ARC 162 CARMA Messenger Core in ROS2 Humble (#238)

# PR Details ## Description This PR contains changes needed to have carma-messenger-core build with ROS2 humble. ## Related GitHub Issue NA ## Related Jira Key [ARC-162](https://usdot-carma.atlassian.net/browse/ARC-162) ## Motivation and Context Towards ROS2 Humble migration ## How Has This Been Tested? Build tested locally and confirmed to work with CI changes. CARMA Messenger starts up as expected when using the `carma-messenger-config/develop` configuration. ## Types of changes - [ ] Defect fix (non-breaking change that fixes an issue) - [ ] New feature (non-breaking change that adds functionality) - [x] 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**](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/Contributing.md) document. - [ ] I have added tests to cover my changes. - [x] All new and existing tests passed. [ARC-162]: https://usdot-carma.atlassian.net/browse/ARC-162?atlOrigin=eyJpIjoiNWRkNTljNzYxNjVmNDY3MDlhMDU5Y2ZhYzA5YTRkZjUiLCJwIjoiZ2l0aHViLWNvbS1KU1cifQ
usdot-fhwa-stol · Nov 1, 2024 · 481c0e6 · 481c0e6
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diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -5,6 +5,7 @@ on:
   push:
     branches: 
       - develop
+      - develop-humble
       - master
       - "release/*"
 jobs:
@@ -27,7 +28,7 @@ jobs:
       image: ${{ needs.determine_docker_org_and_tag.outputs.docker_organization }}/carma-base:${{ needs.determine_docker_org_and_tag.outputs.docker_image_tag }}
       env:
         INIT_ENV: "/home/carma/.base-image/init-env.sh"
-        ROS_2_ENV: "/opt/ros/foxy/setup.bash"
+        ROS_2_ENV: "/opt/ros/humble/setup.bash"
         TERM: xterm
       options: "--user root"
     steps:
@@ -49,26 +50,6 @@ jobs:
     - name: Checkout dependencies
       run: |
         ./src/${{ github.event.repository.name }}/carma-messenger-core/docker/checkout.bash -r /opt/carma/ -b ${{ steps.determine-base-branch.outputs.git_branch }}
-    - name: Build Ros1
-      run: |
-        source "$INIT_ENV"
-        PACKAGES=$(find . -maxdepth 2 -type f -name package.xml | sed 's/\.\///' | cut -d/ -f1)
-        sed -i '/colcon build/ s/$/ --parallel-workers 4 --packages-up-to $PACKAGES/' /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
-        make_with_coverage.bash -m -e /opt/carma/ -o ./coverage_reports/gcov
-    - name: Run Ros1 C++ Tests
-      continue-on-error: true
-      run: |
-        source "$INIT_ENV"
-        sed -i '/colcon test/ s/$/ --parallel-workers 4 --packages-above $PACKAGES/' /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
-        make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov
-    - name: Backup ROS1 compile_commands.json
-      run: |
-        mv /opt/carma/build/compile_commands.json /opt/carma/compile_commands.ros1.json        
-    - name: Cleanup before ROS 2 build
-      # Clear the build and install folders before building ROS 2 
-      run: |
-        rm -rf /opt/carma/install
-        rm -rf /opt/carma/build                   
     - name: Build Ros2
       run: |
         source "$INIT_ENV"
@@ -83,11 +64,6 @@ jobs:
         source "$ROS_2_ENV"
         sed -i '/colcon test/ s/$/ --parallel-workers 4 --packages-above $PACKAGES/' /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
         make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov    
-    - name: Combine ROS1 and ROS2 compile_commands.json files
-      continue-on-error: true
-      run: |
-        mv /opt/carma/build/compile_commands.json /opt/carma/compile_commands.ros2.json
-        jq -s add /opt/carma/compile_commands.ros1.json /opt/carma/compile_commands.ros2.json > /opt/carma/build/compile_commands.json             
     - name: Run SonarScanner
       uses: usdot-fhwa-stol/actions/sonar-scanner@main
       with:

diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
@@ -3,7 +3,16 @@ on:
   pull_request:
     types: [opened, synchronize, reopened]
 jobs:
+  determine_docker_org_and_tag:
+    runs-on: ubuntu-latest
+    outputs:
+      docker_organization: ${{ steps.docker-org-and-tag.outputs.docker_organization }}
+      docker_image_tag: ${{ steps.docker-org-and-tag.outputs.docker_image_tag }}
+    steps:
+      - id: docker-org-and-tag
+        uses: usdot-fhwa-stol/actions/docker-org-and-tag@main
   build:
+    needs: determine_docker_org_and_tag
     runs-on: ubuntu-latest
     steps:
       - name: Checkout
@@ -24,7 +33,9 @@ jobs:
         with:
           context: ./carma-messenger-core/
           build-args: |
-            BRANCH=${{  github.base_ref }}     
+            GIT_BRANCH=${{  github.base_ref }}     
+            DOCKER_TAG=${{ needs.determine_docker_org_and_tag.outputs.docker_image_tag }}
+            DOCKER_ORG=${{ needs.determine_docker_org_and_tag.outputs.docker_organization }}
       - name: Build and Push chevrolet_tahoe_2018 Docker Image
         uses: docker/build-push-action@v5
         with:

diff --git a/.github/workflows/dockerhub.yml b/.github/workflows/dockerhub.yml
@@ -3,6 +3,7 @@ on:
   push:
     branches:
       - develop
+      - develop-humble
       - master
       - "release/*"
     tags:

diff --git a/README.md b/README.md
@@ -33,7 +33,7 @@ Additional documentation can be found on the [Doxygen Source Code Documentation
 
 ## System Configuration and Installation
 
-The carma-messenger system is meant to be run using docker. The configuration of carma-messanger is similar, though not identical, to configuring the CARMA Platform following the process described in the document [CARMA Platform Detailed Design - Parameter and Launch Standards for Different Vehicle Configurations.docx](https://usdot-carma.atlassian.net/wiki/spaces/CRMPLT/pages/196182019/CARMA3+Detailed+Design+Documentation). At the moment, the user does not need to configure any folders on the host vehicle except ensuring that the logging directories ```/opt/carma/logs``` and ```/opt/carma/.ros``` exist and are writeable. In addition, the user should utilize the [carma script](https://github.com/usdot-fhwa-stol/CARMAPlatform/blob/master/engineering_tools/carma) and [__carma_autocomplete file](https://github.com/usdot-fhwa-stol/CARMAPlatform/blob/master/engineering_tools/__carma_autocomplete) to launch and manage the system. The carma script can be placed under ```/usr/bin``` and the autocomplete file under ```/etc/bash_completion.d/``` (Ubuntu 16.04). 
+The carma-messenger system is meant to be run using docker. The configuration of carma-messanger is similar, though not identical, to configuring the CARMA Platform following the process described in the document [CARMA Platform Detailed Design - Parameter and Launch Standards for Different Vehicle Configurations.docx](https://usdot-carma.atlassian.net/wiki/spaces/CRMPLT/pages/196182019/CARMA3+Detailed+Design+Documentation). At the moment, the user does not need to configure any folders on the host vehicle except ensuring that the logging directories ```/opt/carma/logs``` and ```/opt/carma/.ros``` exist and are writeable. In addition, the user should utilize the [carma script](https://github.com/usdot-fhwa-stol/CARMAPlatform/blob/master/engineering_tools/carma) and [__carma_autocomplete file](https://github.com/usdot-fhwa-stol/CARMAPlatform/blob/master/engineering_tools/__carma_autocomplete) to launch and manage the system. The carma script can be placed under ```/usr/bin``` and the autocomplete file under ```/etc/bash_completion.d/```. 
 
 ```
 sudo curl -o /usr/bin/carma -L https://raw.githubusercontent.com/usdot-fhwa-stol/carma-platform/develop/engineering_tools/carma

diff --git a/carma-messenger-config/chevrolet_tahoe_2018/bridge.yml b/carma-messenger-config/chevrolet_tahoe_2018/bridge.yml
diff --git a/carma-messenger-config/chevrolet_tahoe_2018/carma-messenger-docker.launch b/carma-messenger-config/chevrolet_tahoe_2018/carma-messenger-docker.launch
diff --git a/carma-messenger-config/chevrolet_tahoe_2018/docker-compose.yml b/carma-messenger-config/chevrolet_tahoe_2018/docker-compose.yml
@@ -14,47 +14,6 @@
 
 # Docker Compose Spec Version
 services:
-  roscore:
-    image: ${DOCKER_ORG}/carma-base:${DOCKER_TAG}
-    network_mode: host
-    container_name: roscore
-    volumes_from:
-      - container:carma-config:ro
-    environment:
-      - ROS_IP=192.168.0.51
-    volumes:
-      - /opt/carma/.ros:/opt/carma/.ros
-    restart: always
-    command: roscore
-
-  ros1_bridge:
-    image: ${DOCKER_ORG}/carma-msgs:${DOCKER_TAG}
-    network_mode: host
-    container_name: ros1_bridge
-    volumes_from:
-      - container:carma-config:ro
-    environment:
-      - ROS_IP=192.168.0.51
-      - ROS_MASTER_URI=http://localhost:11311
-    volumes:
-      - /opt/carma/logs:/opt/carma/logs
-      - /opt/carma/.ros:/home/carma/.ros
-    # Use the dynamic_bridge instead of the parameter bridge as the number of topics is small enough to pose less of a latency issue
-    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'
-
-  messenger:
-    image: ${DOCKER_ORG}/carma-messenger-core:${DOCKER_TAG}
-    network_mode: host
-    container_name: carma-messenger-core
-    volumes_from:
-      - container:carma-config:ro
-    environment:
-      - ROS_IP=192.168.0.51
-    volumes:
-      - /opt/carma/logs:/opt/carma/logs
-      - /opt/carma/.ros:/opt/carma/.ros
-    command: wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/carma-messenger-docker.launch
-
   messenger_ros2:
     image: ${DOCKER_ORG}/carma-messenger-core:${DOCKER_TAG}
     network_mode: host
@@ -68,7 +27,7 @@ services:
       - /opt/carma/.ros:/home/carma/.ros
       - /opt/carma/routes:/opt/carma/routes
       - /opt/carma/vehicle:/opt/carma/vehicle
-    command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma-messenger-docker.launch.py'
+    command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/carma-messenger-docker.launch.py'
 
   cohda_dsrc_driver:
     image: ${DOCKER_ORG}/carma-cohda-dsrc-driver:${DOCKER_TAG}

diff --git a/carma-messenger-config/development/bridge.yml b/carma-messenger-config/development/bridge.yml
diff --git a/carma-messenger-config/development/carma-messenger-docker.launch b/carma-messenger-config/development/carma-messenger-docker.launch
diff --git a/carma-messenger-config/development/carma-messenger-docker.launch.py b/carma-messenger-config/development/carma-messenger-docker.launch.py
@@ -23,6 +23,13 @@ def generate_launch_description():
     """
     Launch CARMA Messenger System.
     """
+    # Declare record rosbag launch argument
+    use_rosbag = LaunchConfiguration('use_rosbag')
+    declare_use_rosbag = DeclareLaunchArgument(
+        name = 'use_rosbag',
+        default_value = 'true',
+        description = "Record a ROS2 bag"
+    )
 
     # Declare the route file folder launch argument
     route_file_folder = LaunchConfiguration('route_file_folder')
@@ -36,11 +43,13 @@ def generate_launch_description():
     core_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource([ get_package_share_directory('carma-messenger'), '/launch/carma-messenger.launch.py']),
         launch_arguments = {
-            'route_file_folder' : route_file_folder
+            'route_file_folder' : route_file_folder,
+            'use_rosbag' : use_rosbag,
         }.items()
     )
 
     return LaunchDescription([
+        declare_use_rosbag,
         declare_route_file_folder,
         core_launch
     ])
diff --git a/carma-messenger-config/development/docker-compose.yml b/carma-messenger-config/development/docker-compose.yml
@@ -14,43 +14,6 @@
 
 # Docker Compose Spec Version
 services:
-  roscore:
-    image: ${DOCKER_ORG}/carma-base:${DOCKER_TAG}
-    network_mode: host
-    container_name: roscore
-    volumes_from:
-      - container:carma-config:ro
-    volumes:
-      - /opt/carma/.ros:/opt/carma/.ros
-    restart: always
-    command: roscore
-
-  ros1_bridge:
-    image: ${DOCKER_ORG}/carma-msgs:${DOCKER_TAG}
-    network_mode: host
-    container_name: ros1_bridge
-    volumes_from:
-      - container:carma-config:ro
-    environment:
-      - ROS_MASTER_URI=http://localhost:11311
-    volumes:
-      - /opt/carma/logs:/opt/carma/logs
-      - /opt/carma/.ros:/home/carma/.ros
-    # Use the dynamic_bridge instead of the parameter bridge as the number of topics is small enough to pose less of a latency issue
-    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'
-
-  messenger:
-    image: ${DOCKER_ORG}/carma-messenger-core:${DOCKER_TAG}
-    network_mode: host
-    container_name: carma-messenger-core
-    volumes_from:
-      - container:carma-config:ro
-    volumes:
-      - /opt/carma/logs:/opt/carma/logs
-      - /opt/carma/.ros:/opt/carma/.ros
-      - /opt/carma/vehicle:/opt/carma/vehicle
-    command: wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/carma-messenger-docker.launch
-
   messenger_ros2:
     image: ${DOCKER_ORG}/carma-messenger-core:${DOCKER_TAG}
     network_mode: host
@@ -62,7 +25,7 @@ services:
       - /opt/carma/.ros:/home/carma/.ros
       - /opt/carma/routes:/opt/carma/routes
       - /opt/carma/vehicle:/opt/carma/vehicle
-    command: bash -c 'source /opt/carma/install_ros2/setup.bash && ros2 launch /opt/carma/vehicle/config/carma-messenger-docker.launch.py'
+    command: bash -c 'source /opt/carma/install/setup.bash && ros2 launch /opt/carma/vehicle/config/carma-messenger-docker.launch.py'
 
   cohda_dsrc_driver:
     image: ${DOCKER_ORG}/carma-cohda-dsrc-driver:${DOCKER_TAG}

diff --git a/carma-messenger-core/Dockerfile b/carma-messenger-core/Dockerfile
@@ -40,9 +40,7 @@ LABEL org.label-schema.vcs-ref=${VCS_REF}
 LABEL org.label-schema.build-date=${BUILD_DATE}
 
 COPY --from=setup /opt/carma/install /opt/carma/install
-COPY --from=setup /opt/carma/install_ros2 /opt/carma/install_ros2
-RUN sudo chmod -R +x /opt/carma/install
 
 RUN pip install future
 
-CMD  [ "wait-for-it.sh", "localhost:11311", "--", "roslaunch", "carma-messenger", "carma-messenger.launch"]
+CMD  [ "source", "/opt/carma/install/setup.bash", "&&", "ros2", "launch", "carma-messenger", "carma-messenger.launch.py"]
-Original file line number
+Diff line change
@@ Expand Up / @@ -3,6 +3,7 @@ on: @@
       push:
         branches:
           - develop
+          - develop-humble
           - master
           - "release/*"
         tags:
@@ Expand Down @@