usdot-fhwa-stol/carma-platform

The current version and release history of the CARMA software platform: [CARMA Release Notes](https://github.com/usdot-fhwa-stol/carma-platform/blob/master/docs/Release_notes.md)

The current version and release history of the CARMA software platform: [CARMA Release Notes](https://github.com/usdot-fhwa-stol/carma-platform/blob/master/docs/Release_notes.md)

The current version and release history of the CARMA software platform: [CARMA Release Notes](https://github.com/usdot-fhwa-stol/carma-platform/blob/master/docs/Release_notes.md)

This Is the Hotfix of release k900 (carma-system-4.4.0)

This is the hotfix for 4.4.0

The current version and release history of the CARMA software platform: [CARMA Release Notes](https://github.com/usdot-fhwa-stol/carma-platform/blob/master/docs/Release_notes.md)

The current version and release history of the CARMA software platform: [CARMA Release Notes](https://github.com/usdot-fhwa-stol/carma-platform/blob/master/docs/Release_notes.md)

• Summary: Carma-platform release version 4.2.0 is comprised of three major enhancements. First, Cooperative Traffic Management (CTM) Speed harmonization. Second, Cooperative Lane Follow (CLF) - Platoon Formation, Operation, Dissolution. Third, Cooperative Lane Coordination (CLC), cooperative lane merge. Along with the above enhancements, several bug fixes and CI related enhancements are included in this release. Carma Platform: Enhancements in this release: • Issue 1766: Updated port the Traffic Incident Parser node to ROS2 and updated several subscribers and publishers created within carma_wm_ros2 in order to support publishers being able to re-publish earlier messages to late-joining subscribers. • Issue 1762: Updated LCI (Light Controlled Intersection) Strategic Plugin so that it uses the scheduled message from the intersection for setting its ET algorithm parameters instead of computing them based on SPAT if the message is available. • Issue 1793: Updated Carma wm_ctrl timer classes to Ros2 and changed bridge map directions to 2 to 1 in Carma-config. • Issue 1812: Updated Configuration parameters in Platooning Strategic IHP logic for enable/disable Front& Rear cut-in join functionality. • Issue 1810: Added port route node to ROS2 and updated Carma environment launch files and Guidance launch files. • Issue 1826: Added IHP Strategic and Control plugins, Also Implemented the 2nd iteration of the integrated highway prototype which include cut-in rear and front platoon joins whereas Departure from a platoon and speed harmonization is done via Carma-cloud. Fixes in this release: • Issue 1737: Fixed Current J2735 MAP.msg creator which does not work with TFHRC Vector Map.osm where the Center points created by the tool does not align with road center points in OSM map. • Issue 1794: Fixed Geofence (getAffectedLaneletOrAreas) function such that Carma should not crash if it detected Geofence (getAffectedLaneletOrAreas) with only 1 point. • Issue 1799: Fixed IHP Control plugin Cmake file to be compatible with Carma platform's Docker build process. • Issue 1810: This issue includes small fixes after updating port the route node to ROS2 : o Stop and Wait Plugin incorrectly had the route node as a dependency, this dependency has been removed. o Topic naming mismatches were fixed for Trajectory Executor, Roadway Objects, and Traffic Incident Parser. o ROS1 messages and service related to routing (SetActiveRoute.srv, RouteState.msg) had their field names updated to Snake case to match ROS2 message and service definition requirements. This resulted in an update to the field names in the Port Drayage Plugin package. o The Route Generator Worker class had a mix of Snake case and Camel case function names. This PR has updated all functions to camelCase to match the style used in other Carma-platform classes. • Issue 1819: Fixed the Crosstrack distances in world model Trackpos object which returned wrong sign when logic in the method assumes a right handed frame. • Issue 1846: Fixed Motion computation's parameters that are not set in worker class during runtime updates • Issue 1847: Fixed the Roadway-objects node and Traffic-Incident-parser crash on receipt of semantic map in Cabin release branch. • Issue 1851: Fixed the platooning gap calculation which does not consider vehicles in between and gap calculation is always assuming the preceding vehicle is the leader. Carma-Cloud: Enhancements in this release: • Issue 31: Implemented IHP2 Speed Harmonization algorithm in which Carma-cloud application listens to incoming traffic control requests (TCRs) from vehicles, and responds with traffic control messages (TCMs) that has the calculated advisory speed using speed harmonization algorithm. Fixes in this release: • Issue 27: Fixed Occasional large delay experienced between CARMA Cloud receiving a TCR from V2XHub and CARMA Cloud sending all corresponding TCMs to V2XHub. Autoware.ai: Enhancements in this release: • Issue 221: Added ROS2 support for Autoware build flags. • Issue 222: Added Carma Utils Timer interfaces into ROS2 so that they can be used in Carma wm ctrl and Localization manager. Fixes in this release: • Issue 27: Fixed intermittent large delay experienced between CARMA Cloud receiving a TCR from V2XHub and CARMA Cloud sending all corresponding TCMs to V2XHub.

**Summary:** Carma-platform release version 4.0.0 is first version that starts of the transition of system to ROS2 with V2X, Object Perception and some driver nodes transitioned to ROS2 and others still using ROS1 with communication enabled using ROS bridge. This release includes feature enhancements in support of the following proof-of-concept applications to demonstrate the following TSMO use cases: • Cooperative Traffic Signaling (CTS), fixed signal traversal. • Commercial Motor Vehicle (CMV) - Work Zone Along with the above enhancements, several bug fixes are included in this release. Note: V2X Hub release 7.2 includes CARMA streets plugin for following operations: • Enhancement to receive, decode and forward the Traffic Control Message (TCM) and Mobility Operations Message (MOM) to enable lane restrictions by vehicle type and to record and notify the vehicle acknowledgement of receiving a TCM from infrastructure. **Carma Platform:** Enhancements in this release: ROS2 - V2X, Object Perception, Drivers: Developed a ROS2 version of CARMA Platform capable of running on the Lexus RX450h with AutonomouStuff Pacmod3. Specifically, this milestone focused on the creation of a hybrid ROS1 and ROS2 system where the V2X, Object Perception, and core drivers are all ported to ROS2. This milestone included the following enhancements and defect fixes: • Issue 1687: Updated the SSC Wrapper to support the ROS2 versions of SSC and Lexus Pacmod while preserving the ROS1 version as well. • Issue 1500: Integrated driver_discovery and health_monitor behavior into subsystem_controllers/driver_controller • Issue 1645: Launch ROS2 novatel GPS driver • Issue 1580: ROS2 V2X Stack migration to ROS2 • Issue 1557: ROS2 Object Perception Stack migration to ROS2 • Issue 1277: CARMAWeb UI - Logout should issue a shutdown of the platform • Issue 1689: Twist Filter node ms to mph speed limit • Issue 1701: UI based remote launch (non-debug) fails to launch containers • Issue 1703: UI appears to duplicate /system_alert notifications Cooperative Traffic Signaling (CTS), fixed signal traversal: Upon receiving Signal Phase and Timing (SPaT) information (fixed plan information), a vehicle plans a maneuver to proceed through the intersection as efficiently as possible, or come to a safe stop if needed. This milestone include the following enhancements: • Issue 1587: Signalized Intersection support in world model to handle SAE J2735 MAP and SPaT messages. • Issue 1528 Feature/signalized intersection – Signalized Intersection regulatory element has been implemented to support the signalized intersection. CMV Work Zone – Enhanced features to demonstrate CMV’s interaction with work zones to reduce speeds, adjust its trajectory to change lanes and adhere to lane use restrictions. The CMV will also demonstrate the capability to acknowledge receipt of work zone geofence information which will include the reduced speed and lane use restriction information. • PR 1636: Update WMBroadcaster to process received TCM with a restricted lane • PR 1682 & 1691: CMV broadcast acknowledgement after processing the incoming TCM Fixes in this release: • Issue 1608: The Web UI does not notify the user when the vehicle has left the route • Issue 1634: Route is not selectable due to vehicle position not being set. • Issue 1650: When CLC follows ILC in a trajectory plan, the first CLC TrajectoryPlanPoint has an abnormally high speed **Carma-Cloud:** Enhancement in this release: • PR 12: CARMA Cloud sets up Lane Use Restriction to add, remove and update a lane use restriction for vehicles in a work zone area. Enhancement also has been made to receive TCM acknowledgement via the REST interface and log it in the logs.

carma-system-3.11.0

Carma-platform release version 3.10.0 is comprised of two major enhancements. First, ROS1 Noetic (Updating the underlying ROS version from ROS Kinetic to ROS Noetic). Second updating the underlying OS from Ubuntu 16.04 to Ubuntu 20.04 to support the ROS2 migration which will use Ubuntu 20.04. Along with the above enhancements, several bug fixes and CI related enhancements are included in this release.

Carma-platform release version 3.9.0 is comprised of one major enhancements. First, Updated Carma Freight Port Drayage plugin web service integration. Along with the above enhancement, several bug fixes and CI related enhancements are included in this release.

carma-system-3.8.2

carma-system-3.8.1

Carma-platform release version 3.8.0 is comprised of two major enhancements. First, Cooperative Traffic Signaling (CTS), fixed signal transit for Work Zones using a SPaT message a vehicle plans a maneuver to proceed through the intersection as efficiently as possible, or come to a safe stop if needed. Second lane geometry updates affected by a geofence to split and stitch lanelets together to match the geofence requirements. Along with the above enhancements, several bug fixes and CI related enhancements are included in this release.

carma-system-3.7.1

Carma-platform release version 3.7.0 is comprised of three major enhancements. First, Unobstructed lane change. Second Cooperative Lane Follow (CLF) - All Predecessor Following (APF) platooning. Third, Cooperative Traffic Management - Speed Advisory. Along with the above enhancements, several bug fixes and CI related enhancements are included in this release.

Carma-platform release version 3.6.0 is comprised of five major enhancements. First, Added ADS unobstructed lane change. Second, CTM Move-over law – Upon receiving a request from an emergency vehicle, CARMA Platform plans move over to the adjacent open lane. Third, Added Geofence speed, Gap control and lane closure. And fourth, added Carma-cloud integration. Along with the above enhancements, several bug fixes and CI related enhancements are included in this release.

carma-platform release version 3.4.1 is a hotfix release to address the issue of unexpected switching between NDT and GPS localization. This hotfix ensures that switching between NDT and GPS will only occur in the event of a timeout.

carma-platform release version 3.4.0 is comprised of four major enhancements. First, a steering limiter was added in order to prevent Carma from taking turns that present a risk of vehicle rollover. Second, updates were made to the health_monitor to allow for graceful handling of sensor failure, including control handover to the human driver. Third, carma-messenger was updated to detect nearby automated vehicles via DSRC. And fourth, functionality was added to carma-messenger to allow for requesting, receiving, and displaying truck safety info from a passing Carma truck via DSRC while vehicles are in motion. Along with the above enhancements, several bug fixes and CI related enhancements are included in this release.

CARMAPlatform release version 3.3.0 is comprised of three key enhancements. First, the plugin manager is now able to return a list of services that match a user-requested capability. Second, there are new configurations for the Freightliner Cascadia, including lidar configurations which leverage the autoware points_concat_filter node to combine the two lidar devices' data into a single stream. Third, a trailer angle sensor has been added to the Freightliner Cascadia. This sensor creates a more realistic model of the truck, by providing the angle between the trailer and cab's center lines.

CARMAPlatform release version 3.2.0 includes the following four major updates. An initial converter has been developed to convert OpenDrive maps to LaneLet2's OSM format. The converter currently only covers lane geometry only. Autoware v1.13 pre-release has been integrated with CARMAPlatform. A guidance plan delegator has been developed to notify strategic plugins that the arbitrator has selected their maneuver plan, and request the corresponding trajectory plan for said plugin. Finally, a guidance re-engage capability has been added to the platform, which will allow for multiple runs to be made without restarting the software.

CARMAPlatform Skyline release version 3.1.0 main highlight is the new Docker configuration and deployment for all the repositories for CARMA3. The images are now available in DockerHub under the organization name of "usdotfhwastol". Docker provides better management of library dependencies, ease of deployment and scalability. Other highlights of this release are the new configurations for the 3 different controllers such as PACMod, NewEagle and DataSpeed, the basic vehicle kinematic model, the updates to the guidance state machine, the updates to the GNSS to map converter, and the new functionality to auto select between GNSS and NDT pose.

First version of CARMA3, with basic waypoint following capability.

merged..tagged CARMAPlatform_2.9.0

new push to master

Redacted files with sensitive data that cannot be publicly distributed.