Merge branch 'develop' into feature/basic-travel-simulator

.sonarqube/sonar-scanner.properties

@@ -47,12 +47,10 @@ sonar.modules= bsm_generator, \
   carma_wm_ctrl, \
   roadway_objects, \
   platooning_strategic_IHP, \
-  mock_lightbar_driver, \
   platooning_tactical_plugin, \
   port_drayage_plugin, \
   mobilitypath_publisher, \
   platooning_control_plugin, \
-  rosbag_mock_drivers, \
   lightbar_manager, \
   inlanecruising_plugin, \
   stop_and_wait_plugin, \
@@ -76,7 +74,8 @@ sonar.modules= bsm_generator, \
   carma_cloud_client, \
   approaching_emergency_vehicle_plugin, \
   carma_cooperative_perception, \
-  trajectory_follower_wrapper
+  trajectory_follower_wrapper, \
+  mock_controller_driver
 
 guidance.sonar.projectBaseDir                  = /opt/carma/src/carma-platform/guidance
 bsm_generator.sonar.projectBaseDir             = /opt/carma/src/carma-platform/bsm_generator
@@ -96,9 +95,7 @@ platooning_strategic_IHP.sonar.projectBaseDir      = /opt/carma/src/carma-platfo
 platooning_tactical_plugin.sonar.projectBaseDir = /opt/carma/src/carma-platform/platooning_tactical_plugin
 platooning_control_plugin.sonar.projectBaseDir = /opt/carma/src/carma-platform/platooning_control
 mobilitypath_publisher.sonar.projectBaseDir = /opt/carma/src/carma-platform/mobilitypath_publisher
-mock_lightbar_driver.sonar.projectBaseDir = /opt/carma/src/carma-platform/mock_drivers/mock_lightbar_driver
 port_drayage_plugin.sonar.projectBaseDir = /opt/carma/src/carma-platform/port_drayage_plugin
-rosbag_mock_drivers.sonar.projectBaseDir = /opt/carma/src/carma-platform/mock_drivers/rosbag_mock_drivers
 lightbar_manager.sonar.projectBaseDir = /opt/carma/src/carma-platform/lightbar_manager
 inlanecruising_plugin.sonar.projectBaseDir = /opt/carma/src/carma-platform/inlanecruising_plugin
 stop_and_wait_plugin.sonar.projectBaseDir = /opt/carma/src/carma-platform/stop_and_wait_plugin
@@ -123,6 +120,7 @@ carma_cloud_client.sonar.projectBaseDir = /opt/carma/src/carma-platform/carma_cl
 approaching_emergency_vehicle_plugin.sonar.projectBaseDir = /opt/carma/src/carma-platform/approaching_emergency_vehicle_plugin
 carma_cooperative_perception.sonar.projectBaseDir = /opt/carma/src/carma-platform/carma_cooperative_perception
 trajectory_follower_wrapper.sonar.projectBaseDir = /opt/carma/src/carma-platform/trajectory_follower_wrapper
+mock_controller_driver.sonar.projectBaseDir = /opt/carma/src/carma-platform/mock_controller_driver
 
 # C++ Package differences
 # Sources
@@ -160,12 +158,8 @@ platooning_control_plugin.sonar.sources           = src
 platooning_control_plugin.sonar.exclusions  =test/**
 mobilitypath_publisher.sonar.sources           = src
 mobilitypath_publisher.sonar.exclusions  =test/**
-mock_lightbar_driver.sonar.sources      = src
-mock_lightbar_driver.sonar.exclusions  =test/**
 port_drayage_plugin.sonar.sources      = src
 port_drayage_plugin.sonar.exclusions  =test/**
-rosbag_mock_drivers.sonar.sources      = src
-rosbag_mock_drivers.sonar.exclusions  =test/**
 lightbar_manager.sonar.sources      = src
 lightbar_manager.sonar.exclusions  =test/**
 inlanecruising_plugin.sonar.sources      = src
@@ -214,6 +208,8 @@ carma_cooperative_perception.sonar.sources = src
 carma_cooperative_perception.sonar.exclusions = test/**
 trajectory_follower_wrapper.sonar.sources = src
 trajectory_follower_wrapper.sonar.exclusions = test/**
+mock_controller_driver.sonar.sources = src
+mock_controller_driver.sonar.exclusions = test/**
 
 # Tests
 # Note: For C++ setting this field does not cause test analysis to occur. It only allows the test source code to be evaluated.
@@ -232,9 +228,7 @@ platooning_strategic_IHP.sonar.tests    = test
 platooning_tactical_plugin.sonar.tests         = test
 platooning_control_plugin.sonar.tests         = test
 mobilitypath_publisher.sonar.tests         = test
-mock_lightbar_driver.sonar.tests    = test
 port_drayage_plugin.sonar.tests   = test
-rosbag_mock_drivers.sonar.tests   = test
 lightbar_manager.sonar.tests   = test
 inlanecruising_plugin.sonar.tests   = test
 stop_and_wait_plugin.sonar.tests   = test
@@ -260,3 +254,4 @@ carma_cloud_client.sonar.tests = test
 approaching_emergency_vehicle_plugin.sonar.tests = test
 carma_cooperative_perception.tests = test
 trajectory_follower_wrapper.tests = test
+mock_controller_driver.tests = test

carma/launch/drivers.launch.py

@@ -24,6 +24,7 @@
 from launch_ros.descriptions import ComposableNode
 from carma_ros2_utils.launch.get_log_level import GetLogLevel
 from carma_ros2_utils.launch.get_current_namespace import GetCurrentNamespace
+from launch.conditions import IfCondition
 import os
 
 
@@ -47,6 +48,7 @@ def generate_launch_description():
         description = "True if simulation mode is on"
     )
 
+
     env_log_levels = EnvironmentVariable('CARMA_ROS_LOGGING_CONFIG', default_value='{ "default_level" : "WARN" }')
 
     subsystem_controller_default_param_file = os.path.join(
@@ -107,5 +109,5 @@ def generate_launch_description():
         declare_vehicle_config_param_file_arg,
         declare_use_sim_time_arg,
         lightbar_manager_container,
-        subsystem_controller
-    ])
+        subsystem_controller,
+    ])

mock_controller_driver/CMakeLists.txt

@@ -0,0 +1,72 @@
+
+# Copyright (C) 2024 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.
+
+cmake_minimum_required(VERSION 3.5)
+project(mock_controller_driver)
+
+# Declare carma package and check ROS version
+find_package(carma_cmake_common REQUIRED)
+carma_check_ros_version(2)
+carma_package()
+
+## Find dependencies using ament auto
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+# Name build targets
+set(node_exec mock_controller_driver_node_exec)
+set(node_lib mock_controller_driver_node)
+
+# Includes
+include_directories(
+  include
+)
+
+# Build
+ament_auto_add_library(${node_lib} SHARED
+        src/mock_controller_driver_node.cpp
+)
+
+ament_auto_add_executable(${node_exec}
+        src/main.cpp
+)
+
+# Register component
+rclcpp_components_register_nodes(${node_lib} "mock_controller_driver::MockControllerDriver")
+
+# All locally created targets will need to be manually linked
+# ament auto will handle linking of external dependencies
+target_link_libraries(${node_exec}
+        ${node_lib}
+)
+
+# Testing
+if(BUILD_TESTING)
+
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies() # This populates the ${${PROJECT_NAME}_FOUND_TEST_DEPENDS} variable
+
+  ament_add_gtest(test_mock_controller_driver test/node_test.cpp)
+
+  ament_target_dependencies(test_mock_controller_driver ${${PROJECT_NAME}_FOUND_TEST_DEPENDS})
+
+  target_link_libraries(test_mock_controller_driver ${node_lib})
+
+endif()
+
+# Install
+ament_auto_package(
+        INSTALL_TO_SHARE launch
+)

mock_controller_driver/README.md

@@ -0,0 +1,3 @@
+# mock_controller_driver
+
+Mock controller driver replicates the controller driver behavior (for example returning engaged status) in local deployment.