Merge pull request #129 from UOA-FSAE/cone_detection_test

Cone detection test

.devcontainer/ros2_perception.Dockerfile

@@ -1,12 +1,26 @@
-FROM stereolabs/zed:4.0-tools-devel-l4t-r35.4
-LABEL Name=zed_sdk Version=0.0.1
+FROM nvcr.io/nvidia/l4t-base:35.4.1
+LABEL Name=autonomous Version=0.0.1
 
 SHELL [ "/bin/bash", "-c" ]
 
 WORKDIR /ws
 
-ENV LANG C.UTF-8
-ENV LC_ALL C.UTF-8
+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 && \
+    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
@@ -21,61 +35,39 @@ RUN apt update && apt install curl -y && \
     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 timezone & install packages
-RUN apt-get update && apt-get install -q -y --no-install-recommends \
-    tzdata \
-    dirmngr \
-    gnupg2 \
-    git \
+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-vcstool \ 
+    python3-pip \
+    ros-humble-foxglove-bridge && \
     rm -rf /var/lib/apt/lists/* && \
-    apt-get clean
+    apt-get clean && \
+    echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc 
+
+COPY . .
 
-ENV ROS_DISTRO humble
-
-# setup colcon mixin and metadata
-RUN rosdep init && \
-    rosdep update --rosdistro $ROS_DISTRO && \
-    colcon mixin add default \
-      https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
-    colcon mixin update && \
-    colcon metadata add default \
-      https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \
-    colcon metadata update
+RUN rosdep init && rosdep update --rosdistro $ROS_DISTRO && apt-get update && \
+    cd /ws && \
+    rosdep install --from-paths src -y -r --ignore-src --rosdistro=$ROS_DISTRO --os=ubuntu:jammy && \ 
+    rm -rf /var/lib/apt/lists/* 
 
-COPY ./src/perception/ /ws/src/perception/
-COPY ./src/moa/moa_description /ws/src/moa/moa_description
-COPY ./src/moa/moa_msgs /ws/src/moa/moa_msgs
+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 
 
-# install ros2 packages
-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 && \
-    rm -rf /var/lib/apt/lists/* && \
-    apt-get clean
+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 cd /usr/local/zed && \
-    pip install requests && \
-    python3 get_python_api.py
+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());'
 
 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 . ~/.bashrc
+        --event-handlers console_direct+ --base-paths src 
 
-CMD ["bash"]
+CMD [ "bash" ]

.devcontainer/zed.Dockerfile

@@ -57,7 +57,11 @@ RUN cd /ws/src/ && \
 
 RUN cd /usr/local/zed && \
     pip install requests && \
-    python3 get_python_api.py
+    python3 get_python_api.py \
+    pip3 install ultralytics \
+    pip3 install torch \
+    pip3 install pyopengl \ 
+    pip3 install pyzed 
 
 RUN source /opt/ros/humble/setup.bash && \ 
     colcon build --parallel-workers $(nproc) --symlink-install \
@@ -68,8 +72,4 @@ 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"]

.docker_templates/zed.Jetson.Dockerfile

@@ -64,7 +64,11 @@ RUN cd /ws/src/ && \
 
 RUN cd /usr/local/zed && \
     pip install requests && \
-    python3 get_python_api.py
+    python3 get_python_api.py \
+    pip3 install ultralytics \
+    pip3 install torch \
+    pip3 install pyopengl \ 
+    pip3 install pyzed 
 
 RUN source /opt/ros/humble/setup.bash && \
     colcon build --parallel-workers $(nproc) --symlink-install \

.gitmodules

@@ -1,9 +1,6 @@
 [submodule "src/hardware_drivers/foxglove-bridge"]
 	path = src/hardware_drivers/foxglove-bridge
 	url = https://github.com/foxglove/ros-foxglove-bridge.git
-[submodule "src/moa/cone-detection/cone_detection/yolov7"]
-	path = src/perception/cone-detection/cone_detection/yolov7
-	url = https://github.com/WongKinYiu/yolov7.git
 [submodule "src/hardware_drivers/CanTalk"]
 	path = src/hardware_drivers/CanTalk
 	url = https://github.com/UOA-FSAE/CanTalk.git

src/geographic_msgs/CHANGELOG.rst

@@ -0,0 +1,62 @@
+Change history
+==============
+
+0.5.3 (2018-03-27)
+------------------
+
+* Add additional information to ``GetGeoPath`` service response.
+
+0.5.2 (2017-04-15)
+------------------
+
+* Fix merge error in GeoPath message.
+
+0.5.1 (2017-04-15)
+------------------
+
+* Add GeoPath message with poses.
+* Add GetGeoPath service (`#7`_).
+
+0.5.0 (2017-04-07)
+------------------
+
+* Add new ``GeoPointStamped`` and ``GeoPoseStamped`` messages.
+
+0.4.0 (2014-09-18)
+------------------
+
+0.3.2 (2014-08-30)
+------------------
+
+ * Add missing ``geometry_msgs`` dependency to ``catkin_package()`` 
+   components in CMakeLists.txt (`#13`_), thanks to Timo Roehling.
+
+0.3.1 (2013-10-03)
+------------------
+
+0.3.0 (2013-08-03)
+------------------
+
+ * Released to Hydro.
+ * Convert to catkin build (`#3`_).
+
+0.2.1 (2012-08-13)
+------------------
+
+ * Released to Fuerte.
+ * Released to Groovy: 2013-03-27.
+
+0.2.0 (2012-06-02)
+------------------
+
+ * Released to Electric.
+
+0.1.0 (2012-04-10)
+------------------
+
+ * Initial release to Electric.
+
+.. _`#3`: https://github.com/ros-geographic-info/geographic_info/issues/3
+.. _`#6`: https://github.com/ros-geographic-info/geographic_info/issues/6
+.. _`#7`: https://github.com/ros-geographic-info/geographic_info/issues/7
+.. _`#13`: https://github.com/ros-geographic-info/geographic_info/pull/13

src/geographic_msgs/CMakeLists.txt

@@ -0,0 +1,81 @@
+cmake_minimum_required(VERSION 3.5)
+project(geographic_msgs)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(unique_identifier_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/BoundingBox.msg"
+  "msg/GeographicMapChanges.msg"
+  "msg/GeographicMap.msg"
+  "msg/GeoPath.msg"
+  "msg/GeoPoint.msg"
+  "msg/GeoPointStamped.msg"
+  "msg/GeoPose.msg"
+  "msg/GeoPoseStamped.msg"
+  "msg/GeoPoseWithCovariance.msg"
+  "msg/GeoPoseWithCovarianceStamped.msg"
+  "msg/KeyValue.msg"
+  "msg/MapFeature.msg"
+  "msg/RouteNetwork.msg"
+  "msg/RoutePath.msg"
+  "msg/RouteSegment.msg"
+  "msg/WayPoint.msg"
+  "srv/GetGeographicMap.srv"
+  "srv/GetGeoPath.srv"
+  "srv/GetRoutePlan.srv"
+  "srv/UpdateGeographicMap.srv"
+  DEPENDENCIES unique_identifier_msgs geometry_msgs std_msgs builtin_interfaces
+)
+
+rosidl_get_typesupport_target(cpp_typesupport_target "${PROJECT_NAME}" rosidl_typesupport_cpp)
+
+if(TARGET "${cpp_typesupport_target}")
+  add_library(${PROJECT_NAME}::cpp_typesupport_target ALIAS ${cpp_typesupport_target})
+  add_library(validation INTERFACE)
+  add_library(${PROJECT_NAME}::validation ALIAS validation)
+  add_subdirectory(include)
+  target_link_libraries(validation INTERFACE ${PROJECT_NAME}::cpp_typesupport_target)
+
+  install(
+    TARGETS validation
+    EXPORT export_${PROJECT_NAME}
+    LIBRARY DESTINATION lib
+    ARCHIVE DESTINATION lib
+    RUNTIME DESTINATION bin
+  )
+
+  install(
+    DIRECTORY include/
+    DESTINATION include/${PROJECT_NAME}
+    FILES_MATCHING PATTERN "*.hpp"
+  )
+
+  ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+endif()
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+  add_subdirectory(test)
+endif()
+
+install(
+  FILES geographic_msgs_mapping_rule.yaml
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()

src/geographic_msgs/mainpage.dox

@@ -0,0 +1,12 @@
+/**
+\mainpage
+\htmlinclude manifest.html
+
+This package provides ROS messages for Geographic Information.
+
+It includes a simple validation library to validate messages have values within
+the documented bounds.
+
+It has no nodes or scripts.
+
+*/

src/geographic_msgs/msg/BoundingBox.msg

@@ -0,0 +1,13 @@
+# Geographic map bounding box. 
+#
+# The two GeoPoints denote diagonally opposite corners of the box.
+#
+# If min_pt.latitude is NaN, the bounding box is "global", matching
+# any valid latitude, longitude and altitude.
+#
+# If min_pt.altitude is NaN, the bounding box is two-dimensional and
+# matches any altitude within the specified latitude and longitude
+# range.
+
+GeoPoint min_pt         # lowest and most Southwestern corner
+GeoPoint max_pt         # highest and most Northeastern corner

src/geographic_msgs/msg/GeoPath.msg

@@ -0,0 +1,2 @@
+std_msgs/Header header
+geographic_msgs/GeoPoseStamped[] poses

src/geographic_msgs/msg/GeoPoint.msg

@@ -0,0 +1,13 @@
+# Geographic point, using the WGS 84 reference ellipsoid.
+
+# Latitude [degrees]. Positive is north of equator; negative is south
+# (-90.0 <= latitude <= +90.0).
+float64 latitude
+
+# Longitude [degrees]. Positive is east of prime meridian; negative is
+# west (-180.0 <= longitude <= +180.0). At the poles, latitude is -90.0 or
+# +90.0, and longitude is irrelevant, but must be in range.
+float64 longitude
+
+# Altitude [m]. Positive is above the WGS 84 ellipsoid (NaN if unspecified).
+float64 altitude

src/geographic_msgs/msg/GeoPointStamped.msg

@@ -0,0 +1,2 @@
+std_msgs/Header header
+geographic_msgs/GeoPoint position

src/geographic_msgs/msg/GeoPose.msg

@@ -0,0 +1,7 @@
+# Geographic pose, using the WGS 84 reference ellipsoid.
+#
+# Orientation uses the East-North-Up (ENU) frame of reference.
+# (But, what about singularities at the poles?)
+
+GeoPoint position
+geometry_msgs/Quaternion orientation

src/geographic_msgs/msg/GeoPoseStamped.msg

@@ -0,0 +1,2 @@
+std_msgs/Header header
+geographic_msgs/GeoPose pose

src/geographic_msgs/msg/GeoPoseWithCovariance.msg

@@ -0,0 +1,12 @@
+# Geographic pose, using the WGS 84 reference ellipsoid.
+#
+# Orientation uses the East-North-Up (ENU) frame of reference.
+# (But, what about singularities at the poles?)
+
+GeoPose pose
+
+# Row-major representation of the 6x6 covariance matrix
+# The orientation parameters use a fixed-axis representation.
+# In order, the parameters are:
+# (Lat, Lon, Alt, rotation about E (East) axis, rotation about N (North) axis, rotation about U (Up) axis)
+float64[36] covariance

src/geographic_msgs/msg/GeoPoseWithCovarianceStamped.msg

@@ -0,0 +1,2 @@
+std_msgs/Header header
+geographic_msgs/GeoPoseWithCovariance pose

src/geographic_msgs/msg/GeographicMap.msg

@@ -0,0 +1,11 @@
+# Geographic map for a specified region.
+
+std_msgs/Header header            # stamp specifies time
+                         # frame_id (normally /map)
+
+unique_identifier_msgs/UUID id    # identifier for this map
+BoundingBox  bounds      # 2D bounding box containing map
+
+WayPoint[]   points      # way-points
+MapFeature[] features    # map features
+KeyValue[]   props       # map properties