Handle only ROS1 SSC in drivers and remove camera related logics

[MishkaMN]

PR Details

Description

Where it removes ros1_camera_drivers as they are not required anymore. This is because live vehicles don't have working camera setup and if we do support it in the future, they will most likely be in ROS2. That change triggered the overhaul of drivers_manager which was only meant for ROS1 drivers. Since only SSC is in ROS1, we decided to limit the usage of that logic to only ssc and limit extensibility so that future development is forced into ROS2 drivers if we decide to add.

NOTE: used clang-tidy for the auto format, so please turn on "hide whitespace change" for easier review Supporting PR: https://github.com/usdot-fhwa-stol/carma-config/pull/387

Related Issue

https://github.com/usdot-fhwa-stol/carma-platform/issues/2079

Related Jira Key

https://usdot-carma.atlassian.net/browse/CAR-6075

Motivation and Context

Migration to ROS2 foxy

How Has This Been Tested?

Local VM tested and verified that the all drivers ready status publishes to /system_alert Following config gets printed from the controller node:

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:

• [X] I have added any new packages to the sonar-scanner.properties file
• [ ] My change requires a change to the documentation.
• [X] I have updated the documentation accordingly.
• [X] I have read the CONTRIBUTING document. CARMA Contributing Guide
• [X] I have added tests to cover my changes.
• [X] All new and existing tests passed.

[sonarcloud[bot]]

Quality Gate failed

Failed conditions
43.04% Line Coverage on New Code (required ≥ 80%)

See analysis details on SonarCloud

[MishkaMN]

Actually decided not to increase the unit test level because all of the uncovered lines come from the node logic which is mainly creating subscriptions and publishing etc. I can include FRIEND_TEST but I don't think it's a good design.

[MishkaMN]

Docker build in github action is failing at the moment but it is due to msg name change in carma-msgs that is making mock_drivers to fail, but that package is currently being removed in another PR. The subsystem_controllers package is building okay locally:

[john-chrosniak]

Docker build in github action is failing at the moment but it is due to msg name change in carma-msgs that is making mock_drivers to fail, but that package is currently being removed in another PR.

I had fixes for this in #2442 but decided to close it since these packages are currently being removed. If desired, we could merge this PR to fix the build error instead of waiting for them to be removed.

[MishkaMN]

I had fixes for this in #2442 but decided to close it since these packages are currently being removed. If desired, we could merge this PR to fix the build error instead of waiting for them to be removed.

I am going to go ahead and merge this one since we verified it builds fine locally. However, please feel free to put up a PR for the change you suggested if you have time. Totally optional.