Merge branch 'main' into openpcdet-dan

.github/templates/docker_context/docker_context.sh

@@ -24,13 +24,24 @@ while read -r module; do
     services=$(docker-compose -f "$module" config --services)
     module_out=$(echo "$module" | sed -n 's/modules\/docker-compose\.\(.*\)\.yaml/\1/p')
 
+    # Skip simulation module
+    if [[ 'simulation' = $module_out ]]; then
+        continue
+    fi
+
     # Only work with modules that are modified
     if [[ $MODIFIED_MODULES != *$module_out* && $TEST_ALL = "false" ]]; then
         continue
     fi
 
     # Loop through each service
     while read -r service_out; do
+        # Temporarily skip perception services that have too large image size
+        if  [[ "$service_out" == "lane_detection" ]] || \
+            [[ "$service_out" == "camera_object_detection" ]] || \
+            [[ "$service_out" == "semantic_segmentation" ]]; then
+            continue
+        fi
         # Construct JSON object for each service with module and service name
         json_object=$(jq -nc --arg module_out "$module_out" --arg service_out "$service_out" \
         '{module: $module_out, service: $service_out}')

.github/workflows/build_and_unitest.yml

@@ -10,7 +10,7 @@ on:
 
 jobs:
   setup-environment:
-    name: Setup environment
+    name: Setup Environment
     runs-on: ubuntu-latest
 
     outputs:
@@ -29,7 +29,9 @@ jobs:
         uses: "./.github/templates/check_src_changes"
 
       - name: Setup Watod Environment
-        run: ./watod_scripts/watod-setup-env.sh
+        run: |
+          MODULES_DIR="$GITHUB_WORKSPACE/modules"
+          . ./watod_scripts/watod-setup-env.sh
         shell: bash
 
       - name: Generate Docker Environment
@@ -43,7 +45,7 @@ jobs:
         uses: "./.github/templates/github_context"
 
   build-and-unittest:
-    name: Build Image and Run Unit Testing Suite
+    name: Build/Test
     runs-on: ubuntu-latest
     needs: setup-environment
 
@@ -124,9 +126,7 @@ jobs:
             ${{ steps.construct-registry-url.outputs.url }}:${{ env.SOURCE_BRANCH }}
           cache-from: |
             ${{ steps.construct-registry-url.outputs.url }}:build_${{ env.SOURCE_BRANCH }}
-            ${{ steps.construct-registry-url.outputs.url }}:${{ env.SOURCE_BRANCH }}
-            ${{ steps.construct-registry-url.outputs.url }}:${{ env.TARGET_BRANCH }}
-          cache-to: type=inline
+            ${{ steps.construct-registry-url.outputs.url }}:build_${{ env.TARGET_BRANCH }}
           builder: ${{ steps.buildx.outputs.name }}
           target: deploy
 

.github/workflows/linting_auto.yml

@@ -8,6 +8,7 @@ on:
     branches:
       - main
     types:
+      - unlabeled
       - labeled
       - synchronize
 
@@ -51,4 +52,4 @@ jobs:
               repo: context.repo.repo,
               issue_number: context.issue.number,
               name: 'auto-lint'
-            });
+            });

.gitignore

@@ -6,3 +6,5 @@ code_server_config/*/start_code_server.sh
 .env
 .vscode/
 ssh_config/
+
+watod-config.local.sh

docker/perception/camera_object_detection/camera_object_detection.Dockerfile

@@ -31,7 +31,7 @@ RUN rm requirements.txt
 
 # Install Rosdep requirements
 COPY --from=source /tmp/colcon_install_list /tmp/colcon_install_list
-RUN apt-fast install -qq -y --no-install-recommends $(cat /tmp/colcon_install_list)
+RUN apt-get update && apt-fast install -qq -y --no-install-recommends $(cat /tmp/colcon_install_list)
 
 # Copy in source code from source stage
 WORKDIR ${AMENT_WS}

docker/simulation/carla_sim/carla_sim.Dockerfile → docker/perception/depth_estimation/depth_estimation.Dockerfile

@@ -6,8 +6,7 @@ FROM ${BASE_IMAGE} as source
 WORKDIR ${AMENT_WS}/src
 
 # Copy in source code 
-COPY src/simulation/carla_sim carla_sim
-COPY src/wato_msgs/sample_msgs sample_msgs
+COPY src/perception/depth_estimation depth_estimation
 
 # Scan for rosdeps
 RUN apt-get -qq update && rosdep update && \

docker/simulation/carla_notebooks/carla_notebooks.Dockerfile

@@ -0,0 +1,23 @@
+ARG CARLA_VERSION=0.9.13
+FROM carlasim/carla:${CARLA_VERSION} AS wato_carla_api
+
+FROM python:3.8.16-slim-bullseye
+ARG CARLA_VERSION=0.9.13
+
+RUN pip3 install carla==${CARLA_VERSION} jupyter tensorflow-probability
+RUN apt-get update && apt-get install -y curl git wget unzip && apt remove python3-networkx
+
+COPY --from=wato_carla_api --chown=root /home/carla/PythonAPI/carla/agents /usr/local/lib/python3.8/site-packages/agents
+
+WORKDIR /home/bolty/carla_notebooks
+COPY src/simulation/carla_notebooks /home/bolty/carla_notebooks
+
+WORKDIR /home/bolty
+# Setup CARLA Scenario Runner
+# The last sed command replaces hero (default ego vehicle name) with another ego vehicle name
+RUN git clone https://github.com/carla-simulator/scenario_runner.git && \
+    cd scenario_runner && pip3 install -r requirements.txt && \
+    sed -i s/hero/ego/g /home/bolty/scenario_runner/srunner/tools/scenario_parser.py
+WORKDIR /home/bolty
+
+WORKDIR /home/bolty/carla_notebooks

docker/simulation/carla_ros_bridge/carla_ros_bridge.Dockerfile

@@ -0,0 +1,109 @@
+ARG BASE_IMAGE=ghcr.io/watonomous/wato_monorepo/base:foxy-ubuntu20.04
+
+ARG CARLA_VERSION=0.9.13
+FROM carlasim/carla:${CARLA_VERSION} AS wato_carla_api
+
+################################ Source ################################
+FROM ${BASE_IMAGE} as source
+
+WORKDIR ${AMENT_WS}/src
+
+# Download ROS Bridge
+RUN git clone --depth 1 --branch master --recurse-submodules https://github.com/carla-simulator/ros-bridge.git && \
+    cd ros-bridge && \
+    git checkout e9063d97ff5a724f76adbb1b852dc71da1dcfeec && \
+    cd ..
+
+# Fix an error in the ackermann_control node 
+RUN sed -i s/simple_pid.PID/simple_pid.pid/g ./ros-bridge/carla_ackermann_control/src/carla_ackermann_control/carla_ackermann_control_node.py
+
+# Copy in source code 
+COPY src/simulation/carla_config carla_config
+COPY src/wato_msgs/simulation ros_msgs
+
+# Scan for rosdeps
+RUN apt-get -qq update && rosdep update --rosdistro foxy && \
+    rosdep install --from-paths . -r -s \
+        | grep 'apt-get install' \
+        | awk '{print $3}' \
+        | sort  > /tmp/colcon_install_list
+
+################################# Dependencies ################################
+FROM ${BASE_IMAGE} as dependencies
+
+# Install dependencies
+RUN apt-get update && \
+      apt-fast install -qq -y --no-install-recommends lsb-release \
+      libglu1-mesa-dev xorg-dev \
+      software-properties-common \
+      build-essential \
+      python3-rosdep \
+      python3-rospkg \
+      python3-colcon-common-extensions \
+      python3-pygame \
+      ros-$ROS_DISTRO-tf2-geometry-msgs \
+      ros-$ROS_DISTRO-tf2-eigen \
+      ros-$ROS_DISTRO-ackermann-msgs \
+      ros-$ROS_DISTRO-derived-object-msgs \
+      ros-$ROS_DISTRO-cv-bridge \
+      ros-$ROS_DISTRO-vision-opencv \
+      ros-$ROS_DISTRO-rqt-image-view \
+      ros-$ROS_DISTRO-rqt-gui-py \
+      qt5-default \
+      ros-$ROS_DISTRO-pcl-conversions \
+      ros-$ROS_DISTRO-resource-retriever \
+      ros-$ROS_DISTRO-yaml-cpp-vendor \
+      ros-$ROS_DISTRO-urdf \
+      ros-$ROS_DISTRO-map-msgs \
+      ros-$ROS_DISTRO-laser-geometry \
+      ros-$ROS_DISTRO-interactive-markers \
+      ros-$ROS_DISTRO-rviz2
+
+# Install Rosdep requirements
+COPY --from=source /tmp/colcon_install_list /tmp/colcon_install_list
+RUN apt-fast install -qq -y --no-install-recommends $(cat /tmp/colcon_install_list)
+
+# Copy in source code from source stage
+WORKDIR ${AMENT_WS}
+COPY --from=source ${AMENT_WS}/src src
+
+# Dependency Cleanup
+WORKDIR /
+RUN apt-get -qq autoremove -y && apt-get -qq autoclean && apt-get -qq clean && \
+    rm -rf /root/* /root/.ros /tmp/* /var/lib/apt/lists/* /usr/share/doc/*
+
+################################ Build ################################
+FROM dependencies as build
+
+ARG CARLA_VERSION
+
+#Install Python Carla API
+COPY --from=wato_carla_api --chown=root /home/carla/PythonAPI/carla /opt/carla/PythonAPI
+WORKDIR /opt/carla/PythonAPI
+RUN python3.8 -m easy_install pip && \
+      pip3 install carla==${CARLA_VERSION} && \
+      pip install simple-pid==2.0.0 && \
+      pip install transforms3d==0.4.1 && \
+      pip install pexpect==4.9.0 && \
+      pip install networkx==3.1
+
+WORKDIR ${AMENT_WS}/src
+
+# Build ROS2 packages
+WORKDIR ${AMENT_WS}
+RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
+    colcon build \
+        --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+# Entrypoint will run before any CMD on launch. Sources ~/opt/<ROS_DISTRO>/setup.bash and ~/ament_ws/install/setup.bash
+COPY docker/wato_ros_entrypoint.sh ${AMENT_WS}/wato_ros_entrypoint.sh
+ENTRYPOINT ["./wato_ros_entrypoint.sh"]
+
+################################ Prod ################################
+FROM build as deploy
+
+# Source Cleanup and Security Setup
+RUN chown -R $USER:$USER ${AMENT_WS}
+RUN rm -rf src/*
+
+USER ${USER}

docker/perception/traffic_light_detection/traffic_light_detection.Dockerfile → docker/simulation/carla_sample_node/carla_sample_node.Dockerfile

@@ -6,8 +6,17 @@ FROM ${BASE_IMAGE} as source
 WORKDIR ${AMENT_WS}/src
 
 # Copy in source code 
-COPY src/perception/traffic_light_detection traffic_light_detection
-COPY src/wato_msgs/sample_msgs sample_msgs
+COPY src/simulation/carla_sample_node carla_sample_node
+COPY src/wato_msgs/simulation/embedded_msgs embedded_msgs
+COPY src/wato_msgs/simulation/path_planning_msgs path_planning_msgs
+
+# Carla specific messages
+
+RUN git clone --depth 1 https://github.com/ros-drivers/ackermann_msgs.git --branch 2.0.2
+
+RUN git clone --depth 1 https://github.com/ros-perception/image_common.git --branch 3.1.8
+
+RUN git clone --depth 1 https://github.com/carla-simulator/ros-carla-msgs.git --branch 1.3.0
 
 # Scan for rosdeps
 RUN apt-get -qq update && rosdep update && \

docker/simulation/carla_viz/carla_viz.Dockerfile

@@ -0,0 +1,14 @@
+FROM mjxu96/carlaviz:0.9.13
+
+ENV CARLAVIZ_BACKEND_HOST localhost
+ENV CARLAVIZ_BACKEND_PORT 8081
+ENV CARLA_SERVER_HOST localhost
+ENV CARLA_SERVER_PORT 2000
+
+WORKDIR /home/carla/carlaviz
+
+COPY docker/simulation/carla_viz/carlaviz_entrypoint.sh /home/carla/carlaviz/docker/carlaviz_entrypoint.sh
+
+RUN chmod +x ./docker/carlaviz_entrypoint.sh
+
+ENTRYPOINT ["/bin/bash", "-c", "./docker/carlaviz_entrypoint.sh > /dev/null 2>&1"]

docker/simulation/carla_viz/carlaviz_entrypoint.sh

@@ -0,0 +1,53 @@
+
+is_backend_up=""
+
+function wait_for_backend_up() {
+    max_wait_time=5
+    for ((i=0; i<=$max_wait_time; ++i)) do
+        cat output.txt | grep -q "Connected to Carla Server"
+        if [ $? == 0 ]; then
+            is_backend_up="1"
+            break
+        fi
+        sleep 1
+    done
+}
+
+function cleanup_backend() {
+    backend_pid=$(pidof backend)
+    kill -9 $backend_pid
+    echo "Killed Backend process $backend_pid"
+}
+
+echo -e "CARLAVIZ_BACKEND_HOST=${CARLAVIZ_BACKEND_HOST}" >> /home/carla/.env
+echo -e "CARLAVIZ_BACKEND_PORT=${CARLAVIZ_BACKEND_PORT}" >> /home/carla/.env
+
+echo "Make sure you have launched the Carla server."
+echo "Launching backend."
+./backend/bin/backend ${CARLA_SERVER_HOST} ${CARLA_SERVER_PORT} |& tee output.txt &
+wait_for_backend_up
+if [[ -z "$is_backend_up" ]]; then
+    echo "Backend is not launched. Please check if you have already started the Carla server."
+    cleanup_backend
+    exit 1
+fi
+
+echo "Backend launched."
+
+echo "Launching frontend"
+# enable nginx
+service nginx restart
+echo "Frontend launched. Please open your browser"
+sleep 10
+sed -i s/:8081/:$CARLAVIZ_BACKEND_PORT/g /var/www/carlaviz/bundle.js
+
+while [ "$is_backend_up" = "1" ]
+do
+    cat output.txt | grep -q "time-out of"
+    if [ $? == 0 ]; then
+        is_backend_up=""
+        cleanup_backend
+        exit 1
+    fi
+    sleep 5
+done