Add autonomy integration rostest back with new simulator

.github/workflows/ci.yml

@@ -39,7 +39,7 @@ jobs:
         run: . /opt/ros/noetic/setup.sh && catkin init && catkin profile set ci
       - name: Build
         if: github.event.pull_request.draft == false
-        run: . /opt/ros/noetic/setup.sh && . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && catkin build
+        run: . /opt/ros/noetic/setup.sh && . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && catkin build -DMROVER_CI=ON
       - name: Test
         if: github.event.pull_request.draft == false
-        run: . /opt/ros/noetic/setup.sh && . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && . $GITHUB_WORKSPACE/devel/setup.sh && catkin test -j1
+        run: . /opt/ros/noetic/setup.sh && . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && . $GITHUB_WORKSPACE/devel/setup.sh && catkin test && rostest mrover integration.test --text

.gitmodules

@@ -1,6 +1,6 @@
 [submodule "deps/libde265"]
 	path = deps/libde265
-	url = git@github.com:strukturag/libde265.git
+	url = https://github.com/strukturag/libde265.git
 	shallow = true
 	branch = 0.1-20240106
 [submodule "deps/dawn"]

CMakeLists.txt

@@ -32,7 +32,7 @@ if (MROVER_CI)
     list(APPEND MROVER_CPP_COMPILE_OPTIONS -Werror)
 endif ()
 
-if (EXISTS ${CMAKE_CURRENT_LIST_DIR}/deps/dawn/out/Release)
+if (EXISTS ${CMAKE_CURRENT_LIST_DIR}/deps/dawn/out/Release OR EXISTS /usr/include/dawn)
     set(MROVER_BUILD_SIM ON)
 else ()
     set(MROVER_BUILD_SIM OFF)
@@ -232,15 +232,16 @@ catkin_add_gtest(example-cpp-test test/example/cpp_test.cpp)
 
 # Python unit tests
 catkin_add_nosetests(test/navigation/drive_test.py)
-catkin_add_nosetests(test/teleop/teleop_test.py)
 catkin_add_nosetests(test/util/SE3_test.py)
 catkin_add_nosetests(test/util/SO3_test.py)
 
 # Integration tests (python and c++)
-find_package(rostest REQUIRED)
-add_rostest(test/example/basic_integration_test.test)
-add_rostest(test/integration/integration.test)
-add_rostest(test/util/SE3_tf_test.test)
+# Note(quintin): Commented these out because they ignore the Python virtual environment
+#                Most of our code relies on newer Python features so they fail to initialize
+#find_package(rostest REQUIRED)
+#add_rostest(test/example/basic_integration_test.test)
+#add_rostest(test/integration/integration.test)
+#add_rostest(test/util/SE3_tf_test.test)
 
 ## Install
 

Dockerfile

@@ -1,11 +1,11 @@
-FROM ros:noetic
+FROM ubuntu:focal
 
 # DEBIAN_FRONTEND=noninteractive and keyboard-configuration are needed to prevent stdin prompting later on
 # This was super annoying to figure out because otherwise the build would hang
 # software-properties-common is needed for apt-add-repository
 RUN apt-get update -y && apt-get upgrade -y && DEBIAN_FRONTEND=noninteractive apt-get install software-properties-common keyboard-configuration -y
 RUN apt-add-repository ppa:ansible/ansible -y
-RUN apt-add-repository ppa:git-core/ppa -y
+# RUN apt-add-repository ppa:git-core/ppa -y
 RUN apt-get install -y ansible git git-lfs
 
 RUN useradd --create-home --groups sudo --shell /bin/zsh mrover
@@ -17,16 +17,21 @@ RUN mkdir -p /home/mrover/catkin_ws/src/mrover
 WORKDIR /home/mrover/catkin_ws/src/mrover
 # Defines the APT packages that need to be installed
 # rosdep is called from Ansible to install them
-ADD ./package.xml .
+ADD --chown=mrover:mrover ./package.xml .
 # Defines the Python packages that need to be installed
 # pip is called from Ansible to install them
-ADD ./pyproject.toml .
+ADD --chown=mrover:mrover ./pyproject.toml .
+# Define the NPM packages that need to be installed by Bun
+ADD --chown=mrover:mrover ./src/teleoperation/frontend/package.json ./src/teleoperation/frontend/bun.lockb ./src/teleoperation/frontend/
 # Copy over all Ansible files
-ADD ./ansible ./ansible
-ADD ./ansible.sh .
+ADD --chown=mrover:mrover ./ansible ./ansible
+ADD --chown=mrover:mrover ./ansible.sh .
 RUN ./ansible.sh build.yml
 
 USER root
+# Dawn
+ADD ./dawn.deb /tmp/
+RUN apt-get install -f /tmp/dawn.deb -y && rm /tmp/dawn.deb
 # Remove apt cache to free up space in the image
 RUN apt-get clean && rm -rf /var/lib/apt/lists/*
 

ansible/roles/build/tasks/main.yml

@@ -89,10 +89,11 @@
       - ros-{{ ros_distro }}-rosbash
       - libbullet-dev
       - libglfw3-dev
-      - xorg-dev
       - libx11-xcb-dev
       - libnl-3-dev
       - libnl-route-3-dev
+      - libtbb-dev
+      - libopencv-dev
 
 - name: Initialize rosdep
   become: True

cmake/webgpu.cmake

@@ -1,170 +1,15 @@
 add_library(webgpu SHARED IMPORTED)
-if (APPLE)
-    set(WEBGPU_SHARED_LIB_NAME "libwebgpu_dawn.dylib")
+if (EXISTS /usr/include/dawn)
+    # The Dawn Debian package installs to /usr/...
+    # CI has Dawn installed with this method
+    set(WEBGPU_SHARED_LIB /usr/lib/libwebgpu_dawn.so)
 else()
-    set(WEBGPU_SHARED_LIB_NAME "libwebgpu_dawn.so")
-endif()
-set(WEBGPU_BUILD_DIR ${CMAKE_CURRENT_LIST_DIR}/../deps/dawn/out/Release)
-set_property(TARGET webgpu PROPERTY IMPORTED_LOCATION ${WEBGPU_BUILD_DIR}/src/dawn/native/${WEBGPU_SHARED_LIB_NAME})
-target_include_directories(webgpu INTERFACE ${CMAKE_CURRENT_LIST_DIR}/../deps/dawn/include ${WEBGPU_BUILD_DIR}/gen/include)
-
-#add_library(webgpu INTERFACE)
-#
-#target_link_libraries(webgpu INTERFACE webgpu_dawn)
-#	target_include_directories(webgpu INTERFACE
-#		"${CMAKE_CURRENT_SOURCE_DIR}/deps/dawn/include"
-#	)
-#
-#	# This is used to advertise the flavor of WebGPU that this zip provides
-#	target_compile_definitions(webgpu INTERFACE WEBGPU_BACKEND_DAWN)
-#
-#include(FetchContent)
-#
-#FetchContent_Declare(
-#	dawn
-#	SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/deps/dawn
-#	DOWNLOAD_COMMAND
-#		cd ${CMAKE_CURRENT_SOURCE_DIR}/deps/dawn &&
-#		git init &&
-#		git fetch --depth=1 https://dawn.googlesource.com/dawn chromium/6108 &&
-#		git reset --hard FETCH_HEAD
-#)
-#
-#FetchContent_GetProperties(dawn)
-#if (NOT dawn_POPULATED)
-#	FetchContent_Populate(dawn)
-#
-#	# This option replaces depot_tools
-#	set(DAWN_FETCH_DEPENDENCIES ON)
-#
-#	# A more minimalistic choice of backand than Dawn's default
-#	if (APPLE)
-#		set(USE_VULKAN OFF)
-#		set(USE_METAL ON)
-#	else()
-#		set(USE_VULKAN ON)
-#		set(USE_METAL OFF)
-#	endif()
-#	set(DAWN_ENABLE_D3D11 OFF)
-#	set(DAWN_ENABLE_D3D12 OFF)
-#	set(DAWN_ENABLE_METAL ${USE_METAL})
-#	set(DAWN_ENABLE_NULL OFF)
-#	set(DAWN_ENABLE_DESKTOP_GL OFF)
-#	set(DAWN_ENABLE_OPENGLES OFF)
-#	set(DAWN_ENABLE_VULKAN ${USE_VULKAN})
-#	set(TINT_BUILD_SPV_READER OFF)
-#
-#	# Disable unneeded parts
-#	set(DAWN_BUILD_SAMPLES OFF)
-#	set(TINT_BUILD_TINT OFF)
-#	set(TINT_BUILD_SAMPLES OFF)
-#	set(TINT_BUILD_DOCS OFF)
-#	set(TINT_BUILD_TESTS OFF)
-#	set(TINT_BUILD_FUZZERS OFF)
-#	set(TINT_BUILD_SPIRV_TOOLS_FUZZER OFF)
-#	set(TINT_BUILD_AST_FUZZER OFF)
-#	set(TINT_BUILD_REGEX_FUZZER OFF)
-#	set(TINT_BUILD_BENCHMARKS OFF)
-#	set(TINT_BUILD_TESTS OFF)
-#	set(TINT_BUILD_AS_OTHER_OS OFF)
-#	set(TINT_BUILD_REMOTE_COMPILE OFF)
-#
-#	add_subdirectory(${dawn_SOURCE_DIR} ${dawn_BINARY_DIR} SYSTEM EXCLUDE_FROM_ALL)
-#endif ()
-#
-#set(AllDawnTargets
-#	core_tables
-#	dawn_common
-#	dawn_glfw
-#	dawn_headers
-#	dawn_native
-#	dawn_platform
-#	dawn_proc
-#	dawn_utils
-#	dawn_wire
-#	dawncpp
-#	dawncpp_headers
-#	emscripten_bits_gen
-#	enum_string_mapping
-#	extinst_tables
-#	webgpu_dawn
-#	webgpu_headers_gen
-#
-#	tint_api
-#	tint_api_common
-#	tint_api_options
-#	tint_cmd_common
-#	tint_cmd_info_cmd
-#	tint_cmd_loopy_cmd
-#	tint_cmd_remote_compile_cmd
-#	tint_cmd_tint_cmd
-#	tint_lang_core
-#	tint_lang_core_constant
-#	tint_lang_core_intrinsic
-#	tint_lang_core_ir
-#	tint_lang_core_ir_transform
-#	tint_lang_core_type
-#	tint_lang_glsl_validate
-#	tint_lang_glsl_writer_raise
-#	tint_lang_hlsl_writer_common
-#	tint_lang_msl_writer_raise
-#	tint_lang_spirv
-#	tint_lang_spirv_intrinsic
-#	tint_lang_spirv_ir
-#	tint_lang_spirv_reader_common
-#	tint_lang_spirv_type
-#	tint_lang_spirv_writer
-#	tint_lang_spirv_writer_ast_printer
-#	tint_lang_spirv_writer_ast_raise
-#	tint_lang_spirv_writer_common
-#	tint_lang_spirv_writer_helpers
-#	tint_lang_spirv_writer_printer
-#	tint_lang_spirv_writer_raise
-#	tint_lang_wgsl
-#	tint_lang_wgsl_ast
-#	tint_lang_wgsl_ast_transform
-#	tint_lang_wgsl_helpers
-#	tint_lang_wgsl_inspector
-#	tint_lang_wgsl_intrinsic
-#	tint_lang_wgsl_ir
-#	tint_lang_wgsl_program
-#	tint_lang_wgsl_reader
-#	tint_lang_wgsl_reader_lower
-#	tint_lang_wgsl_reader_parser
-#	tint_lang_wgsl_reader_program_to_ir
-#	tint_lang_wgsl_resolver
-#	tint_lang_wgsl_sem
-#	tint_lang_wgsl_writer
-#	tint_lang_wgsl_writer_ast_printer
-#	tint_lang_wgsl_writer_ir_to_program
-#	tint_lang_wgsl_writer_raise
-#	tint_lang_wgsl_writer_syntax_tree_printer
-#	tint_utils_cli
-#	tint_utils_command
-#	tint_utils_containers
-#	tint_utils_debug
-#	tint_utils_diagnostic
-#	tint_utils_file
-#	tint_utils_generator
-#	tint_utils_ice
-#	tint_utils_id
-#	tint_utils_macros
-#	tint_utils_math
-#	tint_utils_memory
-#	tint_utils_reflection
-#	tint_utils_result
-#	tint_utils_rtti
-#	tint_utils_socket
-#	tint_utils_strconv
-#	tint_utils_symbol
-#	tint_utils_text
-#	tint_utils_traits
-#	tint-format
-#	tint-lint
-#)
-#
-#foreach (Target ${AllDawnTargets})
-#	if (TARGET ${Target})
-#		set_property(TARGET ${Target} PROPERTY FOLDER "Dawn")
-#	endif()
-#endforeach()
+    set(WEBGPU_BUILD_DIR ${CMAKE_CURRENT_LIST_DIR}/../deps/dawn/out/Release)
+    if (APPLE)
+        set(WEBGPU_SHARED_LIB ${WEBGPU_BUILD_DIR}/libwebgpu_dawn.dylib)
+    else()
+        set(WEBGPU_SHARED_LIB ${WEBGPU_BUILD_DIR}/libwebgpu_dawn.so)
+    endif()
+    target_include_directories(webgpu INTERFACE ${CMAKE_CURRENT_LIST_DIR}/../deps/dawn/include ${WEBGPU_BUILD_DIR}/gen/include)
+endif ()
+set_property(TARGET webgpu PROPERTY IMPORTED_LOCATION ${WEBGPU_SHARED_LIB})

launch/simulator.launch

@@ -1,22 +1,26 @@
 <launch>
-    <arg name="run_rviz" default="true" />
-    <rosparam command="load" file="$(find mrover)/config/simulator/simulator.yaml" />
+  <arg name="headless" default="false"/>
+  <arg name="run_rviz" default="true"/>
 
-    <include file="$(find mrover)/launch/autonomy.launch">
-        <arg name="sim" value="true" />
-        <arg name="ekf_start_delay" value="1" />
-    </include>
+  <rosparam command="load" file="$(find mrover)/config/simulator/simulator.yaml"/>
 
-    <node pkg="nodelet" type="nodelet" name="nodelet_manager" required="true"
-        args="manager" output="screen" />
+  <include file="$(find mrover)/launch/autonomy.launch">
+    <arg name="sim" value="true"/>
+    <arg name="ekf_start_delay" value="1"/>
+  </include>
 
-    <node pkg="nodelet" type="nodelet" name="simulator_nodelet"
-        args="load mrover/SimulatorNodelet nodelet_manager" output="screen" />
+  <node pkg="nodelet" type="nodelet" name="nodelet_manager" required="true"
+        args="manager" output="screen"/>
 
-    <node name="arm_controller" pkg="mrover" type="arm_controller" output="screen" />
+  <node pkg="nodelet" type="nodelet" name="simulator_nodelet"
+        args="load mrover/SimulatorNodelet nodelet_manager" output="screen">
+    <param name="headless" value="$(arg headless)"/>
+  </node>
 
-    <group if="$(arg run_rviz)">
-        <arg name="rvizconfig" default="$(find mrover)/config/rviz/auton_sim.rviz" />
-        <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" />
-    </group>
-</launch>
+  <node name="arm_controller" pkg="mrover" type="arm_controller" output="screen"/>
+
+  <group if="$(arg run_rviz)">
+    <arg name="rvizconfig" default="$(find mrover)/config/rviz/auton_sim.rviz"/>
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)"/>
+  </group>
+</launch>

package.xml

@@ -50,8 +50,6 @@
   <build_depend>message_generation</build_depend>
   <exec_depend>xacro</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
-  <exec_depend>joint_state_publisher</exec_depend>
-  <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>message_runtime</exec_depend>
 
   <!-- Visualization -->

scripts/build_dawn.sh

@@ -18,5 +18,7 @@ CC=clang CXX=clang++ cmake \
     -D DAWN_ENABLE_INSTALL=ON \
     -D BUILD_SHARED_LIBS=ON \
     -D DAWN_USE_GLFW=OFF \
-    -D TINT_BUILD_CMD_TOOLS=OFF
+    -D TINT_BUILD_CMD_TOOLS=OFF \
+    -D TINT_BUILD_DOCS=OFF \
+    -D TINT_BUILD_TESTS=OFF
 cmake --build out/Release

src/esw/motor_library/brushed.cpp

@@ -181,7 +181,7 @@ namespace mrover {
         }
     }
 
-    auto BrushedController::calibrateServiceCallback(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) -> bool {
+    auto BrushedController::calibrateServiceCallback([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) -> bool {
         if (!mhasLimit) {
             res.success = false;
             res.message = mControllerName + " does not have limit switches, cannot calibrate";

src/esw/motor_library/brushless.hpp

@@ -80,7 +80,6 @@ namespace mrover {
 
     private:
         moteus::Controller mController{moteus::Controller::Options{}};
-        double mMeasuredEffort{};
         bool limitSwitch0Present{};
         bool limitSwitch1Present{};
         bool limitSwitch0Enabled{true};

src/navigation/approach_post.py

@@ -24,7 +24,7 @@ def on_loop(self, context) -> State:
         :param ud:  State machine user data
         :return:    Next state
         """
-        fid_pos = context.env.current_fid_pos()
+        fid_pos = context.env.current_tag_pos()
         if fid_pos is None:
             return search.SearchState()
 
@@ -38,7 +38,7 @@ def on_loop(self, context) -> State:
             )
             if arrived:
                 context.env.arrived_at_post = True
-                context.env.last_post_location = context.env.current_fid_pos(odom_override=False)
+                context.env.last_post_location = context.env.current_tag_pos(odom_override=False)
                 context.course.increment_waypoint()
                 return waypoint.WaypointState()
             context.rover.send_drive_command(cmd_vel)