/opt/carma/maps
+ # - /opt/carma/routes:/opt/carma/routes3
+ # - /opt/carma/yolo:/opt/carma/yolo
# command: bash -c 'wait-for-it.sh 172.5.0.2:11311 -- rosparam load /opt/carma/vehicle/config/bridge.yml && source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --multi-threads'
# carma-carla-integration_2:
@@ -228,8 +229,8 @@ services:
# carma_net_2:
# ipv4_address: 172.5.0.6
# carma_sim_net:
- # ipv4_address: 172.2.0.8
- # container_name: carma-carla-integration_1
+ # ipv4_address: 172.2.0.10
+ # container_name: carma-carla-integration_2
# volumes_from:
# - container:carma-config:ro
# environment:
@@ -249,7 +250,7 @@ services:
# carma_net_2:
# ipv4_address: 172.5.0.7
# carma_sim_net:
- # ipv4_address: 172.2.0.9
+ # ipv4_address: 172.2.0.11
# container_name: ns3_adapter_2
# volumes_from:
# - container:carma-config:ro
@@ -259,14 +260,15 @@ services:
# - NVIDIA_VISIBLE_DEVICES=all
# volumes:
# - /opt/carma/logs/carma_2:/opt/carma/logs
- # - /opt/carma/.ros/carma_2:/home/carma/.ros
- # - /opt/carma/vehicle/calibration/carma_2:/opt/carma/vehicle/calibration
- # - /opt/carma/maps/carma_2:/opt/carma/maps
- # - /opt/carma/routes/carma_2:/opt/carma/routes
- # - /opt/carma/yolo/carma_2:/opt/carma/yolo
+ # - /opt/carma/.ros:/home/carma/.ros
+ # - /opt/carma/vehicle/calibration:/opt/carma/vehicle/calibration
+ # - /opt/carma/maps:/opt/carma/maps
+ # - /opt/carma/routes:/opt/carma/routes
+ # - /opt/carma/yolo:/opt/carma/yolo
+ # - ./ns3_adapter/adapter_2/parameters.yaml:/opt/carma/install/ns3_adapter/share/ns3_adapter/config/parameters.yaml
# command: bash -c "wait-for-it.sh 172.5.0.2:11311 -- roslaunch ns3_adapter ns3_adapter.launch role_id:='carma_2' remap_ns:=/hardware_interface/comms"
-##################
+#################
zookeeper:
From 6e86df3a0f08b520394fdb1122c38aa5713996c6 Mon Sep 17 00:00:00 2001
From: Saikrishna Bairamoni
<84093461+SaikrishnaBairamoni@users.noreply.github.com>
Date: Mon, 19 Jun 2023 10:06:47 -0400
Subject: [PATCH 20/22] update xil_cloud docker compose file to point 4.4.3
images
---
xil_cloud/docker-compose.yml | 12 ++++++------
1 file changed, 6 insertions(+), 6 deletions(-)
diff --git a/xil_cloud/docker-compose.yml b/xil_cloud/docker-compose.yml
index 39bddc3c..ad0e22e8 100644
--- a/xil_cloud/docker-compose.yml
+++ b/xil_cloud/docker-compose.yml
@@ -3,7 +3,7 @@ services:
carma-simulation:
privileged: true
- image: usdotfhwastolcandidate/cdasim:k900-xil
+ image: usdotfhwastol/cdasim:carma-system-4.4.3
networks:
carma_sim_net:
ipv4_address: 172.2.0.2
@@ -100,7 +100,7 @@ services:
command: bash -c 'wait-for-it.sh 172.3.0.2:11311 -- rosparam load /opt/carma/vehicle/config/bridge.yml && source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --multi-threads'
carma-carla-integration_1:
- image: usdotfhwastolcandidate/carma-carla-integration:k900-xil
+ image: usdotfhwastol/carma-carla-integration:carma-system-4.4.3
networks:
carma_net_1:
ipv4_address: 172.3.0.6
@@ -121,7 +121,7 @@ services:
spawn_point:='151.2,-305.9,0,0,0,0'"
ns3_adapter_1:
- image: usdotfhwastolcandidate/carma-ns3-adapter:k900-xil
+ image: usdotfhwastol/carma-ns3-adapter:carma-system-4.4.3
networks:
carma_net_1:
ipv4_address: 172.3.0.7
@@ -338,7 +338,7 @@ services:
stdin_open: true
tty: true
v2xhub:
- image: usdotfhwaops/v2xhubamd:k900-xil
+ image: usdotfhwaops/v2xhubamd:7.5.1
container_name: v2xhub
network_mode: service:db
restart: always
@@ -362,7 +362,7 @@ services:
- ./secrets:/home/V2X-Hub/secrets
intersection_model:
- image: usdotfhwastolcandidate/intersection_model:k900-xil
+ image: usdotfhwastol/intersection_model:carma-system-4.4.3
container_name: intersection_model
restart: always
network_mode: service:zookeeper
@@ -377,7 +377,7 @@ services:
- ./MAP:/home/carma-streets/intersection_model/MAP
tsc_service:
- image: usdotfhwastolcandidate/tsc_service:k900-xil
+ image: usdotfhwastol/tsc_service:carma-system-4.4.3
command: sh -c "/wait && /home/carma-streets/tsc_client_service/build/traffic_signal_controller_service"
container_name: tsc_service
restart: always
From f74996cda4e6c79eb974e7d3a7222ee51fc7d41b Mon Sep 17 00:00:00 2001
From: Cody Garver
Date: Tue, 20 Jun 2023 13:15:28 -0400
Subject: [PATCH 21/22] Change docker compose tags to carma-system-4.4.2
---
.../docker-compose-background.yml | 2 +-
.../docker-compose.yml | 14 +++++++-------
development/docker-compose-background.yml | 2 +-
development/docker-compose.yml | 4 ++--
.../docker-compose-background.yml | 2 +-
ford_fusion_sehybrid_2019/docker-compose.yml | 14 +++++++-------
.../docker-compose-background.yml | 2 +-
.../docker-compose.yml | 16 ++++++++--------
.../docker-compose-background.yml | 2 +-
.../docker-compose.yml | 16 ++++++++--------
.../docker-compose-background.yml | 2 +-
.../docker-compose.yml | 16 ++++++++--------
.../docker-compose-background.yml | 2 +-
.../docker-compose.yml | 16 ++++++++--------
lexus_rx_450h_2019/docker-compose-background.yml | 2 +-
lexus_rx_450h_2019/docker-compose.yml | 14 +++++++-------
.../docker-compose.yml | 4 ++--
17 files changed, 65 insertions(+), 65 deletions(-)
diff --git a/chrysler_pacifica_ehybrid_s_2019/docker-compose-background.yml b/chrysler_pacifica_ehybrid_s_2019/docker-compose-background.yml
index 3e677f0c..0aae1296 100644
--- a/chrysler_pacifica_ehybrid_s_2019/docker-compose-background.yml
+++ b/chrysler_pacifica_ehybrid_s_2019/docker-compose-background.yml
@@ -17,7 +17,7 @@ version: '2'
services:
web-ui:
- image: usdotfhwastoldev/carma-web-ui:develop
+ image: usdotfhwastoldev/carma-web-ui:carma-system-4.4.2
network_mode: host
container_name: web-ui
environment:
diff --git a/chrysler_pacifica_ehybrid_s_2019/docker-compose.yml b/chrysler_pacifica_ehybrid_s_2019/docker-compose.yml
index 2e4f022a..72355314 100644
--- a/chrysler_pacifica_ehybrid_s_2019/docker-compose.yml
+++ b/chrysler_pacifica_ehybrid_s_2019/docker-compose.yml
@@ -17,7 +17,7 @@ version: '2'
services:
roscore:
- image: usdotfhwastoldev/carma-base:develop
+ image: usdotfhwastoldev/carma-base:carma-system-4.4.2
network_mode: host
container_name: roscore
volumes_from:
@@ -65,7 +65,7 @@ services:
command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma_docker.launch.py'
ros1_bridge:
- image: usdotfhwastoldev/carma-msgs:develop
+ image: usdotfhwastoldev/carma-msgs:carma-system-4.4.2
network_mode: host
container_name: ros1_bridge
volumes_from:
@@ -83,7 +83,7 @@ services:
command: bash -c 'wait-for-it.sh localhost:11311 -- rosparam load /opt/carma/vehicle/config/bridge.yml && source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --multi-threads'
lightbar-driver:
- image: usdotfhwastoldev/carma-lightbar-driver:develop
+ image: usdotfhwastoldev/carma-lightbar-driver:carma-system-4.4.2
network_mode: host
container_name: lightbar-driver
volumes_from:
@@ -97,7 +97,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=lightbar_driver'
cohda_dsrc_driver:
- image: usdotfhwastoldev/carma-cohda-dsrc-driver:develop
+ image: usdotfhwastoldev/carma-cohda-dsrc-driver:carma-system-4.4.2
container_name: carma-cohda-dsrc-driver
network_mode: host
volumes_from:
@@ -108,7 +108,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=dsrc_driver'
ssc_controller_driver:
- image: usdotfhwastoldev/carma-ssc-interface-wrapper:develop
+ image: usdotfhwastoldev/carma-ssc-interface-wrapper:carma-system-4.4.2
container_name: ssc_controller_driver
network_mode: host
privileged: true # Grant access to usb for can data
@@ -123,7 +123,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=ssc_interface_wrapper'
novatel_gnss_imu_driver:
- image: usdotfhwastoldev/carma-novatel-oem7-driver-wrapper:develop
+ image: usdotfhwastoldev/carma-novatel-oem7-driver-wrapper:carma-system-4.4.2
container_name: carma-novatel-oem7-driver-wrapper
network_mode: host
volumes_from:
@@ -135,7 +135,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=carma_novatel_driver_wrapper'
velodyne_lidar_driver:
- image: usdotfhwastoldev/carma-velodyne-lidar-driver:develop
+ image: usdotfhwastoldev/carma-velodyne-lidar-driver:carma-system-4.4.2
container_name: velodyne-lidar-driver
network_mode: host
volumes_from:
diff --git a/development/docker-compose-background.yml b/development/docker-compose-background.yml
index 0aca73ae..602c4ddb 100644
--- a/development/docker-compose-background.yml
+++ b/development/docker-compose-background.yml
@@ -17,7 +17,7 @@ version: '2'
services:
web-ui:
- image: usdotfhwastoldev/carma-web-ui:develop
+ image: usdotfhwastoldev/carma-web-ui:carma-system-4.4.2
network_mode: host
container_name: carma-web-ui
environment:
diff --git a/development/docker-compose.yml b/development/docker-compose.yml
index 989d4099..cea6b66c 100644
--- a/development/docker-compose.yml
+++ b/development/docker-compose.yml
@@ -17,7 +17,7 @@ version: '2'
services:
roscore:
- image: usdotfhwastoldev/carma-base:develop
+ image: usdotfhwastoldev/carma-base:carma-system-4.4.2
network_mode: host
container_name: roscore
volumes_from:
@@ -64,7 +64,7 @@ services:
command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma_docker.launch.py'
ros1_bridge:
- image: usdotfhwastoldev/carma-msgs:develop
+ image: usdotfhwastoldev/carma-msgs:carma-system-4.4.2
network_mode: host
container_name: ros1_bridge
volumes_from:
diff --git a/ford_fusion_sehybrid_2019/docker-compose-background.yml b/ford_fusion_sehybrid_2019/docker-compose-background.yml
index 3e677f0c..0aae1296 100644
--- a/ford_fusion_sehybrid_2019/docker-compose-background.yml
+++ b/ford_fusion_sehybrid_2019/docker-compose-background.yml
@@ -17,7 +17,7 @@ version: '2'
services:
web-ui:
- image: usdotfhwastoldev/carma-web-ui:develop
+ image: usdotfhwastoldev/carma-web-ui:carma-system-4.4.2
network_mode: host
container_name: web-ui
environment:
diff --git a/ford_fusion_sehybrid_2019/docker-compose.yml b/ford_fusion_sehybrid_2019/docker-compose.yml
index 73b6deed..7ce84505 100644
--- a/ford_fusion_sehybrid_2019/docker-compose.yml
+++ b/ford_fusion_sehybrid_2019/docker-compose.yml
@@ -17,7 +17,7 @@ version: '2'
services:
roscore:
- image: usdotfhwastoldev/carma-base:develop
+ image: usdotfhwastoldev/carma-base:carma-system-4.4.2
network_mode: host
container_name: roscore
volumes_from:
@@ -67,7 +67,7 @@ services:
command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma_docker.launch.py'
ros1_bridge:
- image: usdotfhwastoldev/carma-msgs:develop
+ image: usdotfhwastoldev/carma-msgs:carma-system-4.4.2
network_mode: host
container_name: ros1_bridge
volumes_from:
@@ -86,7 +86,7 @@ services:
command: bash -c 'wait-for-it.sh localhost:11311 -- rosparam load /opt/carma/vehicle/config/bridge.yml && source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --multi-threads'
lightbar-driver:
- image: usdotfhwastoldev/carma-lightbar-driver:develop
+ image: usdotfhwastoldev/carma-lightbar-driver:carma-system-4.4.2
network_mode: host
container_name: lightbar-driver
volumes_from:
@@ -100,7 +100,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=lightbar_driver'
cohda_dsrc_driver:
- image: usdotfhwastoldev/carma-cohda-dsrc-driver:develop
+ image: usdotfhwastoldev/carma-cohda-dsrc-driver:carma-system-4.4.2
container_name: carma-cohda-dsrc-driver
network_mode: host
volumes_from:
@@ -114,7 +114,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=dsrc_driver'
ssc_controller_driver:
- image: usdotfhwastoldev/carma-ssc-interface-wrapper:develop
+ image: usdotfhwastoldev/carma-ssc-interface-wrapper:carma-system-4.4.2
container_name: ssc_controller_driver
network_mode: host
privileged: true # Grant access to usb for can data
@@ -131,7 +131,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=ssc_interface_wrapper'
novatel_gnss_imu_driver:
- image: usdotfhwastoldev/carma-novatel-oem7-driver-wrapper:develop
+ image: usdotfhwastoldev/carma-novatel-oem7-driver-wrapper:carma-system-4.4.2
container_name: carma-novatel-oem7-driver-wrapper
network_mode: host
volumes_from:
@@ -145,7 +145,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=carma_novatel_driver_wrapper'
velodyne_lidar_driver:
- image: usdotfhwastoldev/carma-velodyne-lidar-driver:develop
+ image: usdotfhwastoldev/carma-velodyne-lidar-driver:carma-system-4.4.2
container_name: velodyne-lidar-driver
network_mode: host
volumes_from:
diff --git a/freightliner_cascadia_2012_dot_10002/docker-compose-background.yml b/freightliner_cascadia_2012_dot_10002/docker-compose-background.yml
index 3e677f0c..0aae1296 100644
--- a/freightliner_cascadia_2012_dot_10002/docker-compose-background.yml
+++ b/freightliner_cascadia_2012_dot_10002/docker-compose-background.yml
@@ -17,7 +17,7 @@ version: '2'
services:
web-ui:
- image: usdotfhwastoldev/carma-web-ui:develop
+ image: usdotfhwastoldev/carma-web-ui:carma-system-4.4.2
network_mode: host
container_name: web-ui
environment:
diff --git a/freightliner_cascadia_2012_dot_10002/docker-compose.yml b/freightliner_cascadia_2012_dot_10002/docker-compose.yml
index bd893e49..631bcc07 100644
--- a/freightliner_cascadia_2012_dot_10002/docker-compose.yml
+++ b/freightliner_cascadia_2012_dot_10002/docker-compose.yml
@@ -17,7 +17,7 @@ version: '2'
services:
roscore:
- image: usdotfhwastoldev/carma-base:develop
+ image: usdotfhwastoldev/carma-base:carma-system-4.4.2
network_mode: host
container_name: roscore
volumes_from:
@@ -65,7 +65,7 @@ services:
command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma_docker.launch.py'
ros1_bridge:
- image: usdotfhwastoldev/carma-msgs:develop
+ image: usdotfhwastoldev/carma-msgs:carma-system-4.4.2
network_mode: host
container_name: ros1_bridge
volumes_from:
@@ -100,7 +100,7 @@ services:
command: wait-for-it.sh localhost:11311 -- roslaunch truck_inspection_client truck_inspection_client.launch truck_inspection_client_param_file:=/opt/carma/vehicle/calibration/truck_inspection_client/parameters.yaml
lightbar-driver:
- image: usdotfhwastoldev/carma-lightbar-driver:develop
+ image: usdotfhwastoldev/carma-lightbar-driver:carma-system-4.4.2
network_mode: host
container_name: lightbar-driver
volumes_from:
@@ -114,7 +114,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=lightbar_driver'
cohda_dsrc_driver:
- image: usdotfhwastoldev/carma-cohda-dsrc-driver:develop
+ image: usdotfhwastoldev/carma-cohda-dsrc-driver:carma-system-4.4.2
container_name: carma-cohda-dsrc-driver
network_mode: host
volumes_from:
@@ -125,7 +125,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=dsrc_driver'
ssc_controller_driver:
- image: usdotfhwastoldev/carma-ssc-interface-wrapper:develop
+ image: usdotfhwastoldev/carma-ssc-interface-wrapper:carma-system-4.4.2
container_name: ssc_controller_driver
network_mode: host
privileged: true # Grant access to kvaser
@@ -140,7 +140,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=ssc_interface_wrapper'
novatel_gnss_imu_driver:
- image: usdotfhwastoldev/carma-novatel-oem7-driver-wrapper:develop
+ image: usdotfhwastoldev/carma-novatel-oem7-driver-wrapper:carma-system-4.4.2
container_name: carma-novatel-oem7-driver-wrapper
network_mode: host
volumes_from:
@@ -152,7 +152,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=carma_novatel_driver_wrapper'
velodyne_lidar_driver:
- image: usdotfhwastoldev/carma-velodyne-lidar-driver:develop
+ image: usdotfhwastoldev/carma-velodyne-lidar-driver:carma-system-4.4.2
container_name: velodyne-lidar-driver
network_mode: host
volumes_from:
@@ -176,7 +176,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=velodyne_lidar_driver_wrapper'
lidar_lite_trailer_angle_driver:
- image: usdotfhwastoldev/carma-garmin-lidar-lite-v3-driver-wrapper:develop
+ image: usdotfhwastoldev/carma-garmin-lidar-lite-v3-driver-wrapper:carma-system-4.4.2
container_name: lidar_lite_trailer_angle_driver
network_mode: host
privileged: true # Grant access to usb
diff --git a/freightliner_cascadia_2012_dot_10003/docker-compose-background.yml b/freightliner_cascadia_2012_dot_10003/docker-compose-background.yml
index 3e677f0c..0aae1296 100644
--- a/freightliner_cascadia_2012_dot_10003/docker-compose-background.yml
+++ b/freightliner_cascadia_2012_dot_10003/docker-compose-background.yml
@@ -17,7 +17,7 @@ version: '2'
services:
web-ui:
- image: usdotfhwastoldev/carma-web-ui:develop
+ image: usdotfhwastoldev/carma-web-ui:carma-system-4.4.2
network_mode: host
container_name: web-ui
environment:
diff --git a/freightliner_cascadia_2012_dot_10003/docker-compose.yml b/freightliner_cascadia_2012_dot_10003/docker-compose.yml
index 50a8c89a..10f2cfe6 100644
--- a/freightliner_cascadia_2012_dot_10003/docker-compose.yml
+++ b/freightliner_cascadia_2012_dot_10003/docker-compose.yml
@@ -17,7 +17,7 @@ version: '2'
services:
roscore:
- image: usdotfhwastoldev/carma-base:develop
+ image: usdotfhwastoldev/carma-base:carma-system-4.4.2
network_mode: host
container_name: roscore
volumes_from:
@@ -65,7 +65,7 @@ services:
command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma_docker.launch.py'
ros1_bridge:
- image: usdotfhwastoldev/carma-msgs:develop
+ image: usdotfhwastoldev/carma-msgs:carma-system-4.4.2
network_mode: host
container_name: ros1_bridge
volumes_from:
@@ -100,7 +100,7 @@ services:
command: wait-for-it.sh localhost:11311 -- roslaunch truck_inspection_client truck_inspection_client.launch truck_inspection_client_param_file:=/opt/carma/vehicle/calibration/truck_inspection_client/parameters.yaml
lightbar-driver:
- image: usdotfhwastoldev/carma-lightbar-driver:develop
+ image: usdotfhwastoldev/carma-lightbar-driver:carma-system-4.4.2
network_mode: host
container_name: lightbar-driver
volumes_from:
@@ -114,7 +114,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=lightbar_driver'
cohda_dsrc_driver:
- image: usdotfhwastoldev/carma-cohda-dsrc-driver:develop
+ image: usdotfhwastoldev/carma-cohda-dsrc-driver:carma-system-4.4.2
container_name: carma-cohda-dsrc-driver
network_mode: host
volumes_from:
@@ -125,7 +125,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=dsrc_driver'
ssc_controller_driver:
- image: usdotfhwastoldev/carma-ssc-interface-wrapper:develop
+ image: usdotfhwastoldev/carma-ssc-interface-wrapper:carma-system-4.4.2
container_name: ssc_controller_driver
network_mode: host
privileged: true # Grant access to kvaser
@@ -140,7 +140,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=ssc_interface_wrapper'
novatel_gnss_imu_driver:
- image: usdotfhwastoldev/carma-novatel-oem7-driver-wrapper:develop
+ image: usdotfhwastoldev/carma-novatel-oem7-driver-wrapper:carma-system-4.4.2
container_name: carma-novatel-oem7-driver-wrapper
network_mode: host
volumes_from:
@@ -152,7 +152,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=carma_novatel_driver_wrapper'
velodyne_lidar_driver:
- image: usdotfhwastoldev/carma-velodyne-lidar-driver:develop
+ image: usdotfhwastoldev/carma-velodyne-lidar-driver:carma-system-4.4.2
container_name: velodyne-lidar-driver
network_mode: host
volumes_from:
@@ -176,7 +176,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=velodyne_lidar_driver_wrapper'
lidar_lite_trailer_angle_driver:
- image: usdotfhwastoldev/carma-garmin-lidar-lite-v3-driver-wrapper:develop
+ image: usdotfhwastoldev/carma-garmin-lidar-lite-v3-driver-wrapper:carma-system-4.4.2
container_name: lidar_lite_trailer_angle_driver
network_mode: host
privileged: true # Grant access to usb
diff --git a/freightliner_cascadia_2012_dot_10004/docker-compose-background.yml b/freightliner_cascadia_2012_dot_10004/docker-compose-background.yml
index 3e677f0c..0aae1296 100644
--- a/freightliner_cascadia_2012_dot_10004/docker-compose-background.yml
+++ b/freightliner_cascadia_2012_dot_10004/docker-compose-background.yml
@@ -17,7 +17,7 @@ version: '2'
services:
web-ui:
- image: usdotfhwastoldev/carma-web-ui:develop
+ image: usdotfhwastoldev/carma-web-ui:carma-system-4.4.2
network_mode: host
container_name: web-ui
environment:
diff --git a/freightliner_cascadia_2012_dot_10004/docker-compose.yml b/freightliner_cascadia_2012_dot_10004/docker-compose.yml
index bf72568e..a48b4a7e 100644
--- a/freightliner_cascadia_2012_dot_10004/docker-compose.yml
+++ b/freightliner_cascadia_2012_dot_10004/docker-compose.yml
@@ -17,7 +17,7 @@ version: '2'
services:
roscore:
- image: usdotfhwastoldev/carma-base:develop
+ image: usdotfhwastoldev/carma-base:carma-system-4.4.2
network_mode: host
container_name: roscore
volumes_from:
@@ -65,7 +65,7 @@ services:
command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma_docker.launch.py'
ros1_bridge:
- image: usdotfhwastoldev/carma-msgs:develop
+ image: usdotfhwastoldev/carma-msgs:carma-system-4.4.2
network_mode: host
container_name: ros1_bridge
volumes_from:
@@ -100,7 +100,7 @@ services:
command: wait-for-it.sh localhost:11311 -- roslaunch truck_inspection_client truck_inspection_client.launch truck_inspection_client_param_file:=/opt/carma/vehicle/calibration/truck_inspection_client/parameters.yaml
lightbar-driver:
- image: usdotfhwastoldev/carma-lightbar-driver:develop
+ image: usdotfhwastoldev/carma-lightbar-driver:carma-system-4.4.2
network_mode: host
container_name: lightbar-driver
volumes_from:
@@ -114,7 +114,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=lightbar_driver'
cohda_dsrc_driver:
- image: usdotfhwastoldev/carma-cohda-dsrc-driver:develop
+ image: usdotfhwastoldev/carma-cohda-dsrc-driver:carma-system-4.4.2
container_name: carma-cohda-dsrc-driver
network_mode: host
volumes_from:
@@ -125,7 +125,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=dsrc_driver'
ssc_controller_driver:
- image: usdotfhwastoldev/carma-ssc-interface-wrapper:develop
+ image: usdotfhwastoldev/carma-ssc-interface-wrapper:carma-system-4.4.2
container_name: ssc_controller_driver
network_mode: host
privileged: true # Grant access to kvaser
@@ -140,7 +140,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=ssc_interface_wrapper'
novatel_gnss_imu_driver:
- image: usdotfhwastoldev/carma-novatel-oem7-driver-wrapper:develop
+ image: usdotfhwastoldev/carma-novatel-oem7-driver-wrapper:carma-system-4.4.2
container_name: carma-novatel-oem7-driver-wrapper
network_mode: host
volumes_from:
@@ -152,7 +152,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=carma_novatel_driver_wrapper'
velodyne_lidar_driver:
- image: usdotfhwastoldev/carma-velodyne-lidar-driver:develop
+ image: usdotfhwastoldev/carma-velodyne-lidar-driver:carma-system-4.4.2
container_name: velodyne-lidar-driver
network_mode: host
volumes_from:
@@ -176,7 +176,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=velodyne_lidar_driver_wrapper'
lidar_lite_trailer_angle_driver:
- image: usdotfhwastoldev/carma-garmin-lidar-lite-v3-driver-wrapper:develop
+ image: usdotfhwastoldev/carma-garmin-lidar-lite-v3-driver-wrapper:carma-system-4.4.2
container_name: lidar_lite_trailer_angle_driver
network_mode: host
privileged: true # Grant access to usb
diff --git a/freightliner_cascadia_2012_dot_80550/docker-compose-background.yml b/freightliner_cascadia_2012_dot_80550/docker-compose-background.yml
index 3e677f0c..0aae1296 100644
--- a/freightliner_cascadia_2012_dot_80550/docker-compose-background.yml
+++ b/freightliner_cascadia_2012_dot_80550/docker-compose-background.yml
@@ -17,7 +17,7 @@ version: '2'
services:
web-ui:
- image: usdotfhwastoldev/carma-web-ui:develop
+ image: usdotfhwastoldev/carma-web-ui:carma-system-4.4.2
network_mode: host
container_name: web-ui
environment:
diff --git a/freightliner_cascadia_2012_dot_80550/docker-compose.yml b/freightliner_cascadia_2012_dot_80550/docker-compose.yml
index bf72568e..a48b4a7e 100644
--- a/freightliner_cascadia_2012_dot_80550/docker-compose.yml
+++ b/freightliner_cascadia_2012_dot_80550/docker-compose.yml
@@ -17,7 +17,7 @@ version: '2'
services:
roscore:
- image: usdotfhwastoldev/carma-base:develop
+ image: usdotfhwastoldev/carma-base:carma-system-4.4.2
network_mode: host
container_name: roscore
volumes_from:
@@ -65,7 +65,7 @@ services:
command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma_docker.launch.py'
ros1_bridge:
- image: usdotfhwastoldev/carma-msgs:develop
+ image: usdotfhwastoldev/carma-msgs:carma-system-4.4.2
network_mode: host
container_name: ros1_bridge
volumes_from:
@@ -100,7 +100,7 @@ services:
command: wait-for-it.sh localhost:11311 -- roslaunch truck_inspection_client truck_inspection_client.launch truck_inspection_client_param_file:=/opt/carma/vehicle/calibration/truck_inspection_client/parameters.yaml
lightbar-driver:
- image: usdotfhwastoldev/carma-lightbar-driver:develop
+ image: usdotfhwastoldev/carma-lightbar-driver:carma-system-4.4.2
network_mode: host
container_name: lightbar-driver
volumes_from:
@@ -114,7 +114,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=lightbar_driver'
cohda_dsrc_driver:
- image: usdotfhwastoldev/carma-cohda-dsrc-driver:develop
+ image: usdotfhwastoldev/carma-cohda-dsrc-driver:carma-system-4.4.2
container_name: carma-cohda-dsrc-driver
network_mode: host
volumes_from:
@@ -125,7 +125,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=dsrc_driver'
ssc_controller_driver:
- image: usdotfhwastoldev/carma-ssc-interface-wrapper:develop
+ image: usdotfhwastoldev/carma-ssc-interface-wrapper:carma-system-4.4.2
container_name: ssc_controller_driver
network_mode: host
privileged: true # Grant access to kvaser
@@ -140,7 +140,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=ssc_interface_wrapper'
novatel_gnss_imu_driver:
- image: usdotfhwastoldev/carma-novatel-oem7-driver-wrapper:develop
+ image: usdotfhwastoldev/carma-novatel-oem7-driver-wrapper:carma-system-4.4.2
container_name: carma-novatel-oem7-driver-wrapper
network_mode: host
volumes_from:
@@ -152,7 +152,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=carma_novatel_driver_wrapper'
velodyne_lidar_driver:
- image: usdotfhwastoldev/carma-velodyne-lidar-driver:develop
+ image: usdotfhwastoldev/carma-velodyne-lidar-driver:carma-system-4.4.2
container_name: velodyne-lidar-driver
network_mode: host
volumes_from:
@@ -176,7 +176,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=velodyne_lidar_driver_wrapper'
lidar_lite_trailer_angle_driver:
- image: usdotfhwastoldev/carma-garmin-lidar-lite-v3-driver-wrapper:develop
+ image: usdotfhwastoldev/carma-garmin-lidar-lite-v3-driver-wrapper:carma-system-4.4.2
container_name: lidar_lite_trailer_angle_driver
network_mode: host
privileged: true # Grant access to usb
diff --git a/lexus_rx_450h_2019/docker-compose-background.yml b/lexus_rx_450h_2019/docker-compose-background.yml
index db1fb646..959e3bc7 100644
--- a/lexus_rx_450h_2019/docker-compose-background.yml
+++ b/lexus_rx_450h_2019/docker-compose-background.yml
@@ -17,7 +17,7 @@ version: '2'
services:
web-ui:
- image: usdotfhwastoldev/carma-web-ui:develop
+ image: usdotfhwastoldev/carma-web-ui:carma-system-4.4.2
network_mode: host
container_name: web-ui
environment:
diff --git a/lexus_rx_450h_2019/docker-compose.yml b/lexus_rx_450h_2019/docker-compose.yml
index 43fe67df..c1aadc4a 100644
--- a/lexus_rx_450h_2019/docker-compose.yml
+++ b/lexus_rx_450h_2019/docker-compose.yml
@@ -16,7 +16,7 @@ version: '2'
services:
roscore:
- image: usdotfhwastoldev/carma-base:develop
+ image: usdotfhwastoldev/carma-base:carma-system-4.4.2
network_mode: host
container_name: roscore
volumes_from:
@@ -69,7 +69,7 @@ services:
command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma_docker.launch.py'
ros1_bridge:
- image: usdotfhwastoldev/carma-msgs:develop
+ image: usdotfhwastoldev/carma-msgs:carma-system-4.4.2
network_mode: host
container_name: ros1_bridge
volumes_from:
@@ -88,7 +88,7 @@ services:
command: bash -c 'wait-for-it.sh localhost:11311 -- rosparam load /opt/carma/vehicle/config/bridge.yml && source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --multi-threads'
lightbar-driver:
- image: usdotfhwastoldev/carma-lightbar-driver:develop
+ image: usdotfhwastoldev/carma-lightbar-driver:carma-system-4.4.2
network_mode: host
container_name: lightbar-driver
volumes_from:
@@ -102,7 +102,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=lightbar_driver'
cohda_dsrc_driver:
- image: usdotfhwastoldev/carma-cohda-dsrc-driver:develop
+ image: usdotfhwastoldev/carma-cohda-dsrc-driver:carma-system-4.4.2
container_name: carma-cohda-dsrc-driver
network_mode: host
volumes_from:
@@ -116,7 +116,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=dsrc_driver'
ssc_controller_driver:
- image: usdotfhwastoldev/carma-ssc-interface-wrapper:develop
+ image: usdotfhwastoldev/carma-ssc-interface-wrapper:carma-system-4.4.2
container_name: ssc_controller_driver
network_mode: host
privileged: true # Grant access to kvaser
@@ -132,7 +132,7 @@ services:
command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=ssc_interface_wrapper_ros2'
novatel_gnss_imu_driver:
- image: usdotfhwastoldev/carma-novatel-oem7-driver-wrapper:develop
+ image: usdotfhwastoldev/carma-novatel-oem7-driver-wrapper:carma-system-4.4.2
container_name: carma-novatel-oem7-driver-wrapper
network_mode: host
volumes_from:
@@ -146,7 +146,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=carma_novatel_driver_wrapper'
velodyne_lidar_driver:
- image: usdotfhwastoldev/carma-velodyne-lidar-driver:develop
+ image: usdotfhwastoldev/carma-velodyne-lidar-driver:carma-system-4.4.2
container_name: velodyne-lidar-driver
network_mode: host
volumes_from:
diff --git a/traxxas_slash_4x4_platinum_2012/docker-compose.yml b/traxxas_slash_4x4_platinum_2012/docker-compose.yml
index 12fa0d48..e7009b16 100644
--- a/traxxas_slash_4x4_platinum_2012/docker-compose.yml
+++ b/traxxas_slash_4x4_platinum_2012/docker-compose.yml
@@ -50,7 +50,7 @@ services:
command: bash -c 'wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/carma_docker.launch'
platform_ros2:
- image: usdotfhwastoldev/carma-platform:develop
+ image: usdotfhwastoldev/carma-platform:carma-system-4.4.2
network_mode: host
container_name: platform_ros2
volumes_from:
@@ -65,7 +65,7 @@ services:
command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma_docker.launch.py'
ros1_bridge:
- image: usdotfhwastoldev/carma-msgs:develop
+ image: usdotfhwastoldev/carma-msgs:carma-system-4.4.2
network_mode: host
container_name: ros1_bridge
volumes_from:
From 7264c09a8d0d47baf5797478932e55696c8bf094 Mon Sep 17 00:00:00 2001
From: Cody Garver
Date: Tue, 20 Jun 2023 13:17:06 -0400
Subject: [PATCH 22/22] Change docker compose tags to carma-system-4.4.2
---
.../docker-compose-background.yml | 2 +-
.../docker-compose.yml | 14 +++++++-------
development/docker-compose-background.yml | 2 +-
development/docker-compose.yml | 4 ++--
.../docker-compose-background.yml | 2 +-
ford_fusion_sehybrid_2019/docker-compose.yml | 14 +++++++-------
.../docker-compose-background.yml | 2 +-
.../docker-compose.yml | 16 ++++++++--------
.../docker-compose-background.yml | 2 +-
.../docker-compose.yml | 16 ++++++++--------
.../docker-compose-background.yml | 2 +-
.../docker-compose.yml | 16 ++++++++--------
.../docker-compose-background.yml | 2 +-
.../docker-compose.yml | 16 ++++++++--------
lexus_rx_450h_2019/docker-compose-background.yml | 2 +-
lexus_rx_450h_2019/docker-compose.yml | 14 +++++++-------
.../docker-compose.yml | 16 ++++++++--------
17 files changed, 71 insertions(+), 71 deletions(-)
diff --git a/chrysler_pacifica_ehybrid_s_2019/docker-compose-background.yml b/chrysler_pacifica_ehybrid_s_2019/docker-compose-background.yml
index 0aae1296..d72d552f 100644
--- a/chrysler_pacifica_ehybrid_s_2019/docker-compose-background.yml
+++ b/chrysler_pacifica_ehybrid_s_2019/docker-compose-background.yml
@@ -17,7 +17,7 @@ version: '2'
services:
web-ui:
- image: usdotfhwastoldev/carma-web-ui:carma-system-4.4.2
+ image: usdotfhwastol/carma-web-ui:carma-system-4.4.2
network_mode: host
container_name: web-ui
environment:
diff --git a/chrysler_pacifica_ehybrid_s_2019/docker-compose.yml b/chrysler_pacifica_ehybrid_s_2019/docker-compose.yml
index 72355314..668ba985 100644
--- a/chrysler_pacifica_ehybrid_s_2019/docker-compose.yml
+++ b/chrysler_pacifica_ehybrid_s_2019/docker-compose.yml
@@ -17,7 +17,7 @@ version: '2'
services:
roscore:
- image: usdotfhwastoldev/carma-base:carma-system-4.4.2
+ image: usdotfhwastol/carma-base:carma-system-4.4.2
network_mode: host
container_name: roscore
volumes_from:
@@ -65,7 +65,7 @@ services:
command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma_docker.launch.py'
ros1_bridge:
- image: usdotfhwastoldev/carma-msgs:carma-system-4.4.2
+ image: usdotfhwastol/carma-msgs:carma-system-4.4.2
network_mode: host
container_name: ros1_bridge
volumes_from:
@@ -83,7 +83,7 @@ services:
command: bash -c 'wait-for-it.sh localhost:11311 -- rosparam load /opt/carma/vehicle/config/bridge.yml && source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --multi-threads'
lightbar-driver:
- image: usdotfhwastoldev/carma-lightbar-driver:carma-system-4.4.2
+ image: usdotfhwastol/carma-lightbar-driver:carma-system-4.4.2
network_mode: host
container_name: lightbar-driver
volumes_from:
@@ -97,7 +97,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=lightbar_driver'
cohda_dsrc_driver:
- image: usdotfhwastoldev/carma-cohda-dsrc-driver:carma-system-4.4.2
+ image: usdotfhwastol/carma-cohda-dsrc-driver:carma-system-4.4.2
container_name: carma-cohda-dsrc-driver
network_mode: host
volumes_from:
@@ -108,7 +108,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=dsrc_driver'
ssc_controller_driver:
- image: usdotfhwastoldev/carma-ssc-interface-wrapper:carma-system-4.4.2
+ image: usdotfhwastol/carma-ssc-interface-wrapper:carma-system-4.4.2
container_name: ssc_controller_driver
network_mode: host
privileged: true # Grant access to usb for can data
@@ -123,7 +123,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=ssc_interface_wrapper'
novatel_gnss_imu_driver:
- image: usdotfhwastoldev/carma-novatel-oem7-driver-wrapper:carma-system-4.4.2
+ image: usdotfhwastol/carma-novatel-oem7-driver-wrapper:carma-system-4.4.2
container_name: carma-novatel-oem7-driver-wrapper
network_mode: host
volumes_from:
@@ -135,7 +135,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=carma_novatel_driver_wrapper'
velodyne_lidar_driver:
- image: usdotfhwastoldev/carma-velodyne-lidar-driver:carma-system-4.4.2
+ image: usdotfhwastol/carma-velodyne-lidar-driver:carma-system-4.4.2
container_name: velodyne-lidar-driver
network_mode: host
volumes_from:
diff --git a/development/docker-compose-background.yml b/development/docker-compose-background.yml
index 602c4ddb..31584de6 100644
--- a/development/docker-compose-background.yml
+++ b/development/docker-compose-background.yml
@@ -17,7 +17,7 @@ version: '2'
services:
web-ui:
- image: usdotfhwastoldev/carma-web-ui:carma-system-4.4.2
+ image: usdotfhwastol/carma-web-ui:carma-system-4.4.2
network_mode: host
container_name: carma-web-ui
environment:
diff --git a/development/docker-compose.yml b/development/docker-compose.yml
index cea6b66c..91d338db 100644
--- a/development/docker-compose.yml
+++ b/development/docker-compose.yml
@@ -17,7 +17,7 @@ version: '2'
services:
roscore:
- image: usdotfhwastoldev/carma-base:carma-system-4.4.2
+ image: usdotfhwastol/carma-base:carma-system-4.4.2
network_mode: host
container_name: roscore
volumes_from:
@@ -64,7 +64,7 @@ services:
command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma_docker.launch.py'
ros1_bridge:
- image: usdotfhwastoldev/carma-msgs:carma-system-4.4.2
+ image: usdotfhwastol/carma-msgs:carma-system-4.4.2
network_mode: host
container_name: ros1_bridge
volumes_from:
diff --git a/ford_fusion_sehybrid_2019/docker-compose-background.yml b/ford_fusion_sehybrid_2019/docker-compose-background.yml
index 0aae1296..d72d552f 100644
--- a/ford_fusion_sehybrid_2019/docker-compose-background.yml
+++ b/ford_fusion_sehybrid_2019/docker-compose-background.yml
@@ -17,7 +17,7 @@ version: '2'
services:
web-ui:
- image: usdotfhwastoldev/carma-web-ui:carma-system-4.4.2
+ image: usdotfhwastol/carma-web-ui:carma-system-4.4.2
network_mode: host
container_name: web-ui
environment:
diff --git a/ford_fusion_sehybrid_2019/docker-compose.yml b/ford_fusion_sehybrid_2019/docker-compose.yml
index 7ce84505..724c3edf 100644
--- a/ford_fusion_sehybrid_2019/docker-compose.yml
+++ b/ford_fusion_sehybrid_2019/docker-compose.yml
@@ -17,7 +17,7 @@ version: '2'
services:
roscore:
- image: usdotfhwastoldev/carma-base:carma-system-4.4.2
+ image: usdotfhwastol/carma-base:carma-system-4.4.2
network_mode: host
container_name: roscore
volumes_from:
@@ -67,7 +67,7 @@ services:
command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma_docker.launch.py'
ros1_bridge:
- image: usdotfhwastoldev/carma-msgs:carma-system-4.4.2
+ image: usdotfhwastol/carma-msgs:carma-system-4.4.2
network_mode: host
container_name: ros1_bridge
volumes_from:
@@ -86,7 +86,7 @@ services:
command: bash -c 'wait-for-it.sh localhost:11311 -- rosparam load /opt/carma/vehicle/config/bridge.yml && source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --multi-threads'
lightbar-driver:
- image: usdotfhwastoldev/carma-lightbar-driver:carma-system-4.4.2
+ image: usdotfhwastol/carma-lightbar-driver:carma-system-4.4.2
network_mode: host
container_name: lightbar-driver
volumes_from:
@@ -100,7 +100,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=lightbar_driver'
cohda_dsrc_driver:
- image: usdotfhwastoldev/carma-cohda-dsrc-driver:carma-system-4.4.2
+ image: usdotfhwastol/carma-cohda-dsrc-driver:carma-system-4.4.2
container_name: carma-cohda-dsrc-driver
network_mode: host
volumes_from:
@@ -114,7 +114,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=dsrc_driver'
ssc_controller_driver:
- image: usdotfhwastoldev/carma-ssc-interface-wrapper:carma-system-4.4.2
+ image: usdotfhwastol/carma-ssc-interface-wrapper:carma-system-4.4.2
container_name: ssc_controller_driver
network_mode: host
privileged: true # Grant access to usb for can data
@@ -131,7 +131,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=ssc_interface_wrapper'
novatel_gnss_imu_driver:
- image: usdotfhwastoldev/carma-novatel-oem7-driver-wrapper:carma-system-4.4.2
+ image: usdotfhwastol/carma-novatel-oem7-driver-wrapper:carma-system-4.4.2
container_name: carma-novatel-oem7-driver-wrapper
network_mode: host
volumes_from:
@@ -145,7 +145,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=carma_novatel_driver_wrapper'
velodyne_lidar_driver:
- image: usdotfhwastoldev/carma-velodyne-lidar-driver:carma-system-4.4.2
+ image: usdotfhwastol/carma-velodyne-lidar-driver:carma-system-4.4.2
container_name: velodyne-lidar-driver
network_mode: host
volumes_from:
diff --git a/freightliner_cascadia_2012_dot_10002/docker-compose-background.yml b/freightliner_cascadia_2012_dot_10002/docker-compose-background.yml
index 0aae1296..d72d552f 100644
--- a/freightliner_cascadia_2012_dot_10002/docker-compose-background.yml
+++ b/freightliner_cascadia_2012_dot_10002/docker-compose-background.yml
@@ -17,7 +17,7 @@ version: '2'
services:
web-ui:
- image: usdotfhwastoldev/carma-web-ui:carma-system-4.4.2
+ image: usdotfhwastol/carma-web-ui:carma-system-4.4.2
network_mode: host
container_name: web-ui
environment:
diff --git a/freightliner_cascadia_2012_dot_10002/docker-compose.yml b/freightliner_cascadia_2012_dot_10002/docker-compose.yml
index 631bcc07..c22a23e4 100644
--- a/freightliner_cascadia_2012_dot_10002/docker-compose.yml
+++ b/freightliner_cascadia_2012_dot_10002/docker-compose.yml
@@ -17,7 +17,7 @@ version: '2'
services:
roscore:
- image: usdotfhwastoldev/carma-base:carma-system-4.4.2
+ image: usdotfhwastol/carma-base:carma-system-4.4.2
network_mode: host
container_name: roscore
volumes_from:
@@ -65,7 +65,7 @@ services:
command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma_docker.launch.py'
ros1_bridge:
- image: usdotfhwastoldev/carma-msgs:carma-system-4.4.2
+ image: usdotfhwastol/carma-msgs:carma-system-4.4.2
network_mode: host
container_name: ros1_bridge
volumes_from:
@@ -100,7 +100,7 @@ services:
command: wait-for-it.sh localhost:11311 -- roslaunch truck_inspection_client truck_inspection_client.launch truck_inspection_client_param_file:=/opt/carma/vehicle/calibration/truck_inspection_client/parameters.yaml
lightbar-driver:
- image: usdotfhwastoldev/carma-lightbar-driver:carma-system-4.4.2
+ image: usdotfhwastol/carma-lightbar-driver:carma-system-4.4.2
network_mode: host
container_name: lightbar-driver
volumes_from:
@@ -114,7 +114,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=lightbar_driver'
cohda_dsrc_driver:
- image: usdotfhwastoldev/carma-cohda-dsrc-driver:carma-system-4.4.2
+ image: usdotfhwastol/carma-cohda-dsrc-driver:carma-system-4.4.2
container_name: carma-cohda-dsrc-driver
network_mode: host
volumes_from:
@@ -125,7 +125,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=dsrc_driver'
ssc_controller_driver:
- image: usdotfhwastoldev/carma-ssc-interface-wrapper:carma-system-4.4.2
+ image: usdotfhwastol/carma-ssc-interface-wrapper:carma-system-4.4.2
container_name: ssc_controller_driver
network_mode: host
privileged: true # Grant access to kvaser
@@ -140,7 +140,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=ssc_interface_wrapper'
novatel_gnss_imu_driver:
- image: usdotfhwastoldev/carma-novatel-oem7-driver-wrapper:carma-system-4.4.2
+ image: usdotfhwastol/carma-novatel-oem7-driver-wrapper:carma-system-4.4.2
container_name: carma-novatel-oem7-driver-wrapper
network_mode: host
volumes_from:
@@ -152,7 +152,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=carma_novatel_driver_wrapper'
velodyne_lidar_driver:
- image: usdotfhwastoldev/carma-velodyne-lidar-driver:carma-system-4.4.2
+ image: usdotfhwastol/carma-velodyne-lidar-driver:carma-system-4.4.2
container_name: velodyne-lidar-driver
network_mode: host
volumes_from:
@@ -176,7 +176,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=velodyne_lidar_driver_wrapper'
lidar_lite_trailer_angle_driver:
- image: usdotfhwastoldev/carma-garmin-lidar-lite-v3-driver-wrapper:carma-system-4.4.2
+ image: usdotfhwastol/carma-garmin-lidar-lite-v3-driver-wrapper:carma-system-4.4.2
container_name: lidar_lite_trailer_angle_driver
network_mode: host
privileged: true # Grant access to usb
diff --git a/freightliner_cascadia_2012_dot_10003/docker-compose-background.yml b/freightliner_cascadia_2012_dot_10003/docker-compose-background.yml
index 0aae1296..d72d552f 100644
--- a/freightliner_cascadia_2012_dot_10003/docker-compose-background.yml
+++ b/freightliner_cascadia_2012_dot_10003/docker-compose-background.yml
@@ -17,7 +17,7 @@ version: '2'
services:
web-ui:
- image: usdotfhwastoldev/carma-web-ui:carma-system-4.4.2
+ image: usdotfhwastol/carma-web-ui:carma-system-4.4.2
network_mode: host
container_name: web-ui
environment:
diff --git a/freightliner_cascadia_2012_dot_10003/docker-compose.yml b/freightliner_cascadia_2012_dot_10003/docker-compose.yml
index 10f2cfe6..f7cd2e62 100644
--- a/freightliner_cascadia_2012_dot_10003/docker-compose.yml
+++ b/freightliner_cascadia_2012_dot_10003/docker-compose.yml
@@ -17,7 +17,7 @@ version: '2'
services:
roscore:
- image: usdotfhwastoldev/carma-base:carma-system-4.4.2
+ image: usdotfhwastol/carma-base:carma-system-4.4.2
network_mode: host
container_name: roscore
volumes_from:
@@ -65,7 +65,7 @@ services:
command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma_docker.launch.py'
ros1_bridge:
- image: usdotfhwastoldev/carma-msgs:carma-system-4.4.2
+ image: usdotfhwastol/carma-msgs:carma-system-4.4.2
network_mode: host
container_name: ros1_bridge
volumes_from:
@@ -100,7 +100,7 @@ services:
command: wait-for-it.sh localhost:11311 -- roslaunch truck_inspection_client truck_inspection_client.launch truck_inspection_client_param_file:=/opt/carma/vehicle/calibration/truck_inspection_client/parameters.yaml
lightbar-driver:
- image: usdotfhwastoldev/carma-lightbar-driver:carma-system-4.4.2
+ image: usdotfhwastol/carma-lightbar-driver:carma-system-4.4.2
network_mode: host
container_name: lightbar-driver
volumes_from:
@@ -114,7 +114,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=lightbar_driver'
cohda_dsrc_driver:
- image: usdotfhwastoldev/carma-cohda-dsrc-driver:carma-system-4.4.2
+ image: usdotfhwastol/carma-cohda-dsrc-driver:carma-system-4.4.2
container_name: carma-cohda-dsrc-driver
network_mode: host
volumes_from:
@@ -125,7 +125,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=dsrc_driver'
ssc_controller_driver:
- image: usdotfhwastoldev/carma-ssc-interface-wrapper:carma-system-4.4.2
+ image: usdotfhwastol/carma-ssc-interface-wrapper:carma-system-4.4.2
container_name: ssc_controller_driver
network_mode: host
privileged: true # Grant access to kvaser
@@ -140,7 +140,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=ssc_interface_wrapper'
novatel_gnss_imu_driver:
- image: usdotfhwastoldev/carma-novatel-oem7-driver-wrapper:carma-system-4.4.2
+ image: usdotfhwastol/carma-novatel-oem7-driver-wrapper:carma-system-4.4.2
container_name: carma-novatel-oem7-driver-wrapper
network_mode: host
volumes_from:
@@ -152,7 +152,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=carma_novatel_driver_wrapper'
velodyne_lidar_driver:
- image: usdotfhwastoldev/carma-velodyne-lidar-driver:carma-system-4.4.2
+ image: usdotfhwastol/carma-velodyne-lidar-driver:carma-system-4.4.2
container_name: velodyne-lidar-driver
network_mode: host
volumes_from:
@@ -176,7 +176,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=velodyne_lidar_driver_wrapper'
lidar_lite_trailer_angle_driver:
- image: usdotfhwastoldev/carma-garmin-lidar-lite-v3-driver-wrapper:carma-system-4.4.2
+ image: usdotfhwastol/carma-garmin-lidar-lite-v3-driver-wrapper:carma-system-4.4.2
container_name: lidar_lite_trailer_angle_driver
network_mode: host
privileged: true # Grant access to usb
diff --git a/freightliner_cascadia_2012_dot_10004/docker-compose-background.yml b/freightliner_cascadia_2012_dot_10004/docker-compose-background.yml
index 0aae1296..d72d552f 100644
--- a/freightliner_cascadia_2012_dot_10004/docker-compose-background.yml
+++ b/freightliner_cascadia_2012_dot_10004/docker-compose-background.yml
@@ -17,7 +17,7 @@ version: '2'
services:
web-ui:
- image: usdotfhwastoldev/carma-web-ui:carma-system-4.4.2
+ image: usdotfhwastol/carma-web-ui:carma-system-4.4.2
network_mode: host
container_name: web-ui
environment:
diff --git a/freightliner_cascadia_2012_dot_10004/docker-compose.yml b/freightliner_cascadia_2012_dot_10004/docker-compose.yml
index a48b4a7e..24cb1e1d 100644
--- a/freightliner_cascadia_2012_dot_10004/docker-compose.yml
+++ b/freightliner_cascadia_2012_dot_10004/docker-compose.yml
@@ -17,7 +17,7 @@ version: '2'
services:
roscore:
- image: usdotfhwastoldev/carma-base:carma-system-4.4.2
+ image: usdotfhwastol/carma-base:carma-system-4.4.2
network_mode: host
container_name: roscore
volumes_from:
@@ -65,7 +65,7 @@ services:
command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma_docker.launch.py'
ros1_bridge:
- image: usdotfhwastoldev/carma-msgs:carma-system-4.4.2
+ image: usdotfhwastol/carma-msgs:carma-system-4.4.2
network_mode: host
container_name: ros1_bridge
volumes_from:
@@ -100,7 +100,7 @@ services:
command: wait-for-it.sh localhost:11311 -- roslaunch truck_inspection_client truck_inspection_client.launch truck_inspection_client_param_file:=/opt/carma/vehicle/calibration/truck_inspection_client/parameters.yaml
lightbar-driver:
- image: usdotfhwastoldev/carma-lightbar-driver:carma-system-4.4.2
+ image: usdotfhwastol/carma-lightbar-driver:carma-system-4.4.2
network_mode: host
container_name: lightbar-driver
volumes_from:
@@ -114,7 +114,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=lightbar_driver'
cohda_dsrc_driver:
- image: usdotfhwastoldev/carma-cohda-dsrc-driver:carma-system-4.4.2
+ image: usdotfhwastol/carma-cohda-dsrc-driver:carma-system-4.4.2
container_name: carma-cohda-dsrc-driver
network_mode: host
volumes_from:
@@ -125,7 +125,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=dsrc_driver'
ssc_controller_driver:
- image: usdotfhwastoldev/carma-ssc-interface-wrapper:carma-system-4.4.2
+ image: usdotfhwastol/carma-ssc-interface-wrapper:carma-system-4.4.2
container_name: ssc_controller_driver
network_mode: host
privileged: true # Grant access to kvaser
@@ -140,7 +140,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=ssc_interface_wrapper'
novatel_gnss_imu_driver:
- image: usdotfhwastoldev/carma-novatel-oem7-driver-wrapper:carma-system-4.4.2
+ image: usdotfhwastol/carma-novatel-oem7-driver-wrapper:carma-system-4.4.2
container_name: carma-novatel-oem7-driver-wrapper
network_mode: host
volumes_from:
@@ -152,7 +152,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=carma_novatel_driver_wrapper'
velodyne_lidar_driver:
- image: usdotfhwastoldev/carma-velodyne-lidar-driver:carma-system-4.4.2
+ image: usdotfhwastol/carma-velodyne-lidar-driver:carma-system-4.4.2
container_name: velodyne-lidar-driver
network_mode: host
volumes_from:
@@ -176,7 +176,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=velodyne_lidar_driver_wrapper'
lidar_lite_trailer_angle_driver:
- image: usdotfhwastoldev/carma-garmin-lidar-lite-v3-driver-wrapper:carma-system-4.4.2
+ image: usdotfhwastol/carma-garmin-lidar-lite-v3-driver-wrapper:carma-system-4.4.2
container_name: lidar_lite_trailer_angle_driver
network_mode: host
privileged: true # Grant access to usb
diff --git a/freightliner_cascadia_2012_dot_80550/docker-compose-background.yml b/freightliner_cascadia_2012_dot_80550/docker-compose-background.yml
index 0aae1296..d72d552f 100644
--- a/freightliner_cascadia_2012_dot_80550/docker-compose-background.yml
+++ b/freightliner_cascadia_2012_dot_80550/docker-compose-background.yml
@@ -17,7 +17,7 @@ version: '2'
services:
web-ui:
- image: usdotfhwastoldev/carma-web-ui:carma-system-4.4.2
+ image: usdotfhwastol/carma-web-ui:carma-system-4.4.2
network_mode: host
container_name: web-ui
environment:
diff --git a/freightliner_cascadia_2012_dot_80550/docker-compose.yml b/freightliner_cascadia_2012_dot_80550/docker-compose.yml
index a48b4a7e..24cb1e1d 100644
--- a/freightliner_cascadia_2012_dot_80550/docker-compose.yml
+++ b/freightliner_cascadia_2012_dot_80550/docker-compose.yml
@@ -17,7 +17,7 @@ version: '2'
services:
roscore:
- image: usdotfhwastoldev/carma-base:carma-system-4.4.2
+ image: usdotfhwastol/carma-base:carma-system-4.4.2
network_mode: host
container_name: roscore
volumes_from:
@@ -65,7 +65,7 @@ services:
command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma_docker.launch.py'
ros1_bridge:
- image: usdotfhwastoldev/carma-msgs:carma-system-4.4.2
+ image: usdotfhwastol/carma-msgs:carma-system-4.4.2
network_mode: host
container_name: ros1_bridge
volumes_from:
@@ -100,7 +100,7 @@ services:
command: wait-for-it.sh localhost:11311 -- roslaunch truck_inspection_client truck_inspection_client.launch truck_inspection_client_param_file:=/opt/carma/vehicle/calibration/truck_inspection_client/parameters.yaml
lightbar-driver:
- image: usdotfhwastoldev/carma-lightbar-driver:carma-system-4.4.2
+ image: usdotfhwastol/carma-lightbar-driver:carma-system-4.4.2
network_mode: host
container_name: lightbar-driver
volumes_from:
@@ -114,7 +114,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=lightbar_driver'
cohda_dsrc_driver:
- image: usdotfhwastoldev/carma-cohda-dsrc-driver:carma-system-4.4.2
+ image: usdotfhwastol/carma-cohda-dsrc-driver:carma-system-4.4.2
container_name: carma-cohda-dsrc-driver
network_mode: host
volumes_from:
@@ -125,7 +125,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=dsrc_driver'
ssc_controller_driver:
- image: usdotfhwastoldev/carma-ssc-interface-wrapper:carma-system-4.4.2
+ image: usdotfhwastol/carma-ssc-interface-wrapper:carma-system-4.4.2
container_name: ssc_controller_driver
network_mode: host
privileged: true # Grant access to kvaser
@@ -140,7 +140,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=ssc_interface_wrapper'
novatel_gnss_imu_driver:
- image: usdotfhwastoldev/carma-novatel-oem7-driver-wrapper:carma-system-4.4.2
+ image: usdotfhwastol/carma-novatel-oem7-driver-wrapper:carma-system-4.4.2
container_name: carma-novatel-oem7-driver-wrapper
network_mode: host
volumes_from:
@@ -152,7 +152,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=carma_novatel_driver_wrapper'
velodyne_lidar_driver:
- image: usdotfhwastoldev/carma-velodyne-lidar-driver:carma-system-4.4.2
+ image: usdotfhwastol/carma-velodyne-lidar-driver:carma-system-4.4.2
container_name: velodyne-lidar-driver
network_mode: host
volumes_from:
@@ -176,7 +176,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=velodyne_lidar_driver_wrapper'
lidar_lite_trailer_angle_driver:
- image: usdotfhwastoldev/carma-garmin-lidar-lite-v3-driver-wrapper:carma-system-4.4.2
+ image: usdotfhwastol/carma-garmin-lidar-lite-v3-driver-wrapper:carma-system-4.4.2
container_name: lidar_lite_trailer_angle_driver
network_mode: host
privileged: true # Grant access to usb
diff --git a/lexus_rx_450h_2019/docker-compose-background.yml b/lexus_rx_450h_2019/docker-compose-background.yml
index 959e3bc7..9e214424 100644
--- a/lexus_rx_450h_2019/docker-compose-background.yml
+++ b/lexus_rx_450h_2019/docker-compose-background.yml
@@ -17,7 +17,7 @@ version: '2'
services:
web-ui:
- image: usdotfhwastoldev/carma-web-ui:carma-system-4.4.2
+ image: usdotfhwastol/carma-web-ui:carma-system-4.4.2
network_mode: host
container_name: web-ui
environment:
diff --git a/lexus_rx_450h_2019/docker-compose.yml b/lexus_rx_450h_2019/docker-compose.yml
index c1aadc4a..44955cae 100644
--- a/lexus_rx_450h_2019/docker-compose.yml
+++ b/lexus_rx_450h_2019/docker-compose.yml
@@ -16,7 +16,7 @@ version: '2'
services:
roscore:
- image: usdotfhwastoldev/carma-base:carma-system-4.4.2
+ image: usdotfhwastol/carma-base:carma-system-4.4.2
network_mode: host
container_name: roscore
volumes_from:
@@ -69,7 +69,7 @@ services:
command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma_docker.launch.py'
ros1_bridge:
- image: usdotfhwastoldev/carma-msgs:carma-system-4.4.2
+ image: usdotfhwastol/carma-msgs:carma-system-4.4.2
network_mode: host
container_name: ros1_bridge
volumes_from:
@@ -88,7 +88,7 @@ services:
command: bash -c 'wait-for-it.sh localhost:11311 -- rosparam load /opt/carma/vehicle/config/bridge.yml && source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge --multi-threads'
lightbar-driver:
- image: usdotfhwastoldev/carma-lightbar-driver:carma-system-4.4.2
+ image: usdotfhwastol/carma-lightbar-driver:carma-system-4.4.2
network_mode: host
container_name: lightbar-driver
volumes_from:
@@ -102,7 +102,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=lightbar_driver'
cohda_dsrc_driver:
- image: usdotfhwastoldev/carma-cohda-dsrc-driver:carma-system-4.4.2
+ image: usdotfhwastol/carma-cohda-dsrc-driver:carma-system-4.4.2
container_name: carma-cohda-dsrc-driver
network_mode: host
volumes_from:
@@ -116,7 +116,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=dsrc_driver'
ssc_controller_driver:
- image: usdotfhwastoldev/carma-ssc-interface-wrapper:carma-system-4.4.2
+ image: usdotfhwastol/carma-ssc-interface-wrapper:carma-system-4.4.2
container_name: ssc_controller_driver
network_mode: host
privileged: true # Grant access to kvaser
@@ -132,7 +132,7 @@ services:
command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=ssc_interface_wrapper_ros2'
novatel_gnss_imu_driver:
- image: usdotfhwastoldev/carma-novatel-oem7-driver-wrapper:carma-system-4.4.2
+ image: usdotfhwastol/carma-novatel-oem7-driver-wrapper:carma-system-4.4.2
container_name: carma-novatel-oem7-driver-wrapper
network_mode: host
volumes_from:
@@ -146,7 +146,7 @@ services:
command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/drivers.launch.py drivers:=carma_novatel_driver_wrapper'
velodyne_lidar_driver:
- image: usdotfhwastoldev/carma-velodyne-lidar-driver:carma-system-4.4.2
+ image: usdotfhwastol/carma-velodyne-lidar-driver:carma-system-4.4.2
container_name: velodyne-lidar-driver
network_mode: host
volumes_from:
diff --git a/traxxas_slash_4x4_platinum_2012/docker-compose.yml b/traxxas_slash_4x4_platinum_2012/docker-compose.yml
index e7009b16..f1944d63 100644
--- a/traxxas_slash_4x4_platinum_2012/docker-compose.yml
+++ b/traxxas_slash_4x4_platinum_2012/docker-compose.yml
@@ -16,7 +16,7 @@ version: '2'
services:
roscore:
- image: usdotfhwastoldev/carma-base:noetic-f1tenth-develop
+ image: usdotfhwastol/carma-base:noetic-f1tenth-develop
network_mode: host
container_name: roscore
runtime: nvidia
@@ -31,7 +31,7 @@ services:
command: roscore
platform:
- image: usdotfhwastoldev/carma-platform:noetic-f1tenth-develop
+ image: usdotfhwastol/carma-platform:noetic-f1tenth-develop
network_mode: host
container_name: platform
runtime: nvidia
@@ -50,7 +50,7 @@ services:
command: bash -c 'wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/carma_docker.launch'
platform_ros2:
- image: usdotfhwastoldev/carma-platform:carma-system-4.4.2
+ image: usdotfhwastol/carma-platform:carma-system-4.4.2
network_mode: host
container_name: platform_ros2
volumes_from:
@@ -65,7 +65,7 @@ services:
command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma_docker.launch.py'
ros1_bridge:
- image: usdotfhwastoldev/carma-msgs:carma-system-4.4.2
+ image: usdotfhwastol/carma-msgs:carma-system-4.4.2
network_mode: host
container_name: ros1_bridge
volumes_from:
@@ -83,7 +83,7 @@ services:
command: bash -c 'source ~/.base-image/workspace/install/setup.bash && ros2 run ros1_bridge dynamic_bridge'
c1t-vesc-driver:
- image: usdotfhwastoldev/c1t-vesc-driver:noetic-f1tenth-develop
+ image: usdotfhwastol/c1t-vesc-driver:noetic-f1tenth-develop
network_mode: host
container_name: c1t-vesc-driver
runtime: nvidia
@@ -99,7 +99,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=c1t_vesc_driver'
c1t-razor-imu-m0-driver:
- image: usdotfhwastoldev/c1t-razor-imu-m0-driver:noetic-f1tenth-develop
+ image: usdotfhwastol/c1t-razor-imu-m0-driver:noetic-f1tenth-develop
network_mode: host
container_name: c1t-razor-imu-m0-driver
runtime: nvidia
@@ -115,7 +115,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=c1t_razor_imu_m0_driver'
c1t-rplidar-driver:
- image: usdotfhwastoldev/c1t-rplidar-driver:noetic-f1tenth-develop
+ image: usdotfhwastol/c1t-rplidar-driver:noetic-f1tenth-develop
network_mode: host
container_name: c1t-rplidar-driver
runtime: nvidia
@@ -131,7 +131,7 @@ services:
command: bash -c 'export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=c1t_rplidar_driver'
c1t-zed-driver:
- image: usdotfhwastoldev/c1t-zed-driver:noetic-f1tenth-develop
+ image: usdotfhwastol/c1t-zed-driver:noetic-f1tenth-develop
network_mode: host
container_name: c1t-zed-driver
runtime: nvidia