PR Details

Description

This PR updates incoming CARLA detections, which have Carla time stamps, to have cdasim time stamps since all components in this system use cdasim time. This fix is necessary because prior to establishing connection to cdasim, carla spins for some time, creating a random static time offset between carla game-time and cda sim simulation time.

NOTE: This PR also includes necessary fixes to use java 17 for sonar scanner CI process

Related GitHub Issue

Related Jira Key

CDAR-756

Motivation and Context

Gives detection data a simulation time step that should be accurate to sim time.

How Has This Been Tested?

CDASim deployment

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.
[ ] I have updated the documentation accordingly.
[ ] I have read the CONTRIBUTING document.
[ ] I have added tests to cover my changes.
[ ] All new and existing tests passed.

usdot-fhwa-stol / cdasim

CDAR-756: Carla Ambassador correct detection timestamp #197