Merge branch 'main' into feat/param_tuning

Dockerfile

@@ -1,13 +1,19 @@
 # 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 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"
 ENV XDG_RUNTIME_DIR=/tmp/xdg

aichallenge/run_rviz.bash

@@ -0,0 +1,4 @@
+#!/bin/bash
+source /aichallenge/workspace/install/setup.bash
+rviz2 -d /aichallenge/workspace/src/aichallenge_system/aichallenge_system_launch/config/autoware.rviz
+# rviz2 -d /aichallenge/workspace/src/aichallenge_system/aichallenge_system_launch/config/debug_sensing.rviz

remote/network_setting.bash

@@ -0,0 +1,4 @@
+#!/bin/bash
+
+sudo sysctl -w net.core.rmem_max==2147483647
+sudo ip link set lo multicast on

run_script.tmux

@@ -15,6 +15,8 @@ AIC_WORKSPACE_CD_CMD="cd /aichallenge"
 SOURCE_CMD="source install/setup.bash"
 
 # mouse setup
+set-option -g default-command "bash --login"
+set-option -g default-terminal "screen-256color"
 set-option -g mouse on
 bind-key -n WheelUpPane if-shell -F -t = "#{mouse_any_flag}" "send-keys -M" "if -Ft= '#{pane_in_mode}' 'send-keys -M' 'select-pane -t=; copy-mode -e; send-keys -M'"
 bind-key -n WheelDownPane select-pane -t= \; send-keys -M

stop_vehicle_tmux.sh

@@ -1,9 +1,6 @@
 #!/bin/bash
 
-# Stop all running containers
-docker stop $(docker ps -q)
-
-# Kill all running containers (if needed)
+# Kill all running containers
 docker kill $(docker ps -q)
 
 # Remove all containers (including stopped ones)

vehicle/kill_zenoh.bash

@@ -0,0 +1,2 @@
+#!/bin/bash
+docker kill zenoh

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