carma-system-4.2.0

• 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.