From d758113b377bdc58dde0a2acfbf24ea3c0d5569f Mon Sep 17 00:00:00 2001
From: tokuda99 <kosuke.tokuda@map4.jp>
Date: Mon, 10 Jun 2024 22:06:04 +0900
Subject: [PATCH 01/11] fix: update tier4_hdr_camera_driver tasks

- Added a task to check if the GitHub API return is valid
- Added a task to ensure driver_deb_download_url is defined
- Added tasks to extract and fix the driver tar.gz file
- Added a task to run the installation script
- Removed the task to install the driver from deb file
- Removed the task to install the SDK from deb file
- Updated the task to setup camera driver and SDK
---
 .../tier4_hdr_camera_driver/tasks/main.yaml   | 46 ++++++++++++++-----
 1 file changed, 34 insertions(+), 12 deletions(-)

diff --git a/ansible/roles/tier4_hdr_camera_driver/tasks/main.yaml b/ansible/roles/tier4_hdr_camera_driver/tasks/main.yaml
index 5b77a21..9667d54 100644
--- a/ansible/roles/tier4_hdr_camera_driver/tasks/main.yaml
+++ b/ansible/roles/tier4_hdr_camera_driver/tasks/main.yaml
@@ -3,12 +3,22 @@
     url: "{{ camera_driver_repo }}"
   register: github_api_return_info
 
+- name: Check if GitHub API return is valid
+  fail:
+    msg: "Failed to fetch data from GitHub API."
+  when: github_api_return_info.status != 200
+
 - name: Parse download URL for driver
   loop: "{{ github_api_return_info.json.assets }}"
   ansible.builtin.set_fact:
     driver_deb_download_url: "{{ item.browser_download_url }}"
     driver_deb_name: "{{ item.name }}"
-  when: item.name | regex_search('tier4-camera-gmsl_(.+)_arm64.deb')
+  when: item.name | regex_search('tier4-camera-drivers-for-anvil.tar.gz')
+
+- name: Ensure driver_deb_download_url is defined
+  fail:
+    msg: "driver_deb_download_url is not defined. Check the regex or GitHub API response."
+  when: driver_deb_download_url is not defined
 
 - name: Parse download URL for SDK
   loop: "{{ github_api_return_info.json.assets }}"
@@ -17,12 +27,33 @@
     sdk_deb_name: "{{ item.name }}"
   when: item.name | regex_search('t4cam_sdk-(.+)-rqx58g.deb')
 
-- name: Download driver deb file from public repo
-  ansible.builtin.uri:
+- name: Download driver tar.gz file from public repo
+  ansible.builtin.get_url:
     url: "{{ driver_deb_download_url }}"
     dest: "{{ camera_driver_download_dir }}/{{ driver_deb_name }}"
     mode: 0644
 
+- name: Extract driver tar.gz file
+  ansible.builtin.unarchive:
+    src: "{{ camera_driver_download_dir }}/{{ driver_deb_name }}"
+    dest: "{{ camera_driver_download_dir }}"
+    remote_src: yes
+
+- name: Ensure install.sh has execute permission
+  ansible.builtin.file:
+    path: "{{ camera_driver_download_dir }}/tier4-camera-drivers-for-anvil/install.sh"
+    mode: '0755'
+    state: file
+
+- name: Fix shebang line in install.sh
+  ansible.builtin.shell: |
+    sed -i '1s/^#\/bin\/bash$/#!\/bin\/bash/' {{ camera_driver_download_dir }}/tier4-camera-drivers-for-anvil/install.sh
+
+- name: Run installation script
+  command: "echo $EUID && c {{ camera_driver_download_dir }}/tier4-camera-drivers-for-anvil/install.sh"
+  become: true
+  become_user: root
+
 - name: Download SDK deb file from public repo
   ansible.builtin.uri:
     url: "{{ sdk_deb_download_url }}"
@@ -45,21 +76,12 @@
 - name: Setup camera driver and SDK
   become: true
   block:
-    - name: Install driver from deb file
-      ansible.builtin.apt:
-        deb: "{{ camera_driver_download_dir }}/{{ driver_deb_name }}"
-        state: present
     - name: Post process
       ansible.builtin.shell:
         cmd: |
           /opt/nvidia/jetson-io/config-by-hardware.py -n 2="TIERIV ISX021 GMSL2 Camera Device Tree Overlay"
         # noqa no-changed-when
         # TODO: check dtb file
-    - name: Install SDK from deb file
-      ansible.builtin.apt:
-        deb: "{{ camera_driver_download_dir }}/{{ sdk_deb_name }}"
-        state: present
-      when: sdk_deb_download_url is defined
 
 - name: Setup C1 configuration
   block:

From a8b9caca7de654bf9a404598a0eafc20630db00c Mon Sep 17 00:00:00 2001
From: tokuda99 <kosuke.tokuda@map4.jp>
Date: Thu, 13 Jun 2024 17:26:57 +0900
Subject: [PATCH 02/11] Revert "fix: update tier4_hdr_camera_driver tasks"

This reverts commit d758113b377bdc58dde0a2acfbf24ea3c0d5569f.
---
 .../tier4_hdr_camera_driver/tasks/main.yaml   | 46 +++++--------------
 1 file changed, 12 insertions(+), 34 deletions(-)

diff --git a/ansible/roles/tier4_hdr_camera_driver/tasks/main.yaml b/ansible/roles/tier4_hdr_camera_driver/tasks/main.yaml
index 9667d54..5b77a21 100644
--- a/ansible/roles/tier4_hdr_camera_driver/tasks/main.yaml
+++ b/ansible/roles/tier4_hdr_camera_driver/tasks/main.yaml
@@ -3,22 +3,12 @@
     url: "{{ camera_driver_repo }}"
   register: github_api_return_info
 
-- name: Check if GitHub API return is valid
-  fail:
-    msg: "Failed to fetch data from GitHub API."
-  when: github_api_return_info.status != 200
-
 - name: Parse download URL for driver
   loop: "{{ github_api_return_info.json.assets }}"
   ansible.builtin.set_fact:
     driver_deb_download_url: "{{ item.browser_download_url }}"
     driver_deb_name: "{{ item.name }}"
-  when: item.name | regex_search('tier4-camera-drivers-for-anvil.tar.gz')
-
-- name: Ensure driver_deb_download_url is defined
-  fail:
-    msg: "driver_deb_download_url is not defined. Check the regex or GitHub API response."
-  when: driver_deb_download_url is not defined
+  when: item.name | regex_search('tier4-camera-gmsl_(.+)_arm64.deb')
 
 - name: Parse download URL for SDK
   loop: "{{ github_api_return_info.json.assets }}"
@@ -27,33 +17,12 @@
     sdk_deb_name: "{{ item.name }}"
   when: item.name | regex_search('t4cam_sdk-(.+)-rqx58g.deb')
 
-- name: Download driver tar.gz file from public repo
-  ansible.builtin.get_url:
+- name: Download driver deb file from public repo
+  ansible.builtin.uri:
     url: "{{ driver_deb_download_url }}"
     dest: "{{ camera_driver_download_dir }}/{{ driver_deb_name }}"
     mode: 0644
 
-- name: Extract driver tar.gz file
-  ansible.builtin.unarchive:
-    src: "{{ camera_driver_download_dir }}/{{ driver_deb_name }}"
-    dest: "{{ camera_driver_download_dir }}"
-    remote_src: yes
-
-- name: Ensure install.sh has execute permission
-  ansible.builtin.file:
-    path: "{{ camera_driver_download_dir }}/tier4-camera-drivers-for-anvil/install.sh"
-    mode: '0755'
-    state: file
-
-- name: Fix shebang line in install.sh
-  ansible.builtin.shell: |
-    sed -i '1s/^#\/bin\/bash$/#!\/bin\/bash/' {{ camera_driver_download_dir }}/tier4-camera-drivers-for-anvil/install.sh
-
-- name: Run installation script
-  command: "echo $EUID && c {{ camera_driver_download_dir }}/tier4-camera-drivers-for-anvil/install.sh"
-  become: true
-  become_user: root
-
 - name: Download SDK deb file from public repo
   ansible.builtin.uri:
     url: "{{ sdk_deb_download_url }}"
@@ -76,12 +45,21 @@
 - name: Setup camera driver and SDK
   become: true
   block:
+    - name: Install driver from deb file
+      ansible.builtin.apt:
+        deb: "{{ camera_driver_download_dir }}/{{ driver_deb_name }}"
+        state: present
     - name: Post process
       ansible.builtin.shell:
         cmd: |
           /opt/nvidia/jetson-io/config-by-hardware.py -n 2="TIERIV ISX021 GMSL2 Camera Device Tree Overlay"
         # noqa no-changed-when
         # TODO: check dtb file
+    - name: Install SDK from deb file
+      ansible.builtin.apt:
+        deb: "{{ camera_driver_download_dir }}/{{ sdk_deb_name }}"
+        state: present
+      when: sdk_deb_download_url is defined
 
 - name: Setup C1 configuration
   block:

From 3a019534abb1da1acfb2f76926f66f30c5372a63 Mon Sep 17 00:00:00 2001
From: tokuda99 <kosuke.tokuda@map4.jp>
Date: Thu, 13 Jun 2024 17:34:35 +0900
Subject: [PATCH 03/11] fix: Fix camera driver repository URL

---
 ansible/roles/tier4_hdr_camera_driver/defaults/main.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ansible/roles/tier4_hdr_camera_driver/defaults/main.yaml b/ansible/roles/tier4_hdr_camera_driver/defaults/main.yaml
index 849feb2..30d996f 100644
--- a/ansible/roles/tier4_hdr_camera_driver/defaults/main.yaml
+++ b/ansible/roles/tier4_hdr_camera_driver/defaults/main.yaml
@@ -1,3 +1,3 @@
-camera_driver_repo: https://api.github.com/repos/tier4/tier4_automotive_hdr_camera/releases/latest
+camera_driver_repo: https://api.github.com/repos/tier4/tier4_automotive_hdr_camera/releases/142093397
 camera_driver_download_dir: /tmp
 exposure_time: 11000

From 5e461d8a68439f4074e1a4ac2985210ea2545515 Mon Sep 17 00:00:00 2001
From: urasakikeisuke <keisuke.urasaki@map4.jp>
Date: Tue, 18 Jun 2024 18:58:25 +0900
Subject: [PATCH 04/11] fix missing dependencies edge auto jetson launcher

Signed-off-by: urasakikeisuke <keisuke.urasaki@map4.jp>
---
 ansible/roles/artifacts/defaults/main.yaml |  1 +
 ansible/roles/artifacts/tasks/main.yaml    | 80 ++++++++++++++++++++++
 ansible/setup.yaml                         |  1 +
 autoware.repos                             |  8 +++
 setup-dev-env.sh                           |  2 +-
 5 files changed, 91 insertions(+), 1 deletion(-)
 create mode 100644 ansible/roles/artifacts/defaults/main.yaml
 create mode 100644 ansible/roles/artifacts/tasks/main.yaml

diff --git a/ansible/roles/artifacts/defaults/main.yaml b/ansible/roles/artifacts/defaults/main.yaml
new file mode 100644
index 0000000..832ca2e
--- /dev/null
+++ b/ansible/roles/artifacts/defaults/main.yaml
@@ -0,0 +1 @@
+script_download_dir: /tmp
diff --git a/ansible/roles/artifacts/tasks/main.yaml b/ansible/roles/artifacts/tasks/main.yaml
new file mode 100644
index 0000000..0d8bcf8
--- /dev/null
+++ b/ansible/roles/artifacts/tasks/main.yaml
@@ -0,0 +1,80 @@
+# tensorrt_yolox
+- name: Create tensorrt_yolox directory inside {{ data_dir }}
+  ansible.builtin.file:
+    path: "{{ data_dir }}/tensorrt_yolox"
+    mode: "755"
+    state: directory
+
+- name: Download tensorrt_yolox/yolox-tiny.onnx
+  become: true
+  ansible.builtin.get_url:
+    url: https://awf.ml.dev.web.auto/perception/models/yolox-tiny.onnx
+    dest: "{{ data_dir }}/tensorrt_yolox/yolox-tiny.onnx"
+    mode: "644"
+    checksum: sha256:471a665f4243e654dff62578394e508db22ee29fe65d9e389dfc3b0f2dee1255
+
+- name: Download tensorrt_yolox/yolox-sPlus-opt.onnx
+  become: true
+  ansible.builtin.get_url:
+    url: https://awf.ml.dev.web.auto/perception/models/yolox-sPlus-opt.onnx
+    dest: "{{ data_dir }}/tensorrt_yolox/yolox-sPlus-opt.onnx"
+    mode: "644"
+    checksum: sha256:36b0832177b01e6b278e00c7369f1de71e616c36261cbae50f0753d41289da01
+
+- name: Download tensorrt_yolox/yolox-sPlus-opt.EntropyV2-calibration.table
+  become: true
+  ansible.builtin.get_url:
+    url: https://awf.ml.dev.web.auto/perception/models/yolox-sPlus-opt.EntropyV2-calibration.table
+    dest: "{{ data_dir }}/tensorrt_yolox/yolox-sPlus-opt.EntropyV2-calibration.table"
+    mode: "644"
+    checksum: sha256:b9e9d7da33342262ccaea4469b4d02b8abb32b6d7bf737f9e0883fece1b8f580
+
+- name: Download tensorrt_yolox/yolox-sPlus-T4-960x960-pseudo-finetune.onnx
+  become: true
+  ansible.builtin.get_url:
+    url: https://awf.ml.dev.web.auto/perception/models/object_detection_yolox_s/v1/yolox-sPlus-T4-960x960-pseudo-finetune.onnx
+    dest: "{{ data_dir }}/tensorrt_yolox/yolox-sPlus-T4-960x960-pseudo-finetune.onnx"
+    mode: "644"
+    checksum: sha256:f5054e8a890c3be86dc1b4b89a5a36fb2279d4f6110b0159e793be062641bf65
+
+- name: Download tensorrt_yolox/yolox-sPlus-T4-960x960-pseudo-finetune.EntropyV2-calibration.table
+  become: true
+  ansible.builtin.get_url:
+    url: https://awf.ml.dev.web.auto/perception/models/object_detection_yolox_s/v1/yolox-sPlus-T4-960x960-pseudo-finetune.EntropyV2-calibration.table
+    dest: "{{ data_dir }}/tensorrt_yolox/yolox-sPlus-T4-960x960-pseudo-finetune.EntropyV2-calibration.table"
+    mode: "644"
+    checksum: sha256:cc378d327db5616b0b3a4d077bf37100c25a50ecd22d2b542f54098da100f34c
+
+- name: Download tensorrt_yolox/label.txt
+  become: true
+  ansible.builtin.get_url:
+    url: https://awf.ml.dev.web.auto/perception/models/label.txt
+    dest: "{{ data_dir }}/tensorrt_yolox/label.txt"
+    mode: "644"
+    checksum: sha256:3540a365bfd6d8afb1b5d8df4ec47f82cb984760d3270c9b41dbbb3422d09a0c
+
+- name: Download tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx
+  become: true
+  ansible.builtin.get_url:
+    url: https://awf.ml.dev.web.auto/perception/models/object_detection_semseg_yolox_s/v1/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx
+    dest: "{{ data_dir }}/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx"
+    mode: "644"
+    checksum: sha256:73b3812432cedf65cebf02ca4cb630542fc3b1671c4c0fbf7cee50fa38e416a8
+
+- name: Download tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.EntropyV2-calibration.table
+  become: true
+  ansible.builtin.get_url:
+    url: https://awf.ml.dev.web.auto/perception/models/object_detection_semseg_yolox_s/v1/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.EntropyV2-calibration.table
+    dest: "{{ data_dir }}/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.EntropyV2-calibration.table"
+    mode: "644"
+    checksum: sha256:28cd6524d4bcdb2809592a225d28330433e58dc02c92169ea555b44c1a51a584
+
+- name: Download tensorrt_yolox/semseg_color_map.csv
+  become: true
+  ansible.builtin.get_url:
+    url: https://awf.ml.dev.web.auto/perception/models/object_detection_semseg_yolox_s/v1/semseg_color_map.csv
+    dest: "{{ data_dir }}/tensorrt_yolox/semseg_color_map.csv"
+    mode: "644"
+    checksum: sha256:3d93ca05f31b63424d7d7246a01a2365953705a0ed3323ba5b6fddd744a4bfea
+
+
diff --git a/ansible/setup.yaml b/ansible/setup.yaml
index f7dfee4..a1f903f 100644
--- a/ansible/setup.yaml
+++ b/ansible/setup.yaml
@@ -19,6 +19,7 @@
         [Warning] Do you want to configure the network? This configuration may overwrite the IP address of the specific network interface [y/N]
       private: false
   roles:
+    - role: artifacts
     - role: autoware
     - role: cuda
     - role: cyclonedds
diff --git a/autoware.repos b/autoware.repos
index 950dd09..a7ea7e7 100644
--- a/autoware.repos
+++ b/autoware.repos
@@ -58,3 +58,11 @@ repositories:
     type: git
     url: https://github.com/tier4/tensorrt_cmake_module.git
     version: main
+  demos:
+    type: git
+    url: https://github.com/ros2/demos.git
+    version: humble
+  autoware_internal_msgs:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_internal_msgs.git
+    version: main
diff --git a/setup-dev-env.sh b/setup-dev-env.sh
index d991aff..893c333 100755
--- a/setup-dev-env.sh
+++ b/setup-dev-env.sh
@@ -49,7 +49,7 @@ export PATH="$HOME/.local/bin:$PATH"
 echo -e "\e[36mRunning ansible playbook to setup ECU.\e[0m"
 
 # Run ansible
-if ansible-playbook "${SCRIPT_DIR}"/ansible/setup.yaml --ask-become-pass; then
+if ansible-playbook "${SCRIPT_DIR}"/ansible/setup.yaml --ask-become-pass --extra-vars data_dir=$HOME/autoware_data; then
     echo -e "\e[32mCompleted.\e[0m"
     exit 0
 else

From f19a6b99cd2b76e9249bd3ecf6117a553563cf52 Mon Sep 17 00:00:00 2001
From: amc-nu <abrahammonrroy@yahoo.com>
Date: Thu, 18 Jul 2024 20:26:08 +0900
Subject: [PATCH 05/11] ros2. fix compilation

Signed-off-by: amc-nu <abrahammonrroy@yahoo.com>
---
 ansible/roles/ros2/tasks/main.yaml | 115 +++++++++++++++--------------
 ansible/setup.yaml                 |   2 +-
 2 files changed, 61 insertions(+), 56 deletions(-)

diff --git a/ansible/roles/ros2/tasks/main.yaml b/ansible/roles/ros2/tasks/main.yaml
index 1efa09f..25f06bf 100644
--- a/ansible/roles/ros2/tasks/main.yaml
+++ b/ansible/roles/ros2/tasks/main.yaml
@@ -17,32 +17,33 @@
           - apt-transport-https
         install_recommends: false
         update_cache: true
-    - name: Add ROS 2 source list
-      shell: echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
-    - name: Download gpg key
-      ansible.builtin.uri:
-        url: https://raw.githubusercontent.com/ros/rosdistro/master/ros.key
-        dest: /usr/share/keyrings/ros-archive-keyring.gpg
-        follow_redirects: all
+    # - name: Add ROS 2 source list
+    #   shell: echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+    # - name: Download gpg key
+    #   ansible.builtin.uri:
+    #     url: https://raw.githubusercontent.com/ros/rosdistro/master/ros.key
+    #     dest: /usr/share/keyrings/ros-archive-keyring.gpg
+    #     follow_redirects: all
     - name: Apt install
       ansible.builtin.apt:
         name:
           - nvidia-jetpack
+          - nvidia-opencv
           - build-essential
           - cmake
           - git
           - libbullet-dev
           - libpython3-dev
           - python3-wheel
-          - python3-colcon-common-extensions
+          # - python3-colcon-common-extensions
           - python3-flake8
           - python3-pip
           - python3-numpy
           - python3-pytest-cov
-          - python3-rosdep
+          # - python3-rosdep
           - python3-setuptools
-          - python3-vcstool
-          - python3-rosinstall-generator
+          # - python3-vcstool
+          # - python3-rosinstall-generator
           - libasio-dev
           - libtinyxml2-dev
           - libcunit1-dev
@@ -74,6 +75,10 @@
       - pytest
       - pybind11-global
       - importlib_resources
+      - rosdep
+      - vcstool
+      - colcon-common-extensions
+      - rosinstall-generator
     extra_args: -U
   become: true # need to sudo privilege to install packages globally
 
@@ -209,26 +214,26 @@
     path: "{{ source_build_dir }}/jetson-containers"
   register: opencv_build_dir_exist
 
-- name: Build and install OpenCV
-  block:
-    - name: "{{ block_name }}: Download install script"
-      ansible.builtin.git:
-        repo: https://github.com/dusty-nv/jetson-containers.git
-        dest: "{{ source_build_dir }}/jetson-containers"
-        version: L4T-R35.1.0
-    - name: "{{ block_name }}: install dependencies"
-      shell: ./opencv_install_deps.sh
-      args:
-        chdir: "{{ source_build_dir }}/jetson-containers/scripts"
-      become: true
-    - name: "{{ block_name }}: execute install script"
-      shell: ./opencv_install.sh https://nvidia.box.com/shared/static/5v89u6g5rb62fpz4lh0rz531ajo2t5ef.gz OpenCV-4.5.0-aarch64.tar.gz
-      args:
-        chdir: "{{ source_build_dir }}/jetson-containers/scripts"
-      become: true
-  vars:
-    block_name: OpenCV
-  when: not opencv_build_dir_exist.stat.exists
+# - name: Build and install OpenCV
+#   block:
+#     - name: "{{ block_name }}: Download install script"
+#       ansible.builtin.git:
+#         repo: https://github.com/dusty-nv/jetson-containers.git
+#         dest: "{{ source_build_dir }}/jetson-containers"
+#         version: L4T-R35.1.0
+#     - name: "{{ block_name }}: install dependencies"
+#       shell: ./opencv_install_deps.sh
+#       args:
+#         chdir: "{{ source_build_dir }}/jetson-containers/scripts"
+#       become: true
+#     - name: "{{ block_name }}: execute install script"
+#       shell: ./opencv_install.sh https://nvidia.box.com/shared/static/5v89u6g5rb62fpz4lh0rz531ajo2t5ef.gz OpenCV-4.5.0-aarch64.tar.gz
+#       args:
+#         chdir: "{{ source_build_dir }}/jetson-containers/scripts"
+#       become: true
+#   vars:
+#     block_name: OpenCV
+#   when: not opencv_build_dir_exist.stat.exists
 
 - name: Check YAML build directory existence
   ansible.builtin.stat:
@@ -261,34 +266,34 @@
     block_name: YAML
   when: not yaml_cpp_build_dir_exist.stat.exists
 
-- name: Upgrade CMake
-  block:
-    - name: "{{ block_name }}: update gpg key"
-      shell: wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null
-    # Follow drirections here: https://apt.kitware.com/
-    - name: "{{ block_name }}: update repository info"
-      ansible.builtin.apt_repository:
-        repo: deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ {{ ansible_distribution_release }} main
-        filename: kitware
-    - name: "{{ block_name }}: apt update"
-      ansible.builtin.apt:
-        update_cache: true
-        state: present
+# - name: Upgrade CMake
+#   block:
+    # - name: "{{ block_name }}: update gpg key"
+    #   shell: wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null
+    # # Follow drirections here: https://apt.kitware.com/
+    # - name: "{{ block_name }}: update repository info"
+    #   ansible.builtin.apt_repository:
+    #     repo: deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ {{ ansible_distribution_release }} main
+    #     filename: kitware
+    # - name: "{{ block_name }}: apt update"
+    #   ansible.builtin.apt:
+    #     update_cache: true
+    #     state: present
     # - name: "{{ block_name }}: delete gpg key"
     #   ansible.builtin.file:
     #     path: /usr/share/keyrings/kitware-archive-keyring.gpg
     #     state: absent
-    - name: "{{ block_name }}: install kitware-arcyhive-keyring"
-      ansible.builtin.apt:
-        name: kitware-archive-keyring
-    - name: "{{ block_name }}: install newer cmake"
-      ansible.builtin.apt:
-        name: cmake
-        install_recommends: false
-        state: latest
-  become: true
-  vars:
-    block_name: Upgrade CMake
+    # - name: "{{ block_name }}: install kitware-arcyhive-keyring"
+    #   ansible.builtin.apt:
+    #     name: kitware-archive-keyring
+    # - name: "{{ block_name }}: install newer cmake"
+    #   ansible.builtin.apt:
+    #     name: cmake
+    #     install_recommends: false
+    #     state: latest
+  # become: true
+  # vars:
+  #   block_name: Upgrade CMake
 
 - name: update GCC
   block:
diff --git a/ansible/setup.yaml b/ansible/setup.yaml
index f7dfee4..d3c63cc 100644
--- a/ansible/setup.yaml
+++ b/ansible/setup.yaml
@@ -27,10 +27,10 @@
     - role: calibration_tools
     - role: tier4_hdr_camera_driver
       when: prompt_install_camera_driver == 'y'
-    - role: ros2
     - role: ptp4l_client
       when: prompt_configure_network == 'y'
     - role: enlarge_txqueue
       when: prompt_configure_network == 'y'
     - role: netplan
       when: prompt_configure_network == 'y'
+    - role: ros2

From 2464476e61fef97af53a6d10fd4e6c98729882bc Mon Sep 17 00:00:00 2001
From: amc-nu <abraham.monrroy@gmail.com>
Date: Tue, 23 Jul 2024 12:27:14 +0900
Subject: [PATCH 06/11] roscube. ros2 build fixed

Signed-off-by: amc-nu <abraham.monrroy@gmail.com>
---
 ansible/roles/ros2/tasks/main.yaml | 70 +++++++++++++++---------------
 ansible/setup.yaml                 |  2 +-
 2 files changed, 36 insertions(+), 36 deletions(-)

diff --git a/ansible/roles/ros2/tasks/main.yaml b/ansible/roles/ros2/tasks/main.yaml
index 25f06bf..423bf2a 100644
--- a/ansible/roles/ros2/tasks/main.yaml
+++ b/ansible/roles/ros2/tasks/main.yaml
@@ -17,13 +17,13 @@
           - apt-transport-https
         install_recommends: false
         update_cache: true
-    # - name: Add ROS 2 source list
-    #   shell: echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
-    # - name: Download gpg key
-    #   ansible.builtin.uri:
-    #     url: https://raw.githubusercontent.com/ros/rosdistro/master/ros.key
-    #     dest: /usr/share/keyrings/ros-archive-keyring.gpg
-    #     follow_redirects: all
+    - name: Add ROS 2 source list
+      shell: echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+    - name: Download gpg key
+      ansible.builtin.uri:
+        url: https://raw.githubusercontent.com/ros/rosdistro/master/ros.key
+        dest: /usr/share/keyrings/ros-archive-keyring.gpg
+        follow_redirects: all
     - name: Apt install
       ansible.builtin.apt:
         name:
@@ -266,34 +266,34 @@
     block_name: YAML
   when: not yaml_cpp_build_dir_exist.stat.exists
 
-# - name: Upgrade CMake
-#   block:
-    # - name: "{{ block_name }}: update gpg key"
-    #   shell: wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null
-    # # Follow drirections here: https://apt.kitware.com/
-    # - name: "{{ block_name }}: update repository info"
-    #   ansible.builtin.apt_repository:
-    #     repo: deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ {{ ansible_distribution_release }} main
-    #     filename: kitware
-    # - name: "{{ block_name }}: apt update"
-    #   ansible.builtin.apt:
-    #     update_cache: true
-    #     state: present
-    # - name: "{{ block_name }}: delete gpg key"
-    #   ansible.builtin.file:
-    #     path: /usr/share/keyrings/kitware-archive-keyring.gpg
-    #     state: absent
-    # - name: "{{ block_name }}: install kitware-arcyhive-keyring"
-    #   ansible.builtin.apt:
-    #     name: kitware-archive-keyring
-    # - name: "{{ block_name }}: install newer cmake"
-    #   ansible.builtin.apt:
-    #     name: cmake
-    #     install_recommends: false
-    #     state: latest
-  # become: true
-  # vars:
-  #   block_name: Upgrade CMake
+- name: Upgrade CMake
+  block:
+    # Follow drirections here: https://apt.kitware.com/
+    - name: "{{ block_name }}: update repository info"
+      ansible.builtin.apt_repository:
+        repo: deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ {{ ansible_distribution_release }} main
+        filename: kitware
+    - name: "{{ block_name }}: delete gpg key"
+      ansible.builtin.file:
+        path: /usr/share/keyrings/kitware-archive-keyring.gpg
+        state: absent
+    - name: "{{ block_name }}: update gpg key"
+      shell: wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null
+    - name: "{{ block_name }}: apt update"
+      ansible.builtin.apt:
+        update_cache: true
+        state: present
+    - name: "{{ block_name }}: install kitware-archive-keyring"
+      ansible.builtin.apt:
+        name: kitware-archive-keyring
+    - name: "{{ block_name }}: install newer cmake"
+      ansible.builtin.apt:
+        name: cmake
+        install_recommends: false
+        state: latest
+  become: true
+  vars:
+    block_name: Upgrade CMake
 
 - name: update GCC
   block:
diff --git a/ansible/setup.yaml b/ansible/setup.yaml
index e09b85c..a1f903f 100644
--- a/ansible/setup.yaml
+++ b/ansible/setup.yaml
@@ -28,10 +28,10 @@
     - role: calibration_tools
     - role: tier4_hdr_camera_driver
       when: prompt_install_camera_driver == 'y'
+    - role: ros2
     - role: ptp4l_client
       when: prompt_configure_network == 'y'
     - role: enlarge_txqueue
       when: prompt_configure_network == 'y'
     - role: netplan
       when: prompt_configure_network == 'y'
-    - role: ros2

From 5e689f64467289f231c1b966a06bc7fe98f79541 Mon Sep 17 00:00:00 2001
From: amc-nu <abraham.monrroy@gmail.com>
Date: Wed, 24 Jul 2024 19:29:40 +0900
Subject: [PATCH 07/11] reorder tasks order

Signed-off-by: amc-nu <abraham.monrroy@gmail.com>
---
 ansible/roles/ros2/tasks/main.yaml | 11 ++---------
 ansible/setup.yaml                 | 12 ++++++------
 2 files changed, 8 insertions(+), 15 deletions(-)

diff --git a/ansible/roles/ros2/tasks/main.yaml b/ansible/roles/ros2/tasks/main.yaml
index 423bf2a..77a2576 100644
--- a/ansible/roles/ros2/tasks/main.yaml
+++ b/ansible/roles/ros2/tasks/main.yaml
@@ -269,23 +269,16 @@
 - name: Upgrade CMake
   block:
     # Follow drirections here: https://apt.kitware.com/
+    - name: "{{ block_name }}: update gpg key"
+      shell: wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null
     - name: "{{ block_name }}: update repository info"
       ansible.builtin.apt_repository:
         repo: deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ {{ ansible_distribution_release }} main
         filename: kitware
-    - name: "{{ block_name }}: delete gpg key"
-      ansible.builtin.file:
-        path: /usr/share/keyrings/kitware-archive-keyring.gpg
-        state: absent
-    - name: "{{ block_name }}: update gpg key"
-      shell: wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null
     - name: "{{ block_name }}: apt update"
       ansible.builtin.apt:
         update_cache: true
         state: present
-    - name: "{{ block_name }}: install kitware-archive-keyring"
-      ansible.builtin.apt:
-        name: kitware-archive-keyring
     - name: "{{ block_name }}: install newer cmake"
       ansible.builtin.apt:
         name: cmake
diff --git a/ansible/setup.yaml b/ansible/setup.yaml
index a1f903f..e04aefb 100644
--- a/ansible/setup.yaml
+++ b/ansible/setup.yaml
@@ -20,6 +20,12 @@
       private: false
   roles:
     - role: artifacts
+    - role: ptp4l_client
+      when: prompt_configure_network == 'y'
+    - role: enlarge_txqueue
+      when: prompt_configure_network == 'y'
+    - role: netplan
+      when: prompt_configure_network == 'y'
     - role: autoware
     - role: cuda
     - role: cyclonedds
@@ -29,9 +35,3 @@
     - role: tier4_hdr_camera_driver
       when: prompt_install_camera_driver == 'y'
     - role: ros2
-    - role: ptp4l_client
-      when: prompt_configure_network == 'y'
-    - role: enlarge_txqueue
-      when: prompt_configure_network == 'y'
-    - role: netplan
-      when: prompt_configure_network == 'y'

From ba8c028bf8c0a08b95937376cd9c4adaf222fb8a Mon Sep 17 00:00:00 2001
From: amc-nu <abraham.monrroy@gmail.com>
Date: Thu, 5 Sep 2024 13:09:39 +0900
Subject: [PATCH 08/11] cspell. add missing words

Signed-off-by: amc-nu <abraham.monrroy@gmail.com>
---
 .cspell.json | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/.cspell.json b/.cspell.json
index 029bb7c..f717c2d 100644
--- a/.cspell.json
+++ b/.cspell.json
@@ -152,6 +152,8 @@
     "soruce",
     "TIERIV",
     "txqueue",
-    "txqueuelen"
+    "txqueuelen",
+    "semseg",
+    "adlinktech"
   ]
 }

From 5bc90dc3dc8d9abf8e961a953116d68a949fa752 Mon Sep 17 00:00:00 2001
From: amc-nu <abraham.monrroy@gmail.com>
Date: Thu, 5 Sep 2024 13:10:03 +0900
Subject: [PATCH 09/11] ansible. fix linting issues

Signed-off-by: amc-nu <abraham.monrroy@gmail.com>
---
 ansible/roles/artifacts/defaults/main.yaml |  2 +-
 ansible/roles/artifacts/tasks/main.yaml    |  2 --
 ansible/roles/ros2/tasks/main.yaml         | 29 ++--------------------
 3 files changed, 3 insertions(+), 30 deletions(-)

diff --git a/ansible/roles/artifacts/defaults/main.yaml b/ansible/roles/artifacts/defaults/main.yaml
index 832ca2e..5fc8bb1 100644
--- a/ansible/roles/artifacts/defaults/main.yaml
+++ b/ansible/roles/artifacts/defaults/main.yaml
@@ -1 +1 @@
-script_download_dir: /tmp
+artifacts_script_download_dir: /tmp
diff --git a/ansible/roles/artifacts/tasks/main.yaml b/ansible/roles/artifacts/tasks/main.yaml
index 0d8bcf8..8edc2e6 100644
--- a/ansible/roles/artifacts/tasks/main.yaml
+++ b/ansible/roles/artifacts/tasks/main.yaml
@@ -76,5 +76,3 @@
     dest: "{{ data_dir }}/tensorrt_yolox/semseg_color_map.csv"
     mode: "644"
     checksum: sha256:3d93ca05f31b63424d7d7246a01a2365953705a0ed3323ba5b6fddd744a4bfea
-
-
diff --git a/ansible/roles/ros2/tasks/main.yaml b/ansible/roles/ros2/tasks/main.yaml
index 77a2576..a222d23 100644
--- a/ansible/roles/ros2/tasks/main.yaml
+++ b/ansible/roles/ros2/tasks/main.yaml
@@ -35,15 +35,11 @@
           - libbullet-dev
           - libpython3-dev
           - python3-wheel
-          # - python3-colcon-common-extensions
           - python3-flake8
           - python3-pip
           - python3-numpy
-          - python3-pytest-cov
-          # - python3-rosdep
+          - python3-pytest-covdep
           - python3-setuptools
-          # - python3-vcstool
-          # - python3-rosinstall-generator
           - libasio-dev
           - libtinyxml2-dev
           - libcunit1-dev
@@ -214,27 +210,6 @@
     path: "{{ source_build_dir }}/jetson-containers"
   register: opencv_build_dir_exist
 
-# - name: Build and install OpenCV
-#   block:
-#     - name: "{{ block_name }}: Download install script"
-#       ansible.builtin.git:
-#         repo: https://github.com/dusty-nv/jetson-containers.git
-#         dest: "{{ source_build_dir }}/jetson-containers"
-#         version: L4T-R35.1.0
-#     - name: "{{ block_name }}: install dependencies"
-#       shell: ./opencv_install_deps.sh
-#       args:
-#         chdir: "{{ source_build_dir }}/jetson-containers/scripts"
-#       become: true
-#     - name: "{{ block_name }}: execute install script"
-#       shell: ./opencv_install.sh https://nvidia.box.com/shared/static/5v89u6g5rb62fpz4lh0rz531ajo2t5ef.gz OpenCV-4.5.0-aarch64.tar.gz
-#       args:
-#         chdir: "{{ source_build_dir }}/jetson-containers/scripts"
-#       become: true
-#   vars:
-#     block_name: OpenCV
-#   when: not opencv_build_dir_exist.stat.exists
-
 - name: Check YAML build directory existence
   ansible.builtin.stat:
     path: "{{ source_build_dir }}/yaml-cpp"
@@ -268,7 +243,7 @@
 
 - name: Upgrade CMake
   block:
-    # Follow drirections here: https://apt.kitware.com/
+    # Follow directions here: https://apt.kitware.com/
     - name: "{{ block_name }}: update gpg key"
       shell: wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null
     - name: "{{ block_name }}: update repository info"

From 568f20c9853575aec80b7048d79de0675baff373 Mon Sep 17 00:00:00 2001
From: amc-nu <abraham.monrroy@gmail.com>
Date: Thu, 5 Sep 2024 13:11:20 +0900
Subject: [PATCH 10/11] cspell. add missing package

Signed-off-by: amc-nu <abraham.monrroy@gmail.com>
---
 .cspell.json | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.cspell.json b/.cspell.json
index f717c2d..b9089a4 100644
--- a/.cspell.json
+++ b/.cspell.json
@@ -154,6 +154,7 @@
     "txqueue",
     "txqueuelen",
     "semseg",
-    "adlinktech"
+    "adlinktech",
+    "covdep"
   ]
 }

From 7145f42d2cfd2aede809b04b55e29e282e9b01dc Mon Sep 17 00:00:00 2001
From: amc-nu <abraham.monrroy@gmail.com>
Date: Thu, 5 Sep 2024 13:13:47 +0900
Subject: [PATCH 11/11] precommit. fix SC2086

Signed-off-by: amc-nu <abraham.monrroy@gmail.com>
---
 setup-dev-env.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/setup-dev-env.sh b/setup-dev-env.sh
index 893c333..2ea07e5 100755
--- a/setup-dev-env.sh
+++ b/setup-dev-env.sh
@@ -49,7 +49,7 @@ export PATH="$HOME/.local/bin:$PATH"
 echo -e "\e[36mRunning ansible playbook to setup ECU.\e[0m"
 
 # Run ansible
-if ansible-playbook "${SCRIPT_DIR}"/ansible/setup.yaml --ask-become-pass --extra-vars data_dir=$HOME/autoware_data; then
+if ansible-playbook "${SCRIPT_DIR}"/ansible/setup.yaml --ask-become-pass --extra-vars data_dir="$HOME"/autoware_data; then
     echo -e "\e[32mCompleted.\e[0m"
     exit 0
 else