Improve centerline

.devcontainer/SN31421864.conf

@@ -0,0 +1,128 @@
+[LEFT_CAM_2K]
+fx=1066.99
+fy=1067.53
+cx=1100.79
+cy=706.191
+k1=-0.0495743
+k2=0.020489
+p1=-0.000243737
+p2=3.96992e-05
+k3=-0.00818716
+
+[RIGHT_CAM_2K]
+fx=1065.5
+fy=1065.75
+cx=1122.09
+cy=640.969
+k1=-0.0468283
+k2=0.0178541
+p1=0.000339256
+p2=0.000245197
+k3=-0.0075008
+
+[LEFT_CAM_FHD]
+fx=1066.99
+fy=1067.53
+cx=956.79
+cy=625.191
+k1=-0.0495743
+k2=0.020489
+p1=-0.000243737
+p2=3.96992e-05
+k3=-0.00818716
+
+[RIGHT_CAM_FHD]
+fx=1065.5
+fy=1065.75
+cx=978.09
+cy=559.969
+k1=-0.0468283
+k2=0.0178541
+p1=0.000339256
+p2=0.000245197
+k3=-0.0075008
+
+[LEFT_CAM_HD]
+fx=533.495
+fy=533.765
+cx=636.895
+cy=401.0955
+k1=-0.0495743
+k2=0.020489
+p1=-0.000243737
+p2=3.96992e-05
+k3=-0.00818716
+
+[RIGHT_CAM_HD]
+fx=532.75
+fy=532.875
+cx=647.545
+cy=368.4845
+k1=-0.0468283
+k2=0.0178541
+p1=0.000339256
+p2=0.000245197
+k3=-0.0075008
+
+[LEFT_CAM_VGA]
+fx=266.7475
+fy=266.8825
+cx=333.9475
+cy=208.04775
+k1=-0.0495743
+k2=0.020489
+p1=-0.000243737
+p2=3.96992e-05
+k3=-0.00818716
+
+[RIGHT_CAM_VGA]
+fx=266.375
+fy=266.4375
+cx=339.2725
+cy=191.74225
+k1=-0.0468283
+k2=0.0178541
+p1=0.000339256
+p2=0.000245197
+k3=-0.0075008
+
+[LEFT_DISTO]
+k1=-1.40642
+k2=2.61105
+k3=0.0956687
+k4=-1.31639
+k5=2.46001
+k6=0.261205
+p1=-0.000180107
+p2=0.000213672
+
+[RIGHT_DISTO]
+k1=-2.09762
+k2=3.39804
+k3=-0.0209668
+k4=-2.01869
+k5=3.23978
+k6=0.160207
+p1=0.000360357
+p2=0.000109906
+
+[STEREO]
+Baseline=119.815
+TY=-0.324386
+TZ=0.576337
+CV_2K=0.00772691
+CV_FHD=0.00772691
+CV_HD=0.00772691
+CV_VGA=0.00772691
+RX_2K=0.000780887
+RX_FHD=0.000780887
+RX_HD=0.000780887
+RX_VGA=0.000780887
+RZ_2K=0.00237878
+RZ_FHD=0.00237878
+RZ_HD=0.00237878
+RZ_VGA=0.00237878
+
+[MISC]
+Sensor_ID=0
+

.devcontainer/docker-compose.yml

@@ -3,67 +3,65 @@ version: '3.4'
 services:
   autonomous_ros2:
     image: autonomous
-
     build:
       context: ..
       dockerfile: .devcontainer/ros2_ws.Dockerfile
-
     environment:
       - DISPLAY
-      - NVIDIA_VISIBLE_DEVICES=0
+      - NVIDIA_VISIBLE_DEVICES=all
       - NVIDIA_DRIVER_CAPABILITIES=all
-
-      - ROS_DOMAIN_ID=47  # Its 47 for obvious reasons
-
+      - ROS_DOMAIN_ID=47
     volumes:
       - ..:/ws
-
     network_mode: host
     ipc: host
     stdin_open: true
     tty: true
-
+    # runtime: nvidia
     deploy:
       resources:
         reservations:
           devices:
-            - driver: nvidia
-              device_ids: []
-              capabilities: [gpu]
-
+            - capabilities: [gpu]
+    privileged: true
+    devices:
+      - /dev:/dev
 
   autonomous_zed:
     image: zed_sdk
-
-    privileged: true
-
     build:
       context: ..
       dockerfile: .devcontainer/zed.Dockerfile
-
     environment:
       - DISPLAY
-      - NVIDIA_VISIBLE_DEVICES=0
+      - NVIDIA_VISIBLE_DEVICES=all
       - NVIDIA_DRIVER_CAPABILITIES=all
       - ROS_DOMAIN_ID=47
-
-    # command: "ros2 launch zed_wrapper zed_camera.launch.py camera_model:='zed2i'"
-
     volumes:
-      - ../src/perception/:/ws/src/perception/
+      #- ..:/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
 
-
+    command: bash -c ". /ws/ros_entrypoint.sh && ros2 launch zed_wrapper zed_camera.launch.py camera_model:='zed2i'"
     network_mode: host
     ipc: host
     stdin_open: true
     tty: true
-
+    runtime: nvidia
     deploy:
       resources:
         reservations:
           devices:
             - driver: nvidia
               device_ids: []
               capabilities: [gpu]
+    privileged: true
+    devices:
+      - /dev:/dev

.devcontainer/ros2_perception.Dockerfile

@@ -0,0 +1,81 @@
+FROM stereolabs/zed:4.0-tools-devel-l4t-r35.4
+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 timezone & install packages
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
+    tzdata \
+    dirmngr \
+    gnupg2 \
+    git \
+    ros-humble-ros-base \
+    build-essential \
+    python3-colcon-common-extensions \
+    python3-colcon-mixin \
+    python3-rosdep \
+    python3-vcstool && \
+    rm -rf /var/lib/apt/lists/* && \
+    apt-get clean
+
+ENV ROS_DISTRO humble
+
+# setup colcon mixin and metadata
+RUN rosdep init && \
+    rosdep update --rosdistro $ROS_DISTRO && \
+    colcon mixin add default \
+      https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
+    colcon mixin update && \
+    colcon metadata add default \
+      https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \
+    colcon metadata update
+
+COPY ./src/perception/ /ws/src/perception/
+COPY ./src/moa/moa_description /ws/src/moa/moa_description
+COPY ./src/moa/moa_msgs /ws/src/moa/moa_msgs
+
+# install ros2 packages
+RUN cd /ws/src/ && \
+    git clone  --recursive https://github.com/stereolabs/zed-ros2-wrapper.git && \
+    cd .. && \
+    source /opt/ros/humble/setup.bash && \ 
+    rosdep update && apt-get update && \
+    rosdep install --from-paths src -y -r --ignore-src --rosdistro=$ROS_DISTRO --os=ubuntu:jammy && \
+    rm -rf /var/lib/apt/lists/* && \
+    apt-get clean
+
+RUN cd /usr/local/zed && \
+    pip install requests && \
+    python3 get_python_api.py
+
+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
+
+CMD ["bash"]

.devcontainer/zed.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"]

.docker_templates/docker-compose.CPU.yml

@@ -37,13 +37,14 @@ services:
       - NVIDIA_DRIVER_CAPABILITIES=all
       - ROS_DOMAIN_ID=47
 
-    command: "ros2 launch zed_wrapper zed_camera.launch.py camera_model:='zed2i'"
+    command: bash ". ~/.bashrc && ros2 launch zed_wrapper zed_camera.launch.py camera_model:='zed2i'"
 
     volumes:
-      - ../ros_entrypoint.sh:/ws/ros_entrypoint.sh
-
+      - ../src/perception/:/ws/src/perception/
+      - ../src/moa/moa_description:/ws/src/moa/moa_description
+      - ../src/moa/moa_msgs:/ws/src/moa/moa_msgs
 
     network_mode: host
     ipc: host
     stdin_open: true
-    tty: true
+    tty: true

.docker_templates/docker-compose.GPU.yml

@@ -47,7 +47,7 @@ services:
       - NVIDIA_DRIVER_CAPABILITIES=all
       - ROS_DOMAIN_ID=47
 
-    command: "ros2 launch zed_wrapper zed_camera.launch.py camera_model:='zed2i'"
+    command: bash ". ~/.bashrc && ros2 launch zed_wrapper zed_camera.launch.py camera_model:='zed2i'"
 
     volumes:
       - ../src/perception/:/ws/src/perception/

.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

@@ -2,10 +2,13 @@
 build
 install
 log
+kaggle.json
 .devcontainer/docker-compose.yml
 .devcontainer/zed.Dockerfile
 .devcontainer/ros2_ws.Dockerfile
 .vscode/settings.json
 .gitignore
 .vscode/c_cpp_properties.json
-**/__pycache__/
+**/__pycache__/
+*.msg
+*.srv

.gitmodules

@@ -1,6 +1,16 @@
-[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"]
+[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
+	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