Radar driver

docker/interfacing/sensor_interfacing/sensor_interfacing.Dockerfile

@@ -7,7 +7,7 @@ WORKDIR ${AMENT_WS}/src
 
 # Copy in source code 
 COPY src/interfacing/sensor_interfacing sensor_interfacing
-COPY src/wato_msgs/sample_msgs sample_msgs
+COPY src/wato_msgs/perception_msgs/radar_msgs radar_msgs
 
 # Scan for rosdeps
 RUN apt-get -qq update && rosdep update && \
@@ -21,6 +21,7 @@ FROM ${BASE_IMAGE} as dependencies
 
 # Install Rosdep requirements
 COPY --from=source /tmp/colcon_install_list /tmp/colcon_install_list
+RUN apt-get update
 RUN apt-fast install -qq -y --no-install-recommends $(cat /tmp/colcon_install_list)
 
 # Copy in source code from source stage
@@ -32,6 +33,14 @@ 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/*
 
+RUN apt update &&\
+    apt install software-properties-common -y &&\
+    add-apt-repository ppa:lely/ppa -y &&\
+    apt update &&\
+    apt install net-tools iproute2 can-utils kmod liblely-coapp-dev liblely-co-tools python3-dcf-tools -y
+
+RUN apt install -y ros-$ROS_DISTRO-ros2-socketcan
+
 ################################ Build ################################
 FROM dependencies as build
 

docker/perception/radar_object_detection/radar_object_detection.Dockerfile

@@ -21,6 +21,7 @@ FROM ${BASE_IMAGE} as dependencies
 
 # Install Rosdep requirements
 COPY --from=source /tmp/colcon_install_list /tmp/colcon_install_list
+RUN apt-get update
 RUN apt-fast install -qq -y --no-install-recommends $(cat /tmp/colcon_install_list)
 
 # Copy in source code from source stage

modules/dev_overrides/docker-compose.interfacing.yaml

@@ -13,14 +13,14 @@ services:
     image: "${INTERFACING_SENSOR_IMAGE}:build_${TAG}"
     command: tail -F anything
     volumes:
-      - ${MONO_DIR}/src/sensor_interfacing:/home/bolty/ament_ws/src/sensor_interfacing
+      - ${MONO_DIR}/src/interfacing/sensor_interfacing:/home/bolty/ament_ws/src/sensor_interfacing
 
-  can_interfacing:
-    <<: *fixuid
-    extends:
-      file: ../docker-compose.interfacing.yaml
-      service: can_interfacing
-    image: "${INTERFACING_CAN_IMAGE}:build_${TAG}"
-    command: tail -F anything
-    volumes:
-      - ${MONO_DIR}/src/can_interfacing:/home/bolty/ament_ws/src/can_interfacing
+  # can_interfacing:
+  #   <<: *fixuid
+  #   extends:
+  #     file: ../docker-compose.interfacing.yaml
+  #     service: can_interfacing
+  #   image: "${INTERFACING_CAN_IMAGE}:build_${TAG}"
+  #   command: tail -F anything
+  #   volumes:
+  #     - ${MONO_DIR}/src/can_interfacing:/home/bolty/ament_ws/src/can_interfacing

modules/dev_overrides/docker-compose.perception.yaml

@@ -15,62 +15,62 @@ services:
     volumes:
       - ${MONO_DIR}/src/perception/radar_object_detection:/home/bolty/ament_ws/src/radar_object_detection
 
-  camera_object_detection:
-    <<: *fixuid
-    extends:
-      file: ../docker-compose.perception.yaml
-      service: camera_object_detection
-    image: "${PERCEPTION_CAMERA_OBJECT_DETECTION_IMAGE:?}:build_${TAG}"
-    command: tail -F anything
-    volumes:
-      - ${MONO_DIR}/src/perception/camera_object_detection:/home/bolty/ament_ws/src/camera_object_detection
+  # camera_object_detection:
+  #   <<: *fixuid
+  #   extends:
+  #     file: ../docker-compose.perception.yaml
+  #     service: camera_object_detection
+  #   image: "${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
 
-  lidar_object_detection:
-    <<: *fixuid
-    extends:
-      file: ../docker-compose.perception.yaml
-      service: lidar_object_detection
-    image: "${PERCEPTION_LIDAR_OBJECT_DETECTION_IMAGE}:build_${TAG}"
-    command: tail -F anything
-    volumes:
-      - ${MONO_DIR}/src/perception/lidar_object_detection:/home/bolty/ament_ws/src/lidar_object_detection
+  # lidar_object_detection:
+  #   <<: *fixuid
+  #   extends:
+  #     file: ../docker-compose.perception.yaml
+  #     service: lidar_object_detection
+  #   image: "${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
 
-  semantic_segmentation:
-    <<: *fixuid
-    extends:
-      file: ../docker-compose.perception.yaml
-      service: semantic_segmentation
-    image: "${PERCEPTION_SEMANTIC_SEGMENTATION_IMAGE}:build_${TAG}"
-    command: tail -F anything
-    volumes:
-      - ${MONO_DIR}/src/perception/semantic_segmentation:/home/bolty/ament_ws/src/semantic_segmentation
+  # semantic_segmentation:
+  #   <<: *fixuid
+  #   extends:
+  #     file: ../docker-compose.perception.yaml
+  #     service: semantic_segmentation
+  #   image: "${PERCEPTION_SEMANTIC_SEGMENTATION_IMAGE}:build_${TAG}"
+  #   command: tail -F anything
+  #   volumes:
+  #     - ${MONO_DIR}/src/perception/semantic_segmentation:/home/bolty/ament_ws/src/semantic_segmentation
 
-  lane_detection:
-    <<: *fixuid
-    extends:
-      file: ../docker-compose.perception.yaml
-      service: lane_detection
-    image: "${PERCEPTION_LANE_DETECTION_IMAGE}:build_${TAG}"
-    command: tail -F anything
-    volumes:
-      - ${MONO_DIR}/src/perception/lane_detection:/home/bolty/ament_ws/src/lane_detection
+  # lane_detection:
+  #   <<: *fixuid
+  #   extends:
+  #     file: ../docker-compose.perception.yaml
+  #     service: lane_detection
+  #   image: "${PERCEPTION_LANE_DETECTION_IMAGE}:build_${TAG}"
+  #   command: tail -F anything
+  #   volumes:
+  #     - ${MONO_DIR}/src/perception/lane_detection:/home/bolty/ament_ws/src/lane_detection
 
-  tracking:
-    <<: *fixuid
-    extends:
-      file: ../docker-compose.perception.yaml
-      service: tracking
-    image: "${PERCEPTION_TRACKING_IMAGE}:build_${TAG}"
-    command: tail -F anything
-    volumes:
-      - ${MONO_DIR}/src/perception/tracking:/home/bolty/ament_ws/src/tracking
+  # tracking:
+  #   <<: *fixuid
+  #   extends:
+  #     file: ../docker-compose.perception.yaml
+  #     service: tracking
+  #   image: "${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:
-      - ${MONO_DIR}/src/perception/depth_estimation:/home/bolty/ament_ws/src/depth_estimation
+  # depth_estimation:
+  #   <<: *fixuid
+  #   extends:
+  #     file: ../docker-compose.perception.yaml
+  #     service: tracking
+  #   image: "${PERCEPTION_DEPTH_ESTIMATION_IMAGE}:build_${TAG}"
+  #   command: tail -F anything
+  #   volumes:
+  #     - ${MONO_DIR}/src/perception/depth_estimation:/home/bolty/ament_ws/src/depth_estimation

modules/docker-compose.interfacing.yaml

@@ -9,16 +9,22 @@ services:
         - "${INTERFACING_SENSOR_IMAGE}:build_${TAG}"
         - "${INTERFACING_SENSOR_IMAGE}:build_main"
       target: deploy
+    environment:
+      VCAN_TARGET_PORT: 6002
+    ports:
+      - 6001:6000/udp
+    cap_add:
+      - NET_ADMIN
     image: "${INTERFACING_SENSOR_IMAGE}:${TAG}"
-    command: /bin/bash -c "ros2 launch sensor_interfacing sensor_interfacing.launch.py"
+    command: /bin/bash -c "ros2 launch radar_conti_ars408 radar_driver.launch.py"
 
-  can_interfacing:
-    build:
-      context: ..
-      dockerfile: docker/interfacing/can_interfacing/can_interfacing.Dockerfile
-      cache_from:
-        - "${INTERFACING_CAN_IMAGE}:build_${TAG}"
-        - "${INTERFACING_CAN_IMAGE}:build_main"
-      target: deploy
-    image: "${INTERFACING_CAN_IMAGE}:${TAG}"
-    command: /bin/bash -c "ros2 launch can_interfacing can_interfacing.launch.py"
+  # can_interfacing:
+  #   build:
+  #     context: ..
+  #     dockerfile: docker/interfacing/can_interfacing/can_interfacing.Dockerfile
+  #     cache_from:
+  #       - "${INTERFACING_CAN_IMAGE}:build_${TAG}"
+  #       - "${INTERFACING_CAN_IMAGE}:build_main"
+  #     target: deploy
+  #   image: "${INTERFACING_CAN_IMAGE}:${TAG}"
+  #   command: /bin/bash -c "ros2 launch can_interfacing can_interfacing.launch.py"

modules/docker-compose.perception.yaml

@@ -10,91 +10,82 @@ services:
         - "${PERCEPTION_RADAR_OBJECT_DETECTION_IMAGE:?}:build_main"
       target: deploy
     image: "${PERCEPTION_RADAR_OBJECT_DETECTION_IMAGE:?}:${TAG}"
-    command: /bin/bash -c "ros2 launch radar_object_detection radar_object_detection.launch.py"
+    command: /bin/bash -c "ros2 launch radar_object_detection_launch radar_object_detection.launch.py"
 
-  camera_object_detection:
-    build:
-      context: ..
-      dockerfile: docker/perception/camera_object_detection/camera_object_detection.Dockerfile
-      cache_from:
-        - "${PERCEPTION_CAMERA_OBJECT_DETECTION_IMAGE:?}:build_${TAG}"
-        - "${PERCEPTION_CAMERA_OBJECT_DETECTION_IMAGE:?}:build_main"
-      target: deploy
-    image: "${PERCEPTION_CAMERA_OBJECT_DETECTION_IMAGE:?}:${TAG}"
-    shm_size: 8G
-    deploy:
-      resources:
-        reservations:
-          devices:
-            - driver: nvidia
-              count: 1
-              capabilities: [ gpu ]
-    command: /bin/bash -c "ros2 launch camera_object_detection eve.launch.py"
-    volumes:
-      - /mnt/wato-drive2/perception_models/yolov8m.pt:/perception_models/yolov8m.pt
-      - /mnt/wato-drive2/perception_models/traffic_light.pt:/perception_models/traffic_light.pt
-      - /mnt/wato-drive2/perception_models/traffic_signs_v0.pt:/perception_models/traffic_signs_v1.pt
+  # camera_object_detection:
+  #   build:
+  #     context: ..
+  #     dockerfile: docker/perception/camera_object_detection/camera_object_detection.Dockerfile
+  #     cache_from:
+  #       - "${PERCEPTION_CAMERA_OBJECT_DETECTION_IMAGE:?}:build_${TAG}"
+  #       - "${PERCEPTION_CAMERA_OBJECT_DETECTION_IMAGE:?}:build_main"
+  #     target: deploy
+  #   image: "${PERCEPTION_CAMERA_OBJECT_DETECTION_IMAGE:?}:${TAG}"
+  #   shm_size: 8G
+  #   deploy:
+  #     resources:
+  #       reservations:
+  #         devices:
+  #           - driver: nvidia
+  #             count: 1
+  #             capabilities: [ gpu ]
+  #   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:
-      context: ..
-      dockerfile: docker/perception/lidar_object_detection/lidar_object_detection.Dockerfile
-      cache_from:
-        - "${PERCEPTION_LIDAR_OBJECT_DETECTION_IMAGE}:build_${TAG}"
-        - "${PERCEPTION_LIDAR_OBJECT_DETECTION_IMAGE}:build_main"
-      target: deploy
-    image: "${PERCEPTION_LIDAR_OBJECT_DETECTION_IMAGE}:${TAG}"
-    command: /bin/bash -c "ros2 launch lidar_object_detection lidar_object_detection.launch.py"
+  # lidar_object_detection:
+  #   build:
+  #     context: ..
+  #     dockerfile: docker/perception/lidar_object_detection/lidar_object_detection.Dockerfile
+  #     cache_from:
+  #       - "${PERCEPTION_LIDAR_OBJECT_DETECTION_IMAGE}:build_${TAG}"
+  #       - "${PERCEPTION_LIDAR_OBJECT_DETECTION_IMAGE}:build_main"
+  #     target: deploy
+  #   image: "${PERCEPTION_LIDAR_OBJECT_DETECTION_IMAGE}:${TAG}"
+  #   command: /bin/bash -c "ros2 launch lidar_object_detection lidar_object_detection.launch.py"
 
-  semantic_segmentation:
-    build:
-      context: ..
-      dockerfile: docker/perception/semantic_segmentation/semantic_segmentation.Dockerfile
-      cache_from:
-        - "${PERCEPTION_SEMANTIC_SEGMENTATION_IMAGE}:build_${TAG}"
-        - "${PERCEPTION_SEMANTIC_SEGMENTATION_IMAGE}:build_main"
-      target: deploy
-    image: "${PERCEPTION_SEMANTIC_SEGMENTATION_IMAGE}:${TAG}"
-    command: /bin/bash -c "ros2 launch semantic_segmentation semantic_segmentation.launch.py"
+  # semantic_segmentation:
+  #   build:
+  #     context: ..
+  #     dockerfile: docker/perception/semantic_segmentation/semantic_segmentation.Dockerfile
+  #     cache_from:
+  #       - "${PERCEPTION_SEMANTIC_SEGMENTATION_IMAGE}:build_${TAG}"
+  #       - "${PERCEPTION_SEMANTIC_SEGMENTATION_IMAGE}:build_main"
+  #     target: deploy
+  #   image: "${PERCEPTION_SEMANTIC_SEGMENTATION_IMAGE}:${TAG}"
+  #   command: /bin/bash -c "ros2 launch semantic_segmentation semantic_segmentation.launch.py"
 
-  lane_detection:
-    build:
-      context: ..
-      dockerfile: docker/perception/lane_detection/lane_detection.Dockerfile
-      cache_from:
-        - "${PERCEPTION_LANE_DETECTION_IMAGE}:build_${TAG}"
-        - "${PERCEPTION_LANE_DETECTION_IMAGE}:build_main"
-      target: deploy
-    image: "${PERCEPTION_LANE_DETECTION_IMAGE}:${TAG}"
-    command: /bin/bash -c "ros2 launch lane_detection eve.launch.py"
-    deploy:
-      resources:
-        reservations:
-          devices:
-            - driver: nvidia
-              count: 1
-              capabilities: [gpu]
-    volumes:
-      - /mnt/wato-drive2/perception-weights/tensorrt_model/ultra_fast_lane_detection_v2/resource/model/ufldv2_culane_res34_320x1600.onnx:/models/ufldv2_culane_res34_320x1600.onnx
+  # lane_detection:
+  #   build:
+  #     context: ..
+  #     dockerfile: docker/perception/lane_detection/lane_detection.Dockerfile
+  #     cache_from:
+  #       - "${PERCEPTION_LANE_DETECTION_IMAGE}:build_${TAG}"
+  #       - "${PERCEPTION_LANE_DETECTION_IMAGE}:build_main"
+  #     target: deploy
+  #   image: "${PERCEPTION_LANE_DETECTION_IMAGE}:${TAG}"
+  #   command: /bin/bash -c "ros2 launch lane_detection lane_detection.launch.py"
 
-  tracking:
-    build:
-      context: ..
-      dockerfile: docker/perception/tracking/tracking.Dockerfile
-      cache_from:
-        - "${PERCEPTION_TRACKING_IMAGE}:build_${TAG}"
-        - "${PERCEPTION_TRACKING_IMAGE}:build_main"
-      target: deploy
-    image: "${PERCEPTION_TRACKING_IMAGE}:${TAG}"
-    command: /bin/bash -c "ros2 launch tracking tracking.launch.py"
+  # tracking:
+  #   build:
+  #     context: ..
+  #     dockerfile: docker/perception/tracking/tracking.Dockerfile
+  #     cache_from:
+  #       - "${PERCEPTION_TRACKING_IMAGE}:build_${TAG}"
+  #       - "${PERCEPTION_TRACKING_IMAGE}:build_main"
+  #     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}:${TAG}"
-    command: /bin/bash -c "ros2 launch depth_estimation eve.launch.py"
+  # depth_estimation:
+  #   build:
+  #     context: ..
+  #     dockerfile: docker/perception/depth_estimation/depth_estimation.Dockerfile
+  #     cache_from:
+  #       - "${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"