updates for carla 0.9.12 (#21)

* updates for carla 0.9.12

* refactor gstreaming

* run CI on melodic and noetic

* include carla ros bridge in CI build

.flake8

@@ -0,0 +1,8 @@
+[flake8]
+max-line-length = 120
+
+ignore =
+    # Ignore "whitespace before ':'" because it conflicts with black
+	E203,
+    # Ignore "linebrak before binary operator" because it conflicts with black
+    W503

.github/workflows/ci.yml

@@ -1,6 +1,10 @@
 name: CI
 
-on: [push, pull_request]
+on:
+  push:
+    branches: [ master ]
+  pull_request:
+    branches: [ master ]
 
 jobs:
   check:
@@ -25,30 +29,55 @@ jobs:
     steps:
     - uses: actions/checkout@v2
     - name: Lint Code Base
-      uses: docker://github/super-linter:v3.10.2
+      uses: docker://github/super-linter:v4.6.1
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
         VALIDATE_BASH: false # Already configured in make check
+        VALIDATE_CPP: false
         VALIDATE_DOCKERFILE_HADOLINT: false
+        VALIDATE_GITHUB_ACTIONS: false
+        VALIDATE_PYTHON_FLAKE8: false  # Already configured in make check
+        VALIDATE_PYTHON_PYLINT: false  # Already configured in make check
+        VALIDATE_PYTHON_ISORT: false
 
   ros:
     runs-on: ubuntu-latest
-    container: ros:melodic-robot
+    strategy:
+      matrix:
+        include:
+          - ros_distro: melodic
+            python_suffix: ""
+          # - ros_distro: noetic
+          #   python_suffix: 3
+    container:
+      image: ros:${{ matrix.ros_distro }}-robot
+      env:
+        DEBIAN_FRONTEND: "noninteractive"
     steps:
     - uses: actions/checkout@v2
     - name: Setup
+      shell: bash
       run: |
         sudo apt-get update
-        sudo apt-get install -y python-catkin-tools
-        bash -c "$GITHUB_WORKSPACE/install.sh"
+        sudo apt-get install -y python${{ matrix.python_suffix }}-catkin-tools python${{ matrix.python_suffix }}-osrf-pycommon apt-utils
+        $GITHUB_WORKSPACE/install.sh
     - name: Init Workspace
       run: |
         mkdir -p $GITHUB_WORKSPACE/../catkin_ws/src
         cd $GITHUB_WORKSPACE/../catkin_ws/src
-        ln -s $GITHUB_WORKSPACE
+        ln -s $GITHUB_WORKSPACE telecarla
+        ln -s $GITHUB_WORKSPACE/../ros-bridge ros-bridge
         cd ..
         catkin init
     - name: Build and Check
-      run: bash -c "source /opt/ros/melodic/setup.bash && source /opt/carla-ros-bridge/melodic/setup.bash && cd $GITHUB_WORKSPACE/../catkin_ws && catkin build --summarize --no-status --force-color --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCMAKE_CXX_CLANG_TIDY=clang-tidy-10"
+      shell: bash
+      run: |
+        source /opt/ros/${{ matrix.ros_distro }}/setup.bash
+        cd $GITHUB_WORKSPACE/../catkin_ws
+        catkin build --summarize --no-status --force-color --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCMAKE_CXX_CLANG_TIDY=clang-tidy-10
     - name: Test
-      run: bash -c "source /opt/ros/melodic/setup.bash && source /opt/carla-ros-bridge/melodic/setup.bash && cd $GITHUB_WORKSPACE/../catkin_ws && catkin run_tests --no-status --force-color && catkin_test_results"
+      shell: bash
+      run: |
+        source /opt/ros/${{ matrix.ros_distro }}/setup.bash
+        cd $GITHUB_WORKSPACE/../catkin_ws
+        catkin run_tests --no-status --force-color && catkin_test_results

.github/workflows/codeql-analysis.yml

@@ -36,11 +36,6 @@ jobs:
         # a pull request then we can checkout the head.
         fetch-depth: 2
 
-    # If this run was triggered by a pull request event, then checkout
-    # the head of the pull request instead of the merge commit.
-    - run: git checkout HEAD^2
-      if: ${{ github.event_name == 'pull_request' }}
-
     # Initializes the CodeQL tools for scanning.
     - name: Initialize CodeQL
       uses: github/codeql-action/init@v1

Makefile

@@ -5,7 +5,7 @@ PY_FILES = $(call file_finder,-name "*.py")
 CPP_FILES = $(call file_finder,-regex '.*\.\(cpp\|hpp\|cu\|c\|h\)')
 SH_FILES = $(call file_finder,-name "*.sh")
 
-check: check_format check_sh_format pylint shellcheck
+check: check_format check_sh_format pylint shellcheck flake8
 
 format:
 	$(PY_FILES) | xargs black
@@ -21,6 +21,9 @@ check_format:
 pylint:
 	$(PY_FILES) | xargs pylint --rcfile=.pylintrc
 
+flake8:
+	$(PY_FILES) | xargs flake8
+
 check_sh_format:
 	shfmt -d .
 

docker-compose.yml

@@ -1,10 +1,21 @@
 version: '3'
 services:
+  carla:
+    image: carlasim/carla:0.9.12
+    runtime: nvidia
+    network_mode: host
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+    environment:
+      SDL_VIDEODRIVER: x11
+      DISPLAY: $DISPLAY
+    command: ./CarlaUE4.sh -opengl
   telecarla:
     build:
       context: ./
       dockerfile: docker/Dockerfile
     image: telecarla
+    network_mode: host
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
     environment:

docker/Dockerfile

@@ -1,30 +1,33 @@
-FROM ros:melodic-robot
+ARG CARLA_VERSION='0.9.12'
 
-ARG CARLA_MAJOR_VERSION='0.9.10'
-ARG CARLA_MINOR_VERSION='1'
+FROM carlasim/carla:${CARLA_VERSION} as carla
+
+FROM ros:noetic-robot
+
+ARG CARLA_VERSION
 
 ENV DEBIAN_FRONTEND='noninteractive'
 ENV QT_X11_NO_MITSHM=1
 
 RUN apt-get update && \
     apt-get install --no-install-recommends -y \
-    python-catkin-tools \
+    python3-catkin-tools \
+    python3-osrf-pycommon \
     x11-apps \
     socat \
     wget \
     ubuntu-server \
     ubuntu-desktop && \
     rm -rf /var/lib/apt/lists/*
 
+COPY --from=carla /home/carla/PythonAPI /opt/carla/PythonAPI
 COPY . /home/catkin_ws/src/telecarla
 WORKDIR /home/catkin_ws/src/telecarla
 RUN ./install.sh
 
 WORKDIR /home/catkin_ws
-RUN wget https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/CARLA_${CARLA_MAJOR_VERSION}.${CARLA_MINOR_VERSION}.tar.gz && \
-    mkdir -p carla && tar xzf CARLA_${CARLA_MAJOR_VERSION}.${CARLA_MINOR_VERSION}.tar.gz -C carla && \
-    python -m easy_install --no-deps carla/PythonAPI/carla/dist/carla-${CARLA_MAJOR_VERSION}-py2.7-linux-x86_64.egg && \
-    rm -rf carla CARLA_${CARLA_MAJOR_VERSION}.${CARLA_MINOR_VERSION}.tar.gz
-RUN bash -c "source /opt/ros/melodic/setup.bash && source /opt/carla-ros-bridge/melodic/setup.bash && catkin init && catkin build"
+RUN python3 -m easy_install --no-deps /opt/carla/PythonAPI/carla/dist/carla-${CARLA_VERSION}-py3.7-linux-x86_64.egg && \
+    ln -s /usr/bin/python3 /usr/bin/python
+RUN bash -c "source /opt/ros/noetic/setup.bash && catkin build"
 
 ENTRYPOINT [ "src/telecarla/docker/entrypoint.sh" ]

docker/entrypoint.sh

@@ -4,8 +4,6 @@ set -e
 # setup ros environment
 # shellcheck disable=SC1090
 source "/opt/ros/$ROS_DISTRO/setup.bash"
-# shellcheck disable=SC1090
-source "/opt/carla-ros-bridge/$ROS_DISTRO/setup.bash"
 # shellcheck disable=SC1091
 source "/home/catkin_ws/devel/setup.bash"
 

gstreaming/cfg/RateControl.cfg

@@ -5,9 +5,9 @@ from dynamic_reconfigure.parameter_generator_catkin import *
 
 gen = ParameterGenerator()
 
-gen.add("bitrate", int_t, 0, "Encoder Bitrate Parameter in kbit/sec", 2000, 200, 5000)
+gen.add("bitrate", int_t, 0, "Encoder Bitrate Parameter in kbit/sec", 2000, 100, 10000)
 
-gen.add("fps", int_t, 0, "Temporal Resolution in frames/second", 20, 5, 25)
+gen.add("fps", int_t, 0, "Temporal Resolution in frames/second", 20, 1, 100)
 gen.add("spatial_scale", int_t, 0, "Spatial Resolution scale factor in percent", 100, 0, 100)
 
 exit(gen.generate(PACKAGE, "gstreaming", "RateControl"))

gstreaming/launch/rtsp/rtsp_server.launch

@@ -6,9 +6,10 @@
     <arg name='stat_topic' default='/camera/stats'/>
     <arg name='in_topic' default='/carla/ego_vehicle/camera/front/image'/>
     <arg name='graph_viz' default="false"/>
+    <arg name='GST_DEBUG' default="2"/>
 
     <env name="ROSCONSOLE_FORMAT" value="[${severity}] [${time}] [${node}]: ${message}"/>
-    <env name="GST_DEBUG" value="2"/>
+    <env name="GST_DEBUG" value="$(arg GST_DEBUG)"/>
     <env name="GST_DEBUG_DUMP_DOT_DIR" value="." if="$(arg graph_viz)"/>
 
     <group ns="server/$(arg server_id)">

gstreaming/source/CMakeLists.txt

@@ -1,6 +1,7 @@
 # Libraries
 add_subdirectory(common)
-add_subdirectory(rtsp)
+add_subdirectory(server)
+add_subdirectory(client)
 
 # Executeables
 add_executable(

gstreaming/source/rtsp/client/CMakeLists.txt → gstreaming/source/client/CMakeLists.txt

@@ -2,8 +2,7 @@ add_library(rtsp_client src/rtsp_client.cpp include/rtsp_client.h)
 
 target_link_libraries(
   rtsp_client
-  PUBLIC rtsp_common
-  PRIVATE gstreaming_common
+  PUBLIC gstreaming_common
   PUBLIC ${GSTREAMER_LIBRARIES}
   PUBLIC ${GLIB_LIBRARIES}
   PUBLIC ${GSTREAMER_APP_LIBRARIES}

gstreaming/source/rtsp/client/include/rtsp_client.h → gstreaming/source/client/include/rtsp_client.h

@@ -6,12 +6,10 @@
 #include <gst/app/gstappsink.h>
 #include <gst/gstpipeline.h>
 
-#include "rtsp_state.h"
+#include "pipeline_state.h"
 
 namespace lmt
 {
-namespace rtsp
-{
 namespace client
 {
 class RTSPClient
@@ -28,7 +26,7 @@ class RTSPClient
     RTSPClient(RTSPClient&& rhs) = delete;
     RTSPClient& operator=(RTSPClient&& rhs) = delete;
 
-    common::RTSPState start(const std::string& serverHost, int serverPort, const std::string& serverMount);
+    common::PipelineState start(const std::string& serverHost, int serverPort, const std::string& serverMount);
     void stop();
     void resume();
 
@@ -39,10 +37,9 @@ class RTSPClient
     ImageCallback callBack_;
     GstElement* pipeline_{nullptr};
     GstAppSink* receiverAppSink_{nullptr};
-    common::RTSPState state_{common::RTSPState::stopped};
+    common::PipelineState state_{common::PipelineState::stopped};
 };
 }  // namespace client
-}  // namespace rtsp
 }  // namespace lmt
 
 #endif /* _LMT_RTSP_CLIENT_HH_ */

gstreaming/source/rtsp/client/src/rtsp_client.cpp → gstreaming/source/client/src/rtsp_client.cpp

@@ -5,8 +5,8 @@
 #include <glib.h>
 #include <gst/gst.h>
 
-using namespace lmt::rtsp::client;
-using namespace lmt::rtsp::common;
+using namespace lmt::client;
+using namespace lmt::common;
 
 GstFlowReturn RTSPClient::onNewSampleFromSink(GstAppSink* appSink, RTSPClient* data)
 {
@@ -44,11 +44,11 @@ GstFlowReturn RTSPClient::onNewSampleFromSink(GstAppSink* appSink, RTSPClient* d
     return GST_FLOW_OK;
 }
 
-RTSPState RTSPClient::start(const std::string& serverHost, int serverPort, const std::string& serverMount)
+PipelineState RTSPClient::start(const std::string& serverHost, int serverPort, const std::string& serverMount)
 {
     switch (state_)
     {
-        case RTSPState::stopped: {
+        case PipelineState::stopped: {
             // rtspsrc default: protocols=tcp+udp-mcast+udp
             const auto cmd =
                 "rtspsrc location=rtsp://" + serverHost + ":" + std::to_string(serverPort) + "/" + serverMount +
@@ -71,11 +71,11 @@ RTSPState RTSPClient::start(const std::string& serverHost, int serverPort, const
             else
             {
                 GST_INFO("Client is PLAYING\n");
-                state_ = RTSPState::started;
+                state_ = PipelineState::started;
             }
             break;
         }
-        case RTSPState::paused: {
+        case PipelineState::paused: {
             resume();
             break;
         }
@@ -87,7 +87,7 @@ RTSPState RTSPClient::start(const std::string& serverHost, int serverPort, const
 
 void RTSPClient::resume()
 {
-    if (state_ == RTSPState::paused)
+    if (state_ == PipelineState::paused)
     {
         if (gst_element_set_state(pipeline_, GST_STATE_PLAYING) == GST_STATE_CHANGE_FAILURE)
         {
@@ -103,12 +103,12 @@ void RTSPClient::resume()
 
 void RTSPClient::stop()
 {
-    if (state_ != RTSPState::stopped)
+    if (state_ != PipelineState::stopped)
     {
         GST_INFO("Gstreamer client terminating...\n");
         gst_element_set_state(pipeline_, GST_STATE_NULL);
         g_object_unref(pipeline_);
-        state_ = RTSPState::stopped;
+        state_ = PipelineState::stopped;
         GST_INFO("Gstreamer client terminated\n");
     }
 }

gstreaming/source/common/CMakeLists.txt

@@ -1,4 +1,5 @@
-add_library(gstreaming_common include/gst_lifecycle.h src/gst_lifecycle.cpp)
+add_library(gstreaming_common include/gst_lifecycle.h src/gst_lifecycle.cpp
+                              include/pipeline_state.h src/pipeline_state.cpp)
 
 target_link_libraries(
   gstreaming_common

gstreaming/source/common/include/pipeline_state.h

@@ -0,0 +1,19 @@
+#ifndef LMT_PIPELINE_STATE_H
+#define LMT_PIPELINE_STATE_H
+
+namespace lmt
+{
+namespace common
+{
+enum class PipelineState
+{
+    started,
+    stopped,
+    paused,
+    starting,
+    stopping
+};
+}
+}  // namespace lmt
+
+#endif  // LMT_PIPELINE_STATE_H

gstreaming/source/common/src/pipeline_state.cpp

@@ -0,0 +1 @@
+#include "pipeline_state.h"

gstreaming/source/include/gstreaming_client.h

@@ -24,7 +24,7 @@ class GStreamingClient
     common::GstLifecycle gstLifecycle_;
     GMainLoop* loop_{nullptr};
     std::thread threadGstreamer_;
-    std::unique_ptr<rtsp::client::RTSPClient> rtspClient_{nullptr};
+    std::unique_ptr<client::RTSPClient> rtspClient_{nullptr};
     image_transport::Publisher pub_;
 };
 

gstreaming/source/include/gstreaming_server.h

@@ -28,7 +28,7 @@ class GStreamingServer
     std::string streamSource_;
     GMainLoop* loop_{nullptr};
     std::thread threadGstreamer_;
-    std::unique_ptr<rtsp::server::RTSPServer> rtspServer_{nullptr};
+    std::unique_ptr<server::RTSPServer> rtspServer_{nullptr};
     ros::Subscriber subCamera_;
     ros::Publisher pubStat_;
     dynamic_reconfigure::Server<gstreaming::RateControlConfig> rateControl_;