Merge remote-tracking branch 'origin/master' into feature/poetry

Signed-off-by: Masaya Kataoka <[email protected]>
OUXT-Polaris · Oct 21, 2023 · 8e6eab7 · 8e6eab7
2 parents e0cc4af + cf80f86
commit 8e6eab7
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Showing 16 changed files with 122 additions and 160 deletions.
diff --git a/.github/workflows/ansible.yaml b/.github/workflows/ansible.yaml
@@ -51,61 +51,6 @@ jobs:
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
         SLACK_WEBHOOK_URL: ${{ secrets.SLACK_WEBHOOK }}
-  # setup_docker_testbench:
-  #   name: setup_docker_testbench
-  #   runs-on: ubuntu-22.04
-  #   steps:
-  #   - name: Get current date
-  #     id: date
-  #     run: echo "::set-output name=date::$(date +'%Y-%m-%d')"
-  #   - uses: actions/checkout@v2-beta
-  #   - uses: actions/cache@v2
-  #     if: ${{ github.event.label.name != 'clean_build' }}
-  #     with:
-  #       path: docker/docker_testbench/mount_point/
-  #       key: sd-card-image-${{ steps.date.outputs.date }}
-  #   - name: basic install
-  #     run: |
-  #         sudo apt install make ansible
-  #   - name: ansible version
-  #     run: |
-  #           ansible-playbook --version
-  #   - name: run ansible and install docker
-  #     run: |
-  #         ansible-playbook -i ansible/hosts/localhost.ini ansible/setup_docker_testbench.yml --connection local --become -e ansible_user=ubuntu
-  #   - name: Notify Slack
-  #     uses: 8398a7/action-slack@v2
-  #     if: failure()
-  #     with:
-  #       status: ${{ job.status }}
-  #     env:
-  #       GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-  #       SLACK_WEBHOOK_URL: ${{ secrets.SLACK_WEBHOOK }}
-  setup_ml_pipeline:
-    name: setup_ml_pipeline
-    runs-on: ubuntu-22.04
-    steps:
-    - uses: actions/checkout@v2-beta
-    - uses: actions/setup-python@v4
-      with:
-        python-version: 3.10.6
-    - uses: abatilo/actions-poetry@v2
-      with:
-        poetry-version: 1.15.1
-    - name: install
-        run: poetry install --no-interaction
-    - name: run ansible and install docker
-      run: |
-          poetry run ansible-galaxy install -fr ansible/roles/requirements.yml
-          poetry run ansible-playbook -i ansible/hosts/localhost.ini ansible/setup_ml_pipeline.yml --connection local --become -e ansible_user=ubuntu
-    - name: Notify Slack
-      uses: 8398a7/action-slack@v2
-      if: failure()
-      with:
-        status: ${{ job.status }}
-      env:
-        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-        SLACK_WEBHOOK_URL: ${{ secrets.SLACK_WEBHOOK }}
   setup_firmware:
     name: setup_firmware
     runs-on: ubuntu-22.04

diff --git a/.github/workflows/deploy_workflow.yaml b/.github/workflows/deploy_workflow.yaml
@@ -31,6 +31,7 @@ jobs:
           boost_geometry_util,
           color_names,
           data_buffer,
+          detic_onnx_ros2,
           dynamixel_hardware_interface,
           geographic_conversion,
           geographic_info,

diff --git a/.github/workflows/docker/vrx/DockerFile.copy b/.github/workflows/docker/vrx/DockerFile.copy
@@ -0,0 +1,28 @@
+FROM npslearninglab/watery_robots:humble_current
+
+ENV DEBIAN_FRONTEND noninteractive
+RUN apt-get update && \
+    apt-get install -y git wget && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+RUN apt-get update && apt-get install -y \
+    python3-sdformat13 \
+    gz-garden \
+    && rm -rf /var/lib/apt/lists/*
+RUN mkdir -p /home/vrx_ws/src
+WORKDIR /home/vrx_ws/src
+ADD https://api.github.com/repos/osrf/vrx/git/refs/heads/main vrx_version.json
+RUN git clone https://github.com/osrf/vrx.git
+ADD https://api.github.com/repos/gazebosim/ros_gz/git/refs/heads/humble ros_gz_version.json
+RUN git clone https://github.com/gazebosim/ros_gz.git -b humble
+ENV GZ_VERSION garden
+WORKDIR /home/vrx_ws
+RUN ["/bin/bash", "-c", "source /opt/ros/humble/setup.sh && apt-get update && rosdep update && rosdep install -iry --from-paths src && rm -rf /var/lib/apt/lists/*"]
+RUN ["/bin/bash", "-c", "source /opt/ros/humble/setup.sh && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release"]
+ADD fuel.gazebosim.org /root/.gz/fuel/fuel.gazebosim.org
+COPY config /home/config
+ENV GZ_SIM_RESOURCE_PATH /home/vrx_ws/src/vrx/vrx_urdf:${GZ_SIM_RESOURCE_PATH}
+RUN ["/bin/bash", "-c", "source /opt/ros/humble/setup.bash && source /home/vrx_ws/install/local_setup.bash && ros2 launch vrx_gazebo generate_wamv.launch.py component_yaml:=/home/config/component_config.yaml thruster_yaml:=/home/config/thruster_config.yaml wamv_target:=/home/config/wamv_target.urdf wamv_locked:=False"]
+ENTRYPOINT ["/bin/bash", "-c", "source /opt/ros/humble/setup.bash && source /home/vrx_ws/install/local_setup.bash && ros2 launch vrx_gz competition.launch.py world:=sydney_regatta headless:=true urdf:=/home/config/wamv_target.urdf"]
diff --git a/.github/workflows/docker/vrx/Dockerfile b/.github/workflows/docker/vrx/Dockerfile
@@ -1,28 +1,52 @@
-FROM npslearninglab/watery_robots:humble_current
-
-ENV DEBIAN_FRONTEND noninteractive
-RUN apt-get update && \
-    apt-get install -y git wget && \
-    rm -rf /var/lib/apt/lists/*
-
-RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
-RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
-RUN apt-get update && apt-get install -y \
-    python3-sdformat13 \
-    gz-garden \
-    && rm -rf /var/lib/apt/lists/*
-RUN mkdir -p /home/vrx_ws/src
-WORKDIR /home/vrx_ws/src
-ADD https://api.github.com/repos/osrf/vrx/git/refs/heads/main vrx_version.json
-RUN git clone https://github.com/osrf/vrx.git
-ADD https://api.github.com/repos/gazebosim/ros_gz/git/refs/heads/humble ros_gz_version.json
-RUN git clone https://github.com/gazebosim/ros_gz.git -b humble
-ENV GZ_VERSION garden
-WORKDIR /home/vrx_ws
-RUN ["/bin/bash", "-c", "source /opt/ros/humble/setup.sh && apt-get update && rosdep update && rosdep install -iry --from-paths src && rm -rf /var/lib/apt/lists/*"]
-RUN ["/bin/bash", "-c", "source /opt/ros/humble/setup.sh && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release"]
+# reference : https://github.com/osrf/vrx-docker/blob/master/vrx_server/vrx-server/Dockerfile
+
+ARG BASEIMG=npslearninglab/watery_robots:vrx_base
+FROM $BASEIMG
+
+# Set ROS distribution
+ARG ROSDIST=humble
+
+# Create workspace
+RUN mkdir -p ~/vrx_ws/src
+
+# TODO: restore version tag
+RUN git clone --depth 1 -b 2.3.1 https://github.com/osrf/vrx.git \
+&& mv ./vrx ~/vrx_ws/src
+
+# Compile the VRX project.
+RUN /bin/bash -c ". /opt/ros/${ROSDIST}/setup.bash && cd ~/vrx_ws && colcon build --merge-install"
+
+# Source all the needed environment files.
+RUN /bin/sh -c 'echo ". /opt/ros/${ROSDIST}/setup.bash" >> ~/.bashrc' \
+ && /bin/sh -c 'echo ". ~/vrx_ws/install/setup.sh" >> ~/.bashrc'
+## END OF SECTION BASED ON vrx/docker/Dockerfile
+
+# Cache fuel resources
+# RUN /bin/bash -c 'gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta \
+#   && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/post \
+#   && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station \
+#   && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/antenna \
+#   && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_red \
+#   && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_black \
+#   && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_green \
+#   && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_white \
+#   && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_orange \
+#   && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black \
+#   && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/platypus \
+#   && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/crocodile \
+#   && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/turtle \
+#   && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/wam-v'
 ADD fuel.gazebosim.org /root/.gz/fuel/fuel.gazebosim.org
+
+# read wam-v sensors and thruster config
 COPY config /home/config
-ENV GZ_SIM_RESOURCE_PATH /home/vrx_ws/src/vrx/vrx_urdf:${GZ_SIM_RESOURCE_PATH}
-RUN ["/bin/bash", "-c", "source /opt/ros/humble/setup.bash && source /home/vrx_ws/install/local_setup.bash && ros2 launch vrx_gazebo generate_wamv.launch.py component_yaml:=/home/config/component_config.yaml thruster_yaml:=/home/config/thruster_config.yaml wamv_target:=/home/config/wamv_target.urdf wamv_locked:=False"]
-ENTRYPOINT ["/bin/bash", "-c", "source /opt/ros/humble/setup.bash && source /home/vrx_ws/install/local_setup.bash && ros2 launch vrx_gz competition.launch.py world:=sydney_regatta headless:=true urdf:=/home/config/wamv_target.urdf"]
+
+# Expose port used to communiate with gzserver
+EXPOSE 11345
+
+# setup entrypoint
+COPY ./vrx_entrypoint.sh /
+
+COPY ./run_vrx_gazebo.bash /
+
+ENTRYPOINT ["/vrx_entrypoint.sh"]
diff --git a/.github/workflows/docker/vrx/config/component_config.yaml b/.github/workflows/docker/vrx/config/component_config.yaml
@@ -60,5 +60,5 @@ wamv_ball_shooter:
       pitch: ${radians(-20)}
       yaw: 0.0
 wamv_pinger:
-    - name: pinger
-      position: 1.0 0 -1.0
+    - sensor_name: reciever
+      position: 1.0 0 -1.0
diff --git a/.github/workflows/docker/vrx/run_vrx_gazebo.bash b/.github/workflows/docker/vrx/run_vrx_gazebo.bash
@@ -0,0 +1,5 @@
+# generate wamv_target.urdf
+ros2 launch vrx_gazebo generate_wamv.launch.py component_yaml:=/home/config/component_config.yaml thruster_yaml:=/home/config/thruster_config.yaml wamv_target:=/home/config/wamv_target.urdf wamv_locked:=False
+
+# launch vrx gazebo
+ros2 launch vrx_gz competition.launch.py world:=sydney_regatta headless:=true urdf:=/home/config/wamv_target.urdf
diff --git a/.github/workflows/docker/vrx/vrx_entrypoint.sh b/.github/workflows/docker/vrx/vrx_entrypoint.sh
@@ -0,0 +1,16 @@
+#!/bin/bash
+set -e
+
+# setup ros environment.
+source "/opt/ros/humble/setup.bash" > /dev/null
+
+# setup vrx environment
+source ~/vrx_ws/install/setup.sh
+echo "vrx entrypoint executed"
+
+# TODO: optionally disable this so a gzclient can be run on the host for development.
+export GAZEBO_IP=127.0.0.1
+export GAZEBO_IP_WHITE_LIST=127.0.0.1
+
+/run_vrx_gazebo.bash
+exec "$@"
diff --git a/.github/workflows/docker/yolox/Dockerfile b/.github/workflows/docker/yolox/Dockerfile
@@ -1,4 +1,4 @@
-FROM nvidia/cuda:11.4.0-cudnn8-devel-ubuntu20.04
+FROM nvidia/cuda:11.4.3-cudnn8-devel-ubuntu20.04
 ENV DEBIAN_FRONTEND noninteractive
 #RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/3bf863cc.pub
 RUN apt-get update && \

diff --git a/.github/workflows/docker_push.yaml b/.github/workflows/docker_push.yaml
@@ -29,7 +29,7 @@ jobs:
   dev_container:
     name: build and push wamvtan/dev_container and wamvtan/dev_container_vnc
     runs-on: ubuntu-22.04
-    timeout-minutes: 60
+    timeout-minutes: 120
     strategy:
       fail-fast: false
       max-parallel: 8

diff --git a/.github/workflows/document.yaml b/.github/workflows/document.yaml
@@ -15,6 +15,12 @@ jobs:
     runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v2-beta
+      - name: Set up Python
+        uses: actions/setup-python@v1
+        with:
+          python-version: "3.10.13"
+      - name: Install
+        run: pip3 install mkdocs mkdocs-material fontawesome_markdown mkdocs-mermaid2-plugin pymdown-extensions plantuml-markdown python-markdown-math python-github-api mkdocs-github-dashboard pandas markdown==3.3.0
       - name: Set env
         run: echo "GITHUB_TOKEN=${{ secrets.WAMV_TAN_BOT_SECRET }}" >> $GITHUB_ENV
      - uses: actions/setup-python@v4

diff --git a/.github/workflows/generate_rosdep_yaml.yaml b/.github/workflows/generate_rosdep_yaml.yaml
@@ -24,10 +24,11 @@ jobs:
     - name: ansible version
       run: |
             ansible-playbook --version
-    - name: Setup ROS2 galactic environment
+    - name: Setup ROS2 humble environment
       uses: ros-tooling/[email protected]
       with:
-        required-ros-distributions: galactic
+        required-ros-distributions: humble
+    - uses: actions/checkout@v2-beta
     - name: run ansible
       run: |
           ansible-playbook -i ansible/hosts/localhost.ini ansible/export_repos_full.yml --connection local --become -e ansible_user=ubuntu

diff --git a/ansible/roles/jetson/tasks/main.yml b/ansible/roles/jetson/tasks/main.yml
@@ -95,6 +95,13 @@
     version: master
     accept_hostkey: yes
 
+- name: clone detic_onnx_ros2
+  git:
+    repo: https://github.com/OUXT-Polaris/detic_onnx_ros2.git
+    dest: "{{workspace_path}}/src/perception/detic_onnx_ros2"
+    version: master
+    accept_hostkey: yes
+
 - name: remove old rosdep list
   file:
     path: /etc/ros/rosdep/sources.list.d/20-default.list

diff --git a/ansible/roles/ml_pipeline/tasks/main.yml b/ansible/roles/ml_pipeline/tasks/main.yml
diff --git a/ansible/setup_ml_pipeline.yml b/ansible/setup_ml_pipeline.yml
diff --git a/docs/docs/index.md b/docs/docs/index.md
@@ -4,7 +4,7 @@
 ![ansible](https://github.com/OUXT-Polaris/ouxt_automation/workflows/ansible/badge.svg)
 
 #### Automation
-![documentat](https://github.com/OUXT-Polaris/ouxt_automation/workflows/documentat/badge.svg)
+[![document](https://github.com/OUXT-Polaris/ouxt_automation/actions/workflows/document.yaml/badge.svg)](https://github.com/OUXT-Polaris/ouxt_automation/actions/workflows/document.yaml)
 [![deploy_workflow](https://github.com/OUXT-Polaris/ouxt_automation/actions/workflows/deploy_workflow.yaml/badge.svg)](https://github.com/OUXT-Polaris/ouxt_automation/actions/workflows/deploy_workflow.yaml)
 [![check_workflow_deployment](https://github.com/OUXT-Polaris/ouxt_automation/actions/workflows/check_workflow.yaml/badge.svg)](https://github.com/OUXT-Polaris/ouxt_automation/actions/workflows/check_workflow.yaml)
 

diff --git 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/dynamixel_hardware_interface,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/miniv_control,OUXT-Polaris/miniv_description,OUXT-Polaris/navi_sim,OUXT-Polaris/nmea_gps_driver,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/perception_bringup,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)
+@github_dashboard(OUXT-Polaris/color_names,OUXT-Polaris/data_buffer,OUXT-Polaris/dynamixel_hardware_interface,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/miniv_control,OUXT-Polaris/miniv_description,OUXT-Polaris/navi_sim,OUXT-Polaris/nmea_gps_driver,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/perception_bringup,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)
Original file line number	Diff line number	Diff line change
Expand Up		@@ -2,4 +2,4 @@

		## dashboard

		@github_dashboard(OUXT-Polaris/color_names,OUXT-Polaris/data_buffer,OUXT-Polaris/dynamixel_hardware_interface,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/miniv_control,OUXT-Polaris/miniv_description,OUXT-Polaris/navi_sim,OUXT-Polaris/nmea_gps_driver,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/perception_bringup,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)
		@github_dashboard(OUXT-Polaris/color_names,OUXT-Polaris/data_buffer,OUXT-Polaris/dynamixel_hardware_interface,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/miniv_control,OUXT-Polaris/miniv_description,OUXT-Polaris/navi_sim,OUXT-Polaris/nmea_gps_driver,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/perception_bringup,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)