carma-vehicle-framework repository is stale and its dependency is deprecated #2433
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enhancement
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MishkaMN
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Sep 11, 2024
<!-- Thanks for the contribution, this is awesome. --> # PR Details ## Description This PR removes unused ROS1 code as most of the code is migrated to ROS2 foxy. <!--- Describe your changes in detail --> **Kept:** **carma_utils** is used by carma_record **driver_shutdown** is needed for ROS1 driver launch files **Removed:** **cav_driver_utils** is used by ros1 drivers, but all of them are deprecated except the ssc driver. Therefore it was also moved to[ ssc wrapper repo](usdot-fhwa-stol/carma-ssc-interface-wrapper#161) along with socketcan_bridge **socketcan_bridge** and **socketcan_interface** is used by pacifica's dbw controller, so factored into that[ repo here](usdot-fhwa-stol/carma-ssc-interface-wrapper#161). **wgs84_utils_ros1** is removed because ROS2 exists. **bsm_helper** is ROS1 and ROS2 of which ROS1 can be removed. **uncertainty_tools** is ROS1/ROS2 of which ROS1 can be removed. NOTE: [novatel_gps_driver](https://github.com/usdot-fhwa-stol/novatel_gps_driver) depends on this as ROS1. However, the repo is no longer used and should probably be archived. **sigpack:** NOTE: it is dependency for carma-vehicle-model-framework, but that repo has not been updated for 3 years, is not used anywhere yet, and no plans to develop for it in the future. We can add it back if needed. Tracking the issue on: usdot-fhwa-stol/carma-platform#2433 **trajectory_utils.** trajectory_utils_ros2 should be renamed to just trajectory_utils in a different PR. ## Related GitHub Issue usdot-fhwa-stol/carma-platform#2079 <!--- This project only accepts pull requests related to open GitHub issues or Jira Keys --> <!--- If suggesting a new feature or change, please discuss it in an issue first --> <!--- If fixing a bug, there should be an issue describing it with steps to reproduce --> <!--- Please DO NOT name partially fixed issues, instead open an issue specific to this fix --> <!--- Please link to the issue here: --> ## Related Jira Key [ARC-146](https://usdot-carma.atlassian.net/browse/ARC-146) <!-- e.g. CAR-123 --> ## Motivation and Context Migration to Foxy <!--- Why is this change required? What problem does it solve? --> ## How Has This Been Tested? Built carma-platform on local VM <!--- Please describe in detail how you tested your changes. --> <!--- Include details of your testing environment, and the tests you ran to --> <!--- see how your change affects other areas of the code, etc. --> ## Types of changes <!--- What types of changes does your code introduce? Put an `x` in all the boxes that apply: --> - [ ] Defect fix (non-breaking change that fixes an issue) - [X] New feature (non-breaking change that adds functionality) - [ ] Breaking change (fix or feature that cause existing functionality to change) ## Checklist: <!--- Go over all the following points, and put an `x` in all the boxes that apply. --> <!--- If you're unsure about any of these, don't hesitate to ask. We're here to help! --> - [X] I have added any new packages to the sonar-scanner.properties file - [X] My change requires a change to the documentation. - [X] 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. - [X] I have added tests to cover my changes. - [X] All new and existing tests passed. [CAR-146]: https://usdot-carma.atlassian.net/browse/CAR-146?atlOrigin=eyJpIjoiNWRkNTljNzYxNjVmNDY3MDlhMDU5Y2ZhYzA5YTRkZjUiLCJwIjoiZ2l0aHViLWNvbS1KU1cifQ [ARC-146]: https://usdot-carma.atlassian.net/browse/ARC-146?atlOrigin=eyJpIjoiNWRkNTljNzYxNjVmNDY3MDlhMDU5Y2ZhYzA5YTRkZjUiLCJwIjoiZ2l0aHViLWNvbS1KU1cifQ
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Summary
https://github.com/usdot-fhwa-stol/carma-vehicle-model-framework/
Repository is not used anywhere in our codebase and is not updated for 3 years.
Its dependency of sigpack is recently removed from the carma-utils as this repo is the only repo that uses it.
We can add it back if we ever decide to use this repo.
Last PR that removed it was this: usdot-fhwa-stol/carma-utils#234
Reasoning for new functionality
No response
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