remove unnecessary changes

usdot-fhwa-stol · Dec 15, 2023 · 481ec32 · 481ec32
1 parent 68a4a94
commit 481ec32
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Showing 13 changed files with 376 additions and 417 deletions.
diff --git a/Dockerfile b/Dockerfile
@@ -33,9 +33,9 @@
 # Stage 1 - Acquire the CARMA source as well as any extra packages
 # /////////////////////////////////////////////////////////////////////////////
 
-FROM 63c52089ebf6 AS base-image
+FROM usdotfhwastoldev/autoware.ai:develop AS base-image
 
-FROM 63c52089ebf6 AS source-code
+FROM base-image AS source-code
 
 RUN mkdir ~/src
 COPY --chown=carma . /home/carma/src/carma-platform/
@@ -46,7 +46,7 @@ RUN ~/src/carma-platform/docker/checkout.bash
 # /////////////////////////////////////////////////////////////////////////////
 
 
-FROM 63c52089ebf6 AS install
+FROM base-image AS install
 ARG ROS1_PACKAGES=""
 ENV ROS1_PACKAGES=${ROS1_PACKAGES}
 ARG ROS2_PACKAGES=""
@@ -63,7 +63,7 @@ RUN ~/carma_ws/src/carma-platform/docker/install.sh
 # /////////////////////////////////////////////////////////////////////////////
 
 
-FROM 63c52089ebf6
+FROM base-image
 
 ARG BUILD_DATE="NULL"
 ARG VCS_REF="NULL"

diff --git a/basic_autonomy/src/basic_autonomy.cpp b/basic_autonomy/src/basic_autonomy.cpp
@@ -1305,14 +1305,14 @@ namespace basic_autonomy
             const carma_ros2_utils::ClientPtr<carma_planning_msgs::srv::PlanTrajectory>& yield_client,
             int yield_plugin_service_call_timeout)
         {
-            RCLCPP_ERROR(node_handler->get_logger(), "Activate Object Avoidance");
+            RCLCPP_DEBUG(node_handler->get_logger(), "Activate Object Avoidance");
 
             if (!yield_client || !yield_client->service_is_ready())
             {
                 throw std::runtime_error("Yield Client is not set or unavailable after configuration state of lifecycle");
             }
 
-            RCLCPP_ERROR(node_handler->get_logger(), "Yield Client is valid");
+            RCLCPP_DEBUG(node_handler->get_logger(), "Yield Client is valid");
 
             auto yield_srv = std::make_shared<carma_planning_msgs::srv::PlanTrajectory::Request>();
             yield_srv->initial_trajectory_plan = resp->trajectory_plan;
@@ -1330,11 +1330,11 @@ namespace basic_autonomy
                 return resp;
             }
 
-            RCLCPP_ERROR(node_handler->get_logger(), "Received Traj from Yield");
+            RCLCPP_DEBUG(node_handler->get_logger(), "Received Traj from Yield");
             carma_planning_msgs::msg::TrajectoryPlan yield_plan = yield_resp.get()->trajectory_plan;
             if (is_valid_yield_plan(node_handler, yield_plan))
             {
-                RCLCPP_ERROR(node_handler->get_logger(), "Yield trajectory validated");
+                RCLCPP_DEBUG(node_handler->get_logger(), "Yield trajectory validated");
                 resp->trajectory_plan = yield_plan;
             }
             else

diff --git a/carma/launch/environment.launch.py b/carma/launch/environment.launch.py
@@ -287,7 +287,7 @@ def generate_launch_description():
                     ("incoming_psm", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_psm" ] ),
                     ("incoming_bsm", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_bsm" ] ),
                     ("georeference", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/map_param_loader/georeference" ] ),
-                    #("external_objects", "fused_external_objects") TODO: directly listening to external objects
+                    ("external_objects", "fused_external_objects")
                 ],
                 parameters=[
                     motion_computation_param_file,
@@ -529,6 +529,6 @@ def generate_launch_description():
         carma_external_objects_container,
         lanelet2_map_loader_container,
         lanelet2_map_visualization_container,
-        #carma_cooperative_perception_container,
+        carma_cooperative_perception_container,
         subsystem_controller
     ])