Call for Volunteers - ROS Node Configuration

[kaspermeck-arm]

Background

In the Open AD Kit WG, we recently came to consensus on the structure of how ROS nodes should be configured. We're now asking for volunteers to help us implement and upstream these changes!

The 4th phase is the last phase in a DevOps Dojo, which focuses on integration of the new solution. See autowarefoundation/autoware.universe#2652 for more details.

Instructions

You help by choosing a ROS node in the Universe/Core repo and make changes according to the new coding guidelines. Once the ROS node(s) have been allocated to you, you can start making changes and follow the normal procedure of upstreaming code.

See DevOps Dojo: ROS Node Configuration - Step by Step Instructions for detailed instructions.

Necessary skills:

• C/C++
• Familiarity with Autoware and ROS
• JSON Schema
• YAML
• Create GitHub PR

If you don't have these skills, don't worry! An important part of the DevOps Dojo work is continuous learning, we're here to assist you!

Contact

If you want to participate, need access, have questions, etc, please reach out to:

• @kaspermeck-arm, kaspermeckarm (Discord)
• @oguzkaganozt, oguzkaganozt (Discord)
• @HamburgDave, davidw1069 (Discord)

We appreciate your interest and participation!

[HamburgDave]

Here are some updated instructions from Kasper, wonderful to see people are starting to fill in the spreadsheet and take on some nodes. Anyone modifying nodes also please feel free to join an OADKit WG call and say hello. Your contributions are highly appreciated.
https://docs.google.com/document/d/10DQezFZ0XAjO2S0IG_6O36p1WhZI7be68QRhNirzdac/edit#heading=h.z8xipsmunki6

[yuntianyi-chen]

I have a thought with regard to the package building.

Let's take the node costmap_generator for example. It seems like the /config directory under the /autoware/src/universe/autoware.universe/planning/costmap_generator directory was not copied to the install-for-sharing directory (/autoware/install/costmap_generator/share/costmap_generator) after we refactored and built the node.

I think it has something to do with the CMakeLists.txt file and we need to add the config directory to the ament_auto_package to achieve the sharing:

ament_auto_package(
        INSTALL_TO_SHARE
        launch
        config
)

Maybe it would be a good idea to write this into the guideline since some nodes only achieve the launch dir sharing but not the config dir.

[ambroise-arm]

Adding the config directory to INSTALL_TO_SHARE is indeed the correct way to do this. And it was simply not done for costmap_generator because it didn't have any config files. Adding it to the guideline sounds like a good idea.

[kaspermeck-arm]

@yuntianyi-chen @ambroise-arm - are you suggesting to add a section called CMakeList after the JSON Schema section with this additional information?

[yuntianyi-chen]

Yes, I suggest adding a section in the guideline about this CMakeList thing.

[raminterpl]

@BonoloAWF @xmfcx : Kindly provide access to push code to main branch below ids
git hub id: karishma1911
git hub id : santosh-sanku

[BonoloAWF]

Done. Don't forget to update the spreadsheet as well, once the changes are accepted.