feat(ansible): modify ansible script to setup CTI Anvil to run both 2D and 3D perception

ansible/roles/calibration_tools/tasks/main.yaml

@@ -1,6 +1,6 @@
 - name: Fix python interpreter version to 3
   set_fact:
-    ansible_python_interpreter: /usr/bin/python3.6
+    ansible_python_interpreter: /usr/bin/python3.8
 
 - name: Upgrade pip
   pip:
@@ -10,7 +10,7 @@
 - name: Install dependencies
   pip:
     name:
       - dt-apriltags
       - ruamel.yaml
     state: latest
 

ansible/roles/cuda/tasks/main.yaml

@@ -1,3 +1,17 @@
+- name: Remove NVIDIA Jetpack installation and OpenCV installation
+  become: true
+  ansible.builtin.apt:
+    name:
+      - "*nvidia-jetpack*"
+      - "*opencv*"
+    state: absent
+    purge: true
+
+- name: Remove OpenCV build directory
+  ansible.builtin.file:
+    path: "{{ ansible_env.HOME }}/source_builds/jetson-containers"
+    state: absent
+
 - name: Install apt packages
   become: true
   ansible.builtin.apt:

ansible/roles/ptp4l_client/defaults/main.yaml

@@ -1 +1 @@
-ptp4l_client_interface: eth1
+ptp4l_client_interface: eqos0

ansible/roles/ptp4l_host/defaults/main.yaml

@@ -0,0 +1,2 @@
+ptp4l_host_interface:
+  - eth0

ansible/roles/ptp4l_host/files/ptp4l@.service

@@ -0,0 +1,13 @@
+[Unit]
+Description=Precision Time Protocol (PTP) service
+After=network-online.target
+
+[Service]
+Type=simple
+ExecStart=/usr/sbin/ptp4l -i %i -m -S -A
+ExecStop=/usr/bin/pkill -f ptp4l
+Restart=always
+RestartSec=5
+
+[Install]
+WantedBy=multi-user.target network-online.target

ansible/roles/ptp4l_host/tasks/main.yaml

@@ -0,0 +1,21 @@
+- name: Install ptp4l
+  ansible.builtin.apt:
+    name:
+      - linuxptp
+    update_cache: true
+  become: true
+
+- name: Copy service template file
+  ansible.builtin.copy:
+    src: [email protected]
+    dest: /etc/systemd/system/
+  become: true
+
+- name: Install ptp4l client service file
+  ansible.builtin.systemd:
+    name: ptp4l@{{ item }}.service
+    daemon_reload: true
+    enabled: true
+    masked: false
+  become: true
+  with_items: "{{ ptp4l_host_interface }}"

ansible/roles/ros2/defaults/main.yaml

@@ -0,0 +1,2 @@
+ros_root_dir: /opt/ros/humble
+ros_pkg: ros_base