From 26390f81a1b25fee655377a395ec30cf928f1c24 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Wed, 12 Jun 2024 00:52:24 +0900 Subject: [PATCH] Feature/add grid map type adapter (#347) * remove unused packages Signed-off-by: hakuturu583 * remove unused packages Signed-off-by: hakuturu583 * remove grid_map for reduce build time Signed-off-by: hakuturu583 * enable clone grid_map_type_adapter and remove unused files Signed-off-by: hakuturu583 * update deploy workflow Signed-off-by: hakuturu583 * fix yaml Signed-off-by: hakuturu583 --------- Signed-off-by: hakuturu583 --- .github/workflows/deploy_workflow.yaml | 2 +- ansible/inventory/robot.ini | 7 - ansible/roles/clone_packages/tasks/main.yml | 9 +- ansible/setup_robot.yml | 5 - docker/docker_testbench/.gitignore | 2 - .../docker_compose/docker-compose.yml | 133 ------------------ .../perception_camera_mock/Dockerfile | 17 --- .../docker_testbench/mount_point/.gitignore | 2 - docs/docs/packages.md | 2 +- 9 files changed, 10 insertions(+), 169 deletions(-) delete mode 100644 ansible/inventory/robot.ini delete mode 100644 ansible/setup_robot.yml delete mode 100644 docker/docker_testbench/.gitignore delete mode 100644 docker/docker_testbench/docker_compose/docker-compose.yml delete mode 100644 docker/docker_testbench/docker_compose/perception_camera_mock/Dockerfile delete mode 100644 docker/docker_testbench/mount_point/.gitignore diff --git a/.github/workflows/deploy_workflow.yaml b/.github/workflows/deploy_workflow.yaml index 5b3b0924..2a1dfa58 100644 --- a/.github/workflows/deploy_workflow.yaml +++ b/.github/workflows/deploy_workflow.yaml @@ -34,6 +34,7 @@ jobs: detic_onnx_ros2, geographic_conversion, geographic_info, + grid_map_type_adapter, hermite_path_planner, hungarian_solver, image_processing_utils, @@ -49,7 +50,6 @@ jobs: pcl_apps, pcl_type_adapter, perception_bringup, - perception_camera_driver, perception_msgs, perception_server, playstation_controller_drivers, diff --git a/ansible/inventory/robot.ini b/ansible/inventory/robot.ini deleted file mode 100644 index b673382e..00000000 --- a/ansible/inventory/robot.ini +++ /dev/null @@ -1,7 +0,0 @@ -[perception_camera] -192.168.100.201 -192.168.100.202 -192.168.100.203 -192.168.100.204 -192.168.100.205 -192.168.100.206 \ No newline at end of file diff --git a/ansible/roles/clone_packages/tasks/main.yml b/ansible/roles/clone_packages/tasks/main.yml index 029ce72d..0f9ab829 100644 --- a/ansible/roles/clone_packages/tasks/main.yml +++ b/ansible/roles/clone_packages/tasks/main.yml @@ -33,7 +33,7 @@ dest: "{{workspace_path}}/src/perception/image_processing_utils" version: master accept_hostkey: yes - tags: [perception, perception_camera] + tags: [perception] - name: clone robotx_costmap_calculator git: repo: https://github.com/OUXT-Polaris/robotx_costmap_calculator.git @@ -97,6 +97,13 @@ version: master accept_hostkey: yes tags: [perception] +- name: clone grid_map_type_adapter + git: + repo: https://github.com/OUXT-Polaris/grid_map_type_adapter.git + dest: "{{workspace_path}}/src/perception/grid_map_type_adapter" + version: master + accept_hostkey: yes + tags: [perception] # Planning Packages - name : clone hermite_path_planner diff --git a/ansible/setup_robot.yml b/ansible/setup_robot.yml deleted file mode 100644 index d04a88e7..00000000 --- a/ansible/setup_robot.yml +++ /dev/null @@ -1,5 +0,0 @@ ---- -- name: Setup perception_camera - hosts: perception_camera - roles: - - docker \ No newline at end of file diff --git a/docker/docker_testbench/.gitignore b/docker/docker_testbench/.gitignore deleted file mode 100644 index 363ba86a..00000000 --- a/docker/docker_testbench/.gitignore +++ /dev/null @@ -1,2 +0,0 @@ -*.zip -*.img diff --git a/docker/docker_testbench/docker_compose/docker-compose.yml b/docker/docker_testbench/docker_compose/docker-compose.yml deleted file mode 100644 index 50ed3a30..00000000 --- a/docker/docker_testbench/docker_compose/docker-compose.yml +++ /dev/null @@ -1,133 +0,0 @@ -version: '3.4' # to use volumes type bind -x-volumes: &volumes - - type: bind - source: "${JETPACK_ROOT}/usr/include/aarch64-linux-gnu" - target: "/usr/include/aarch64-linux-gnu" - read_only: false - - type: bind - source: "${JETPACK_ROOT}/usr/lib/aarch64-linux-gnu" - target: "/usr/lib/aarch64-linux-gnu" - read_only: false - - type: bind - source: "${JETPACK_ROOT}/lib/firmware/tegra21x/nvhost_nvdec020_ns.fw" - target: "/lib/firmware/tegra21x/nvhost_nvdec020_ns.fw" - read_only: true - - type: bind - source: "${JETPACK_ROOT}/usr/lib/libvisionworks_sfm.so.0.90.4" - target: "/usr/lib/libvisionworks_sfm.so.0.90.4" - read_only: true - - type: bind - source: "${JETPACK_ROOT}/usr/lib/libvisionworks.so.1.6.0" - target: "/usr/lib/libvisionworks.so.1.6.0" - read_only: true - - type: bind - source: "${JETPACK_ROOT}/usr/lib/libvisionworks_tracking.so.0.88.2" - target: "/usr/lib/libvisionworks_tracking.so.0.88.2" - read_only: true - - type: bind - source: "${JETPACK_ROOT}/usr/lib/python3.6/dist-packages/tensorrt" - target: "/usr/lib/python3.6/dist-packages/tensorrt" - read_only: true - - type: bind - source: "${JETPACK_ROOT}/usr/lib/python3.6/dist-packages/graphsurgeon" - target: "/usr/lib/python3.6/dist-packages/graphsurgeon" - read_only: true - - type: bind - source: "${JETPACK_ROOT}/usr/lib/python3.6/dist-packages/uff" - target: "/usr/lib/python3.6/dist-packages/uff" - read_only: true - - type: bind - source: "${JETPACK_ROOT}/usr/src/tensorrt" - target: "/usr/src/tensorrt" - read_only: true - - type: bind - source: "${JETPACK_ROOT}/lib/firmware/tegra21x" - target: "/lib/firmware/tegra21x" - read_only: true - -services: - front_left_camera: - build: - context: . - dockerfile: perception_camera_mock/Dockerfile - privileged: true - container_name: front_left_camera - volumes: *volumes - ports: - - "201:22" - networks: - app_net: - ipv4_address: 192.168.100.201 - - front_right_camera: - build: - context: . - dockerfile: perception_camera_mock/Dockerfile - privileged: true - container_name: front_right_camera - volumes: *volumes - ports: - - "202:22" - networks: - app_net: - ipv4_address: 192.168.100.202 - - rear_left_camera: - build: - context: . - dockerfile: perception_camera_mock/Dockerfile - privileged: true - container_name: rear_left_camera - volumes: *volumes - ports: - - "203:22" - networks: - app_net: - ipv4_address: 192.168.100.203 - - rear_right_camera: - build: - context: . - dockerfile: perception_camera_mock/Dockerfile - privileged: true - container_name: rear_right_camera - volumes: *volumes - ports: - - "204:22" - networks: - app_net: - ipv4_address: 192.168.100.204 - - left_camera: - build: - context: . - dockerfile: perception_camera_mock/Dockerfile - privileged: true - container_name: left_camera - volumes: *volumes - ports: - - "205:22" - networks: - app_net: - ipv4_address: 192.168.100.205 - - right_camera: - build: - context: . - dockerfile: perception_camera_mock/Dockerfile - privileged: true - container_name: right_camera - volumes: *volumes - ports: - - "206:22" - networks: - app_net: - ipv4_address: 192.168.100.206 - -networks: - app_net: - driver: bridge - ipam: - driver: default - config: - - subnet: 192.168.100.200/24 \ No newline at end of file diff --git a/docker/docker_testbench/docker_compose/perception_camera_mock/Dockerfile b/docker/docker_testbench/docker_compose/perception_camera_mock/Dockerfile deleted file mode 100644 index 776e1f67..00000000 --- a/docker/docker_testbench/docker_compose/perception_camera_mock/Dockerfile +++ /dev/null @@ -1,17 +0,0 @@ -FROM nvcr.io/nvidia/l4t-ml:r32.5.0-py3 -ENV DEBIAN_FRONTEND=noninteractive - -RUN apt-get update -RUN apt-get install -y openssh-server locales -RUN mkdir /var/run/sshd -RUN echo 'root:root' | chpasswd -RUN sed -ri 's/^#?PermitRootLogin\s+.*/PermitRootLogin yes/' /etc/ssh/sshd_config - -# SSH login fix. Otherwise user is kicked off after login -RUN sed 's@session\s*required\s*pam_loginuid.so@session optional pam_loginuid.so@g' -i /etc/pam.d/sshd - -ENV NOTVISIBLE "in users profile" -RUN echo "export VISIBLE=now" >> /etc/profile - -EXPOSE 22 -CMD ["/usr/sbin/sshd", "-D"] \ No newline at end of file diff --git a/docker/docker_testbench/mount_point/.gitignore b/docker/docker_testbench/mount_point/.gitignore deleted file mode 100644 index c96a04f0..00000000 --- a/docker/docker_testbench/mount_point/.gitignore +++ /dev/null @@ -1,2 +0,0 @@ -* -!.gitignore \ No newline at end of file diff --git a/docs/docs/packages.md b/docs/docs/packages.md index b1581cea..63649f10 100644 --- a/docs/docs/packages.md +++ b/docs/docs/packages.md @@ -2,4 +2,4 @@ ## dashboard -@github_dashboard(OUXT-Polaris/color_names,OUXT-Polaris/data_buffer,OUXT-Polaris/detic_onnx_ros2,OUXT-Polaris/geographic_conversion,OUXT-Polaris/geographic_info,OUXT-Polaris/hermite_path_planner,OUXT-Polaris/image_processing_utils,OUXT-Polaris/joy_to_twist,OUXT-Polaris/lua_vendor,OUXT-Polaris/message_synchronizer,OUXT-Polaris/navi_sim,OUXT-Polaris/nmea_hardware_interface,OUXT-Polaris/nmea_to_geopose,OUXT-Polaris/odom_frame_publisher,OUXT-Polaris/ouxt_common,OUXT-Polaris/pcl_apps,OUXT-Polaris/pcl_type_adapter,OUXT-Polaris/perception_bringup,OUXT-Polaris/point_painting,OUXT-Polaris/playstation_controller_drivers,OUXT-Polaris/quaternion_operation,OUXT-Polaris/robotx_behavior_tree,OUXT-Polaris/robotx_communication,OUXT-Polaris/robotx_costmap_calculator,OUXT-Polaris/robotx_ekf,OUXT-Polaris/scan_segmentation,OUXT-Polaris/sol_vendor,OUXT-Polaris/tcp_sender,OUXT-Polaris/usv_controller,OUXT-Polaris/detic_onnx_ros2) +@github_dashboard(OUXT-Polaris/color_names,OUXT-Polaris/data_buffer,OUXT-Polaris/detic_onnx_ros2,OUXT-Polaris/geographic_conversion,OUXT-Polaris/geographic_info,OUXT-Polaris/grid_map_type_adapter,OUXT-Polaris/hermite_path_planner,OUXT-Polaris/image_processing_utils,OUXT-Polaris/joy_to_twist,OUXT-Polaris/lua_vendor,OUXT-Polaris/message_synchronizer,OUXT-Polaris/navi_sim,OUXT-Polaris/nmea_hardware_interface,OUXT-Polaris/nmea_to_geopose,OUXT-Polaris/odom_frame_publisher,OUXT-Polaris/ouxt_common,OUXT-Polaris/pcl_apps,OUXT-Polaris/pcl_type_adapter,OUXT-Polaris/perception_bringup,OUXT-Polaris/point_painting,OUXT-Polaris/playstation_controller_drivers,OUXT-Polaris/quaternion_operation,OUXT-Polaris/robotx_behavior_tree,OUXT-Polaris/robotx_communication,OUXT-Polaris/robotx_costmap_calculator,OUXT-Polaris/robotx_ekf,OUXT-Polaris/scan_segmentation,OUXT-Polaris/sol_vendor,OUXT-Polaris/tcp_sender,OUXT-Polaris/usv_controller,OUXT-Polaris/detic_onnx_ros2)