Merge branch 'main' into mkchiu/traffic_sign_detection

.github/templates/check_src_changes/action.yml

@@ -0,0 +1,77 @@
+name: Check source file changes
+
+outputs:
+  modified_modules:
+    description: "Space deliminated list of modified modules"
+    value: ${{ steps.output-changes.outputs.modified_modules }}
+
+runs:
+  using: "composite"
+  steps:
+    - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
+
+    - name: Find changed files outside of src directory
+      id: changed-files-outside-src
+      uses: tj-actions/changed-files@v42
+      with:
+        files: '!src/**'
+
+    - name: Find changed files inside src/wato_msgs folder
+      id: changed-files-wato-msgs
+      uses: tj-actions/changed-files@v42
+      with:
+        files: src/wato_msgs/**
+
+    - name: Find changed files inside src/action folder
+      id: changed-files-action
+      uses: tj-actions/changed-files@v42
+      with:
+        files: src/action/**
+
+    - name: Get changed files inside src/interfacing folder
+      id: changed-files-interfacing
+      uses: tj-actions/changed-files@v42
+      with:
+        files: src/interfacing/**
+
+    - name: Get changed files inside src/perception folder
+      id: changed-files-perception
+      uses: tj-actions/changed-files@v42
+      with:
+        files: src/perception/**
+
+    - name: Get changed files inside src/samples folder
+      id: changed-files-samples
+      uses: tj-actions/changed-files@v42
+      with:
+        files: src/samples/**
+
+    - name: Get changed files inside src/simulation folder
+      id: changed-files-simulation
+      uses: tj-actions/changed-files@v42
+      with:
+        files: src/simulation/**
+
+    - name: Get changed files inside src/world_modeling folder
+      id: changed-files-world-modeling
+      uses: tj-actions/changed-files@v42
+      with:
+        files: src/world_modeling/**
+
+    - name: Create list of changed modules
+      id: output-changes
+      env:
+        INFRASTRUCTURE_CHANGED: >
+          ${{ steps.changed-files-wato-msgs.outputs.any_changed == 'true' 
+          || steps.changed-files-outside-src.outputs.any_changed == 'true' }}
+        ACTION_CHANGED: ${{ steps.changed-files-action.outputs.any_changed }}
+        INTERFACING_CHANGED: ${{ steps.changed-files-interfacing.outputs.any_changed }}
+        PERCEPTION_CHANGED: ${{ steps.changed-files-perception.outputs.any_changed }}
+        SAMPLES_CHANGED: ${{ steps.changed-files-samples.outputs.any_changed }}
+        SIMULATION_CHANGED: ${{ steps.changed-files-simulation.outputs.any_changed }}
+        WORLD_MODELING_CHANGED: ${{ steps.changed-files-world-modeling.outputs.any_changed }}
+
+      run: ${{ github.action_path }}/check_src_changes.sh
+      shell: bash

.github/templates/check_src_changes/check_src_changes.sh

@@ -0,0 +1,53 @@
+#!/bin/bash
+set -e
+
+################# Create a space delimited list of modified modules #################
+# Outputs a list of modified modules by comparing changes between main and current commit
+# References previous GitHub workflow steps
+
+# Action
+if [ $ACTION_CHANGED == 'true' ]; then
+    echo "Detected action changes"
+    MODIFIED_MODULES+="action "
+fi
+
+# Interfacing
+if [ $INTERFACING_CHANGED == 'true' ]; then
+    echo "Detected interfacing changes"
+    MODIFIED_MODULES+="interfacing "
+fi
+
+# Perception
+if [ $PERCEPTION_CHANGED == 'true' ]; then
+    echo "Detected perception changes"
+    MODIFIED_MODULES+="perception "
+fi
+
+# Samples
+if [ $SAMPLES_CHANGED == 'true' ]; then
+    echo "Detected samples changes"
+    MODIFIED_MODULES+="samples "
+fi
+
+# Simulation
+if [ $SIMULATION_CHANGED == 'true' ]; then
+    echo "Detected simulation changes"
+    MODIFIED_MODULES+="simulation "
+fi
+
+# World-modeling
+if [ $WORLD_MODELING_CHANGED == 'true' ]; then
+    echo "Detected world_modeling changes"
+    MODIFIED_MODULES+="world_modeling"
+fi
+
+# Infrastructure
+if [ $INFRASTRUCTURE_CHANGED == 'true' ]; then
+    echo "::notice:: Detected infrastructure changes"
+    MODIFIED_MODULES="infrastructure"
+else
+    echo "::notice:: MODIFIED_MODULES are $MODIFIED_MODULES" 
+fi
+
+# Output lis
+echo "modified_modules=$MODIFIED_MODULES" >> $GITHUB_OUTPUT

.github/templates/docker_context/action.yml

@@ -1,5 +1,11 @@
 name: Generate Docker Environment
 
+inputs:
+  modified_modules:
+    description: "Space deliminated list of modified modules"
+    required: true
+    default: ''
+
 outputs:
   docker_matrix:
     description: "list of docker compose services"
@@ -15,5 +21,7 @@ runs:
   using: "composite"
   steps:
     - id: environment-generator
+      env: 
+        MODIFIED_MODULES: ${{ inputs.modified_modules }}
       run: ${{ github.action_path }}/docker_context.sh
       shell: bash

.github/templates/docker_context/docker_context.sh

@@ -11,12 +11,24 @@ modules=$(find modules -maxdepth 1 -name "docker-compose*")
 # Initialize an empty array for JSON objects
 json_objects=()
 
+# Check for infrastructure changes
+TEST_ALL=false
+if [[ $MODIFIED_MODULES = "infrastructure" ]]; then
+    TEST_ALL=true
+fi
+
 # Loop through each module
 while read -r module; do
+
     # Retrieve docker compose service names
     services=$(docker-compose -f "$module" config --services)
     module_out=$(echo "$module" | sed -n 's/modules\/docker-compose\.\(.*\)\.yaml/\1/p')
 
+    # 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
         # Construct JSON object for each service with module and service name

.github/workflows/build_and_unitest.yml

@@ -24,14 +24,20 @@ jobs:
       - name: Checkout Repository
         uses: actions/checkout@v4
 
+      - name: Get Module Changes
+        id: get-module-changes
+        uses: "./.github/templates/check_src_changes"
+
       - name: Setup Watod Environment
         run: ./watod_scripts/watod-setup-env.sh
         shell: bash
 
       - name: Generate Docker Environment
         id: docker-environment
         uses: "./.github/templates/docker_context"
-
+        with:
+          modified_modules: ${{ steps.get-module-changes.outputs.modified_modules }}
+
       - name: Generate GitHub Environment
         id: github-environment
         uses: "./.github/templates/github_context"
@@ -133,3 +139,12 @@ jobs:
         with:
           image: ${{ steps.construct-registry-url.outputs.url }}
           tag: build_${{ env.SOURCE_BRANCH }}
+
+  confirm-build-and-unittest-complete:
+    name: Confirm Build and Unit Tests Completed
+    needs: build-and-unittest
+    runs-on: ubuntu-latest
+    steps:
+      - name: Ending
+        run: |
+          echo "::notice:: All builds and unit tests completed!"

modules/docker-compose.perception.yaml

@@ -29,10 +29,10 @@ services:
             - driver: nvidia
               count: 1
               capabilities: [ gpu ]
-    command: /bin/bash -c "ros2 launch camera_object_detection nuscenes_launch.py"
+    command: /bin/bash -c "ros2 launch camera_object_detection eve_launch.py"
     volumes:
       - /mnt/wato-drive2/perception_models/yolov8s.pt:/perception_models/yolov8s.pt
-      - /mnt/wato-drive2/perception_models/traffic_signs_v0.pt:/perception_models/traffic_signs_v0.pt
+      - /mnt/wato-drive2/perception_models/traffic_signs_v0.pt:/perception_models/traffic_signs_v1.pt
 
   lidar_object_detection:
     build:

src/perception/camera_object_detection/camera_object_detection/yolov8_detection.py

@@ -34,8 +34,8 @@ def __init__(self):
         self.declare_parameter("camera_topic", "/camera/right/image_color")
         self.declare_parameter("publish_vis_topic", "/annotated_img")
         self.declare_parameter("publish_detection_topic", "/detections")
-        self.declare_parameter("model_path", "/perception_models/yolov8s.pt")
-        self.declare_parameter("image_size", 480)
+        self.declare_parameter("model_path", "/perception_models/yolov8m.pt")
+        self.declare_parameter("image_size", 1024)
         self.declare_parameter("compressed", False)
 
         self.camera_topic = self.get_parameter("camera_topic").value

src/perception/camera_object_detection/config/deepracer_config.yaml

@@ -3,5 +3,5 @@ camera_object_detection_node:
     camera_topic: /camera_pkg/display_mjpeg
     publish_vis_topic: /annotated_img
     publish_obstacle_topic: /obstacles
-    model_path: /perception_models/yolov8s.pt
-    image_size: 480
+    model_path: /perception_models/yolov8m.pt
+    image_size: 1024

src/perception/camera_object_detection/config/eve_config.yaml

@@ -0,0 +1,23 @@
+left_camera_object_detection_node:
+  ros__parameters:
+    camera_topic: /camera/left/image_color
+    publish_vis_topic: /camera/left/annotated_img
+    publish_detection_topic: /camera/left/detections
+    model_path: /perception_models/yolov8m.pt
+    image_size: 1024
+
+center_camera_object_detection_node:
+  ros__parameters:
+    camera_topic: /camera/center/image_color
+    publish_vis_topic: /camera/center/annotated_img
+    publish_detection_topic: /camera/center/detections
+    model_path: /perception_models/yolov8m.pt
+    image_size: 1024
+
+right_camera_object_detection_node:
+  ros__parameters:
+    camera_topic: /camera/right/image_color
+    publish_vis_topic: /camera/right/annotated_img
+    publish_detection_topic: /camera/right/detections
+    model_path: /perception_models/yolov8m.pt
+    image_size: 1024

src/perception/camera_object_detection/config/nuscenes_config.yaml

@@ -3,6 +3,6 @@ camera_object_detection_node:
     camera_topic: /CAM_FRONT/image_rect_compressed
     publish_vis_topic: /annotated_img
     publish_obstacle_topic: /obstacles
-    model_path: /perception_models/yolov8s.pt
+    model_path: /perception_models/yolov8m.pt
     image_size: 640
     compressed: true

src/perception/camera_object_detection/launch/eve_launch.py

@@ -0,0 +1,42 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+import os
+
+
+def generate_launch_description():
+    ld = LaunchDescription()
+    config = os.path.join(
+        get_package_share_directory('camera_object_detection'),
+        'config',
+        'eve_config.yaml'
+    )
+
+    # nodes
+    left_camera_object_detection_node = Node(
+        package='camera_object_detection',
+        executable='camera_object_detection_node',
+        name='left_camera_object_detection_node',
+        parameters=[config]
+    )
+
+    center_camera_object_detection_node = Node(
+        package='camera_object_detection',
+        executable='camera_object_detection_node',
+        name='center_camera_object_detection_node',
+        parameters=[config]
+    )
+
+    right_camera_object_detection_node = Node(
+        package='camera_object_detection',
+        executable='camera_object_detection_node',
+        name='right_camera_object_detection_node',
+        parameters=[config]
+    )
+
+    # finalize
+    ld.add_action(left_camera_object_detection_node)
+    ld.add_action(center_camera_object_detection_node)
+    ld.add_action(right_camera_object_detection_node)
+
+    return ld