feat: run zenoh under aic container (AutomotiveAIChallenge#150)

* feat: add mpc pid (yosen param) (#1)

* feat(rviz): rviz visualize (#2)

* Revert "remove debug"

This reverts commit 1d10963.

* add multi_data_monitor

* add multi_data_monitor depends

* add multidatamonitor(accel brake steer)

* update rviz

* update readme

* add control_cmd

* chore: add terminator and remove eval record (#3)

* feat: add section timer (#5)

* save

* feat: add section and lap timer for debug

* feat: add section and lap timer

* feat(rviz, plogjuggler): update vizualizer (#6)

* add mps

* set colors properly

* add mpc pid multidatamonitor

* chore add mpc

* add measured

* update rviz

* add mpc plotjuggler

* fix plotjuggler config

* add localizer plotjuggler

* multidata monitor add deg rad conversion

* update plotjuggler localizer(yaw)

* multidatamonitor reduce digits

* chore digits multidatamonitor

* chore: add bash script (#7)

* chore: del sensor noise (#8)

* feat: parameterized cov (#9)

* feat: add mpc pid from awsim stable autoware (#10)

* feat: add rap time launch and visualize (#11)

* feat: add gnss frame id changer (#12)

* frame_id変換のためのノード追加

* fix: pose_cov_transformer.cpp

pose_positionの計算の修正を行いました

---------

Co-authored-by: Tom Sawada <[email protected]>

* feat: add path_to_trajectory (#4)

* wip

* feat

* feat

* wip

* wip

* wip

* Delete aichallenge/result-details.json

* fix: run_simulator.bash

パスについて、AWSIM_GPUからAWSIMに戻しました

---------

Co-authored-by: knorrrr <[email protected]>
Co-authored-by: Tom Sawada <[email protected]>

* fix thread and add parameter

* fix culclation bug

* fix pose cov to pose

* feat: add vehicle state culculator (#14)

* Fix/dockerfile (#15)

* fix:Dockerfile

* fix:Dockerfile2

* fix: Dockerfile

---------

Co-authored-by: toki-1441 <[email protected]>

* Fix/autoware.bash (#16)

* fix:Dockerfile

* fix:Dockerfile2

* fix: Dockerfile

* fix:reference.launch.xml

---------

Co-authored-by: toki-1441 <[email protected]>

* change custom_msgs to csv_path_changer_msg (#17)

* feat: add section  timer with diffrence between best and current lap (#19)

* feat: replay rosbag (#20)

* cp reference

* cp reference

* separate rosbag and simreal

* launch branch is_rosbag

* add rosbag and launch script

* fix launch args(effects pose timestamp, resulting ekf error)

* path chagne

* add separate rosbag

* add separate rosbag

* update localizer plotjuggler

* plotjuggler add linear vel

* update lozalizer pltjuggler

* del unnecessary launch(planning)

* diable planning when is_rosbag

* add trajectory editor (#23)

* /localization/kinematic_stateのframe_idをmapからbase_linkに変換する (#24)

* feat: add imu raw frame id changer

* add sensor_msg depends

* feat: add true gps module and edit reference launch (#27)

* feat: add true gps module and edit reference launch

* Update aichallenge/workspace/src/aichallenge_submit/gps_module/src/true_gps_module.cpp

---------

Co-authored-by: knorrrr <[email protected]>

* fix: weaving speed (#30)

* feat: pose transformer add gnss (#26)

* publish gnss pose

* update plotjuggler

* update plt

* update plotjuggler

* add comment out

* update plotjuggler

* chore change rosbag filename

* chore: add reference launch ekf parameter (#28)

* doc: change README for error handling (#33)

* chore: change run_replay_rosbag_autoware.sh (#32)

* add reference launch ekf parameter (#31)

* feat: edit initial value of best time, inf to 999.9 (#34)

* feat: use original gnss (#36)

* update pose transformer

* update reference

* fix launch error

* fix(gps_module)pose to posestamped

* update reference launch

* use gnss original covariance

* update plotjuggler

* can change gnss cov

* parameterized gnss module cov

* update rviz

* update gpss param

* publish original pose when interface rosbag

* add sensor data covariance monitor (#37)

* update editor

* feat: command line

* fix: 権限付与

* feat: edit and add  Arata`s dicripttion of MPC param (#40)

* feat: rap time difference from best time (#41)

* ベストタイムとの差分の表示を追加

* update digits all 2

---------

Co-authored-by: knorrrr <[email protected]>

* feat: add pid mpc prefix (#29)

* ref: change param (pid)

* ref: add coment out

* ref: params

* fix: yaml

* fix merge

---------

Co-authored-by: knorrrr <[email protected]>

* fix: run csv_editor node (#35)

* fix: calc gps orientation (#38)

* refactor

* fix

* separate host ecu launch

* add  vehicle plotjuggler

* doc: Update README.md (#42)

* init param controller

* add cmd

* fix crush problem

* wip does not load env var before zenoh

* set env var

* appky precommit

* remove duplicate in dockerfile

* add host network setting

* revert: delete host network setting

Signed-off-by: Masahiro Kubota <[email protected]>

* style: fix line breaks

Signed-off-by: Masahiro Kubota <[email protected]>

---------

Signed-off-by: Masahiro Kubota <[email protected]>
Co-authored-by: yusuke-y819 <[email protected]>
Co-authored-by: Arata-Stu <[email protected]>
Co-authored-by: hamadayo <[email protected]>
Co-authored-by: Tom Sawada <[email protected]>
Co-authored-by: hayato-hayashi <[email protected]>
Co-authored-by: toki-1441 <[email protected]>
Co-authored-by: toki-1441 <[email protected]>
Co-authored-by: hamadayo <[email protected]>
Co-authored-by: toki-1441 <[email protected]>
Co-authored-by: Masahiro Kubota <[email protected]>

Dockerfile

@@ -1,19 +1,18 @@
 # FROM osrf/ros:humble-desktop AS common
 FROM ghcr.io/automotiveaichallenge/autoware-universe:humble-latest AS common
 
-RUN apt-get update
+RUN echo "deb [trusted=yes] https://download.eclipse.org/zenoh/debian-repo/ /" | tee -a /etc/apt/sources.list > /dev/null && apt-get update
 RUN apt-get -y install libgl1-mesa-glx libgl1-mesa-dri
 RUN apt-get -y install iproute2
 RUN apt-get -y install wmctrl
 RUN apt-get -y install ros-humble-rqt-tf-tree
 RUN apt-get -y install ros-humble-rqt-graph
 
-RUN apt-get update
-RUN echo "deb [trusted=yes] https://download.eclipse.org/zenoh/debian-repo/ /" | tee -a /etc/apt/sources.list > /dev/null && apt-get update
 RUN apt install zenoh-bridge-ros2dds terminator -y
 RUN apt install arp-scan -y
 
 COPY --chmod=757 remote /remote 
+COPY --chmod=757 vehicle /vehicle
 
 # PATH="$PATH:/root/.local/bin"
 # PATH="/usr/local/cuda/bin:$PATH"

vehicle/run_zenoh.bash

@@ -1,10 +1,4 @@
 #!/bin/bash
-SCRIPT_DIR=$(readlink -f "$(dirname "$0")")
-docker run --rm \
-    --net=host \
-    -e ROS_DISTRO=humble \
-    -e RMW_IMPLEMENTATION=rmw_cyclonedds_cpp \
-    -e CYCLONEDDS_URI=file:///vehicle/cyclonedds.xml \
-    -v "${SCRIPT_DIR}:/vehicle" \
-    --name zenoh \
-    eclipse/zenoh-bridge-ros2dds:latest -c /vehicle/zenoh.json5
+
+# shellcheck disable=SC2086
+rocker --x11 --devices /dev/dri --env ROS_DISTRO=humble --user --net host --privileged --name zenoh --volume aichallenge:/aichallenge -- "aichallenge-2024-dev-${USER}" zenoh-bridge-ros2dds -c /vehicle/zenoh.json5