Merge pull request #272 from Nova-UTD/feature_dockerfile_update

Updated docker system
Cleaned up old packages
Reverted back to foxy
Ready for core development

Dockerfile

@@ -0,0 +1,25 @@
+ARG CARLA_WS=/home/share/carla
+
+# multi-stage for caching
+FROM ros:foxy
+
+# clone overlay source
+RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
+    apt-get update && \
+    apt install -y git cmake python3-pip && \
+    pip3 install -U colcon-common-extensions vcstool
+
+# This variable tells future scripts that user input isn't available during the Docker build.
+ENV DEBIAN_FRONTEND noninteractive
+
+COPY ./docker/install-dependencies.sh /tmp/install-dependencies.sh
+RUN apt update && apt install -y software-properties-common
+RUN /tmp/install-dependencies.sh && rm -rf /var/lib/apt/lists/*
+
+RUN apt update && apt install -y ros-foxy-rmw-cyclonedds-cpp
+
+ENV ROS_VERSION 2
+
+WORKDIR /navigator
+COPY ./docker/entrypoint.sh /opt/entrypoint.sh
+ENTRYPOINT [ "/opt/entrypoint.sh" ]

README.md

@@ -4,4 +4,4 @@ Navigator is a simple, modular, open-source autonomous driving stack. It's devel
 
 For docs, visit [our documentation site](https://nova-utd.github.io/navigator).
 
-For info about our group, Nova, visit our [group site](https://nova-utd.github.io).
+For info about our group, Nova, visit our [group site](https://nova-utd.github.io).

carla.launch.py

@@ -25,13 +25,6 @@ def generate_launch_description():
         executable='unified_controller_node'
     )
 
-    # INTERFACE
-    carla = Node(
-        package='sim_bridge',
-        executable='sim_bridge_node',
-        parameters=['params.yaml']
-    )
-
     # LOCALIZATION
     ndt = Node(
         package='ndt_nodes',
@@ -135,9 +128,9 @@ def generate_launch_description():
     path_publisher = Node(
         package='path_publisher',
         executable='publisher',
-        parameters=[
-            (path.join(param_dir,"planning","path_publisher.param.yaml"))
-        ],
+        # parameters=[
+        #     (path.join(param_dir,"planning","path_publisher.param.yaml"))
+        # ],
         namespace='planning',
         output='screen',
         respawn=True
@@ -162,9 +155,9 @@ def generate_launch_description():
         namespace='planning',
         executable='BehaviorPlannerLaunch',
         output='screen',
-        parameters=[
-            (path.join(param_dir,"planning","path_publisher.param.yaml"))
-        ],
+        # parameters=[
+        #     (path.join(param_dir,"planning","path_publisher.param.yaml"))
+        # ],
         remappings=[
 
         ]
@@ -230,9 +223,6 @@ def generate_launch_description():
         # CONTROL
         unified_controller,
 
-        # INTERFACE
-        carla,
-
         # LOCALIZATION
         map_odom_ukf,
 

docker-compose.yml

@@ -0,0 +1,32 @@
+version: '1.2'
+name: navigator
+services:
+    navigator:
+        stdin_open: true
+        tty: true
+
+        image: navigator
+        container_name: navigator_${USER}
+
+        volumes:     
+          - type: bind
+            source: $PWD
+            target: /navigator   
+          - type: bind
+            source: /home/share/carla
+            target: /workspace
+          - type: bind
+            source: ${HOME}/.Xauthority
+            target: /root/.Xauthority
+          - type: bind
+            source: /tmp/.X11-unix
+            target: /tmp/.X11-unix
+
+        environment:
+          - DISPLAY=:1
+
+        build:
+          context: .
+          dockerfile: Dockerfile
+
+        network_mode: "host"

docker/entrypoint.sh

@@ -0,0 +1,36 @@
+#!/bin/bash
+
+echo -e "\e[1;33m=====================================================================\e[0m"
+echo -e "\e[1;33m▀█▄   ▀█▀                   ██                    ▄                   \e[0m"
+echo -e "\e[1;33m █▀█   █   ▄▄▄▄   ▄▄▄▄ ▄▄▄ ▄▄▄    ▄▄▄ ▄  ▄▄▄▄   ▄██▄    ▄▄▄   ▄▄▄ ▄▄  \e[0m"
+echo -e "\e[1;33m █ ▀█▄ █  ▀▀ ▄██   ▀█▄  █   ██   ██ ██  ▀▀ ▄██   ██   ▄█  ▀█▄  ██▀ ▀▀ \e[0m"
+echo -e "\e[1;33m █   ███  ▄█▀ ██    ▀█▄█    ██    █▀▀   ▄█▀ ██   ██   ██   ██  ██     \e[0m"
+echo -e "\e[1;33m▄█▄   ▀█  ▀█▄▄▀█▀    ▀█    ▄██▄  ▀████▄ ▀█▄▄▀█▀  ▀█▄▀  ▀█▄▄█▀ ▄██▄    \e[0m"
+echo -e "\e[1;33m                                ▄█▄▄▄▄▀                               \e[0m"
+echo -e "\e[1;33m=====================================================================\e[0m"    
+echo "Developed by Nova, a student-run autonomous driving group at UT Dallas"
+echo "Find out more at https://nova-utd.github.io/navigator"   
+echo "🦊 Sourcing ROS2 Foxy..."
+source /opt/ros/foxy/setup.bash
+
+echo "🔗 Configuring the ROS DDS..."
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+echo "🧭 Sourcing Navigator..."
+
+echo "🔌 Setting up CARLA API..."
+export CARLA_ROOT="/workspace/simulator"
+export SCENARIO_RUNNER_ROOT="/workspace/scenario_runner"
+export LEADERBOARD_ROOT="/workspace/leaderboard"
+export ROS_BRIDGE_ROOT="/workspace/ros-bridge"
+export PYTHONPATH="${CARLA_ROOT}/PythonAPI/carla/":"${SCENARIO_RUNNER_ROOT}":"${LEADERBOARD_ROOT}":"${CARLA_ROOT}/PythonAPI/carla/dist/carla-0.9.13-py3.7-linux-x86_64.egg":${PYTHONPATH}
+source $ROS_BRIDGE_ROOT/install/setup.bash
+
+if [ -d "/build" ] || [ -d "/install" ]; then
+    source install/setup.bash
+    echo "🔍 Found existing build, sourcing existing build"
+fi
+
+exec bash
+
+echo "❗ Finished environment setup"

docker/install-dependencies.sh

@@ -0,0 +1,62 @@
+#!/bin/sh
+
+apt-get update
+
+apt-get install -y ros-foxy-diagnostic-updater \
+ros-foxy-velodyne-msgs \
+ros-foxy-velodyne-driver \
+ros-foxy-velodyne-laserscan \
+ros-foxy-velodyne-pointcloud \
+ros-foxy-autoware-auto-msgs \
+ros-foxy-lanelet2-core \
+ros-foxy-lanelet2-io \
+ros-foxy-lanelet2-projection \
+ros-foxy-lanelet2 \
+ros-foxy-tf-transformations \
+ros-foxy-ros-testing \
+ros-foxy-lgsvl-msgs \
+ros-foxy-vision-opencv \
+ros-foxy-pcl-conversions \
+software-properties-common \
+ros-foxy-ament-cmake-nose \
+ros-foxy-cv-bridge \
+ros-foxy-pcl-conversions \
+ros-foxy-tf-transformations \
+ros-foxy-ament-cmake-nose \
+python3-nose \
+ros-foxy-lgsvl-msgs \
+ros-foxy-pcl-conversions \
+ros-foxy-ros-testing \
+python3-matplotlib \
+python3-scipy \
+ros-foxy-rviz2 \
+ros-foxy-robot-localization \
+ros-foxy-derived-object-msgs
+
+pip3 install pymap3d==2.9.1 \
+dictor \
+requests \
+opencv-python==4.2.0.32 \
+pygame \
+tabulate \
+pexpect \
+transforms3d \
+pep8 \
+autopep8 \
+cmake_format==0.6.11 \
+pylint \
+simple-pid \
+py-trees==0.8.3 \
+networkx==2.2 \
+Shapely==1.7.1 \
+psutil \
+xmlschema==1.0.18 \
+ephem \
+matplotlib \
+six \
+simple-watchdog-timer \
+numpy==1.18.4 \
+distro
+
+# Conflicting dependencies are noted here
+Shapely==1.6.4.post2