Merge branch 'main' into hepromark/tilt

WATonomous · Mar 22, 2024 · 9cca438 · 9cca438
2 parents 29220ee + 5de7050
commit 9cca438
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Showing 30 changed files with 446 additions and 209 deletions.
diff --git a/.github/templates/docker_context/docker_context.sh b/.github/templates/docker_context/docker_context.sh
@@ -36,6 +36,12 @@ while read -r module; do
 
     # 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}')

diff --git a/.github/workflows/linting_auto.yml b/.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'
-            });
+            });
diff --git a/...tection/traffic_sign_detection.Dockerfile → ...th_estimation/depth_estimation.Dockerfile b/...tection/traffic_sign_detection.Dockerfile → ...th_estimation/depth_estimation.Dockerfile
@@ -6,8 +6,7 @@ FROM ${BASE_IMAGE} as source
 WORKDIR ${AMENT_WS}/src
 
 # Copy in source code 
-COPY src/perception/traffic_sign_detection traffic_sign_detection
-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 && \

diff --git a/docker/perception/traffic_light_detection/traffic_light_detection.Dockerfile b/docker/perception/traffic_light_detection/traffic_light_detection.Dockerfile
diff --git a/modules/dev_overrides/docker-compose.action.yaml b/modules/dev_overrides/docker-compose.action.yaml
@@ -10,6 +10,7 @@ services:
     extends:
       file: ../docker-compose.action.yaml
       service: global_planning
+    image: "${ACTION_GLOBAL_PLANNING_IMAGE}:build_${TAG}"
     command: tail -F anything
     volumes:
       - ${MONO_DIR}/src/action/global_planning:/home/ament_ws/src/global_planning
@@ -19,6 +20,7 @@ services:
     extends:
       file: ../docker-compose.action.yaml
       service: behaviour_planning
+    image: "${ACTION_BEHAVIOUR_PLANNING_IMAGE}:build_${TAG}"
     command: tail -F anything
     volumes:
       - ${MONO_DIR}/src/action/behaviour_planning:/home/ament_ws/src/behaviour_planning
@@ -28,6 +30,7 @@ services:
     extends:
       file: ../docker-compose.action.yaml
       service: local_planning
+    image: "${ACTION_LOCAL_PLANNING_IMAGE}:build_${TAG}"
     command: tail -F anything
     volumes:
       - ${MONO_DIR}/src/action/local_planning:/home/ament_ws/src/local_planning
@@ -37,6 +40,7 @@ services:
     extends:
       file: ../docker-compose.action.yaml
       service: model_predictive_control
+    image: "${ACTION_MPC_IMAGE}:build_${TAG}"
     command: tail -F anything
     volumes:
       - ${MONO_DIR}/src/action/model_predictive_control:/home/ament_ws/src/model_predictive_control
diff --git a/modules/dev_overrides/docker-compose.interfacing.yaml b/modules/dev_overrides/docker-compose.interfacing.yaml
@@ -10,6 +10,7 @@ services:
     extends:
       file: ../docker-compose.interfacing.yaml
       service: sensor_interfacing
+    image: "${INTERFACING_SENSOR_IMAGE}:build_${TAG}"
     command: tail -F anything
     volumes:
       - ${MONO_DIR}/src/sensor_interfacing:/home/bolty/ament_ws/src/sensor_interfacing
@@ -19,6 +20,7 @@ services:
     extends:
       file: ../docker-compose.interfacing.yaml
       service: can_interfacing
+    image: "${INTERFACING_CAN_IMAGE}:build_${TAG}"
     command: tail -F anything
     volumes:
       - ${MONO_DIR}/src/can_interfacing:/home/bolty/ament_ws/src/can_interfacing
diff --git a/modules/dev_overrides/docker-compose.perception.yaml b/modules/dev_overrides/docker-compose.perception.yaml
@@ -10,6 +10,7 @@ services:
     extends:
       file: ../docker-compose.perception.yaml
       service: radar_object_detection
+    image: "${PERCEPTION_RADAR_OBJECT_DETECTION_IMAGE:?}:build_${TAG}"
     command: tail -F anything
     volumes:
       - ${MONO_DIR}/src/perception/radar_object_detection:/home/bolty/ament_ws/src/radar_object_detection
@@ -19,6 +20,7 @@ services:
     extends:
       file: ../docker-compose.perception.yaml
       service: camera_object_detection
+    image: "${PERCEPTION_CAMERA_OBJECT_DETECTION_IMAGE:?}:build_${TAG}"
     command: tail -F anything
     volumes:
       - ${MONO_DIR}/src/perception/camera_object_detection:/home/bolty/ament_ws/src/camera_object_detection
@@ -28,33 +30,17 @@ services:
     extends:
       file: ../docker-compose.perception.yaml
       service: lidar_object_detection
+    image: "${PERCEPTION_LIDAR_OBJECT_DETECTION_IMAGE}:build_${TAG}"
     command: tail -F anything
     volumes:
       - ${MONO_DIR}/src/perception/lidar_object_detection:/home/bolty/ament_ws/src/lidar_object_detection
 
-  traffic_light_detection:
-    <<: *fixuid
-    extends:
-      file: ../docker-compose.perception.yaml
-      service: traffic_light_detection
-    command: tail -F anything
-    volumes:
-      - ${MONO_DIR}/src/perception/traffic_light_detection:/home/bolty/ament_ws/src/traffic_light_detection
-
-  traffic_sign_detection:
-    <<: *fixuid
-    extends:
-      file: ../docker-compose.perception.yaml
-      service: traffic_sign_detection
-    command: tail -F anything
-    volumes:
-      - ${MONO_DIR}/src/perception/traffic_sign_detection:/home/bolty/ament_ws/src/traffic_sign_detection
-
   semantic_segmentation:
     <<: *fixuid
     extends:
       file: ../docker-compose.perception.yaml
       service: semantic_segmentation
+    image: "${PERCEPTION_SEMANTIC_SEGMENTATION_IMAGE}:build_${TAG}"
     command: tail -F anything
     volumes:
       - ${MONO_DIR}/src/perception/semantic_segmentation:/home/bolty/ament_ws/src/semantic_segmentation
@@ -64,6 +50,7 @@ services:
     extends:
       file: ../docker-compose.perception.yaml
       service: lane_detection
+    image: "${PERCEPTION_LANE_DETECTION_IMAGE}:build_${TAG}"
     command: tail -F anything
     volumes:
       - ${MONO_DIR}/src/perception/lane_detection:/home/bolty/ament_ws/src/lane_detection
@@ -73,6 +60,17 @@ services:
     extends:
       file: ../docker-compose.perception.yaml
       service: tracking
+    image: "${PERCEPTION_TRACKING_IMAGE}:build_${TAG}"
     command: tail -F anything
     volumes:
       - ${MONO_DIR}/src/perception/tracking:/home/bolty/ament_ws/src/tracking
+
+  depth_estimation:
+    <<: *fixuid
+    extends:
+      file: ../docker-compose.perception.yaml
+      service: tracking
+    image: "${PERCEPTION_DEPTH_ESTIMATION_IMAGE}:build_${TAG}"
+    command: tail -F anything
+    volumes:
+      - ${MONO_DIR}/src/perception/depth_estimation:/home/bolty/ament_ws/src/depth_estimation
diff --git a/modules/dev_overrides/docker-compose.samples.yaml b/modules/dev_overrides/docker-compose.samples.yaml
@@ -10,6 +10,7 @@ services:
     extends:
       file: ../docker-compose.samples.yaml
       service: cpp_aggregator
+    image: "${SAMPLES_CPP_AGGREGATOR_IMAGE:?}:build_${TAG}" 
     command: tail -F anything
     volumes:
       - ${MONO_DIR}/src/samples/cpp/aggregator:/home/bolty/ament_ws/src/aggregator
@@ -19,6 +20,8 @@ services:
   #   extends:
   #     file: ../docker-compose.samples.yaml
   #     service: py_aggregator
+  #   image: "${SAMPLES_PYTHON_AGGREGATOR_IMAGE:?}:build_${TAG}"
+  #   command: tail -F anything
   #   volumes:
   #     - ${MONO_DIR}/src/samples/python/aggregator:/home/bolty/ament_ws/src/aggregator
 
@@ -27,6 +30,8 @@ services:
   #   extends:
   #     file: ../docker-compose.samples.yaml
   #     service: cpp_producer
+  #   image: "${SAMPLES_CPP_PRODUCER_IMAGE:?}:build_${TAG}"
+  #   command: tail -F anything
   #   volumes:
   #     - ${MONO_DIR}/src/samples/cpp/producer:/home/bolty/ament_ws/src/producer
 
@@ -35,6 +40,7 @@ services:
     extends:
       file: ../docker-compose.samples.yaml
       service: py_producer
+    image: "${SAMPLES_PYTHON_PRODUCER_IMAGE:?}:build_${TAG}" 
     command: tail -F anything
     volumes:
       - ${MONO_DIR}/src/samples/python/producer:/home/bolty/ament_ws/src/producer
@@ -44,6 +50,8 @@ services:
   #   extends:
   #     file: ../docker-compose.samples.yaml
   #     service: cpp_transformer
+  #   image: "${SAMPLES_CPP_TRANSFORMER_IMAGE:?}:build_${TAG}"
+  #   command: tail -F anything
   #   volumes:
   #     - ${MONO_DIR}/src/samples/cpp/transformer:/home/bolty/ament_ws/src/transformer
 
@@ -52,6 +60,7 @@ services:
     extends:
       file: ../docker-compose.samples.yaml
       service: py_transformer
+    image: "${SAMPLES_PYTHON_TRANSFORMER_IMAGE:?}:build_${TAG}" 
     command: tail -F anything
     volumes:
       - ${MONO_DIR}/src/samples/python/transformer:/home/bolty/ament_ws/src/transformer
diff --git a/modules/dev_overrides/docker-compose.world_modeling.yaml b/modules/dev_overrides/docker-compose.world_modeling.yaml
@@ -10,6 +10,7 @@ services:
     extends:
       file: ../docker-compose.world_modeling.yaml
       service: hd_map
+    image: "${WORLD_MODELING_HD_MAP_IMAGE}:build_${TAG}"
     command: tail -F anything
     volumes:
       - ${MONO_DIR}/src/world_modeling:/home/ament_ws/src/hd_map
@@ -19,6 +20,7 @@ services:
     extends:
       file: ../docker-compose.world_modeling.yaml
       service: localization
+    image: "${WORLD_MODELING_LOCALIZATION_IMAGE}:build_${TAG}"
     command: tail -F anything
     volumes:
       - ${MONO_DIR}/src/world_modeling:/home/ament_ws/src/localization
@@ -28,6 +30,7 @@ services:
     extends:
       file: ../docker-compose.world_modeling.yaml
       service: occupancy
+    image: "${WORLD_MODELING_OCCUPANCY_IMAGE}:build_${TAG}"
     command: tail -F anything
     volumes:
       - ${MONO_DIR}/src/world_modeling:/home/ament_ws/src/occupancy
@@ -37,6 +40,7 @@ services:
     extends:
       file: ../docker-compose.world_modeling.yaml
       service: occupancy_segmentation
+    image: "${WORLD_MODELING_OCCUPANCY_SEGMENTATION_IMAGE}:build_${TAG}"
     command: tail -F anything
     volumes:
       - ${MONO_DIR}/src/world_modeling:/home/ament_ws/src/occupancy_segmentation
@@ -46,6 +50,7 @@ services:
     extends:
       file: ../docker-compose.world_modeling.yaml
       service: motion_forecasting
+    image: "${WORLD_MODELING_MOTION_FORECASTING_IMAGE}:build_${TAG}"
     command: tail -F anything
     volumes:
       - ${MONO_DIR}/src/world_modeling:/home/ament_ws/src/motion_forecasting
diff --git a/modules/docker-compose.perception.yaml b/modules/docker-compose.perception.yaml
@@ -21,6 +21,7 @@ services:
         - "${PERCEPTION_CAMERA_OBJECT_DETECTION_IMAGE:?}:build_main"
       target: deploy
     image: "${PERCEPTION_CAMERA_OBJECT_DETECTION_IMAGE:?}:${TAG}"
+    shm_size: 8G
     deploy:
       resources:
         reservations:
@@ -31,6 +32,8 @@ services:
     command: /bin/bash -c "ros2 launch camera_object_detection eve_launch.py"
     volumes:
       - /mnt/wato-drive2/perception_models/yolov8m.pt:/perception_models/yolov8m.pt
+      - /mnt/wato-drive2/perception_models/traffic_light.pt:/perception_models/traffic_light.pt
+      - /mnt/wato-drive2/perception_models/traffic_signs_v0.pt:/perception_models/traffic_signs_v1.pt
 
   lidar_object_detection:
     build:
@@ -42,27 +45,6 @@ services:
       target: deploy
     image: "${PERCEPTION_LIDAR_OBJECT_DETECTION_IMAGE}:${TAG}"
     command: /bin/bash -c "ros2 launch lidar_object_detection lidar_object_detection.launch.py"
-  traffic_light_detection:
-    build:
-      context: ..
-      dockerfile: docker/perception/traffic_light_detection/traffic_light_detection.Dockerfile
-      cache_from:
-        - "${PERCEPTION_TRAFFIC_LIGHT_DETECTION_IMAGE}:build_${TAG}"
-        - "${PERCEPTION_TRAFFIC_LIGHT_DETECTION_IMAGE}:build_main"
-      target: deploy
-    image: "${PERCEPTION_TRAFFIC_LIGHT_DETECTION_IMAGE}:${TAG}"
-    command: /bin/bash -c "ros2 launch traffic_light_detection traffic_light_detection.launch.py"
-
-  traffic_sign_detection:
-    build:
-      context: ..
-      dockerfile: docker/perception/traffic_sign_detection/traffic_sign_detection.Dockerfile
-      cache_from:
-        - "${PERCEPTION_TRAFFIC_SIGN_DETECTION_IMAGE}:build_${TAG}"
-        - "${PERCEPTION_TRAFFIC_SIGN_DETECTION_IMAGE}:build_main"
-      target: deploy
-    image: "${PERCEPTION_TRAFFIC_SIGN_DETECTION_IMAGE}:${TAG}"
-    command: /bin/bash -c "ros2 launch traffic_sign_detection traffic_sign_detection.launch.py"
 
   semantic_segmentation:
     build:
@@ -96,3 +78,14 @@ services:
       target: deploy
     image: "${PERCEPTION_TRACKING_IMAGE}:${TAG}"
     command: /bin/bash -c "ros2 launch tracking tracking.launch.py"
+
+  depth_estimation:
+    build:
+      context: ..
+      dockerfile: docker/perception/depth_estimation/depth_estimation.Dockerfile
+      cache_from:
+        - "${PERCEPTION_DEPTH_ESTIMATION_IMAGE}:build_${TAG}"
+        - "${PERCEPTION_DEPTH_ESTIMATION_IMAGE}:build_main"
+      target: deploy
+    image: "${PERCEPTION_DEPTH_ESTIMATION_IMAGE}:${TAG}"
+    command: /bin/bash -c "ros2 launch depth_estimation eve.launch.py"