carmaker-ros2-bridge-skill

name	carmaker-ros2-bridge-skill
description	Use when migrating, validating, documenting, or operating the CarMaker 15.1 ROS2 bridge; triggers include ROS2Bridge.cpp, CarMaker 14.1.1 to 15.1 bridge migration, /chcnav/devpvt, /perception/curb_boundaries, /control/control_cmd, msg_interfaces, autoware_control_msgs, AMENT_PREFIX_PATH, LD_LIBRARY_PATH, RUNPATH, and CarMaker.linux64 bridge validation.

CarMaker ROS2 Bridge Skill

Core principle

Prove the runtime first: the executable must report linux64-15.1, shared libraries must resolve, and live ROS2 traffic must be observed. A linux64-14.1.1/install RUNPATH can be valid when it only supplies ROS2 message libraries.

Verified local baseline

• Project: /home/cqx/CM_Projects/cm151_gpu_demo
• Executable: /home/cqx/CM_Projects/cm151_gpu_demo/src/CarMaker.linux64
• Bridge files: src/ROS2Bridge.cpp, src/ROS2Bridge.h, src/User.cpp, src/Makefile
• ROS2 distro: Humble
• Message prefix: /opt/ipg/carmaker/linux64-14.1.1/install
• Optional launcher: /home/cqx/CM_Projects/cm151_gpu_demo/start_carmaker15_gpu_todesk.sh
• Probe binary: /tmp/carmaker_ros2_probe

Topic contract

Direction	Topic	Type
CarMaker -> ROS2	/chcnav/devpvt	msg_interfaces/msg/Hcinspvatzcb
CarMaker -> ROS2	/perception/curb_boundaries	msg_interfaces/msg/CurbBoundaries
CarMaker -> ROS2	/perception/curb_diagnostics	msg_interfaces/msg/CurbDiagnostics
CarMaker -> ROS2	/control/runtime_log_stop	nav_msgs/msg/Odometry
ROS2 -> CarMaker	/control/control_cmd	autoware_control_msgs/msg/Control

Standard validation workflow

1. Check version: ./src/CarMaker.linux64 -help | head -5 must show linux64-15.1.
2. Check dependencies: ldd ./src/CarMaker.linux64 | rg "not found" must produce no output.
3. Check RUNPATH: it should include /opt/ros/humble/lib, autoware_control_msgs/lib, and msg_interfaces/lib.
4. Export ROS2 env (ROS_DISTRO=humble, RMW_IMPLEMENTATION=rmw_fastrtps_cpp, AMENT_PREFIX_PATH, COLCON_PREFIX_PATH, LD_LIBRARY_PATH).
5. Run the 20s CLI TestRun and confirm ROS2 bridge initialized for CarMaker 15.1.
6. Run /tmp/carmaker_ros2_probe during simulation; success requires chc_count > 0 and curb_count > 0.
7. Confirm CarMaker logs show ROS2 control: target=... steer_tire=....

Use scripts/check_carmaker_ros2_bridge.sh for read-only checks. Use --run-smoke only when it is acceptable to launch a short CarMaker CLI simulation.

Success indicators

• APPLICATION ... (linux64-15.1).
• No ldd missing libraries.
• Bridge initialization logs for /chcnav/devpvt and /perception/curb_boundaries.
• Probe output like chc_count=308 curb_count=303 ....
• Control logs change vehicle throttle/brake/steer state.

Vehicle leaves road after a fixed steering command is expected in the probe scenario; it indicates control affected vehicle motion, not that the bridge failed.

References and tools

• Load references/carmaker15_ros2_bridge.md for exact commands, expected logs, troubleshooting notes, and Apollo/Autoware integration caveats.
• Run scripts/check_carmaker_ros2_bridge.sh for local structural validation.