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/
When ported to ROS2 in carma-torc-pinpoint-driver#46, the CARMA Torc Pinpoint Driver namespace was changed to /hardware_interface to match the rest of the CARMA drivers. This same change is needed in CARMA Messenger to connect with the Pinpoint Driver.
How Has This Been Tested?
Tested on the Chevrolet Tahoe. Testing included:
Adding the above changes into the necessary docker images.
Running CARMA Messenger
Checked that CARMA Messenger subscribed to the correct topics (/hardware_interface/gps_common_fix and /hardware_interface/velocity)
Verified that the GPS coordinates showed up in the CARMA messenger web UI
Types of changes
[x] Defect fix (non-breaking change that fixes an issue)
[ ] 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 fixes the topic remapping for the pinpoint sensor, changing it from
/positionto/hardware_interface.Related GitHub Issue
NA
Related Jira Key
CAR-6063
Motivation and Context
When ported to ROS2 in carma-torc-pinpoint-driver#46, the CARMA Torc Pinpoint Driver namespace was changed to
/hardware_interfaceto match the rest of the CARMA drivers. This same change is needed in CARMA Messenger to connect with the Pinpoint Driver.How Has This Been Tested?
Tested on the Chevrolet Tahoe. Testing included:
/hardware_interface/gps_common_fixand/hardware_interface/velocity)Types of changes
Checklist: