merge conflicts fixed

UOA-FSAE · Aug 20, 2024 · a2b1bd8 · a2b1bd8
2 parents d447126 + afcc0d2
commit a2b1bd8
Show file tree

Hide file tree

Showing 172 changed files with 4,197 additions and 1,816 deletions.
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
@@ -1,11 +1,11 @@
 {
-	"name": "Autonomous Devcontainer",
+	"name": "Autonomous Dev",
 
 	"dockerComposeFile": "docker-compose.yml",
 	"service": "autonomous_ros2",
 	"shutdownAction": "none",
 
-	"postCreateCommand": "rosdep install --from-paths src -y --ignore-src && colcon build --symlink-install",
+	"postCreateCommand": "rosdep install --from-paths src -y --ignore-src && colcon build",
 
 	"workspaceFolder": "/ws",
 	"customizations": {
@@ -28,7 +28,8 @@
 				"redhat.vscode-xml",
 				"twxs.cmake",
 				"VisualStudioExptTeam.intellicode-api-usage-examples",
-				"VisualStudioExptTeam.vscodeintellicode"
+				"VisualStudioExptTeam.vscodeintellicode",
+				"redhat.vscode-yaml"
 			]
 		}
 	}

diff --git a/.devcontainer/docker-compose.yml b/.devcontainer/docker-compose.yml
@@ -9,6 +9,8 @@ services:
     environment:
       - DISPLAY
       - NVIDIA_VISIBLE_DEVICES=all
+      - NVIDIA_DRIVER_CAPABILITIES=all
+      - ROS_DOMAIN_ID=47
     volumes:
       - ..:/ws
     network_mode: host
@@ -20,7 +22,9 @@ services:
       resources:
         reservations:
           devices:
-            - capabilities: [gpu]
+            - driver: nvidia
+              device_ids: []
+              capabilities: [gpu]
     privileged: true
     devices:
       - /dev:/dev
@@ -33,15 +37,14 @@ services:
     environment:
       - DISPLAY
       - NVIDIA_VISIBLE_DEVICES=all
+      - NVIDIA_DRIVER_CAPABILITIES=all
+      - ROS_DOMAIN_ID=47
     volumes:
-      #- ..:/ws
-      #- ../src:/ws/src
       - ../bringup:/ws/bringup
       - ../src/visualization/:/ws/src/visualization/
       - ../src/moa/moa_description:/ws/src/moa/moa_description
       - ../src/moa/moa_msgs:/ws/src/moa/moa_msgs
       - ../ros_entrypoint.sh:/ws/ros_entrypoint.sh
-      - ../bringup:/ws/bringup
       - /tmp/.X11-unix:/tmp/.X11-unix
       - /dev:/dev
 
@@ -55,7 +58,9 @@ services:
       resources:
         reservations:
           devices:
-            - capabilities: [gpu]
+            - driver: nvidia
+              device_ids: []
+              capabilities: [gpu]
     privileged: true
     devices:
       - /dev:/dev
diff --git a/.devcontainer/ros2_ws.Dockerfile b/.devcontainer/ros2_ws.Dockerfile
@@ -1,73 +1,34 @@
-FROM nvcr.io/nvidia/l4t-base:35.4.1
+FROM osrf/ros:humble-desktop
 LABEL Name=autonomous Version=0.0.1
 
 SHELL [ "/bin/bash", "-c" ]
 
 WORKDIR /ws
 
-RUN apt-get update && \
-    apt-get install -y --no-install-recommends \
-        libopenblas-dev \
-        libopenmpi-dev \
-        openmpi-bin \
-        openmpi-common \
-        gfortran \
-        libomp-dev  \
-        nvidia-cuda-dev \
-        nvidia-cudnn8-dev && \
+RUN apt-get update && apt-get install --no-install-recommends -y \
+    python3-pip \
+    ros-humble-foxglove-bridge && \ 
     rm -rf /var/lib/apt/lists/* && \
     apt-get clean
 
-RUN apt update && apt install locales && \
-    locale-gen en_US en_US.UTF-8 && \
-    update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
-
-RUN apt update && apt install -y gnupg wget software-properties-common && \
-    add-apt-repository universe
-
-RUN wget -qO - https://isaac.download.nvidia.com/isaac-ros/repos.key | \
-    apt-key add - && \
-    echo 'deb https://isaac.download.nvidia.com/isaac-ros/ubuntu/main focal main' | \
-    tee -a "/etc/apt/sources.list"
-
-RUN apt update && apt install curl -y && \
-    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
-    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu focal main" | \
-    tee /etc/apt/sources.list.d/ros2.list > /dev/null
-
 ENV ROS_DISTRO humble
 
-RUN apt update && apt install --no-install-recommends -y \
-    ros-humble-ros-base \
-    ros-dev-tools \
-    build-essential \
-    python3-colcon-common-extensions \
-    python3-colcon-mixin \
-    python3-rosdep \
-    python3-vcstool \ 
-    python3-pip \
-    ros-humble-foxglove-bridge && \
-    rm -rf /var/lib/apt/lists/* && \
-    apt-get clean && \
-    echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc 
-
 COPY . .
 
-RUN rosdep init && rosdep update --rosdistro $ROS_DISTRO && apt-get update && \
-    cd /ws && \
+RUN source /opt/ros/humble/setup.bash && \
+    rosdep update --rosdistro $ROS_DISTRO && apt-get update && \
     rosdep install --from-paths src -y -r --ignore-src --rosdistro=$ROS_DISTRO --os=ubuntu:jammy && \ 
-    rm -rf /var/lib/apt/lists/* 
-
-ENV PYTORCH_URL=https://developer.download.nvidia.com/compute/redist/jp/v512/pytorch/torch-2.1.0a0+41361538.nv23.06-cp38-cp38-linux_aarch64.whl PYTORCH_WHL=torch-2.1.0a0+41361538.nv23.06-cp38-cp38-linux_aarch64.whl 
-
-RUN cd /opt && \
-    wget --quiet --show-progress --progress=bar:force:noscroll --no-check-certificate ${PYTORCH_URL} -O ${PYTORCH_WHL} && \
-    pip3 install --verbose ${PYTORCH_WHL}
-
-RUN python3 -c 'import torch; print(f"PyTorch version: {torch.__version__}"); print(f"CUDA available:  {torch.cuda.is_available()}"); print(f"cuDNN version:   {torch.backends.cudnn.version()}"); print(torch.__config__.show());'
+    rm -rf /var/lib/apt/lists/* && \
+    apt-get clean
 
 RUN source /opt/ros/humble/setup.bash && \
     colcon build --parallel-workers $(nproc) --symlink-install \
-        --event-handlers console_direct+ --base-paths src 
+        --event-handlers console_direct+ --base-paths src \
+        --cmake-args ' -DCMAKE_BUILD_TYPE=Release' \
+        ' -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs' \
+        ' -DCMAKE_CXX_FLAGS="-Wl,--allow-shlib-undefined"'
+
+RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc && \
+    echo "source /ws/install/setup.bash" >> ~/.bashrc
 
 CMD [ "bash" ]
diff --git a/.devcontainer/zed.Dockerfile b/.devcontainer/zed.Dockerfile
@@ -1,25 +1,13 @@
-FROM stereolabs/zed:4.0-tools-devel-l4t-r35.4
+FROM stereolabs/zed:4.1-devel-cuda12.1-ubuntu22.04 
 LABEL Name=zed_sdk Version=0.0.1
 
 SHELL [ "/bin/bash", "-c" ]
 
 WORKDIR /ws
 
-ENV LANG C.UTF-8
-ENV LC_ALL C.UTF-8
-
-RUN apt update && apt install -y gnupg wget software-properties-common && \
-    add-apt-repository universe
-
-RUN wget -qO - https://isaac.download.nvidia.com/isaac-ros/repos.key | \
-    apt-key add - && \
-    echo 'deb https://isaac.download.nvidia.com/isaac-ros/ubuntu/main focal main' | \
-    tee -a "/etc/apt/sources.list"
-
-RUN apt update && apt install curl -y && \
-    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
-    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu focal main" | \
-    tee /etc/apt/sources.list.d/ros2.list > /dev/null
+# setup sources.list and keys
+RUN echo "deb http://packages.ros.org/ros2/ubuntu jammy main" > /etc/apt/sources.list.d/ros2-latest.list && \
+    apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
 
 # setup timezone & install packages
 RUN apt-get update && apt-get install -q -y --no-install-recommends \
@@ -36,6 +24,10 @@ RUN apt-get update && apt-get install -q -y --no-install-recommends \
     rm -rf /var/lib/apt/lists/* && \
     apt-get clean
 
+# setup environment
+ENV LANG C.UTF-8
+ENV LC_ALL C.UTF-8
+
 ENV ROS_DISTRO humble
 
 # setup colcon mixin and metadata
@@ -57,8 +49,9 @@ RUN cd /ws/src/ && \
     git clone  --recursive https://github.com/stereolabs/zed-ros2-wrapper.git && \
     cd .. && \
     source /opt/ros/humble/setup.bash && \ 
-    rosdep update && apt-get update && \
-    rosdep install --from-paths src -y -r --ignore-src --rosdistro=$ROS_DISTRO --os=ubuntu:jammy && \
+    apt-get update && rosdep update && \
+    rosdep install --from-paths src --ignore-src -r -y && \
+    echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc && \
     rm -rf /var/lib/apt/lists/* && \
     apt-get clean
 
@@ -70,14 +63,13 @@ RUN cd /usr/local/zed && \
     pip3 install pyopengl \ 
     pip3 install pyzed 
 
-RUN source /opt/ros/humble/setup.bash && \
+RUN source /opt/ros/humble/setup.bash && \ 
     colcon build --parallel-workers $(nproc) --symlink-install \
         --event-handlers console_direct+ --base-paths src \
         --cmake-args ' -DCMAKE_BUILD_TYPE=Release' \
         ' -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs' \
         ' -DCMAKE_CXX_FLAGS="-Wl,--allow-shlib-undefined"'
 
-RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc && \ 
-    echo "source /ws/install/setup.bash" >> ~/.bashrc
+RUN echo "source /ws/install/setup.bash" >> ~/.bashrc
 
 CMD ["bash"]
diff --git a/.docker_templates/docker-compose.CPU.yml b/.docker_templates/docker-compose.CPU.yml
@@ -26,12 +26,10 @@ services:
 
   autonomous_zed:
     image: zed_sdk
-
     privileged: true
-
     build:
-      context: ..
-      dockerfile: .devcontainer/zed.Dockerfile
+      context: .
+      dockerfile: ./zed.Dockerfile
 
     environment:
       - DISPLAY

diff --git a/.docker_templates/zed.Dev.Dockerfile b/.docker_templates/zed.Dev.Dockerfile
@@ -1,4 +1,4 @@
-FROM stereolabs/zed:4.0-devel-cuda12.1-ubuntu22.04
+FROM stereolabs/zed:4.1-devel-cuda12.1-ubuntu22.04 
 LABEL Name=zed_sdk Version=0.0.1
 
 SHELL [ "/bin/bash", "-c" ]
@@ -68,4 +68,8 @@ RUN source /opt/ros/humble/setup.bash && \
 
 RUN echo "source /ws/install/setup.bash" >> ~/.bashrc
 
+RUN . ~/.bashrc
+
+COPY ./.devcontainer/SN31421864.conf /usr/local/zed/settings/SN31421864.conf
+
 CMD ["bash"]
diff --git a/.docker_templates/zed.Jetson.Dockerfile b/.docker_templates/zed.Jetson.Dockerfile
@@ -80,4 +80,8 @@ RUN source /opt/ros/humble/setup.bash && \
 RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc && \ 
     echo "source /ws/install/setup.bash" >> ~/.bashrc
 
+RUN . ~/.bashrc
+
+COPY ./.devcontainer/SN31421864.conf /usr/local/zed/settings/SN31421864.conf
+
 CMD ["bash"]
diff --git a/.gitignore b/.gitignore
@@ -9,4 +9,6 @@ kaggle.json
 .vscode/settings.json
 .gitignore
 .vscode/c_cpp_properties.json
-**/__pycache__/
+**/__pycache__/
+*.msg
+*.srv
diff --git a/.gitmodules b/.gitmodules
@@ -5,6 +5,6 @@
 	path = src/hardware_drivers/CanTalk
 	url = https://github.com/UOA-FSAE/CanTalk.git
 	branch = main
-[submodule "Tracks/racetrack-database"]
-	path = src/planning/path_planning/path_planning/shortest_path/Tracks/racetrack-database
-	url = https://github.com/TUMFTM/racetrack-database.git
+[submodule "ROS2-protobuff-compiler"]
+	path = ROS2-protobuff-compiler
+	url = https://github.com/UOA-FSAE/ROS2-protobuff-compiler.git
diff --git a/README.md b/README.md
@@ -53,3 +53,15 @@ For detailed documentation about this project, please visit the **Wiki** tab on
 ### Ros2
 
 Running commands: `ros2 <command>`
+
+# autonomous
+
+1. build a service (eg. jetson, autonomous_ros2)
+```
+make build target=jetson
+```
+
+2. run a service
+```
+make up target=jetson
+```
diff --git a/ROS2-protobuff-compiler b/ROS2-protobuff-compiler
diff --git a/bringup/base.py b/bringup/base.py
@@ -1,5 +1,7 @@
 import launch
+from launch_ros.actions import Node
 import launch_ros.actions
+from launch import LaunchDescription
 from launch.actions.declare_launch_argument import DeclareLaunchArgument
 from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource