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/
Entered the messenger_ros2 container using docker exec -it messenger_ros2 bash
Verified that /traffic_incident shows up when running ros2 node list
Verified that the state of /traffic_incident automatically switches to active using ros2 lifecycle get /traffic_incident
Open the CARMA Messenger GUI and started a traffic event broadcast in the event management plugin
a. Verified that the correct message starts publishing on /outgoing_mobility_operation
b. Verified that publishing stops after clicking "Stop Broadcast"
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
traffic_incidentpackage to ROS2.Related GitHub Issue
NA
Related Jira Key
CAR-5920
Motivation and Context
Migration to ROS2
How Has This Been Tested?
carma start allmessenger_ros2container usingdocker exec -it messenger_ros2 bash/traffic_incidentshows up when runningros2 node list/traffic_incidentautomatically switches toactiveusingros2 lifecycle get /traffic_incident/outgoing_mobility_operationb. Verified that publishing stops after clicking "Stop Broadcast"Types of changes
Checklist: