From cabadbff8b928eb108db0e3f5a82cd434eb1aac2 Mon Sep 17 00:00:00 2001
From: Cody Garver <dylan.garver@leidos.com>
Date: Fri, 11 Nov 2022 11:35:15 -0500
Subject: [PATCH 01/25] CI: replace build-wrapper with compilation database

---
 .circleci/config.yml                | 10 ++++++----
 .sonarqube/sonar-scanner.properties |  3 ++-
 2 files changed, 8 insertions(+), 5 deletions(-)

diff --git a/.circleci/config.yml b/.circleci/config.yml
index 4782a6e..8a1500b 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -33,6 +33,7 @@ jobs:
         environment:
           TERM: xterm # use xterm to get full display output from build
           INIT_ENV: /home/carma/.base-image/init-env.sh
+          ROS_2_ENV: /opt/ros/foxy/setup.bash
     working_directory: "/opt/carma/"
     # Execution steps
     steps:
@@ -50,18 +51,19 @@ jobs:
           command: |
             source ${INIT_ENV}
             ./src/CARMASscInterfaceWrapper/docker/checkout.bash -r ${PWD}
+            chmod +x /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
       - run:
           name: Build Driver
           command: |
             source ${INIT_ENV}
-            export ROS_PARALLEL_JOBS='-j1 -l1'
-            build-wrapper-linux-x86-64 --out-dir /opt/carma/bw-output bash make_with_coverage.bash -m -e /opt/carma/ -o ./coverage_reports/gcov
+            source ${ROS_2_ENV}
+            make_with_coverage.bash -m -e /opt/carma/ -o ./coverage_reports/gcov
       - run:
           name: Run C++ Tests
           command: |
             source ${INIT_ENV}
-            export ROS_PARALLEL_JOBS='-j1 -l1'
-            bash make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov
+            source ${ROS_2_ENV}
+            make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov
       # Run SonarCloud analysis
       # PR Branchs and number extracted from Circle variables and github api
       # Circle CI seems to make a change to the base branch, so we must fetch --force to ensure correct git file change stats
diff --git a/.sonarqube/sonar-scanner.properties b/.sonarqube/sonar-scanner.properties
index f91ea6d..34e36cd 100644
--- a/.sonarqube/sonar-scanner.properties
+++ b/.sonarqube/sonar-scanner.properties
@@ -16,7 +16,8 @@
 
 sonar.projectKey=usdot-fhwa-stol_CARMASscInterfaceWrapper
 sonar.organization=usdot-fhwa-stol
-sonar.cfamily.build-wrapper-output=/opt/carma/bw-output
+sonar.cfamily.cache.enabled=false
+sonar.cfamily.compile-commands=/opt/carma/build/compile_commands.json
 sonar.host.url=https://sonarcloud.io
 sonar.cfamily.gcov.reportsPath=/opt/carma/coverage_reports/gcov
 sonar.coverageReportPaths=/opt/carma/coverage_reports/gcov/coverage.xml

From 56e376618f39fc89160d2c9e7f5e77e1a72dca2d Mon Sep 17 00:00:00 2001
From: Cody Garver <dylan.garver@leidos.com>
Date: Mon, 14 Nov 2022 12:47:52 -0500
Subject: [PATCH 02/25] WIP

---
 .circleci/config.yml |  4 ++--
 docker/checkout.bash | 12 ++++++++++--
 2 files changed, 12 insertions(+), 4 deletions(-)

diff --git a/.circleci/config.yml b/.circleci/config.yml
index 8a1500b..6e8556e 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -50,8 +50,8 @@ jobs:
           name: Pull Deps
           command: |
             source ${INIT_ENV}
-            ./src/CARMASscInterfaceWrapper/docker/checkout.bash -r ${PWD}
-            chmod +x /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
+            ./src/CARMASscInterfaceWrapper/docker/checkout.bash --ros2_build -r ${PWD}
+            sed -i '/colcon build/ s/$/ --packages-up-to ssc_interface_wrapper_ros2 pacmod3 kvaser_interface/' ~/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
       - run:
           name: Build Driver
           command: |
diff --git a/docker/checkout.bash b/docker/checkout.bash
index f897d4d..93e07e2 100755
--- a/docker/checkout.bash
+++ b/docker/checkout.bash
@@ -33,14 +33,22 @@ while [[ $# -gt 0 ]]; do
                   shift
             ;;
             -ros1|--ros1_build)
-                  dir=~/workspace_ros1
+                  if [[ "$CI" == "true" ]]; then
+                    dir="/opt/carma"
+                  else
+                      dir=~/workspace_ros1
+                  fi
                   echo "Checkout ros1 dependencies"
                   build_ros1_pkgs="$true"
                   build_ros2_pkgs="$false"
                   shift
             ;;
             -ros2|--ros2_build)
-                  dir=~/workspace_ros2
+                  if [[ "$CI" == "true" ]]; then
+                    dir="/opt/carma"
+                  else
+                      dir=~/workspace_ros2
+                  fi
                   echo "Checkout ros2 dependencies"
                   build_ros1_pkgs="$false"
                   build_ros2_pkgs="$true"

From 631722ebb7c5a77cc8131d0237c7323cd214cbd1 Mon Sep 17 00:00:00 2001
From: Cody Garver <dylan.garver@leidos.com>
Date: Mon, 14 Nov 2022 13:27:50 -0500
Subject: [PATCH 03/25] Install pacmod3

---
 .circleci/config.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.circleci/config.yml b/.circleci/config.yml
index 6e8556e..a85dcb4 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -52,6 +52,7 @@ jobs:
             source ${INIT_ENV}
             ./src/CARMASscInterfaceWrapper/docker/checkout.bash --ros2_build -r ${PWD}
             sed -i '/colcon build/ s/$/ --packages-up-to ssc_interface_wrapper_ros2 pacmod3 kvaser_interface/' ~/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
+            sudo apt -y install ros-foxy-pacmod3
       - run:
           name: Build Driver
           command: |

From 2f85da9a6a620d736d6fd37157cc8abad58899ea Mon Sep 17 00:00:00 2001
From: Cody Garver <dylan.garver@leidos.com>
Date: Mon, 14 Nov 2022 13:32:02 -0500
Subject: [PATCH 04/25] apt update

---
 .circleci/config.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.circleci/config.yml b/.circleci/config.yml
index a85dcb4..e6f8b14 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -52,6 +52,7 @@ jobs:
             source ${INIT_ENV}
             ./src/CARMASscInterfaceWrapper/docker/checkout.bash --ros2_build -r ${PWD}
             sed -i '/colcon build/ s/$/ --packages-up-to ssc_interface_wrapper_ros2 pacmod3 kvaser_interface/' ~/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
+            sudo apt update
             sudo apt -y install ros-foxy-pacmod3
       - run:
           name: Build Driver

From 02accf0e0e51147c3345a44dadb185ee17e08939 Mon Sep 17 00:00:00 2001
From: Cody Garver <codygarver@users.noreply.github.com>
Date: Fri, 23 Dec 2022 20:40:59 -0500
Subject: [PATCH 05/25] ros1

---
 .circleci/config.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.circleci/config.yml b/.circleci/config.yml
index e6f8b14..1a44679 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -50,7 +50,7 @@ jobs:
           name: Pull Deps
           command: |
             source ${INIT_ENV}
-            ./src/CARMASscInterfaceWrapper/docker/checkout.bash --ros2_build -r ${PWD}
+            ./src/CARMASscInterfaceWrapper/docker/checkout.bash --ros1_build -r ${PWD}
             sed -i '/colcon build/ s/$/ --packages-up-to ssc_interface_wrapper_ros2 pacmod3 kvaser_interface/' ~/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
             sudo apt update
             sudo apt -y install ros-foxy-pacmod3

From 678854afcf75a7b2f245a93ce6e8ce676a186733 Mon Sep 17 00:00:00 2001
From: Cody Garver <dylan.garver@leidos.com>
Date: Fri, 23 Dec 2022 21:43:49 -0500
Subject: [PATCH 06/25] Fixes

---
 .circleci/config.yml | 11 +++++------
 docker/install.sh    | 36 +++++++++++++++++++++++++-----------
 2 files changed, 30 insertions(+), 17 deletions(-)
 mode change 100644 => 100755 docker/install.sh

diff --git a/.circleci/config.yml b/.circleci/config.yml
index 1a44679..20b31a1 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -33,7 +33,7 @@ jobs:
         environment:
           TERM: xterm # use xterm to get full display output from build
           INIT_ENV: /home/carma/.base-image/init-env.sh
-          ROS_2_ENV: /opt/ros/foxy/setup.bash
+          ROS_1_ENV: /opt/ros/noetic/setup.bash
     working_directory: "/opt/carma/"
     # Execution steps
     steps:
@@ -51,20 +51,19 @@ jobs:
           command: |
             source ${INIT_ENV}
             ./src/CARMASscInterfaceWrapper/docker/checkout.bash --ros1_build -r ${PWD}
-            sed -i '/colcon build/ s/$/ --packages-up-to ssc_interface_wrapper_ros2 pacmod3 kvaser_interface/' ~/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
-            sudo apt update
-            sudo apt -y install ros-foxy-pacmod3
+            ./src/CARMASscInterfaceWrapper/docker/install.sh "$ACCESS_ID" "$SECRET_KEY" --ros1_build
+            sed -i '/colcon build/ s/$/ --packages-up-to ssc_interface_wrapper/' ~/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
       - run:
           name: Build Driver
           command: |
             source ${INIT_ENV}
-            source ${ROS_2_ENV}
+            source ${ROS_1_ENV}
             make_with_coverage.bash -m -e /opt/carma/ -o ./coverage_reports/gcov
       - run:
           name: Run C++ Tests
           command: |
             source ${INIT_ENV}
-            source ${ROS_2_ENV}
+            source ${ROS_1_ENV}
             make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov
       # Run SonarCloud analysis
       # PR Branchs and number extracted from Circle variables and github api
diff --git a/docker/install.sh b/docker/install.sh
old mode 100644
new mode 100755
index 0bbe0b2..6a41059
--- a/docker/install.sh
+++ b/docker/install.sh
@@ -25,14 +25,22 @@ while [[ $# -gt 0 ]]; do
       arg="$1"
       case $arg in
             -ros1|--ros1_build)
-                  dir=~/workspace_ros1
+                  if [[ "$CI" == "true" ]]; then
+                    dir=/opt/carma
+                  else
+                    dir=~/workspace_ros1
+                  fi
                   echo "Install and build ros1 packages"
                   build_ros1_pkgs="$true"
                   build_ros2_pkgs="$false"
                   shift
                 ;;
             -ros2|--ros2_build)
-                  dir=~/workspace_ros2
+                  if [[ "$CI" == "true" ]]; then
+                    dir=/opt/carma
+                  else
+                    dir=~/workspace_ros2
+                  fi
                   echo "Install and build ros2 packages"
                   build_ros1_pkgs="$false"
                   build_ros2_pkgs="$true"
@@ -60,9 +68,11 @@ if [ -z $secret_key ];
         exit 1
 fi
 
+sudo apt-get update
+
 if [ $build_ros1_pkgs -eq 1 ]; then
     # ROS1 build and install
-    cd ~/workspace_ros1
+    cd "$dir" || exit 1
     echo "ROS1 build"
     source /home/carma/catkin/setup.bash
     source /opt/autoware.ai/ros/install/setup.bash
@@ -72,8 +82,10 @@ if [ $build_ros1_pkgs -eq 1 ]; then
     sudo apt-get install ros-noetic-pacmod-msgs
 
     sudo apt-get install python3-catkin-pkg
-    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --install-base /opt/carma/install
-    chmod -R ugo+x /opt/carma/install
+    if [ -z "$CI" ]; then
+        colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --install-base /opt/carma/install
+        chmod -R ugo+x /opt/carma/install
+    fi
     unset ROS_LANG_DISABLE
 
     # Get the exit code from the ROS1 build so we can skip the ROS2 build if the ROS1 build failed
@@ -88,15 +100,15 @@ if [ $build_ros1_pkgs -eq 1 ]; then
 
 elif [ $build_ros2_pkgs -eq 1 ]; then
 
-    cd ~/workspace_ros2
+    cd "$dir" || exit 1
     source /opt/autoware.ai/ros/install_ros2/setup.bash
-    sudo apt-get update
     sudo apt-get install -y apt-utils
     sudo apt-get install ros-foxy-pacmod-msgs
     sudo apt-get install ros-foxy-pacmod3-msgs
 
-    colcon build --packages-up-to ssc_interface_wrapper_ros2 pacmod3 kvaser_interface --build-base ./build_ssc_interface_wrapper --install-base /opt/carma/install_ros2 --cmake-args -DCMAKE_BUILD_TYPE=Release
-    
+    if [ -z "$CI" ]; then
+        colcon build --packages-up-to ssc_interface_wrapper_ros2 pacmod3 kvaser_interface --build-base ./build_ssc_interface_wrapper --install-base /opt/carma/install_ros2 --cmake-args -DCMAKE_BUILD_TYPE=Release
+    fi
     # Get the exit code from the ROS2 build
     status=$?
 
@@ -108,9 +120,11 @@ elif [ $build_ros2_pkgs -eq 1 ]; then
     exit #Success building ros2 pkgs
 fi
 
-cd ~
+if [[ "$CI" == "true" ]]; then
+    exit
+fi
+
 source /opt/autoware.ai/ros/install_ros2/setup.bash
-sudo apt-get update
 sudo apt-get -qq install apt-transport-s3
 
 sudo sh -c 'echo "AccessKeyId = '$access_id'" > /etc/apt/s3auth.conf'

From 7839f54ebd1c536ba56d7549191b1131f629d182 Mon Sep 17 00:00:00 2001
From: Cody Garver <dylan.garver@leidos.com>
Date: Fri, 23 Dec 2022 21:55:00 -0500
Subject: [PATCH 07/25] Install ros-noetic-autoware-msgs

---
 .circleci/config.yml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.circleci/config.yml b/.circleci/config.yml
index 20b31a1..17e6aae 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -53,6 +53,8 @@ jobs:
             ./src/CARMASscInterfaceWrapper/docker/checkout.bash --ros1_build -r ${PWD}
             ./src/CARMASscInterfaceWrapper/docker/install.sh "$ACCESS_ID" "$SECRET_KEY" --ros1_build
             sed -i '/colcon build/ s/$/ --packages-up-to ssc_interface_wrapper/' ~/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
+            sudo apt-get update
+            sudo apt-get -y install ros-noetic-autoware-msgs
       - run:
           name: Build Driver
           command: |

From d22c8d49a855f5746e313972a06396670eb17a8c Mon Sep 17 00:00:00 2001
From: Cody Garver <dylan.garver@leidos.com>
Date: Fri, 23 Dec 2022 22:03:26 -0500
Subject: [PATCH 08/25] Test only ros1

---
 .circleci/config.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.circleci/config.yml b/.circleci/config.yml
index 17e6aae..06adfa5 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -53,6 +53,7 @@ jobs:
             ./src/CARMASscInterfaceWrapper/docker/checkout.bash --ros1_build -r ${PWD}
             ./src/CARMASscInterfaceWrapper/docker/install.sh "$ACCESS_ID" "$SECRET_KEY" --ros1_build
             sed -i '/colcon build/ s/$/ --packages-up-to ssc_interface_wrapper/' ~/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
+            sed -i '/colcon test/ s/$/ --packages-up-to ssc_interface_wrapper/' ~/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash         
             sudo apt-get update
             sudo apt-get -y install ros-noetic-autoware-msgs
       - run:

From 35e7f34ce7e6a0b0826dfeb1278a0aee5aa8e2b6 Mon Sep 17 00:00:00 2001
From: Cody Garver <dylan.garver@leidos.com>
Date: Fri, 23 Dec 2022 22:52:50 -0500
Subject: [PATCH 09/25] Support ROS2 also

---
 .circleci/config.yml | 47 +++++++++++++++++++++++++++++++++++++-------
 docker/install.sh    |  2 +-
 2 files changed, 41 insertions(+), 8 deletions(-)

diff --git a/.circleci/config.yml b/.circleci/config.yml
index 06adfa5..f6e6bfa 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -34,6 +34,7 @@ jobs:
           TERM: xterm # use xterm to get full display output from build
           INIT_ENV: /home/carma/.base-image/init-env.sh
           ROS_1_ENV: /opt/ros/noetic/setup.bash
+          ROS_2_ENV: /opt/ros/foxy/setup.bash
     working_directory: "/opt/carma/"
     # Execution steps
     steps:
@@ -46,28 +47,60 @@ jobs:
             mkdir CARMASscInterfaceWrapper
       - checkout:
           path: src/CARMASscInterfaceWrapper
-      - run: 
-          name: Pull Deps
+      - run:
+          name: Pull ROS 1 Deps
           command: |
             source ${INIT_ENV}
             ./src/CARMASscInterfaceWrapper/docker/checkout.bash --ros1_build -r ${PWD}
             ./src/CARMASscInterfaceWrapper/docker/install.sh "$ACCESS_ID" "$SECRET_KEY" --ros1_build
-            sed -i '/colcon build/ s/$/ --packages-up-to ssc_interface_wrapper/' ~/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
-            sed -i '/colcon test/ s/$/ --packages-up-to ssc_interface_wrapper/' ~/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash         
-            sudo apt-get update
-            sudo apt-get -y install ros-noetic-autoware-msgs
       - run:
-          name: Build Driver
+          name: Build ROS 1 Driver
           command: |
             source ${INIT_ENV}
             source ${ROS_1_ENV}
+            sed -i '/colcon build/ s/$/ --packages-up-to ssc_interface_wrapper/' ~/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
             make_with_coverage.bash -m -e /opt/carma/ -o ./coverage_reports/gcov
       - run:
           name: Run C++ Tests
           command: |
             source ${INIT_ENV}
             source ${ROS_1_ENV}
+            sed -i '/colcon test/ s/$/ --packages-up-to ssc_interface_wrapper/' ~/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
             make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov
+      - run:
+          name: Backup ROS1 compile_commands.json
+          command: |
+            mv /opt/carma/build/compile_commands.json /opt/carma/compile_commands.ros1.json
+      - run:
+          name: Cleanup before ROS 2 build
+          command: |
+            rm -rf /opt/carma/install
+            rm -rf /opt/carma/build
+      - run:
+          name: Pull ROS 2 Deps
+          command: |
+            source ${INIT_ENV}
+            ./src/CARMASscInterfaceWrapper/docker/checkout.bash --ros2_build -r ${PWD}
+            ./src/CARMASscInterfaceWrapper/docker/install.sh "$ACCESS_ID" "$SECRET_KEY" --ros2_build
+      - run:
+          name: Build ROS 2 Driver
+          command: |
+            source ${INIT_ENV}
+            source ${ROS_2_ENV}
+            sed -i '/colcon build/ s/$/ --packages-up-to ssc_interface_wrapper_ros2 pacmod3 kvaser_interface/' ~/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
+            make_with_coverage.bash -m -e /opt/carma/ -o ./coverage_reports/gcov
+      - run:
+          name: Run C++ Tests
+          command: |
+            source ${INIT_ENV}
+            source ${ROS_2_ENV}
+            sed -i '/colcon test/ s/$/ --packages-up-to ssc_interface_wrapper_ros2 pacmod3 kvaser_interface/' ~/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
+            make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov
+      - run:
+          name: Combine ROS1 and ROS2 compile_commands.json files
+          command: |
+            mv /opt/carma/build/compile_commands.json /opt/carma/compile_commands.ros2.json
+            jq -s add /opt/carma/compile_commands.ros1.json /opt/carma/compile_commands.ros2.json > /opt/carma/build/compile_commands.json
       # Run SonarCloud analysis
       # PR Branchs and number extracted from Circle variables and github api
       # Circle CI seems to make a change to the base branch, so we must fetch --force to ensure correct git file change stats
diff --git a/docker/install.sh b/docker/install.sh
index 6a41059..a7ecd59 100755
--- a/docker/install.sh
+++ b/docker/install.sh
@@ -80,7 +80,7 @@ if [ $build_ros1_pkgs -eq 1 ]; then
 
     rosdep install --from-paths src --ignore-src -r -y
     sudo apt-get install ros-noetic-pacmod-msgs
-
+    sudo apt-get -y install ros-noetic-autoware-msgs
     sudo apt-get install python3-catkin-pkg
     if [ -z "$CI" ]; then
         colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --install-base /opt/carma/install

From eca7ad82220fc033a1dc6bc8c89216e5dbb48d9c Mon Sep 17 00:00:00 2001
From: Cody Garver <dylan.garver@leidos.com>
Date: Fri, 23 Dec 2022 23:01:25 -0500
Subject: [PATCH 10/25] Try to workaround double clone

---
 .circleci/config.yml | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/.circleci/config.yml b/.circleci/config.yml
index f6e6bfa..475e550 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -74,8 +74,11 @@ jobs:
       - run:
           name: Cleanup before ROS 2 build
           command: |
-            rm -rf /opt/carma/install
             rm -rf /opt/carma/build
+            rm -rf /opt/carma/install
+            rm -rf /opt/carma/src
+      - checkout:
+          path: src/CARMASscInterfaceWrapper
       - run:
           name: Pull ROS 2 Deps
           command: |

From a33d6f030021febfbdc012e27493f84b74ddec70 Mon Sep 17 00:00:00 2001
From: Cody Garver <dylan.garver@leidos.com>
Date: Fri, 23 Dec 2022 23:06:33 -0500
Subject: [PATCH 11/25] sudo

---
 .circleci/config.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.circleci/config.yml b/.circleci/config.yml
index 475e550..d940108 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -76,7 +76,7 @@ jobs:
           command: |
             rm -rf /opt/carma/build
             rm -rf /opt/carma/install
-            rm -rf /opt/carma/src
+            sudo rm -rf /opt/carma/src
       - checkout:
           path: src/CARMASscInterfaceWrapper
       - run:

From 21ddf7c3ca3bcfeccf5252116a569249e0249291 Mon Sep 17 00:00:00 2001
From: Cody Garver <dylan.garver@leidos.com>
Date: Tue, 3 Jan 2023 22:37:11 -0500
Subject: [PATCH 12/25] Backup and restore make_with_coverage.bash between
 builds

---
 .circleci/config.yml | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/.circleci/config.yml b/.circleci/config.yml
index d940108..a3d057b 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -53,6 +53,10 @@ jobs:
             source ${INIT_ENV}
             ./src/CARMASscInterfaceWrapper/docker/checkout.bash --ros1_build -r ${PWD}
             ./src/CARMASscInterfaceWrapper/docker/install.sh "$ACCESS_ID" "$SECRET_KEY" --ros1_build
+      - run:
+          name: Backup make_with_coverage.bash
+          command: |
+            cp ~/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash ~/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash.backup
       - run:
           name: Build ROS 1 Driver
           command: |
@@ -85,6 +89,10 @@ jobs:
             source ${INIT_ENV}
             ./src/CARMASscInterfaceWrapper/docker/checkout.bash --ros2_build -r ${PWD}
             ./src/CARMASscInterfaceWrapper/docker/install.sh "$ACCESS_ID" "$SECRET_KEY" --ros2_build
+      - run:
+          name: Restore make_with_coverage.bash
+          command: |
+            cp ~/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash.backup ~/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
       - run:
           name: Build ROS 2 Driver
           command: |

From 78dc94b611348e93bfab0d98be5eb861a00209a0 Mon Sep 17 00:00:00 2001
From: Cody Garver <dylan.garver@leidos.com>
Date: Tue, 3 Jan 2023 23:53:35 -0500
Subject: [PATCH 13/25] Avoid second checkout

---
 .circleci/config.yml | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/.circleci/config.yml b/.circleci/config.yml
index a3d057b..b7cddee 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -80,9 +80,7 @@ jobs:
           command: |
             rm -rf /opt/carma/build
             rm -rf /opt/carma/install
-            sudo rm -rf /opt/carma/src
-      - checkout:
-          path: src/CARMASscInterfaceWrapper
+            sudo rm -rf /opt/carma/src/{CARMAMsgs,CARMAUtils,raptor-dbw-ros,dbw-mkz-ros,pacmod3,kvaser_interface}
       - run:
           name: Pull ROS 2 Deps
           command: |

From b0bfd5307781611e442f5edd38001faf957de9e8 Mon Sep 17 00:00:00 2001
From: Cody Garver <dylan.garver@leidos.com>
Date: Wed, 4 Jan 2023 00:23:10 -0500
Subject: [PATCH 14/25] Remove git dirs before cloning

---
 .circleci/config.yml |  4 +---
 docker/checkout.bash | 36 ++++++++++++++++++------------------
 2 files changed, 19 insertions(+), 21 deletions(-)

diff --git a/.circleci/config.yml b/.circleci/config.yml
index b7cddee..bb23c2f 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -78,9 +78,7 @@ jobs:
       - run:
           name: Cleanup before ROS 2 build
           command: |
-            rm -rf /opt/carma/build
-            rm -rf /opt/carma/install
-            sudo rm -rf /opt/carma/src/{CARMAMsgs,CARMAUtils,raptor-dbw-ros,dbw-mkz-ros,pacmod3,kvaser_interface}
+            rm -rf /opt/carma/{build,install}
       - run:
           name: Pull ROS 2 Deps
           command: |
diff --git a/docker/checkout.bash b/docker/checkout.bash
index 93e07e2..f38ea4f 100755
--- a/docker/checkout.bash
+++ b/docker/checkout.bash
@@ -36,7 +36,7 @@ while [[ $# -gt 0 ]]; do
                   if [[ "$CI" == "true" ]]; then
                     dir="/opt/carma"
                   else
-                      dir=~/workspace_ros1
+                    dir=~/workspace_ros1
                   fi
                   echo "Checkout ros1 dependencies"
                   build_ros1_pkgs="$true"
@@ -47,7 +47,7 @@ while [[ $# -gt 0 ]]; do
                   if [[ "$CI" == "true" ]]; then
                     dir="/opt/carma"
                   else
-                      dir=~/workspace_ros2
+                    dir=~/workspace_ros2
                   fi
                   echo "Checkout ros2 dependencies"
                   build_ros1_pkgs="$false"
@@ -57,7 +57,8 @@ while [[ $# -gt 0 ]]; do
       esac
 done
 
-cd ${dir}
+sudo rm -rf ${dir}/src/{CARMAMsgs,CARMAUtils}
+
 if [[ "$BRANCH" = "develop" ]]; then
       git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ${dir}/src/CARMAMsgs --branch $BRANCH
       git clone https://github.com/usdot-fhwa-stol/carma-utils.git ${dir}/src/CARMAUtils --branch $BRANCH
@@ -69,51 +70,50 @@ fi
 if [ $build_ros1_pkgs -eq 1 ]; then
 
     # Required to build the dbw_pacifica_msgs message set.
+    sudo rm -rf ${dir}/src/raptor-dbw-ros
     sudo git clone https://github.com/NewEagleRaptor/raptor-dbw-ros.git ${dir}/src/raptor-dbw-ros --branch master 
     cd ${dir}/src/raptor-dbw-ros
     sudo git reset --hard f50f91cd88ad27b2ce05bab1f8ff780931c41475
-    cd ${dir}
 
     # Required for ford fusion drive by wire
+    sudo rm -rf ${dir}/src/dbw-mkz-ros
     sudo git clone https://bitbucket.org/DataspeedInc/dbw_mkz_ros.git ${dir}/src/dbw-mkz-ros --branch 1.2.4
 
+    sudo rm -rf ${dir}/src/pacmod3
     sudo git clone https://github.com/astuff/pacmod3.git ${dir}/src/pacmod3 --branch ros1_master
     cd ${dir}/src/pacmod3
     sudo git reset --hard 4e5e9cd5e821f4f19e31e10ba42f20449860b940
-    cd ${dir}
 
+    sudo rm -rf ${dir}/src/kvaser_interface
     sudo git clone https://github.com/astuff/kvaser_interface.git ${dir}/src/kvaser_interface --branch ros1_master
     cd ${dir}/src/kvaser_interface
     sudo git reset --hard e2aa169e32577f2468993b89edf7a0f67d1e7f0e
-    cd ${dir}
 
 elif [ $build_ros2_pkgs -eq 1 ]; then
-    sudo git clone https://github.com/NewEagleRaptor/raptor-dbw-ros2.git ./src/raptor-dbw-ros2 --branch foxy 
+    sudo rm -rf ${dir}/src/raptor-dbw-ros2
+    sudo git clone https://github.com/NewEagleRaptor/raptor-dbw-ros2.git ${dir}/src/raptor-dbw-ros2 --branch foxy
     cd ${dir}/src/raptor-dbw-ros2
     sudo git reset --hard 4ad958dd07bb9c7128dc75bc7397bc8f5be30a3c
-    cd ${dir}
 
     # TO DO: Add ros2 version for Ford fusion drive by wire
     # Required for ford fusion drive by wire
     # sudo git clone https://bitbucket.org/DataspeedInc/dbw_mkz_ros.git ${dir}/src/dbw-mkz-ros --branch 1.2.4
 
     #Pacmod3
-    sudo git clone https://github.com/astuff/pacmod3.git ./src/pacmod3_ros2 --branch ros2_master
-    cd ./src/pacmod3_ros2
+    sudo rm -rf ${dir}/src/pacmod3_ros2
+    sudo git clone https://github.com/astuff/pacmod3.git ${dir}/src/pacmod3_ros2 --branch ros2_master
+    cd ${dir}/src/pacmod3_ros2
     sudo git reset --hard 159ef36f26726cf8d7f58e67add8c8319a67ae85
-    cd ${dir}
 
     # kvaser
+    sudo rm -rf ${dir}/src/kvaser_interface
     sudo git clone https://github.com/astuff/kvaser_interface.git ${dir}/src/kvaser_interface --branch ros2_master
-    cd ./src/kvaser_interface
+    cd ${dir}/src/kvaser_interface
     sudo git reset --hard d7ea2fb82a1b61d0ce4c96d1422599f7ee6ed1b7
-    cd ${dir}
 
     # Install automotive_autonomy_msgs
+    sudo rm -rf ${dir}/src/automotive_autonomy_msgs
     sudo git clone https://github.com/astuff/automotive_autonomy_msgs.git ${dir}/src/automotive_autonomy_msgs --branch master
-    cd ./src/automotive_autonomy_msgs 
+    cd ${dir}/src/automotive_autonomy_msgs
     sudo git reset --hard 191dce1827023bef6d69b31e8c2514cf82bf10c5
-    cd ${dir}
-fi
-
-
+fi
\ No newline at end of file

From 99614bf25d08922f0bebdef69d925807adfb9b3a Mon Sep 17 00:00:00 2001
From: Cody Garver <dylan.garver@leidos.com>
Date: Wed, 4 Jan 2023 00:24:56 -0500
Subject: [PATCH 15/25]  This is a combination of 2 commits.

Test
---
 .circleci/config.yml | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/.circleci/config.yml b/.circleci/config.yml
index bb23c2f..6eb8143 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -93,14 +93,20 @@ jobs:
           name: Build ROS 2 Driver
           command: |
             source ${INIT_ENV}
+            echo "ROS_DISTRO=$ROS_DISTRO"
+            unset ROS_DISTRO
             source ${ROS_2_ENV}
+            echo "ROS_DISTRO=$ROS_DISTRO"
             sed -i '/colcon build/ s/$/ --packages-up-to ssc_interface_wrapper_ros2 pacmod3 kvaser_interface/' ~/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
             make_with_coverage.bash -m -e /opt/carma/ -o ./coverage_reports/gcov
       - run:
           name: Run C++ Tests
           command: |
             source ${INIT_ENV}
+            echo "ROS_DISTRO=$ROS_DISTRO"
+            unset ROS_DISTRO
             source ${ROS_2_ENV}
+            echo "ROS_DISTRO=$ROS_DISTRO"
             sed -i '/colcon test/ s/$/ --packages-up-to ssc_interface_wrapper_ros2 pacmod3 kvaser_interface/' ~/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
             make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov
       - run:

From 09d001480ad877918da4bbfcc8a4c1d7589bdea6 Mon Sep 17 00:00:00 2001
From: Cody Garver <dylan.garver@leidos.com>
Date: Wed, 4 Jan 2023 00:40:56 -0500
Subject: [PATCH 16/25] Fix checkout

---
 docker/checkout.bash | 11 ++---------
 1 file changed, 2 insertions(+), 9 deletions(-)

diff --git a/docker/checkout.bash b/docker/checkout.bash
index f38ea4f..09004a7 100755
--- a/docker/checkout.bash
+++ b/docker/checkout.bash
@@ -57,7 +57,8 @@ while [[ $# -gt 0 ]]; do
       esac
 done
 
-sudo rm -rf ${dir}/src/{CARMAMsgs,CARMAUtils}
+# Preemptively remove every possible dir this script clones to support ROS1 and ROS2 builds in sequence
+sudo rm -rf ${dir}/src/{automotive_autonomy_msgs,CARMAMsgs,CARMAUtils,dbw-mkz-ros,kvaser_interface,kvaser_interface,pacmod3,pacmod3_ros2,raptor-dbw-ros,raptor-dbw-ros2}
 
 if [[ "$BRANCH" = "develop" ]]; then
       git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ${dir}/src/CARMAMsgs --branch $BRANCH
@@ -70,27 +71,22 @@ fi
 if [ $build_ros1_pkgs -eq 1 ]; then
 
     # Required to build the dbw_pacifica_msgs message set.
-    sudo rm -rf ${dir}/src/raptor-dbw-ros
     sudo git clone https://github.com/NewEagleRaptor/raptor-dbw-ros.git ${dir}/src/raptor-dbw-ros --branch master 
     cd ${dir}/src/raptor-dbw-ros
     sudo git reset --hard f50f91cd88ad27b2ce05bab1f8ff780931c41475
 
     # Required for ford fusion drive by wire
-    sudo rm -rf ${dir}/src/dbw-mkz-ros
     sudo git clone https://bitbucket.org/DataspeedInc/dbw_mkz_ros.git ${dir}/src/dbw-mkz-ros --branch 1.2.4
 
-    sudo rm -rf ${dir}/src/pacmod3
     sudo git clone https://github.com/astuff/pacmod3.git ${dir}/src/pacmod3 --branch ros1_master
     cd ${dir}/src/pacmod3
     sudo git reset --hard 4e5e9cd5e821f4f19e31e10ba42f20449860b940
 
-    sudo rm -rf ${dir}/src/kvaser_interface
     sudo git clone https://github.com/astuff/kvaser_interface.git ${dir}/src/kvaser_interface --branch ros1_master
     cd ${dir}/src/kvaser_interface
     sudo git reset --hard e2aa169e32577f2468993b89edf7a0f67d1e7f0e
 
 elif [ $build_ros2_pkgs -eq 1 ]; then
-    sudo rm -rf ${dir}/src/raptor-dbw-ros2
     sudo git clone https://github.com/NewEagleRaptor/raptor-dbw-ros2.git ${dir}/src/raptor-dbw-ros2 --branch foxy
     cd ${dir}/src/raptor-dbw-ros2
     sudo git reset --hard 4ad958dd07bb9c7128dc75bc7397bc8f5be30a3c
@@ -100,19 +96,16 @@ elif [ $build_ros2_pkgs -eq 1 ]; then
     # sudo git clone https://bitbucket.org/DataspeedInc/dbw_mkz_ros.git ${dir}/src/dbw-mkz-ros --branch 1.2.4
 
     #Pacmod3
-    sudo rm -rf ${dir}/src/pacmod3_ros2
     sudo git clone https://github.com/astuff/pacmod3.git ${dir}/src/pacmod3_ros2 --branch ros2_master
     cd ${dir}/src/pacmod3_ros2
     sudo git reset --hard 159ef36f26726cf8d7f58e67add8c8319a67ae85
 
     # kvaser
-    sudo rm -rf ${dir}/src/kvaser_interface
     sudo git clone https://github.com/astuff/kvaser_interface.git ${dir}/src/kvaser_interface --branch ros2_master
     cd ${dir}/src/kvaser_interface
     sudo git reset --hard d7ea2fb82a1b61d0ce4c96d1422599f7ee6ed1b7
 
     # Install automotive_autonomy_msgs
-    sudo rm -rf ${dir}/src/automotive_autonomy_msgs
     sudo git clone https://github.com/astuff/automotive_autonomy_msgs.git ${dir}/src/automotive_autonomy_msgs --branch master
     cd ${dir}/src/automotive_autonomy_msgs
     sudo git reset --hard 191dce1827023bef6d69b31e8c2514cf82bf10c5

From 1f64592ff7d3722d7d20216b57a8b6b74511aaf0 Mon Sep 17 00:00:00 2001
From: Cody Garver <codygarver@users.noreply.github.com>
Date: Thu, 5 Jan 2023 10:29:38 -0500
Subject: [PATCH 17/25] Verbose output

---
 .circleci/config.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.circleci/config.yml b/.circleci/config.yml
index 6eb8143..d412a5f 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -97,7 +97,7 @@ jobs:
             unset ROS_DISTRO
             source ${ROS_2_ENV}
             echo "ROS_DISTRO=$ROS_DISTRO"
-            sed -i '/colcon build/ s/$/ --packages-up-to ssc_interface_wrapper_ros2 pacmod3 kvaser_interface/' ~/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
+            sed -i '/colcon build/ s/$/ --event-handlers console_direct+ --packages-up-to ssc_interface_wrapper_ros2 pacmod3 kvaser_interface/' ~/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
             make_with_coverage.bash -m -e /opt/carma/ -o ./coverage_reports/gcov
       - run:
           name: Run C++ Tests

From bf367101746d559397ceb1b1b84a07455db1423e Mon Sep 17 00:00:00 2001
From: Cody Garver <dylan.garver@leidos.com>
Date: Wed, 1 Feb 2023 12:46:57 -0500
Subject: [PATCH 18/25] Add fixes from other branch

---
 .circleci/config.yml | 9 +++++----
 docker/install.sh    | 5 ++---
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/.circleci/config.yml b/.circleci/config.yml
index d412a5f..f785c48 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -31,10 +31,12 @@ jobs:
       - image: usdotfhwastoldev/autoware.ai:develop
         user: carma
         environment:
-          TERM: xterm # use xterm to get full display output from build
+          AUTOWARE_ENV: /opt/autoware.ai/ros/install/setup.bash
+          CATKIN_ENV: /home/carma/catkin/setup.bash
           INIT_ENV: /home/carma/.base-image/init-env.sh
           ROS_1_ENV: /opt/ros/noetic/setup.bash
           ROS_2_ENV: /opt/ros/foxy/setup.bash
+          TERM: xterm # use xterm to get full display output from build
     working_directory: "/opt/carma/"
     # Execution steps
     steps:
@@ -93,10 +95,9 @@ jobs:
           name: Build ROS 2 Driver
           command: |
             source ${INIT_ENV}
-            echo "ROS_DISTRO=$ROS_DISTRO"
-            unset ROS_DISTRO
+            source ${CATKIN_ENV}
             source ${ROS_2_ENV}
-            echo "ROS_DISTRO=$ROS_DISTRO"
+            source ${AUTOWARE_ENV}
             sed -i '/colcon build/ s/$/ --event-handlers console_direct+ --packages-up-to ssc_interface_wrapper_ros2 pacmod3 kvaser_interface/' ~/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
             make_with_coverage.bash -m -e /opt/carma/ -o ./coverage_reports/gcov
       - run:
diff --git a/docker/install.sh b/docker/install.sh
index a7ecd59..f9bbbbe 100755
--- a/docker/install.sh
+++ b/docker/install.sh
@@ -103,8 +103,7 @@ elif [ $build_ros2_pkgs -eq 1 ]; then
     cd "$dir" || exit 1
     source /opt/autoware.ai/ros/install_ros2/setup.bash
     sudo apt-get install -y apt-utils
-    sudo apt-get install ros-foxy-pacmod-msgs
-    sudo apt-get install ros-foxy-pacmod3-msgs
+    sudo apt-get install ros-foxy-can-msgs ros-foxy-pacmod-msgs ros-foxy-pacmod3-msgs
 
     if [ -z "$CI" ]; then
         colcon build --packages-up-to ssc_interface_wrapper_ros2 pacmod3 kvaser_interface --build-base ./build_ssc_interface_wrapper --install-base /opt/carma/install_ros2 --cmake-args -DCMAKE_BUILD_TYPE=Release
@@ -134,4 +133,4 @@ sudo sh -c 'echo "Region = \"us-east-1\"" >> /etc/apt/s3auth.conf'
 
 sudo sh -c 'echo "deb [trusted=yes] s3://autonomoustuff-ssc $(lsb_release -sc) main" > /etc/apt/sources.list.d/autonomoustuff-ssc.list'
 sudo apt-get update
-sudo apt-get -y install ros-foxy-ssc-pm-lexus ros-foxy-ssc-joystick && exit 0 || echo "Installation failed for ssc_pm_lexus check access_key and secret_id" && exit 1
\ No newline at end of file
+sudo apt-get -y install ros-foxy-ssc-pm-lexus ros-foxy-ssc-joystick && exit 0 || echo "Installation failed for ssc_pm_lexus check access_key and secret_id" && exit 1

From c26dd4b1eb6087051aee86a6896e57117efe500f Mon Sep 17 00:00:00 2001
From: Cody Garver <dylan.garver@leidos.com>
Date: Wed, 1 Feb 2023 12:49:32 -0500
Subject: [PATCH 19/25] Minor cleanup

---
 docker/install.sh | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/docker/install.sh b/docker/install.sh
index f9bbbbe..a268d5f 100755
--- a/docker/install.sh
+++ b/docker/install.sh
@@ -102,8 +102,7 @@ elif [ $build_ros2_pkgs -eq 1 ]; then
 
     cd "$dir" || exit 1
     source /opt/autoware.ai/ros/install_ros2/setup.bash
-    sudo apt-get install -y apt-utils
-    sudo apt-get install ros-foxy-can-msgs ros-foxy-pacmod-msgs ros-foxy-pacmod3-msgs
+    sudo apt-get install -y apt-utils ros-foxy-can-msgs ros-foxy-pacmod-msgs ros-foxy-pacmod3-msgs
 
     if [ -z "$CI" ]; then
         colcon build --packages-up-to ssc_interface_wrapper_ros2 pacmod3 kvaser_interface --build-base ./build_ssc_interface_wrapper --install-base /opt/carma/install_ros2 --cmake-args -DCMAKE_BUILD_TYPE=Release

From e65dcb600d39248034a0f260c3579bface0f7f2a Mon Sep 17 00:00:00 2001
From: Cody Garver <dylan.garver@leidos.com>
Date: Wed, 1 Feb 2023 13:00:22 -0500
Subject: [PATCH 20/25] Move ros2 source

---
 .circleci/config.yml | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/.circleci/config.yml b/.circleci/config.yml
index f785c48..902e447 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -96,18 +96,17 @@ jobs:
           command: |
             source ${INIT_ENV}
             source ${CATKIN_ENV}
-            source ${ROS_2_ENV}
             source ${AUTOWARE_ENV}
+            source ${ROS_2_ENV}
             sed -i '/colcon build/ s/$/ --event-handlers console_direct+ --packages-up-to ssc_interface_wrapper_ros2 pacmod3 kvaser_interface/' ~/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
             make_with_coverage.bash -m -e /opt/carma/ -o ./coverage_reports/gcov
       - run:
           name: Run C++ Tests
           command: |
             source ${INIT_ENV}
-            echo "ROS_DISTRO=$ROS_DISTRO"
-            unset ROS_DISTRO
+            source ${CATKIN_ENV}
+            source ${AUTOWARE_ENV}
             source ${ROS_2_ENV}
-            echo "ROS_DISTRO=$ROS_DISTRO"
             sed -i '/colcon test/ s/$/ --packages-up-to ssc_interface_wrapper_ros2 pacmod3 kvaser_interface/' ~/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
             make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov
       - run:

From cf8e5715ba50ce3608e2422eaafa45814dbe85e4 Mon Sep 17 00:00:00 2001
From: Cody Garver <dylan.garver@leidos.com>
Date: Wed, 1 Feb 2023 13:45:14 -0500
Subject: [PATCH 21/25] Hokey

---
 .circleci/config.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.circleci/config.yml b/.circleci/config.yml
index 902e447..7e1abbc 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -95,18 +95,18 @@ jobs:
           name: Build ROS 2 Driver
           command: |
             source ${INIT_ENV}
-            source ${CATKIN_ENV}
             source ${AUTOWARE_ENV}
             source ${ROS_2_ENV}
+            source ${CATKIN_ENV}
             sed -i '/colcon build/ s/$/ --event-handlers console_direct+ --packages-up-to ssc_interface_wrapper_ros2 pacmod3 kvaser_interface/' ~/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
             make_with_coverage.bash -m -e /opt/carma/ -o ./coverage_reports/gcov
       - run:
           name: Run C++ Tests
           command: |
             source ${INIT_ENV}
-            source ${CATKIN_ENV}
             source ${AUTOWARE_ENV}
             source ${ROS_2_ENV}
+            source ${CATKIN_ENV}
             sed -i '/colcon test/ s/$/ --packages-up-to ssc_interface_wrapper_ros2 pacmod3 kvaser_interface/' ~/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
             make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov
       - run:

From fce123658717e75f3d1ebded0efd24b4afab9d87 Mon Sep 17 00:00:00 2001
From: Cody Garver <dylan.garver@leidos.com>
Date: Wed, 1 Feb 2023 14:06:39 -0500
Subject: [PATCH 22/25] Install ros-foxy-autoware-msgs

---
 docker/install.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docker/install.sh b/docker/install.sh
index a268d5f..4f67c1f 100755
--- a/docker/install.sh
+++ b/docker/install.sh
@@ -102,7 +102,7 @@ elif [ $build_ros2_pkgs -eq 1 ]; then
 
     cd "$dir" || exit 1
     source /opt/autoware.ai/ros/install_ros2/setup.bash
-    sudo apt-get install -y apt-utils ros-foxy-can-msgs ros-foxy-pacmod-msgs ros-foxy-pacmod3-msgs
+    sudo apt-get install -y apt-utils ros-foxy-autoware-msgs ros-foxy-can-msgs ros-foxy-pacmod-msgs ros-foxy-pacmod3-msgs
 
     if [ -z "$CI" ]; then
         colcon build --packages-up-to ssc_interface_wrapper_ros2 pacmod3 kvaser_interface --build-base ./build_ssc_interface_wrapper --install-base /opt/carma/install_ros2 --cmake-args -DCMAKE_BUILD_TYPE=Release

From 385861ec933532b0d881f4c7387333554584785d Mon Sep 17 00:00:00 2001
From: Cody Garver <dylan.garver@leidos.com>
Date: Wed, 1 Feb 2023 14:41:23 -0500
Subject: [PATCH 23/25] Fix env

---
 .circleci/config.yml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.circleci/config.yml b/.circleci/config.yml
index 7e1abbc..d5a54dc 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -31,7 +31,7 @@ jobs:
       - image: usdotfhwastoldev/autoware.ai:develop
         user: carma
         environment:
-          AUTOWARE_ENV: /opt/autoware.ai/ros/install/setup.bash
+          AUTOWARE_ENV: /opt/autoware.ai/ros/install_ros2/setup.bash
           CATKIN_ENV: /home/carma/catkin/setup.bash
           INIT_ENV: /home/carma/.base-image/init-env.sh
           ROS_1_ENV: /opt/ros/noetic/setup.bash
@@ -104,9 +104,9 @@ jobs:
           name: Run C++ Tests
           command: |
             source ${INIT_ENV}
-            source ${AUTOWARE_ENV}
-            source ${ROS_2_ENV}
             source ${CATKIN_ENV}
+            source ${ROS_2_ENV}
+            source ${AUTOWARE_ENV}
             sed -i '/colcon test/ s/$/ --packages-up-to ssc_interface_wrapper_ros2 pacmod3 kvaser_interface/' ~/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
             make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov
       - run:

From b5393d57ef34185abca817b6db55fe210e819fe0 Mon Sep 17 00:00:00 2001
From: Cody Garver <dylan.garver@leidos.com>
Date: Wed, 1 Feb 2023 15:02:57 -0500
Subject: [PATCH 24/25] Fix env

---
 .circleci/config.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.circleci/config.yml b/.circleci/config.yml
index d5a54dc..39406bf 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -95,9 +95,9 @@ jobs:
           name: Build ROS 2 Driver
           command: |
             source ${INIT_ENV}
-            source ${AUTOWARE_ENV}
-            source ${ROS_2_ENV}
             source ${CATKIN_ENV}
+            source ${ROS_2_ENV}
+            source ${AUTOWARE_ENV}
             sed -i '/colcon build/ s/$/ --event-handlers console_direct+ --packages-up-to ssc_interface_wrapper_ros2 pacmod3 kvaser_interface/' ~/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
             make_with_coverage.bash -m -e /opt/carma/ -o ./coverage_reports/gcov
       - run:

From 387d950977ceb8834370a641534c88086ea7c251 Mon Sep 17 00:00:00 2001
From: Cody Garver <dylan.garver@leidos.com>
Date: Wed, 1 Feb 2023 15:29:37 -0500
Subject: [PATCH 25/25] Fix env

---
 .circleci/config.yml | 2 --
 1 file changed, 2 deletions(-)

diff --git a/.circleci/config.yml b/.circleci/config.yml
index 39406bf..f454597 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -104,8 +104,6 @@ jobs:
           name: Run C++ Tests
           command: |
             source ${INIT_ENV}
-            source ${CATKIN_ENV}
-            source ${ROS_2_ENV}
             source ${AUTOWARE_ENV}
             sed -i '/colcon test/ s/$/ --packages-up-to ssc_interface_wrapper_ros2 pacmod3 kvaser_interface/' ~/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
             make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov