Merge release/miura (4.6.0) branch into master (#377)

usdot-fhwa-stol · Aug 15, 2024 · 6ccd891 · 6ccd891
2 parents 5b9f847 + 2dff6da
commit 6ccd891
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diff --git a/.gitignore b/.gitignore
@@ -1,2 +1 @@
-#docker-compose env variables
-.env
+
diff --git a/ail_vru_uc1_scenario/.env b/ail_vru_uc1_scenario/.env
@@ -0,0 +1,3 @@
+DOCKER_ORG=usdotfhwastol
+DOCKER_TAG=carma-system-4.5.0
+OPS_DOCKER_TAG=7.6.0
diff --git a/ail_vru_uc1_scenario/docker-compose.yml b/ail_vru_uc1_scenario/docker-compose.yml
@@ -2,7 +2,7 @@ version: "2"
 services:
   carma-simulation:
     privileged: true
-    image: usdotfhwastol/cdasim:carma-system-4.5.0
+    image: ${DOCKER_ORG}/cdasim:${DOCKER_TAG}
     networks:
       carma_sim_net:
         ipv4_address: 172.2.0.2
@@ -24,7 +24,7 @@ services:
 
   ## carma_1 vehicle
   roscore_1:
-    image: usdotfhwastol/carma-base:carma-system-4.5.0
+    image: ${DOCKER_ORG}/carma-base:${DOCKER_TAG}
     networks:
       carma_net_1:
         ipv4_address: 172.3.0.2
@@ -41,7 +41,7 @@ services:
     command: roscore
 
   platform_1:
-    image: usdotfhwastol/carma-platform:carma-system-4.5.0
+    image: ${DOCKER_ORG}/carma-platform:${DOCKER_TAG}
     networks:
       carma_net_1:
         ipv4_address: 172.3.0.3
@@ -65,7 +65,7 @@ services:
       && 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-4.5.0
+    image: ${DOCKER_ORG}/carma-platform:${DOCKER_TAG}
     networks:
       carma_net_1:
         ipv4_address: 172.3.0.4
@@ -89,7 +89,7 @@ services:
       && ros2 launch /opt/carma/vehicle/config/carma_docker.launch.py'
 
   ros1_bridge_1:
-    image: usdotfhwastol/carma-msgs:carma-system-4.5.0
+    image: ${DOCKER_ORG}/carma-msgs:${DOCKER_TAG}
     networks:
       carma_net_1:
         ipv4_address: 172.3.0.5
@@ -113,7 +113,7 @@ services:
       && ros2 run ros1_bridge dynamic_bridge --multi-threads'
 
   carma-carla-integration_1:
-    image: usdotfhwastol/carma-carla-integration:carma-system-4.5.0
+    image: ${DOCKER_ORG}/carma-carla-integration:${DOCKER_TAG}
     networks:
       carma_net_1:
         ipv4_address: 172.3.0.6
@@ -146,7 +146,7 @@ services:
       spawn_point:=${VEHICLE_SPAWN_POINT}"
 
   ns3_adapter_1:
-    image: usdotfhwastol/carma-ns3-adapter:carma-system-4.5.0
+    image: ${DOCKER_ORG}/carma-ns3-adapter:${DOCKER_TAG}
     networks:
       carma_net_1:
         ipv4_address: 172.3.0.7
@@ -256,7 +256,7 @@ services:
       - ./mysql:/docker-entrypoint-initdb.d
 
   php:
-    image: usdotfhwaops/php:7.6.0
+    image: usdotfhwaops/php:${OPS_DOCKER_TAG}
     container_name: php
     network_mode: service:db
     depends_on:
@@ -265,7 +265,7 @@ services:
     tty: true
 
   v2xhub:
-    image: usdotfhwaops/v2xhubamd:7.6.0
+    image: usdotfhwaops/v2xhubamd:${OPS_DOCKER_TAG}
     container_name: v2xhub
     network_mode: service:db
     restart: always
@@ -291,7 +291,7 @@ services:
       - ./sensor_configurations:/home/V2X-Hub/sensor_configurations/
 
   intersection_model:
-    image: usdotfhwastol/intersection_model:carma-system-4.5.0
+    image: ${DOCKER_ORG}/intersection_model:${DOCKER_TAG}
     container_name: intersection_model
     restart: always
     network_mode: service:zookeeper
@@ -306,7 +306,7 @@ services:
       - ./MAP:/home/carma-streets/intersection_model/MAP
 
   carla-sensor-lib:
-    image: usdotfhwastol/carla-sensor-lib:carma-system-4.5.0
+    image: ${DOCKER_ORG}/carla-sensor-lib:${DOCKER_TAG}
     networks:
       carma_sim_net:
         ipv4_address: 172.2.0.5
@@ -322,7 +322,7 @@ services:
       python3 -u /home/CarlaCDASimAdapter/src/CarlaCDASimAdapter.py --carla-host 172.2.0.2 --xmlrpc-server-host 172.2.0.5  --sensor-config-file ./config/simulated_sensor_config.yaml --noise-model-config-file ./config/noise_model_config.yaml"
 
   tsc_service:
-    image: usdotfhwastol/tsc_service:carma-system-4.5.0
+    image: ${DOCKER_ORG}/tsc_service:${DOCKER_TAG}
     container_name: tsc_service
     restart: always
     network_mode: service:zookeeper
@@ -351,7 +351,7 @@ services:
       sh -c "/wait
       && /home/carma-streets/tsc_client_service/build/traffic_signal_controller_service"
   sensor_data_sharing_service:
-    image: usdotfhwastol/sensor_data_sharing_service:carma-system-4.5.0
+    image: ${DOCKER_ORG}/sensor_data_sharing_service:${DOCKER_TAG}
     build:
       context: .
       dockerfile: sensor_data_sharing_service/Dockerfile
@@ -377,7 +377,7 @@ services:
       - /etc/localtime:/etc/localtime:ro
       - /etc/timezone:/etc/timezone:ro
   econolite-virtual-controller:
-    image: usdotfhwastol/econolite-virtual-controller:carma-system-4.5.0
+    image: ${DOCKER_ORG}/econolite-virtual-controller:${DOCKER_TAG}
     container_name: evc
     restart: always
     networks:
@@ -399,7 +399,7 @@ services:
       --traci-ip 172.2.0.2"
 
   scenario-runner:
-    image: usdotfhwastol/scenario-runner:carma-system-4.5.0
+    image: ${DOCKER_ORG}/scenario-runner:${DOCKER_TAG}
     container_name: scenario-runner
     networks:
       - carma_sim_net

diff --git a/carla_ground_truth_integration/.env b/carla_ground_truth_integration/.env
@@ -0,0 +1,2 @@
+DOCKER_ORG=usdotfhwastol
+DOCKER_TAG=carma-system-4.5.0
diff --git a/carla_ground_truth_integration/docker-compose-background.yml b/carla_ground_truth_integration/docker-compose-background.yml
@@ -17,7 +17,7 @@ version: '2'
 
 services:
   web-ui:
-    image: usdotfhwastol/carma-web-ui:carma-system-4.5.0
+    image: ${DOCKER_ORG}/carma-web-ui:${DOCKER_TAG}
     network_mode: host
     container_name: web-ui
     environment:

diff --git a/carla_ground_truth_integration/docker-compose.yml b/carla_ground_truth_integration/docker-compose.yml
@@ -17,7 +17,7 @@ version: '2'
 
 services:
   roscore:
-    image: usdotfhwastol/carma-base:carma-system-4.5.0
+    image: ${DOCKER_ORG}/carma-base:${DOCKER_TAG}
     network_mode: host
     container_name: roscore
     volumes_from:
@@ -31,7 +31,7 @@ services:
     command: roscore
 
   platform:
-    image: usdotfhwastol/carma-platform:carma-system-4.5.0
+    image: ${DOCKER_ORG}/carma-platform:${DOCKER_TAG}
     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 simulation_mode:="true" '
 
   platform_ros2:
-    image: usdotfhwastol/carma-platform:carma-system-4.5.0
+    image: ${DOCKER_ORG}/carma-platform:${DOCKER_TAG}
     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-4.5.0
+    image: ${DOCKER_ORG}/carma-msgs:${DOCKER_TAG}
     network_mode: host
     container_name: ros1_bridge
     volumes_from:

diff --git a/chrysler_pacifica_ehybrid_s_2019/.env b/chrysler_pacifica_ehybrid_s_2019/.env
@@ -0,0 +1,2 @@
+DOCKER_ORG=usdotfhwastol
+DOCKER_TAG=carma-system-4.5.0
diff --git a/chrysler_pacifica_ehybrid_s_2019/VehicleConfigParams.yaml b/chrysler_pacifica_ehybrid_s_2019/VehicleConfigParams.yaml
@@ -97,9 +97,10 @@ vehicle_participant_type: "vehicle:car"
 
 
 
-# Parameter to enable configurable speed limit
+# Maximum speed of the vehicle while engaged
 # Value type: Desired
-config_speed_limit: 45.0
+# Units: mph
+config_speed_limit: 15.0
 
 # Parameters to enable either ROS 1 or ROS 2 (or both) rosbag logging
 use_ros1_rosbag: true
@@ -234,4 +235,4 @@ excluded_camera_topics:
 exclude_can: false
 excluded_can_topics:
   - /hardware_interface/ds_fusion/can_bus_dbw/can_rx
-  - /hardware_interface/ds_fusion/can_bus_dbw/can_tx
+  - /hardware_interface/ds_fusion/can_bus_dbw/can_tx
diff --git 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-4.5.0
+    image: ${DOCKER_ORG}/carma-web-ui:${DOCKER_TAG}
     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
@@ -17,7 +17,7 @@ version: '2'
 
 services:
   roscore:
-    image: usdotfhwastol/carma-base:carma-system-4.5.0
+    image: ${DOCKER_ORG}/carma-base:${DOCKER_TAG}
     network_mode: host
     container_name: roscore
     volumes_from:
@@ -31,7 +31,7 @@ services:
     command: roscore
 
   platform:
-    image: usdotfhwastol/carma-platform:carma-system-4.5.0
+    image: ${DOCKER_ORG}/carma-platform:${DOCKER_TAG}
     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-4.5.0
+    image: ${DOCKER_ORG}/carma-platform:${DOCKER_TAG}
     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-4.5.0
+    image: ${DOCKER_ORG}/carma-msgs:${DOCKER_TAG}
     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-4.5.0
+    image: ${DOCKER_ORG}/carma-lightbar-driver:${DOCKER_TAG}
     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-4.5.0
+    image: ${DOCKER_ORG}/carma-cohda-dsrc-driver:${DOCKER_TAG}
     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-4.5.0
+    image: ${DOCKER_ORG}/carma-ssc-interface-wrapper:${DOCKER_TAG}
     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-4.5.0
+    image: ${DOCKER_ORG}/carma-novatel-oem7-driver-wrapper:${DOCKER_TAG}
     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-4.5.0
+    image: ${DOCKER_ORG}/carma-velodyne-lidar-driver:${DOCKER_TAG}
     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-4.5.0
+    image: ${DOCKER_ORG}/carma-platform:${DOCKER_TAG}
     network_mode: host
     container_name: carma-mock-camera-driver
     volumes_from: 

diff --git a/development/.env b/development/.env
@@ -0,0 +1,2 @@
+DOCKER_ORG=usdotfhwastol
+DOCKER_TAG=carma-system-4.5.0
diff --git 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-4.5.0
+    image: ${DOCKER_ORG}/carma-web-ui:${DOCKER_TAG}
     network_mode: host
     container_name: carma-web-ui
     environment:
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		DOCKER_ORG=usdotfhwastol
		DOCKER_TAG=carma-system-4.5.0