CARMA Platform is built on robot operating system (ROS) and utilizes open source software (OSS) that enables Cooperative Driving Automation (CDA) features to allow Automated Driving Systems to interact and cooperate with infrastructure and other vehicles through communication. Doxygen Source Code Documentation :
Remove java version message node launch from message.launch and carma-messenger launch file and verify cpp message node working for MobilityOperation msg #864
[x] Anomaly report (something appears to not work correctly)
[ ] Enhancement request (describe the enhancement being requested)
[ ] Other (please ensure the description clarifies why the issue doesn’t fall into either of the above categories)
Descriptive summary
Java message node is deprecated and need to be removed from the message.launch file
Verify that cpp_message_node is running and working after updating the message.launch
Carma version where this issue was discovered
CARMA 3.3.0
Expected behavior
All the topics advertised/subscribed by the cpp_message_node should be found with rostopic list.
Verify that MobilityOperation message are parsed and published to outbound_binary_msg
Verify that cpp_message_node can receives and parses data(MobilityOperation type) properly by subscribing to /inbound_binary_msg and publishes data to appropriate topics.
Actual behavior
No data(MobilityOperation type) is published to outbound_binary_msg
No data(MobilityOperation type) is published to inbound_binary_msg
Steps to reproduce the actual behavior
build carma platform into docker image
build carma config into docker image
carma start all
publish data to /mobility_operation_outbound advertised in truck_inspection_client node
verify the mobility_operation_outbound is remap to outgoing_plain_mobility_operation_message subscribed in cpp_message node
rostopic echo listen to outbound_binary_msg in cpp_message node
Java message node is not yet deprecated as BSM/Map/SPaT all still require it. However, it is worth investigating if the message node and cpp_message node are truly interoperable.
msmcconnell
commented
4 years ago 
TonysCousin
Types of Issue
Descriptive summary
Java message node is deprecated and need to be removed from the message.launch file Verify that cpp_message_node is running and working after updating the message.launch
Carma version where this issue was discovered
CARMA 3.3.0
Expected behavior
All the topics advertised/subscribed by the cpp_message_node should be found with rostopic list. Verify that MobilityOperation message are parsed and published to outbound_binary_msg Verify that cpp_message_node can receives and parses data(MobilityOperation type) properly by subscribing to /inbound_binary_msg and publishes data to appropriate topics.
Actual behavior
No data(MobilityOperation type) is published to outbound_binary_msg No data(MobilityOperation type) is published to inbound_binary_msg
Steps to reproduce the actual behavior
build carma platform into docker image build carma config into docker image carma start all publish data to /mobility_operation_outbound advertised in truck_inspection_client node verify the mobility_operation_outbound is remap to outgoing_plain_mobility_operation_message subscribed in cpp_message node rostopic echo listen to outbound_binary_msg in cpp_message node
Related work
https://github.com/usdot-fhwa-stol/carma-messenger/pull/30