AD2-40: path_planning_visualiser launchfile

.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
+      - DISPLAY=host.docker.internal
+      - 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]
-
+    privileged: true
+    devices:
+      - /dev:/dev
 
   autonomous_zed:
     image: zed_sdk
-
-    privileged: true
-
     build:
       context: ..
       dockerfile: .devcontainer/zed.Dockerfile
-
     environment:
-      - DISPLAY
-      - NVIDIA_VISIBLE_DEVICES=0
+      - DISPLAY=host.docker.internal
+      - 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:
+      - ../bringup:/ws/bringup
       - ../src/perception/:/ws/src/perception/
+      - ../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
+      - /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 +1,73 @@
+FROM nvcr.io/nvidia/l4t-base:35.4.1
+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 && \
+    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 $ROS_DISTRO && apt-get update && \
+    cd /ws && \
+    rosdep install --from-paths src -y -r --ignore-src --rosdistro=$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());'
+
+RUN source /opt/ros/humble/setup.bash && \
+    colcon build --parallel-workers $(nproc) --symlink-install \
+        --event-handlers console_direct+ --base-paths src 
+
+CMD [ "bash" ]