ARC 157 Remove ROS2 Foxy Specific Code (#240)

# PR Details
## Description

This PR removes code that was specific to ROS2 Foxy since we plan to
only support Humble in future releases.

## Related GitHub Issue

NA

## Related Jira Key

[ARC-157](https://usdot-carma.atlassian.net/browse/ARC-157)

## Motivation and Context

Part of our migration towards ROS2 Humble.

## How Has This Been Tested?

Code was built inside of the ROS2 Humble carma-base docker image.

## Types of changes

- [ ] Defect fix (non-breaking change that fixes an issue)
- [ ] New feature (non-breaking change that adds functionality)
- [x] Breaking change (fix or feature that cause existing functionality
to change)

## Checklist:

- [ ] I have added any new packages to the sonar-scanner.properties file
- [ ] My change requires a change to the documentation.
- [ ] I have updated the documentation accordingly.
- [x] I have read the
[**CONTRIBUTING**](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/Contributing.md)
document.
- [ ] I have added tests to cover my changes.
- [ ] All new and existing tests passed.


[ARC-157]:
https://usdot-carma.atlassian.net/browse/ARC-157?atlOrigin=eyJpIjoiNWRkNTljNzYxNjVmNDY3MDlhMDU5Y2ZhYzA5YTRkZjUiLCJwIjoiZ2l0aHViLWNvbS1KU1cifQ

.github/workflows/ci.yml

@@ -3,6 +3,7 @@ on:
   push:
     branches:
       - develop
+      - develop-humble
       - master
       - "release/*"
   pull_request:
@@ -27,7 +28,7 @@ jobs:
       image: ${{ needs.determine_docker_org_and_tag.outputs.docker_organization }}/carma-base:${{ needs.determine_docker_org_and_tag.outputs.docker_image_tag }}
       env:
         INIT_ENV: "/home/carma/.base-image/init-env.sh"
-        ROS_2_ENV: "/opt/ros/foxy/setup.bash"
+        ROS_2_ENV: "/opt/ros/humble/setup.bash"
         TERM: xterm
       options: "--user root"
     steps:
@@ -50,26 +51,6 @@ jobs:
       run: |
         source "$INIT_ENV"
         git clone -b ${{ steps.determine-base-branch.outputs.git_branch }} --depth 1 https://github.com/usdot-fhwa-stol/carma-msgs.git src/CARMAMsgs
-    - name: Build ROS1
-      run: |
-        source "$INIT_ENV"
-        PACKAGES=$(find . -maxdepth 2 -type f -name package.xml | sed 's/\.\///' | cut -d/ -f1)
-        sed -i '/colcon build/ s/$/ --parallel-workers 4 --packages-up-to $PACKAGES/' /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
-        make_with_coverage.bash -m -e /opt/carma/ -o ./coverage_reports/gcov
-    - name: Run ROS1 C++ Tests
-      continue-on-error: true
-      run: |
-        source "$INIT_ENV"
-        sed -i '/colcon test/ s/$/ --parallel-workers 4 --packages-above $PACKAGES/' /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
-        make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov   
-    - name: Backup ROS1 compile_commands.json
-      run: |
-        mv /opt/carma/build/compile_commands.json /opt/carma/compile_commands.ros1.json        
-    - name: Cleanup before ROS 2 build
-      # Clear the build and install folders before building ROS 2 
-      run: |
-        rm -rf /opt/carma/install
-        rm -rf /opt/carma/build             
     - name: Build ROS2
       run: |
         source "$INIT_ENV"
@@ -84,10 +65,6 @@ jobs:
         source "$ROS_2_ENV"
         sed -i '/colcon test/ s/$/ --parallel-workers 4 --packages-above $PACKAGES/' /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
         make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov
-    - name: Combine ROS1 and ROS2 compile_commands.json files
-      run: |
-        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        
     - name: Run SonarScanner
       uses: usdot-fhwa-stol/actions/sonar-scanner@main
       with:

README.md

@@ -14,7 +14,7 @@ The primary CARMAPlatform repository can be found [here](https://github.com/usdo
 github organization. Documentation on how the CARMAPlatform functions, how it will evolve over time, and how you can contribute can be found at the above links as well
 
 ## Current Status of ROS 1 and ROS 2 Packages
-The current CARMA Platform system operates as a hybrid of ROS 1 Noetic and ROS 2 Foxy components. While nearly all components have been upgraded to ROS 2 Foxy, a small amount of ROS 1 Noetic content still exists within the system, including some packages in this repository. For more information, please see the relevant documentation in the [carma-config](https://github.com/usdot-fhwa-stol/carma-config?tab=readme-ov-file#current-status-of-hybrid-ros-1ros-2-system) repository.
+The current CARMA Platform system operates as a hybrid of ROS 1 Noetic and ROS 2 Humble components. While nearly all components have been upgraded to ROS 2 Humble, a small amount of ROS 1 Noetic content still exists within the system, including some packages in this repository. For more information, please see the relevant documentation in the [carma-config](https://github.com/usdot-fhwa-stol/carma-config?tab=readme-ov-file#current-status-of-hybrid-ros-1ros-2-system) repository.
 
 ## Contribution
 Welcome to the CARMA contributing guide. Please read this guide to learn about our development process, how to propose pull requests and improvements, and how to build and test your changes to this project. [CARMA Contributing Guide](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/Contributing.md)

carma_ros2_utils/CMakeLists.txt

@@ -22,23 +22,6 @@ include(dependencies.cmake)
 
 carma_package()
 
-# TODO(CAR-6017): Remove when we drop support for Foxy
-# rclcpp_lifecycle has breaking API changes starting with Humble
-if(("$ENV{ROS_DISTRO}" STREQUAL "foxy") OR ("$ENV{ROS_DISTRO}" STREQUAL "galactic"))
-  set(carma_ros2_utils_LIFECYCLE_PUBLISHER_INTERFACE_TYPE
-    rclcpp_lifecycle::LifecyclePublisherInterface
-  )
-else()
-  set(carma_ros2_utils_LIFECYCLE_PUBLISHER_INTERFACE_TYPE
-    rclcpp_lifecycle::ManagedEntityInterface
-  )
-endif()
-
-configure_file(
-  src/carma_lifecycle_node.hpp.in
-  carma_ros2_utils/carma_lifecycle_node.hpp
-)
-
 ament_auto_add_library(carma_ros2_utils SHARED
   src/carma_lifecycle_node.cpp
 )
@@ -50,11 +33,6 @@ target_include_directories(carma_ros2_utils
 
 include(GNUInstallDirs)
 
-INSTALL(FILES ${PROJECT_BINARY_DIR}/carma_ros2_utils/carma_lifecycle_node.hpp
-  DESTINATION
-    ${CMAKE_INSTALL_INCLUDEDIR}/carma_ros2_utils
-)
-
 ament_auto_add_library(carma_ros2_utils_timers SHARED
   src/timers/testing/TestTimer.cpp
   src/timers/testing/TestTimerFactory.cpp
@@ -88,11 +66,6 @@ ament_auto_add_executable(carma_component_container_mt
 )
 
 if(BUILD_TESTING)
-  # These CMake commands were added to ament_cmake_auto in ROS 2 Humble. Until
-  # CARMA supports ROS 2 Humble, we will use package-local copies.
-  include(cmake/ament_auto_find_test_dependencies.cmake)
-  include(cmake/ament_auto_add_gtest.cmake)
-
   ament_auto_add_executable(test_carma_lifecycle_node
     test/test_node.cpp
   )

carma_ros2_utils/src/carma_lifecycle_node.hpp.in → carma_ros2_utils/include/carma_ros2_utils/carma_lifecycle_node.hpp

@@ -14,13 +14,6 @@
  * the License.
  */
 
-/*
- * TODO(CAR-6017): When we drop support for Foxy:
- *   - replace CMake substitution strings with rclcpp::ManagedEntityInterface
- *   - drop the .in filename suffix
- *   - relocate file to include/ directory
- */
-
 /**
  * This file is loosely based on the reference architecture developed by OSRF for Leidos located here
  * https://github.com/mjeronimo/carma2/blob/master/carma_utils/carma_utils/include/carma_utils/carma_lifecycle_node.hpp
@@ -107,16 +100,16 @@ namespace carma_ros2_utils
     virtual ~CarmaLifecycleNode();
 
     /**
-   * \brief Overrides: See https://github.com/ros2/rclcpp/blob/foxy/rclcpp_lifecycle/include/rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp for their details
+   * \brief Overrides: See https://github.com/ros2/rclcpp/blob/humble/rclcpp_lifecycle/include/rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp for their details
    * NOTE: These methods are NOT meant to be used by extending classes. Instead the corresponding handle_<method> methods should be used
    *       to ensure the full CARMALifecycleNode functionality is employed.
    */
-    carma_ros2_utils::CallbackReturn on_configure(const rclcpp_lifecycle::State &prev_state) override;
-    carma_ros2_utils::CallbackReturn on_activate(const rclcpp_lifecycle::State &prev_state) override;
-    carma_ros2_utils::CallbackReturn on_deactivate(const rclcpp_lifecycle::State &prev_state) override;
-    carma_ros2_utils::CallbackReturn on_cleanup(const rclcpp_lifecycle::State &prev_state) override;
-    carma_ros2_utils::CallbackReturn on_error(const rclcpp_lifecycle::State &prev_state) override;
-    carma_ros2_utils::CallbackReturn on_shutdown(const rclcpp_lifecycle::State &prev_state) override;
+    carma_ros2_utils::CallbackReturn on_configure(const rclcpp_lifecycle::State &prev_state) override final;
+    carma_ros2_utils::CallbackReturn on_activate(const rclcpp_lifecycle::State &prev_state) override final;
+    carma_ros2_utils::CallbackReturn on_deactivate(const rclcpp_lifecycle::State &prev_state) override final;
+    carma_ros2_utils::CallbackReturn on_cleanup(const rclcpp_lifecycle::State &prev_state) override final;
+    carma_ros2_utils::CallbackReturn on_error(const rclcpp_lifecycle::State &prev_state) override final;
+    carma_ros2_utils::CallbackReturn on_shutdown(const rclcpp_lifecycle::State &prev_state) override final;
 
     /**
    * \brief Callback triggered when transitioning from UNCONFIGURED to INACTIVE due to the configure signal.
@@ -274,7 +267,7 @@ namespace carma_ros2_utils
     /**
      * \brief Method to create a timer whose lifecycle can be managed by this node.
      *
-     *  NOTE: In foxy the LifecycleNode api is slightly out of sync with the node api so there is not a create_timer method there. We use rclcpp directly here
+     *  NOTE: In humble the LifecycleNode api is slightly out of sync with the node api so there is not a create_timer method there. We use rclcpp directly here
      *
      *  \param clock The underlying clock to use for the timer.
      *  \param period The period of trigger of the timer.
@@ -299,8 +292,6 @@ namespace carma_ros2_utils
      * \brief Override of rclcpp method. See descriptive comments here:
      *  https://github.com/ros2/rclcpp/blob/4859c4e43576d0c6fe626679b2c2604a9a8b336c/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp#L271
      *
-     *  NOTE: In foxy the LifecycleNode api is slightly out of sync with the node api so there is not a create_service method there. We use rclcpp directly here
-     *
      * NOTE: The function object passed to this method will be moved using std::move.
      *       The user should therefore assume ownership of this function object has been relinquished
      */
@@ -409,12 +400,8 @@ namespace carma_ros2_utils
     std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<carma_msgs::msg::SystemAlert>>
         system_alert_pub_;
 
-    /*
-     * TODO(CAR-6017): Refactor when we transition to Humble.
-     * LifecyclePublisherInterface was replaced with ManagedEntityInterface in Humble
-     */
     //! A list of lifecycle publishers produced from this node whose lifetimes can be managed
-    std::vector<std::shared_ptr<@carma_ros2_utils_LIFECYCLE_PUBLISHER_INTERFACE_TYPE@>> lifecycle_publishers_;
+    std::vector<std::shared_ptr<rclcpp_lifecycle::ManagedEntityInterface>> lifecycle_publishers_;
 
     //! A list of timers produced from this node whose lifetimes can be managed
     std::vector<std::shared_ptr<rclcpp::TimerBase>> timers_;

ros2_lifecycle_manager/CMakeLists.txt

@@ -31,11 +31,6 @@ ament_auto_add_library(ros2_lifecycle_manager SHARED
 )
 
 if(BUILD_TESTING)
-  # These CMake commands were added to ament_cmake_auto in ROS 2 Humble. Until
-  # CARMA supports ROS 2 Humble, we will use package-local copies.
-  include(cmake/ament_auto_find_test_dependencies.cmake)
-  include(cmake/ament_auto_add_gtest.cmake)
-
   ament_auto_add_executable(test_lifecycle_node
     test/test_node.cpp
   )