Merge branch 'clean_branches' into improve_centerline

.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"
 			]
 		}
 	}

.devcontainer/docker-compose.yml

@@ -9,13 +9,15 @@ services:
     environment:
       - DISPLAY
       - NVIDIA_VISIBLE_DEVICES=all
+      - NVIDIA_DRIVER_CAPABILITIES=all
+      - ROS_DOMAIN_ID=47
     volumes:
       - ..:/ws
     network_mode: host
     ipc: host
     stdin_open: true
     tty: true
-    runtime: nvidia
+    # runtime: nvidia
     deploy:
       resources:
         reservations:
@@ -33,6 +35,8 @@ services:
     environment:
       - DISPLAY
       - NVIDIA_VISIBLE_DEVICES=all
+      - NVIDIA_DRIVER_CAPABILITIES=all
+      - ROS_DOMAIN_ID=47
     volumes:
       #- ..:/ws
       #- ../src:/ws/src
@@ -55,7 +59,9 @@ services:
       resources:
         reservations:
           devices:
-            - capabilities: [gpu]
+            - driver: nvidia
+              device_ids: []
+              capabilities: [gpu]
     privileged: true
     devices:
       - /dev:/dev

.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

.docker_templates/zed.Jetson.Dockerfile

@@ -76,4 +76,8 @@ 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"]

.gitignore

@@ -9,4 +9,6 @@ kaggle.json
 .vscode/settings.json
 .gitignore
 .vscode/c_cpp_properties.json
-**/__pycache__/
+**/__pycache__/
+*.msg
+*.srv

.gitmodules

@@ -11,3 +11,6 @@
 [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

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
+```

docker-compose-Darwin.yml

@@ -0,0 +1,44 @@
+version: '3.4'
+
+services:
+  autonomous_ros2:
+    platform: linux/amd64/v8
+    image: autonomous
+
+    build:
+      context: .
+      dockerfile: ./ros2_ws.Dockerfile
+
+    environment:
+      - DISPLAY
+      - ROS_DOMAIN_ID=47  # Its 47 for obvious reasons
+
+    volumes:
+      - .:/ws
+
+    network_mode: host
+    ipc: host
+    stdin_open: true
+    tty: true
+
+
+  jetson:
+    platform: linux/amd64/v8
+    image: autonomous
+
+    build:
+      context: .
+      dockerfile: ./jetson.Dockerfile
+
+    environment:
+      - DISPLAY
+      - ROS_DOMAIN_ID=47  # Its 47 for obvious reasons
+
+    volumes:
+      - .:/ws
+
+    network_mode: host
+    ipc: host
+    stdin_open: true
+    tty: true
+  # will need to add mroe services

docker-compose-Linux.debug.yml

@@ -0,0 +1,33 @@
+version: '3.4'
+
+services:
+  autonomous_ros2:
+    image: autonomous
+
+    build:
+      context: .
+      dockerfile: ./Dockerfile
+
+    environment:
+      - DISPLAY
+      - NVIDIA_VISIBLE_DEVICES=all
+      - NVIDIA_DRIVER_CAPABILITIES=all
+
+      - ROS_DOMAIN_ID=47  # Its 47 for obvious reasons
+
+    volumes:
+      - .:/ws
+      - /tmp/.X11-unix:/tmp/.X11-unix
+
+    network_mode: host
+    ipc: host
+    stdin_open: true
+    tty: true
+
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: 1
+              capabilities: [gpu]

interfaces.proto

@@ -0,0 +1,97 @@
+syntax = "proto3";
+
+message AllStates {
+    uint16 id = 1; 
+    repeated ackermann_msgs.AckermannDrive states = 2;
+}
+
+message AllTrajectories {
+    uint16 id = 1;
+    repeated geometry_msgs.PoseArray trajectories = 2;
+}
+message BoundaryStamped {
+    std_msgs.Header header = 1;
+    repeated float32 coords = 2;
+}
+
+message CAN {
+    uint16 id = 1;
+    bool is_rtr = 2;
+    repeated uint8 data = 3;
+}
+
+message CandidateState {
+    Ackermann ackermann = 1;
+    float32 lateralVel = 2;
+}
+
+message CandidateStates {
+    repeated CandidateState candidateState = 1;
+}
+
+message CANStamped {
+    std_msgs.Header header = 1;
+    CAN can = 2;
+}
+
+message Cone {
+    uint32 id = 0; // ID value of cone (optional, defaults to 0 if not given)
+
+    float32 confidence = 1; // The confidence that this is the cone, a percentage value from 0 to 100 (defaults to 0.0)
+
+    uint8 colour = 2; // The color of the cone: 0 for Blue, 1 for Orange, 2 for Yellow, and 3 for Other
+
+    geometry_msgs.PoseWithCovariance pose = 3; // Position of cone (x, y, z) and rotation
+
+    float32 radius = 4; // Size of cone, radius (should default to 0.0)
+    float32 height = 5; // Size of cone, height (should default to 0.0)
+
+}
+// ? can this be renamed to Cones?
+message ConeMap { 
+    repeated Cone cones = 1; // List of cones detected and where they are     
+}
+message ConeMapStamped {
+    std_msgs.Header header = 1;
+    ConeMap cone_map = 2;
+}
+message ConeStamped {
+    std_msgs.Header header = 1;
+    Cone cone = 2;
+}
+message HardwareStates {
+    uint8 ebs_active = 1;
+    uint8 ts_active = 2;
+    uint8 in_gear = 3;
+    uint8 master_switch_on = 4;
+    uint8 asb_ready = 5;
+    uint8 brakes_engaged = 6;
+}
+message HardwareStatesStamped {
+    std_msgs.Header header = 1;
+    HardwareStates hardware_states = 2;
+}
+message MissionStates {
+    uint8 mission_selected = 1;
+    uint8 mission_finished = 2;
+}
+message MissionStatesStamped {
+    std_msgs.Header header = 1;
+    MissionStates mission_states = 2;
+}
+
+message OccupancyGrid{
+    std_msgs.Header header = 1;
+    repeated Rptuint8 occupancyGrid = 2;
+    float32 resolution = 3;
+}
+
+service Services {
+    rpc CANSendReq (CANSendReqRequest) returns (CANSendReqResponce); 
+}
+message CANSendReqRequest {   
+    CAN can = 1;
+}
+message CANSendReqResponce {
+    bool sent =1;
+}

interfaces_clean.bash

@@ -0,0 +1 @@
+python3 ROS2-protobuff-compiler/protobuf2rosmsg.py -m src/moa/moa_msgs/msg -s src/moa/moa_msgs/srv -c

interfaces_clean.bat

@@ -0,0 +1 @@
+python %~dp0ROS2-protobuff-compiler\protobuf2rosmsg.py -m %~dp0src\moa\moa_msgs\msg -s %~dp0src\moa\moa_msgs\srv -c

interfaces_run.bash

@@ -0,0 +1 @@
+python3 ROS2-protobuff-compiler/protobuf2rosmsg.py -f interfaces.proto -m src/moa/moa_msgs/msg -s src/moa/moa_msgs/srv -c

interfaces_run.bat

@@ -0,0 +1 @@
+python %~dp0ROS2-protobuff-compiler\protobuf2rosmsg.py -f %~dp0interfaces.proto -m %~dp0src\moa\moa_msgs\msg -s %~dp0src\moa\moa_msgs\srv -c

jetson.Dockerfile

@@ -0,0 +1,23 @@
+FROM osrf/ros:humble-desktop
+LABEL Name=autonomous Version=0.0.1
+
+SHELL [ "/bin/bash", "-c" ]
+
+WORKDIR /ws
+COPY . .
+
+RUN source /opt/ros/humble/setup.bash && \
+    rosdep update && \
+    colcon build 
+
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends \
+		build-essential \
+        cmake \
+        git \
+        python3-pip
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+
+CMD [ "ros2", "launch", "launch/demo_nodes_launch.py" ]
+

launch/demo_nodes_launch.py

@@ -0,0 +1,20 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    talker_node = Node(
+        package="demo_nodes_cpp",
+        executable="talker",
+    )
+
+    listener_node = Node(
+        package="demo_nodes_py",
+        executable="listener"
+    )
+
+    ld.add_action(talker_node)
+    ld.add_action(listener_node)
+
+    return ld

ros2_ws.Dockerfile

@@ -0,0 +1,22 @@
+FROM stereolabs/zed:3.8-devel-cuda11.7-ubuntu22.04
+FROM osrf/ros:humble-desktop
+
+LABEL Name=autonomous Version=0.0.1
+
+SHELL [ "/bin/bash", "-c" ]
+
+WORKDIR /ws
+COPY . .
+
+RUN apt-get update && apt-get install -y \
+    python3-pip \
+    ros-humble-foxglove-bridge
+
+RUN source /opt/ros/humble/setup.bash && \
+    rosdep update
+
+RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc && \
+    echo "source /ws/install/setup.bash" >> ~/.bashrc
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD [ "bash" ]