CARMA Messenger will be a scaled down version of CARMA Platform for a non-automated vehicle to participate in Cooperative Driving Automation (CDA). Doxygen Source Code Documentation: https://usdot-fhwa-stol.github.io/documentation/carma-messenger/
This PR migrates the ROS Bridge used in the CARMA Messenger Web UI to the ROS2 version. Additional modifications were made to the Web UI to ensure that it now receives ROS2 messages.
The rosbridge package (which enables communication between the UI and the ROS System) was upgraded from ROS 1 Noetic to ROS 2 Foxy for carma-platform, but was never upgraded for carma-messenger. The goal of this story is to complete that upgrade for carma-messenger.
How Has This Been Tested?
A local integration test was conducted to verify that the Web UI still functions as expected when launching CARMA Messenger. The docker containers were inspected to ensure that only the ROS2 version of the ROS bridge is launched and that messages published in ROS2 by the UI were received in the ROS1 container.
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.
PR Details
Description
This PR migrates the ROS Bridge used in the CARMA Messenger Web UI to the ROS2 version. Additional modifications were made to the Web UI to ensure that it now receives ROS2 messages.
Related Jira Key
CAR-5924
Motivation and Context
The rosbridge package (which enables communication between the UI and the ROS System) was upgraded from ROS 1 Noetic to ROS 2 Foxy for carma-platform, but was never upgraded for carma-messenger. The goal of this story is to complete that upgrade for carma-messenger.
How Has This Been Tested?
A local integration test was conducted to verify that the Web UI still functions as expected when launching CARMA Messenger. The docker containers were inspected to ensure that only the ROS2 version of the ROS bridge is launched and that messages published in ROS2 by the UI were received in the ROS1 container.
Types of changes
Checklist: