diff --git a/ATOSFleetManagement_architecture_and_dev_guide.pdf b/ATOSFleetManagement_architecture_and_dev_guide.pdf new file mode 100644 index 000000000..2dfd6ee55 Binary files /dev/null and b/ATOSFleetManagement_architecture_and_dev_guide.pdf differ diff --git a/Dockerfile b/Dockerfile index b90a777db..c4ecc4431 100644 --- a/Dockerfile +++ b/Dockerfile @@ -19,9 +19,12 @@ COPY ./atos_gui/requirements.txt ./atos_gui/requirements.txt COPY ./atos_gui/package.xml ./atos_gui/package.xml COPY ./atos_interfaces/package.xml ./atos_interfaces/package.xml COPY ./atos/package.xml ./atos/package.xml - -RUN --mount=type=cache,target=/var/cache/apt \ - ./scripts/installation/install_deps.sh ${REPO_DIR} COPY . . -RUN ./scripts/installation/install_atos.sh ${REPO_DIR} -WORKDIR /root/atos_ws \ No newline at end of file +RUN --mount=type=cache,target=/var/cache/apt \ + ./setup_atos.sh +WORKDIR /root/atos_ws +RUN chmod +x /root/atos_git/scripts/run_atosfleetmanagement.sh + +EXPOSE 8420 8765 9090 8114 + +CMD ["/bin/bash", "-lc", "/root/atos_git/scripts/run_atosfleetmanagement.sh"] diff --git a/README.md b/README.md index c3c554b97..3c57d25c8 100644 --- a/README.md +++ b/README.md @@ -30,7 +30,7 @@ docker run --network="host" --ipc=host --privileged -it -v ~/.astazero/ATOS/:/r ``` If you run Docker Desktop you will need to specify the ports to expose to the host computer. ```bash -docker run --ipc=host --privileged -it -v ~/.astazero/ATOS/:/root/.astazero/ATOS/ -p 80:80 -p 8080:8080 -p 8081:8081 -p 8082:8082 -p 3000:3000 -p 3443:3443 -p 55555:55555 -p 443:443 -p 9090:9090 astazero/atos_docker_env:latest bash -c "source /root/atos_ws/install/setup.sh ; ros2 launch atos launch_basic.py insecure:=True" +docker run --ipc=host --privileged -it -v ~/.astazero/ATOS/:/root/.astazero/ATOS/ -p 80:80 -p 8080:8080 -p 8081:8081 -p 8082:8082 -p 8420:8420 -p 3443:3443 -p 55555:55555 -p 443:443 -p 9090:9090 astazero/atos_docker_env:latest bash -c "source /root/atos_ws/install/setup.sh ; ros2 launch atos launch_basic.py insecure:=True" ``` See the [GUI](../Usage/GUI/foxglove.md) documentation on how to enable secure connections. @@ -38,7 +38,7 @@ You might wish to mount the config directory at ~/.astazero/ATOS/ to a different ## Using the installation script -ATOS comes with an installation script that automates the installation process. It is intended for use on Ubuntu 22.04. The script will install ROS2 Humble, ATOS dependencies, and ATOS itself. It will also create a workspace (~/atos_ws) and build ATOS. The script can be executed using the following command: +ATOS comes with an installation script that automates the installation process. Native installation is supported on Ubuntu 20.04 with ROS 2 Foxy, Ubuntu 22.04 with ROS 2 Humble, and Ubuntu 24.04 with ROS 2 Jazzy. The script will install ROS 2, ATOS dependencies, and ATOS itself. It will also create a workspace (~/atos_ws) and build ATOS. The script can be executed using the following command: ```bash ./setup_atos.sh ``` @@ -46,6 +46,77 @@ ATOS comes with an installation script that automates the installation process. ## Building from source manually You can find instructions on how to manually install ATOS and its dependencies from source [here](https://atos.readthedocs.io/en/latest/Installation/installation/). +## ATOSFleetManagement development launch +ATOSFleetManagement is a lightweight development stack built around `truck_object_control` and `truck_object_gui` and does not start OpenScenarioGateway, JournalControl, or EsminiAdapter. + +After building, start it with: +```bash +ros2 launch atos launch_atosfleetmanagement.py insecure:=True +``` + +The placeholder COT input topic for TruckObjectControl is: +```text +/atos/truck_objects/cot +``` +Expected temporary payload format: +```text +id=;distance_m=;tcp_connected=<0|1> +``` +TruckObjectControl publishes speed commands on: +```text +/atos/truck_objects/speed_command +``` + +### ATOSFleetManagement in Docker (with or without simulators) +Build and start with docker compose: +```bash +docker compose -f docker-compose-fleetmanagement.yml up --build +``` + +Start with simulated trucks enabled: +```bash +WITH_TRUCK_SIMULATOR=True docker compose -f docker-compose-fleetmanagement.yml up --build +``` + +Start with simulated trucks disabled: +```bash +WITH_TRUCK_SIMULATOR=False docker compose -f docker-compose-fleetmanagement.yml up --build +``` + +Open TruckObjectGUI at: +```text +http://localhost:8420 +``` + +### Run as system service (Docker + systemd) +Example deployment folder on server: `/opt/atos`. + +1. Copy repository to server: +```bash +sudo mkdir -p /opt/atos +sudo rsync -a ./ /opt/atos/ +``` + +2. Install service env file and customize: +```bash +sudo cp /opt/atos/scripts/atosfleetmanagement.env.example /etc/default/atosfleetmanagement +sudo nano /etc/default/atosfleetmanagement +``` + +3. Install and enable service: +```bash +sudo cp /opt/atos/scripts/atosfleetmanagement.service /etc/systemd/system/atosfleetmanagement.service +sudo systemctl daemon-reload +sudo systemctl enable --now atosfleetmanagement +``` + +4. Service management: +```bash +sudo systemctl status atosfleetmanagement +sudo systemctl restart atosfleetmanagement +sudo journalctl -u atosfleetmanagement -f +``` + # Using ATOS with a Graphical User Interface (GUI) Please click [here](https://atos.readthedocs.io/en/latest/Usage/GUI/foxglove/) for instructions on how to use ATOS with a GUI. @@ -73,4 +144,3 @@ This project has partly been funded by the below organisations. The herein expre

- diff --git a/ROS2_ATOSFleetManagement_cheatsheet.pdf b/ROS2_ATOSFleetManagement_cheatsheet.pdf new file mode 100644 index 000000000..317559e11 Binary files /dev/null and b/ROS2_ATOSFleetManagement_cheatsheet.pdf differ diff --git a/TruckObjectControl_Illustration.pdf b/TruckObjectControl_Illustration.pdf new file mode 100644 index 000000000..7e388796d Binary files /dev/null and b/TruckObjectControl_Illustration.pdf differ diff --git a/atos/CMakeLists.txt b/atos/CMakeLists.txt index d9a311d25..017133a73 100644 --- a/atos/CMakeLists.txt +++ b/atos/CMakeLists.txt @@ -16,7 +16,7 @@ set(CMAKE_C_COMPILER "clang") #Set preprocessor macros depending on used ros version if ($ENV{ROS_DISTRO} STREQUAL "foxy") add_definitions(-DROS_FOXY) -elseif($ENV{ROS_DISTRO} STREQUAL "humble") +elseif($ENV{ROS_DISTRO} STREQUAL "humble" OR $ENV{ROS_DISTRO} STREQUAL "jazzy") add_definitions(-DROS_HUMBLE) endif() diff --git a/atos/common/module.hpp b/atos/common/module.hpp index 840d964f1..a2ba23ffe 100644 --- a/atos/common/module.hpp +++ b/atos/common/module.hpp @@ -47,7 +47,7 @@ class Module : public rclcpp::Node { Module(const std::string name) : Node(name), getStatusResponsePub(*this) {}; - Module() = default; + Module() = delete; bool shouldExit(); protected: diff --git a/atos/common/roschannels/roschannel.hpp b/atos/common/roschannels/roschannel.hpp index 9e2b3f312..adb4399ef 100644 --- a/atos/common/roschannels/roschannel.hpp +++ b/atos/common/roschannels/roschannel.hpp @@ -16,7 +16,8 @@ class BasePub { public: BasePub(rclcpp::Node& node, const std::string& topicName, const rclcpp::QoS& qos = rclcpp::QoS(rclcpp::KeepAll())) : pub(node.create_publisher(topicName, qos)) {} - BasePub() = delete; + BasePub() = delete; + virtual ~BasePub() = default; typename rclcpp::Publisher::SharedPtr pub; inline virtual void publish(const T& msg) { assert(pub); @@ -32,7 +33,8 @@ class BaseSub { std::function callback, const rclcpp::QoS& qos = rclcpp::QoS(rclcpp::KeepAll())) : sub(node.create_subscription(topicName, qos, callback)) {} - BaseSub() = delete; + BaseSub() = delete; + virtual ~BaseSub() = default; typename rclcpp::Subscription::SharedPtr sub; }; diff --git a/atos/common/util.c b/atos/common/util.c index 761ce8f6e..8d1672350 100644 --- a/atos/common/util.c +++ b/atos/common/util.c @@ -251,8 +251,7 @@ static int recursiveMkdir(const char *dir, int mode) { *p = '/'; } res = mkdir(tmp, mode); - return res; -} + } /*! * \brief deleteFile Deletes the file given in the parameter ::path @@ -1070,7 +1069,7 @@ int UtilSetSyncPoint(ObjectPosition * OP, double x, double y, double z, double T } } - return OP->SyncIndex; + } float UtilCalculateTimeToSync(ObjectPosition * OP) { @@ -1222,7 +1221,6 @@ int UtilSortSpaceTimeAscending(ObjectPosition * OP) { } } } - return 0; } @@ -1237,7 +1235,7 @@ int UtilFindCurrentTrajectoryPosition(ObjectPosition * OP, int StartIndex, doubl //OP->BestFoundTrajectoryIndex = 0; if (debug) fprintf(stderr, "UtilFindCurrentTrajectoryPosition: StartIndex=%d, CurrentTime=%4.3f, MaxTrajDiff=%4.3f, MaxTimeDiff=%4.3f\n", - StartIndex, CurrentTime, MaxTrajDiff, MaxTimeDiff); + OP->OrigoDistance, OP->x, OP->y, OP->SyncIndex); Init = 1; while (i < (OP->TrajectoryPositionCount - 1) && i <= OP->SyncIndex) { @@ -1379,8 +1377,8 @@ int UtilFindCurrentTrajectoryPositionNew(ObjectPosition * OP, int StartIndex, do PositionFound = i; //SampledSpaceIndex[j] = i; //j++ ; - if (debug == 2) - fprintf(stderr, "Minimum: %d, %3.6f, %3.6f", i, AngleDiff, RDiff); + if (debug == 2) + fprintf(stderr, "Minimum: %d, %3.6f, %3.6f", i, AngleDiff, RDiff); PrevAngleDiff = AngleDiff; } @@ -1755,10 +1753,10 @@ int UtilGetRowInFile(const char *path, const size_t pathLength, fprintf(stderr, "Buffer to small for read row in file\n"); return -1; } - if(rowIndex == i){ - *(rowBuffer + length) = '\0'; - return i; - } + if(rowIndex == i){ + *(rowBuffer+length) = '\0'; + return i; + } } } fclose(fd); diff --git a/atos/launch/launch_atosfleetmanagement.py b/atos/launch/launch_atosfleetmanagement.py new file mode 100644 index 000000000..0d2c1054a --- /dev/null +++ b/atos/launch/launch_atosfleetmanagement.py @@ -0,0 +1,201 @@ +import os +import sys + +from ament_index_python.packages import get_package_prefix +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.conditions import IfCondition +from launch.substitutions import LaunchConfiguration, PythonExpression +from launch_ros.actions import Node + +# Need to modify sys.path since we launch from the ros2 installed path. +sys.path.insert(0, os.path.join(get_package_prefix("atos"), "share", "atos", "launch")) + + +def generate_launch_description(): + insecure_websockets = LaunchConfiguration("insecure") + foxbridge = LaunchConfiguration("foxbridge") + with_simulator = LaunchConfiguration("with_truck_simulator") + cot_tls_require_client_cert = LaunchConfiguration("cot_tls_require_client_cert") + cot_tls_cert_path = LaunchConfiguration("cot_tls_cert_path") + cot_tls_key_path = LaunchConfiguration("cot_tls_key_path") + cot_tls_ca_path = LaunchConfiguration("cot_tls_ca_path") + + insecure_launch_arg = DeclareLaunchArgument("insecure", default_value="False") + foxbridge_launch_arg = DeclareLaunchArgument("foxbridge", default_value="True") + simulator_launch_arg = DeclareLaunchArgument( + "with_truck_simulator", default_value="False" + ) + cot_tls_require_client_cert_launch_arg = DeclareLaunchArgument( + "cot_tls_require_client_cert", default_value="False" + ) + cot_tls_cert_path_launch_arg = DeclareLaunchArgument( + "cot_tls_cert_path", default_value="" + ) + cot_tls_key_path_launch_arg = DeclareLaunchArgument( + "cot_tls_key_path", default_value="" + ) + cot_tls_ca_path_launch_arg = DeclareLaunchArgument( + "cot_tls_ca_path", default_value="" + ) + + fox_tls_bridge_params = [ + {"port": 8765}, + {"retry_startup_delay": 5.0}, + {"tls": True}, + {"fragment_timeout": 600}, + {"max_message_size": 10000000}, + {"unregister_timeout": 10.0}, + {"use_compression": False}, + ] + ros_tls_bridge_params = [ + {"port": 9090}, + {"retry_startup_delay": 5.0}, + {"tls": True}, + {"fragment_timeout": 600}, + {"max_message_size": 10000000}, + {"unregister_timeout": 10.0}, + {"use_compression": False}, + ] + + fox_bridge_params = [dict(item) for item in fox_tls_bridge_params] + fox_bridge_params[2] = {"tls": False} + ros_bridge_params = [dict(item) for item in ros_tls_bridge_params] + ros_bridge_params[1] = {"retry_startup_delay": 5.0} + ros_bridge_params[2] = {"tls": False} + + return LaunchDescription( + [ + foxbridge_launch_arg, + insecure_launch_arg, + simulator_launch_arg, + cot_tls_require_client_cert_launch_arg, + cot_tls_cert_path_launch_arg, + cot_tls_key_path_launch_arg, + cot_tls_ca_path_launch_arg, + Node( + condition=IfCondition( + PythonExpression(["not ", LaunchConfiguration("insecure")]) + ), + package="atos_gui", + namespace="atos", + executable="truck_object_gui", + name="truck_object_gui", + output="screen", + arguments=["True", "atosfleetmanagement"], + ), + Node( + condition=IfCondition(LaunchConfiguration("insecure")), + package="atos_gui", + namespace="atos", + executable="truck_object_gui", + name="truck_object_gui", + output="screen", + arguments=["False", "atosfleetmanagement"], + ), + Node( + package="atos", + namespace="atos", + executable="truck_object_control", + name="truck_object_control", + output="screen", + parameters=[ + {"cot_tls_require_client_cert": cot_tls_require_client_cert}, + {"cot_tls_cert_path": cot_tls_cert_path}, + {"cot_tls_key_path": cot_tls_key_path}, + {"cot_tls_ca_path": cot_tls_ca_path}, + ], + ), + Node( + condition=IfCondition(with_simulator), + package="atos", + namespace="atos", + executable="atos_truck_simulator", + name="atos_truck_simulator_1", + output="screen", + parameters=[ + {"uid": "L5S-TRUCK-SIM-1"}, + {"start_index": 0}, + {"target_speed_kmh": 80.0}, + {"acceleration_mps2": 2.0}, + {"ignore_warning_speed_commands": True}, + ], + ), + Node( + condition=IfCondition(with_simulator), + package="atos", + namespace="atos", + executable="atos_truck_simulator", + name="atos_truck_simulator_2", + output="screen", + parameters=[ + {"uid": "L5S-TRUCK-SIM-2"}, + {"start_index": 250}, + {"target_speed_kmh": 40.0}, + {"acceleration_mps2": 2.0}, + ], + ), + Node( + condition=IfCondition(with_simulator), + package="atos", + namespace="atos", + executable="atos_truck_simulator", + name="atos_truck_simulator_3", + output="screen", + parameters=[ + {"uid": "L5S-TRUCK-SIM-3"}, + {"start_index": 500}, + {"target_speed_kmh": 40.0}, + {"acceleration_mps2": 2.0}, + ], + ), + Node( + condition=IfCondition(PythonExpression(["not ", foxbridge])), + name="rosapi", + package="rosapi", + executable="rosapi_node", + ), + Node( + condition=IfCondition( + PythonExpression([insecure_websockets, " and ", foxbridge]) + ), + package="foxglove_bridge", + executable="foxglove_bridge", + name="foxglove_bridge", + output={"both": "log"}, + parameters=fox_bridge_params, + ), + Node( + condition=IfCondition( + PythonExpression(["not ", insecure_websockets, " and ", foxbridge]) + ), + package="foxglove_bridge", + executable="foxglove_bridge", + name="foxglove_bridge", + output={"both": "log"}, + parameters=fox_tls_bridge_params, + ), + Node( + condition=IfCondition( + PythonExpression([insecure_websockets, " and not ", foxbridge]) + ), + package="rosbridge_server", + executable="rosbridge_websocket", + name="ros_bridge", + output={"both": "log"}, + parameters=ros_bridge_params, + ), + Node( + condition=IfCondition( + PythonExpression( + ["not ", insecure_websockets, " and not ", foxbridge] + ) + ), + package="rosbridge_server", + executable="rosbridge_websocket", + name="ros_bridge", + output={"both": "log"}, + parameters=ros_tls_bridge_params, + ), + ] + ) diff --git a/atos/launch/launch_integration_testing.py b/atos/launch/launch_integration_testing.py index 875357b7f..28979e33e 100644 --- a/atos/launch/launch_integration_testing.py +++ b/atos/launch/launch_integration_testing.py @@ -27,7 +27,7 @@ def get_integration_test_nodes(): def generate_launch_description(): - base_nodes = launch_base.get_base_nodes() + base_nodes = launch_base.get_base_nodes(include_gui=False) integration_test_nodes = get_integration_test_nodes() diff --git a/atos/launch/launch_utils/launch_base.py b/atos/launch/launch_utils/launch_base.py index 9cedf320f..0b8ea4c58 100644 --- a/atos/launch/launch_utils/launch_base.py +++ b/atos/launch/launch_utils/launch_base.py @@ -24,7 +24,7 @@ def get_files(): return validate_atos_dir() -def get_base_nodes(): +def get_base_nodes(include_gui=True): files = get_files() insecure_websockets = LaunchConfiguration("insecure") @@ -52,14 +52,9 @@ def get_base_nodes(): ros_bridge_params = copy.deepcopy(fox_bridge_params) ros_bridge_params[0] = {"port": 9090} - return [ + base_nodes = [ foxbridge_launch_arg, insecure_launch_arg, - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(get_package_share_directory("atos_gui"), "launch/gui.py") - ) - ), Node( package="atos", namespace="atos", @@ -135,3 +130,17 @@ def get_base_nodes(): parameters=ros_tls_bridge_params, ), ] + + if include_gui: + base_nodes.insert( + 2, + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join( + get_package_share_directory("atos_gui"), "launch/gui.py" + ) + ) + ), + ) + + return base_nodes diff --git a/atos/modules/DirectControl/src/directcontrol.cpp b/atos/modules/DirectControl/src/directcontrol.cpp index 388955162..6525e0aa3 100644 --- a/atos/modules/DirectControl/src/directcontrol.cpp +++ b/atos/modules/DirectControl/src/directcontrol.cpp @@ -175,7 +175,7 @@ void DirectControl::readTCPSocketData() { try { this->handleISOMessage(data, static_cast(recvData)); } catch (std::invalid_argument& e) { - RCLCPP_ERROR(get_logger(), e.what()); + RCLCPP_ERROR(get_logger(), "%s", e.what()); std::fill(data.begin(), data.end(), 0); } } diff --git a/atos/modules/EsminiAdapter/src/esminiadapter.cpp b/atos/modules/EsminiAdapter/src/esminiadapter.cpp index a079d69ea..46321a5b0 100644 --- a/atos/modules/EsminiAdapter/src/esminiadapter.cpp +++ b/atos/modules/EsminiAdapter/src/esminiadapter.cpp @@ -11,6 +11,7 @@ #include #include #include +#include #include "atos_interfaces/msg/cartesian_trajectory.hpp" #include "rclcpp/wait_for_message.hpp" @@ -25,6 +26,32 @@ using std::placeholders::_1; using std::placeholders::_2; using namespace std::chrono_literals; +namespace { +template +int reportObjectPos(ReportObjectPosFn reportFn, + int objectId, + double timestamp, + double x, + double y, + double z, + double h, + double p, + double r) { + if constexpr (std::is_invocable_v) { + return reportFn(objectId, + static_cast(timestamp), + static_cast(x), + static_cast(y), + static_cast(z), + static_cast(h), + static_cast(p), + static_cast(r)); + } else { + return reportFn(objectId, x, y, z, h, p, r); + } +} +} // namespace + std::shared_ptr EsminiAdapter::me = nullptr; std::unordered_map EsminiAdapter::atosIDToObjectName = std::unordered_map(); std::unordered_map EsminiAdapter::objectNameToAtosId = std::unordered_map(); @@ -221,8 +248,7 @@ void EsminiAdapter::reportObjectPosition(const Monitor::message_type::SharedPtr auto speed = monr->velocity.twist.linear; // Reporting to Esmini - float timestamp = 0.0f; // Not really used according to esmini documentation - SE_ReportObjectPos(esminiObjectId, timestamp, pos.x, pos.y, pos.z, yaw, pitch, roll); + reportObjectPos(&SE_ReportObjectPos, esminiObjectId, SE_GetSimulationTime(), pos.x, pos.y, pos.z, yaw, pitch, roll); SE_ReportObjectSpeed(esminiObjectId, speed.x); } @@ -505,7 +531,7 @@ void EsminiAdapter::runEsminiSimulation() { me->crsTransformation = std::make_shared(projStringFrom, projStringTo); me->applyTrajTransform = true; } catch (std::exception& e) { - RCLCPP_ERROR(me->get_logger(), e.what()); + RCLCPP_ERROR(me->get_logger(), "%s", e.what()); return; } } else { @@ -520,7 +546,7 @@ void EsminiAdapter::runEsminiSimulation() { auto objectNameAndAtosIDsCallback = [&](rclcpp::Client::SharedFutureWithRequest future) { auto response = future.get(); - for (int i = 0; i < response.second->ids.size(); i++) { + for (size_t i = 0; i < response.second->ids.size(); ++i) { me->atosIDToObjectName[response.second->ids[i]] = response.second->names[i]; me->objectNameToAtosId[response.second->names[i]] = response.second->ids[i]; } @@ -546,7 +572,7 @@ void EsminiAdapter::runEsminiSimulation() { me->atosObjectIdToTraj.emplace(atos_id, traj); me->atosIdToEsminiId.emplace(atos_id, esminiId); RCLCPP_INFO( - me->get_logger(), "Extracted trajectory for object %s with size %d", objectName, traj.points.size()); + me->get_logger(), "Extracted trajectory for object %s with size %zu", objectName, traj.points.size()); me->pathPublishers.emplace(atos_id, ROSChannels::Path::Pub(*me, atos_id)); me->pathPublishers.at(atos_id).publish(traj.toPath()); @@ -573,7 +599,6 @@ void EsminiAdapter::runEsminiSimulation() { void EsminiAdapter::onRequestObjectTrajectory(const std::shared_ptr req, std::shared_ptr res) { - res->id; me->fetchOSCFilePath(); if (me->runSimulation || me->atosObjectIdToTraj.find(req->id) == me->atosObjectIdToTraj.end()) { me->runEsminiSimulation(); diff --git a/atos/modules/IntegrationTesting/src/scenarioexecution.cpp b/atos/modules/IntegrationTesting/src/scenarioexecution.cpp index 61192f41a..acea2bde8 100644 --- a/atos/modules/IntegrationTesting/src/scenarioexecution.cpp +++ b/atos/modules/IntegrationTesting/src/scenarioexecution.cpp @@ -130,8 +130,9 @@ void ScenarioExecution::printResult() { bool allStatesCorrect = true; for (auto const& [state, expectedState] : stateResult) { - auto pass = (state == expectedState) ? "OK" : "NOT OK"; - if (pass == "NOT OK") { + const bool passed = (state == expectedState); + const char* pass = passed ? "OK" : "NOT OK"; + if (!passed) { allStatesCorrect = false; } ss << std::left << std::setfill(' ') << std::setw(width) << state << std::setw(width) << expectedState @@ -144,7 +145,8 @@ void ScenarioExecution::printResult() { ss << ((allStatesCorrect) ? "OK" : "NOT OK"); ss << "\nTrajectory following result: "; ss << ((followedTrajectory) ? "OK" : "NOT OK"); - RCLCPP_INFO(get_logger(), ss.str().c_str()); + const auto result = ss.str(); + RCLCPP_INFO(get_logger(), "%s", result.c_str()); } /** @@ -152,4 +154,6 @@ void ScenarioExecution::printResult() { * * @param msg Message. */ -void ScenarioExecution::placeholderCallback(const atos_interfaces::msg::Monitor::SharedPtr msg) {} +void ScenarioExecution::placeholderCallback(const atos_interfaces::msg::Monitor::SharedPtr msg) { + (void)msg; +} diff --git a/atos/modules/MQTTBridge/inc/Imqtt2ros.hpp b/atos/modules/MQTTBridge/inc/Imqtt2ros.hpp index 52daa363f..cb619d830 100644 --- a/atos/modules/MQTTBridge/inc/Imqtt2ros.hpp +++ b/atos/modules/MQTTBridge/inc/Imqtt2ros.hpp @@ -15,7 +15,7 @@ struct Mqtt2RosInterface { struct { std::string topic; ///< ROS topic std::string msg_type; ///< message type of publisher - rclcpp::GenericPublisher::SharedPtr publisher; + rclcpp::Publisher::SharedPtr publisher; int queue_size = 1; ///< ROS publisher queue size bool is_stale = false; ///< whether a new generic publisher/subscriber is required } ros; ///< ROS-related variables diff --git a/atos/modules/MQTTBridge/src/mqttbridge.cpp b/atos/modules/MQTTBridge/src/mqttbridge.cpp index 09896c6c3..aad5be3a4 100644 --- a/atos/modules/MQTTBridge/src/mqttbridge.cpp +++ b/atos/modules/MQTTBridge/src/mqttbridge.cpp @@ -4,15 +4,8 @@ * file, You can obtain one at https://mozilla.org/MPL/2.0/. */ #include "mqttbridge.hpp" - #include -#include -#include -#include - -#include "mqtt2ros_utils.hpp" - using namespace ROSChannels; using std::placeholders::_1; @@ -48,9 +41,6 @@ void MqttBridge::loadParameters() { param_desc.description = "ROS topic on which corresponding MQTT messages are published"; declare_parameter( fmt::format("mqtt2ros.{}.ros_topic", mqtt_topic), rclcpp::ParameterType::PARAMETER_STRING, param_desc); - param_desc.description = "ROS message type for this bridge"; - declare_parameter( - fmt::format("mqtt2ros.{}.msg_type", mqtt_topic), rclcpp::ParameterType::PARAMETER_STRING, param_desc); param_desc.description = "MQTT QoS value"; declare_parameter(fmt::format("mqtt2ros.{}.advanced.mqtt.qos", mqtt_topic), rclcpp::ParameterType::PARAMETER_INTEGER, @@ -90,13 +80,6 @@ void MqttBridge::loadParameters() { Mqtt2RosInterface& mqtt2ros = mqtt2ros_[mqtt_topic]; mqtt2ros.ros.topic = ros_topic; - rclcpp::Parameter msg_type_param; - if (get_parameter(fmt::format("mqtt2ros.{}.msg_type", mqtt_topic), msg_type_param)) { - mqtt2ros.ros.msg_type = msg_type_param.as_string(); - } else { - mqtt2ros.ros.msg_type = "std_msgs/msg/Empty"; // default if no parameter is set - } - // mqtt2ros[k]/advanced/mqtt/qos rclcpp::Parameter qos_param; if (get_parameter(fmt::format("mqtt2ros.{}.advanced.mqtt.qos", mqtt_topic), qos_param)) { @@ -110,16 +93,14 @@ void MqttBridge::loadParameters() { } RCLCPP_INFO(get_logger(), - "Bridging MQTT topic '%s' to ROS topic '%s' with message type '%s'", + "Bridging MQTT topic '%s' to ROS topic '%s'", mqtt_topic.c_str(), - mqtt2ros.ros.topic.c_str(), - mqtt2ros.ros.msg_type.c_str()); + mqtt2ros.ros.topic.c_str()); } else { - RCLCPP_WARN(get_logger(), - fmt::format("Parameter 'ros2mqtt.{}' is missing subparameter " - "'ros_topic', will be ignored", - mqtt_topic) - .c_str()); + const auto warning = fmt::format("Parameter 'mqtt2ros.{}' is missing subparameter 'ros_topic', will " + "be ignored", + mqtt_topic); + RCLCPP_WARN(get_logger(), "%s", warning.c_str()); } } @@ -149,11 +130,10 @@ void MqttBridge::loadParameters() { ros_topic.c_str(), ros2mqtt.mqtt.topic.c_str()); } else { - RCLCPP_WARN(get_logger(), - fmt::format("Parameter 'ros2mqtt.{}' is missing subparameter " - "'mqtt_topic', will be ignored", - ros_topic) - .c_str()); + const auto warning = fmt::format("Parameter 'ros2mqtt.{}' is missing subparameter 'mqtt_topic', will " + "be ignored", + ros_topic); + RCLCPP_WARN(get_logger(), "%s", warning.c_str()); } } } @@ -256,6 +236,7 @@ void MqttBridge::setupSubscriptions() { void MqttBridge::ros2mqtt(const std::shared_ptr& serialized_msg, const std::string& ros_topic) { + (void)serialized_msg; Ros2MqttInterface& ros2mqtt = ros2mqtt_[ros_topic]; std::string mqtt_topic = ros2mqtt.mqtt.topic; @@ -331,8 +312,7 @@ void MqttBridge::newMqtt2RosBridge(atos_interfaces::srv::NewMqtt2RosBridge::Requ mqtt2ros.ros.is_stale = true; mqtt2ros.ros.topic = request->ros_topic; mqtt2ros.mqtt.qos = request->mqtt_qos; - mqtt2ros.ros.publisher = - this->create_generic_publisher(mqtt2ros.ros.topic, mqtt2ros.ros.msg_type, mqtt2ros.ros.queue_size); + mqtt2ros.ros.publisher = this->create_publisher(mqtt2ros.ros.topic, request->ros_queue_size); mqtt2ros.ros.queue_size = request->ros_queue_size; RCLCPP_DEBUG(get_logger(), @@ -392,9 +372,9 @@ void MqttBridge::message_arrived(mqtt::const_message_ptr mqtt_msg) { RCLCPP_DEBUG(get_logger(), "Received MQTT message on topic '%s'", mqtt_topic.c_str()); Mqtt2RosInterface& mqtt2ros = mqtt2ros_[mqtt_topic]; - const auto msg = Mqtt2RosUtils::get_serialized_msg(mqtt2ros.ros.msg_type, mqtt_msg->get_payload_str()); - mqtt2ros.ros.publisher->publish(msg); - RCLCPP_DEBUG(get_logger(), "Published MQTT message to ROS topic '%s'", mqtt2ros.ros.topic.c_str()); + // Publish empty message to ROS topic + mqtt2ros.ros.publisher->publish(std_msgs::msg::Empty()); + RCLCPP_DEBUG(get_logger(), "Published empty message to ROS topic '%s'", mqtt2ros.ros.topic.c_str()); } template diff --git a/atos/modules/ObjectControl/inc/objectcontrol.hpp b/atos/modules/ObjectControl/inc/objectcontrol.hpp index 88347aee3..d7ac83641 100644 --- a/atos/modules/ObjectControl/inc/objectcontrol.hpp +++ b/atos/modules/ObjectControl/inc/objectcontrol.hpp @@ -270,6 +270,7 @@ class ObjectControl : public Module { //! \brief Read the configured object and trajectory files and load related data //! into the ScenarioHandler. bool loadScenario(); + void loadObjectFiles(); //! \brief Transform the scenario trajectories relative to the trajectory of the //! specified object. void transformScenarioRelativeTo(const uint32_t objectID); diff --git a/atos/modules/ObjectControl/inc/relativeanchor.hpp b/atos/modules/ObjectControl/inc/relativeanchor.hpp index ac75d09fd..46e8197a1 100644 --- a/atos/modules/ObjectControl/inc/relativeanchor.hpp +++ b/atos/modules/ObjectControl/inc/relativeanchor.hpp @@ -15,7 +15,7 @@ class RelativeAnchor : public TestObject { RelativeAnchor(RelativeAnchor&&); RelativeAnchor& operator=(const RelativeAnchor&) = delete; - RelativeAnchor& operator=(RelativeAnchor&&) = default; + RelativeAnchor& operator=(RelativeAnchor&&) = delete; virtual void publishMonr(const ROSChannels::Monitor::message_type) override; diff --git a/atos/modules/ObjectControl/inc/relativetestobject.hpp b/atos/modules/ObjectControl/inc/relativetestobject.hpp index 44d3bd1ff..3c1f33366 100644 --- a/atos/modules/ObjectControl/inc/relativetestobject.hpp +++ b/atos/modules/ObjectControl/inc/relativetestobject.hpp @@ -16,7 +16,7 @@ class RelativeTestObject : public TestObject { RelativeTestObject(RelativeTestObject&&); RelativeTestObject& operator=(const RelativeTestObject&) = delete; - RelativeTestObject& operator=(RelativeTestObject&&) = default; + RelativeTestObject& operator=(RelativeTestObject&&) = delete; private: virtual ObjectMonitorType transformCoordinate(const ObjectMonitorType& point, diff --git a/atos/modules/ObjectControl/inc/testobject.hpp b/atos/modules/ObjectControl/inc/testobject.hpp index 16adeb8e5..903480f78 100644 --- a/atos/modules/ObjectControl/inc/testobject.hpp +++ b/atos/modules/ObjectControl/inc/testobject.hpp @@ -41,7 +41,7 @@ class TestObject : public rclcpp::Node { TestObject(TestObject&&); TestObject& operator=(const TestObject&) = delete; - TestObject& operator=(TestObject&&) = default; + TestObject& operator=(TestObject&&) = delete; virtual void parseConfigurationFile(const fs::path& file); diff --git a/atos/modules/ObjectControl/src/objectcontrol.cpp b/atos/modules/ObjectControl/src/objectcontrol.cpp index 27cd4a550..35f761f8e 100644 --- a/atos/modules/ObjectControl/src/objectcontrol.cpp +++ b/atos/modules/ObjectControl/src/objectcontrol.cpp @@ -53,11 +53,7 @@ ObjectControl::ObjectControl(std::shared_ptrcreate_callback_group(rclcpp::CallbackGroupType::Reentrant); ip_client_cb_group_ = this->create_callback_group(rclcpp::CallbackGroupType::Reentrant); origin_client_cb_group_ = this->create_callback_group(rclcpp::CallbackGroupType::Reentrant); - this->declare_parameter("max_missing_heartbeats", 100); - this->declare_parameter("max_missing_monr", 100); - this->declare_parameter("monr_timeout_period_ms", 1000); - objectsConnectedTimer = create_wall_timer(1000ms, std::bind(&ObjectControl::publishObjectIds, this)); idClient = create_client( ServiceNames::getObjectIds, rmw_qos_profile_services_default, id_client_cb_group_); @@ -207,8 +203,6 @@ bool ObjectControl::loadScenario() { exec->add_node(object); objects.emplace(id, object); objects.at(id)->setTransmitterID(id); - objects.at(id)->setMaxAllowedMonitorPeriod( - std::chrono::milliseconds(this->get_parameter("monr_timeout_period_ms").as_int())); std::promise trajLoaded; auto trajectoryCallback = @@ -295,17 +289,17 @@ bool ObjectControl::loadScenario() { std::future trajLoadedFuture = trajLoaded.get_future(); std::future ipLoadedFuture = ipLoaded.get_future(); std::future originLoadedFuture = originLoaded.get_future(); - if (auto status = trajLoadedFuture.wait_for(20s); + if (auto status = trajLoadedFuture.wait_for(5s); status != std::future_status::ready || !trajLoadedFuture.get()) { RCLCPP_ERROR(get_logger(), "Trajectory loading failed for object ID %u", id); successful = false; } - if (auto status = ipLoadedFuture.wait_for(2s); + if (auto status = ipLoadedFuture.wait_for(250ms); status != std::future_status::ready || !ipLoadedFuture.get()) { RCLCPP_ERROR(get_logger(), "IP loading failed for object ID %u", id); successful = false; } - if (auto status = originLoadedFuture.wait_for(2s); + if (auto status = originLoadedFuture.wait_for(250ms); status != std::future_status::ready || !originLoadedFuture.get()) { RCLCPP_ERROR(get_logger(), "Origin loading failed for object ID %u", id); successful = false; @@ -326,7 +320,7 @@ bool ObjectControl::loadScenario() { auto future = idClient->async_send_request(request, idsCallback); // Wait for all objects to load std::future scenarioLoadedFuture = scenarioLoaded.get_future(); - if (auto status = scenarioLoadedFuture.wait_for(30s); status == std::future_status::ready) { + if (auto status = scenarioLoadedFuture.wait_for(10s); status == std::future_status::ready) { return scenarioLoadedFuture.get(); // Get the status value } else if (status == std::future_status::timeout) { RCLCPP_ERROR(get_logger(), "Scenario loading timed out"); @@ -341,6 +335,63 @@ bool ObjectControl::loadScenario() { return false; } +void ObjectControl::loadObjectFiles() { + char path[MAX_FILE_PATH]; + std::vector errors; + + UtilGetObjectDirectoryPath(path, sizeof(path)); + fs::path objectDir(path); + if (!fs::exists(objectDir)) { + throw std::ios_base::failure("Object directory does not exist"); + } + + for (const auto& entry : fs::directory_iterator(objectDir)) { + if (fs::is_regular_file(entry.status())) { + const auto inputFile = entry.path(); + ObjectConfig conf(get_logger()); + try { + conf.parseConfigurationFile(inputFile); + uint32_t id = conf.getTransmitterID(); + RCLCPP_INFO(get_logger(), "Loaded configuration: %s", conf.toString().c_str()); + // Check preexisting + auto foundObject = objects.find(id); + if (foundObject == objects.end()) { + std::shared_ptr object = std::make_shared(id); + object->parseConfigurationFile(inputFile); + objects.emplace(id, object); + } else { + auto badID = conf.getTransmitterID(); + std::string errMsg = "Duplicate object ID " + std::to_string(badID) + " detected in files " + + objects.at(badID)->getTrajectoryFileName() + " and " + + conf.getTrajectoryFileName(); + throw std::invalid_argument(errMsg); + } + } catch (std::invalid_argument& e) { + RCLCPP_ERROR(get_logger(), "%s", e.what()); + errors.push_back(e); + } + } + } + + // Fix injector ID maps - reverse their direction + for (const auto& id : getVehicleIDs()) { + auto injMap = objects.at(id)->getObjectConfig().getInjectionMap(); + for (const auto& sourceID : injMap.sourceIDs) { + auto conf = objects.at(sourceID)->getObjectConfig(); + conf.addInjectionTarget(id); + objects.at(sourceID)->setObjectConfig(conf); + } + } + + if (!errors.empty()) { + objects.clear(); + std::ostringstream ostr; + auto append = [&ostr](const std::invalid_argument& e) { ostr << e.what() << std::endl; }; + std::for_each(errors.begin(), errors.end(), append); + throw std::invalid_argument("Failed to parse object file(s):\n" + ostr.str()); + } +} + uint32_t ObjectControl::getAnchorObjectID() const { for (auto& object : objects) { if (object.second->isAnchor()) { @@ -468,7 +519,7 @@ void ObjectControl::heartbeat() { objects.at(id)->sendHeartbeat(controlCenterStatus()); } } catch (std::exception& e) { - RCLCPP_WARN(get_logger(), e.what()); + RCLCPP_WARN(get_logger(), "%s", e.what()); objects.at(id)->disconnect(); sm.process_event(state_machine::events::DisconnectedFromObject{id}); } @@ -536,8 +587,8 @@ void ObjectControl::notifyObjectsConnected() { } void ObjectControl::connectToObject(std::shared_ptr obj, std::shared_future& connStopReq) { - const int maxConnHeabs = this->get_parameter("max_missing_heartbeats").as_int(); - const int maxConnMonrs = this->get_parameter("max_missing_monr").as_int(); + const int maxConnHeabs = this->get_parameter("max_missing_heartbeats").as_int(); + constexpr int maxConnMonrs = 100; try { if (!obj->isConnected()) { try { diff --git a/atos/modules/ObjectControl/src/objectlistener.cpp b/atos/modules/ObjectControl/src/objectlistener.cpp index 69426a3b9..54a286809 100644 --- a/atos/modules/ObjectControl/src/objectlistener.cpp +++ b/atos/modules/ObjectControl/src/objectlistener.cpp @@ -35,11 +35,11 @@ void ObjectListener::listen() { obj->handleISOMessage(true); } } catch (std::invalid_argument& e) { - RCLCPP_ERROR(get_logger(), e.what()); // TODO: add comment explaining this case.. + RCLCPP_ERROR(get_logger(), "%s", e.what()); // TODO: add comment explaining this case.. } catch (std::range_error& e) { - RCLCPP_DEBUG(get_logger(), e.what()); // Socket was interrupted intentionally, exit gracefully + RCLCPP_DEBUG(get_logger(), "%s", e.what()); // Socket was interrupted intentionally, exit gracefully } catch (std::runtime_error& e) { - RCLCPP_ERROR(get_logger(), e.what()); + RCLCPP_ERROR(get_logger(), "%s", e.what()); obj->disconnect(); handler->sm.process_event(state_machine::events::DisconnectedFromObject{obj->getTransmitterID()}); } diff --git a/atos/modules/TrajectoryletStreamer/inc/trajectoryletstreamer.hpp b/atos/modules/TrajectoryletStreamer/inc/trajectoryletstreamer.hpp index 3e2cfc281..98114f1a8 100644 --- a/atos/modules/TrajectoryletStreamer/inc/trajectoryletstreamer.hpp +++ b/atos/modules/TrajectoryletStreamer/inc/trajectoryletstreamer.hpp @@ -23,8 +23,8 @@ class TrajectoryletStreamer : public Module { private: static inline std::string const moduleName = "trajectorylet_streamer"; - void onInitMessage(const ROSChannels::Init::message_type::SharedPtr); - void onObjectsConnectedMessage(const ROSChannels::ObjectsConnected::message_type::SharedPtr); + void onInitMessage(const ROSChannels::Init::message_type::SharedPtr) override; + void onObjectsConnectedMessage(const ROSChannels::ObjectsConnected::message_type::SharedPtr) override; void onAbortMessage(const ROSChannels::Abort::message_type::SharedPtr) override; void onStopMessage(const ROSChannels::Stop::message_type::SharedPtr) override; diff --git a/atos/modules/TruckObjectControl/CMakeLists.txt b/atos/modules/TruckObjectControl/CMakeLists.txt index 1da34fbbc..2096276c2 100644 --- a/atos/modules/TruckObjectControl/CMakeLists.txt +++ b/atos/modules/TruckObjectControl/CMakeLists.txt @@ -18,7 +18,6 @@ find_package(OpenSSL REQUIRED) include(GNUInstallDirs) set(COREUTILS_LIBRARY ATOSCoreUtil) - add_executable(${PROJECT_NAME} ${CMAKE_CURRENT_SOURCE_DIR}/src/main.cpp ${CMAKE_CURRENT_SOURCE_DIR}/src/truckobjectcontrol.cpp diff --git a/atos_gui/atos_gui/main.py b/atos_gui/atos_gui/main.py index dd9c3a9bf..d69f53277 100644 --- a/atos_gui/atos_gui/main.py +++ b/atos_gui/atos_gui/main.py @@ -3,6 +3,7 @@ file, You can obtain one at https://mozilla.org/MPL/2.0/. """ +import json import sys import threading from pathlib import Path @@ -11,69 +12,313 @@ import rclpy from nicegui import app, ui, ui_run from rclpy.executors import ExternalShutdownException, MultiThreadedExecutor +from rclpy.node import Node +from std_msgs.msg import String from atos_gui.configpanel.configpanel import ConfigPanelNode from atos_gui.controlpanel.controlpanel import ControlPanelNode from atos_gui.objectpanel.objectpanel import ObjectPanelNode -from atos_interfaces.srv import * -USE_SSL = sys.argv[1] == "True" +USE_SSL = len(sys.argv) > 1 and sys.argv[1] == "True" +FLEET_MODE = len(sys.argv) > 2 and sys.argv[2].lower() == "atosfleetmanagement" +GEOJSON_NAME = "RuralRoad_center_of_driving_lane_ccw.geojson" +FLEET_STATIC_ROUTE = "/atos_gui_static" +FLEET_STATIC_DIR = Path(__file__).parent / "static" +FLEET_MAP_JS_VERSION = "20260424-3" +FLEET_STATE_LOCK = threading.Lock() +FLEET_TRUCK_STATES: dict[str, dict] = {} +FLEET_GEOJSON_CACHE: dict[str, dict] = {} +APP_CONFIGURED = False def main() -> None: - # NOTE: This function is defined as the ROS entry point in setup.py, but it's empty to enable NiceGUI auto-reloading - pass + configure_app() + ui.run(**build_ui_run_args()) + + +def _candidate_conf_dirs() -> list[Path]: + candidates = [ + Path.home() / ".astazero/ATOS/conf", + Path.home() / "atos_ws/src/atos/conf/conf", + Path.home() / "Documents/repos/ATOS/conf/conf", + ] + + try: + from ament_index_python.packages import get_package_prefix + + atos_prefix = Path(get_package_prefix("atos")) + candidates.append(atos_prefix / "etc/conf") + except Exception: + pass + + unique_candidates = [] + seen = set() + for path in candidates: + key = str(path) + if key in seen: + continue + seen.add(key) + unique_candidates.append(path) + + return unique_candidates + + +def _resolve_geojson_path(path_name: str) -> Path | None: + sanitized = Path(path_name).name + if not sanitized: + return None + + direct = Path(path_name) + if direct.is_absolute() and direct.exists(): + return direct + + for conf_dir in _candidate_conf_dirs(): + candidate = conf_dir / sanitized + if candidate.exists(): + return candidate + + return None + + +def _load_geojson_by_name(path_name: str) -> tuple[dict | None, Path | None]: + sanitized = Path(path_name).name + if not sanitized: + return None, None + + if sanitized in FLEET_GEOJSON_CACHE: + return FLEET_GEOJSON_CACHE[sanitized], _resolve_geojson_path(sanitized) + + path = _resolve_geojson_path(sanitized) + if not path: + return None, None + + try: + payload = json.loads(path.read_text()) + FLEET_GEOJSON_CACHE[sanitized] = payload + return payload, path + except Exception: + return None, None + + +def _fleet_map_payload_json() -> str: + with FLEET_STATE_LOCK: + trucks = list(FLEET_TRUCK_STATES.values()) + + path_names = {GEOJSON_NAME} + for truck in trucks: + path_name = truck.get("path_name") + if path_name: + path_names.add(Path(str(path_name)).name) + + paths_payload = {} + for path_name in sorted(path_names): + geojson, _ = _load_geojson_by_name(path_name) + if geojson: + paths_payload[path_name] = geojson + + payload = { + "default_path_name": GEOJSON_NAME, + "paths": paths_payload, + "trucks": trucks, + } + return json.dumps(payload).replace(" None: + super().__init__("truck_object_gui_state_bridge") + self._state_sub = self.create_subscription( + String, "truck_objects/state", self._on_state, 100 + ) + + def _on_state(self, msg: String) -> None: + try: + payload = json.loads(msg.data) + except Exception: + self.get_logger().warning( + "Failed to parse truck_objects/state payload as JSON" + ) + return + + uid = payload.get("uid") + if not uid: + return + + if payload.get("path_name"): + payload["path_name"] = Path(str(payload["path_name"])).name + + with FLEET_STATE_LOCK: + FLEET_TRUCK_STATES[str(uid)] = payload + + +def render_atosfleetmanagement_pages() -> None: + if FLEET_STATIC_DIR.exists(): + app.add_static_files(FLEET_STATIC_ROUTE, str(FLEET_STATIC_DIR)) + + @ui.page(path="/", title="TruckObjectGUI") + def render_home() -> None: + ui.add_head_html( + f'' + ) + ui.label("TruckObjectGUI (ATOSFleetManagement mode)").classes("text-h4") + + with ui.tabs().classes("w-full") as tabs: + home_tab = ui.tab("Overview", icon="dashboard") + road_tab = ui.tab("RuralRoad Map", icon="map") + + with ui.tab_panels(tabs, value=home_tab).classes("w-full"): + with ui.tab_panel(home_tab): + ui.markdown( + """ +This GUI is running in **ATOSFleetManagement mode**. + +Active runtime components: +- `truck_object_control` +- `foxglove_bridge` / `rosbridge` + +Expected COT topic: +- `/atos/truck_objects/cot` + +Expected COT TCP endpoint: +- `tcp://0.0.0.0:8114` (TruckObjectControl listener) + +Speed command topic: +- `/atos/truck_objects/speed_command` + +Live truck state topic for map overlay: +- `/atos/truck_objects/state` + """.strip() + ) + + with ui.tab_panel(road_tab): + default_geojson, source_path = _load_geojson_by_name(GEOJSON_NAME) + ui.label("Path visualization by COT path_name").classes("text-h5") + + if not default_geojson: + ui.label("Could not load default geojson file.").classes( + "text-red-600" + ) + ui.markdown( + "Searched conf dirs:\n" + + "\n".join([f"- `{p}`" for p in _candidate_conf_dirs()]) + ) + return + + ui.label(f"Default source: {source_path}").classes( + "text-sm text-gray-600" + ) + map_id = "fleet-road-map" + ui.html( + f'
' + ) + + ui.timer( + 0.2, + lambda: ui.run_javascript( + f""" +(() => {{ + const payload = {_fleet_map_payload_json()}; + const containerId = "{map_id}"; + let attempts = 0; + const maxAttempts = 60; + const timer = setInterval(() => {{ + attempts += 1; + const hasFn = typeof window.renderFleetRoadMap === "function"; + const hasEl = !!document.getElementById(containerId); + if (hasFn && hasEl) {{ + clearInterval(timer); + window.renderFleetRoadMap(containerId, payload); + return; + }} + if (attempts >= maxAttempts) {{ + clearInterval(timer); + const el = document.getElementById(containerId); + if (el) {{ + el.innerHTML = "
Map renderer not available. Check browser console.
"; + }} + }} + }}, 250); +}})(); + """.strip() + ), + once=True, + ) + ui.timer( + 0.5, + lambda: ui.run_javascript( + f"window.updateFleetRoadMap('{map_id}', {_fleet_map_payload_json()});" + ), + ) def ros_main() -> None: - nicegui.ui.link("Control Panel", "/control") - nicegui.ui.link("Config Panel", "/config") - nicegui.ui.link("Object Panel", "/object") rclpy.init() - control_panel = ControlPanelNode() - config_panel = ConfigPanelNode() - object_panel = ObjectPanelNode() executor = MultiThreadedExecutor() - executor.add_node(control_panel) - executor.add_node(config_panel) - executor.add_node(object_panel) + nodes = [] + + if FLEET_MODE: + render_atosfleetmanagement_pages() + nodes = [FleetStateNode()] + else: + nicegui.ui.link("Control Panel", "/control") + nicegui.ui.link("Config Panel", "/config") + nicegui.ui.link("Object Panel", "/object") + + control_panel = ControlPanelNode() + config_panel = ConfigPanelNode() + object_panel = ObjectPanelNode() + nodes = [control_panel, config_panel, object_panel] + + for node in nodes: + executor.add_node(node) + try: executor.spin() except ExternalShutdownException: pass finally: executor.shutdown() - control_panel.destroy_node() - config_panel.destroy_node() - object_panel.destroy_node() - - -# Starting the ros node in a thread managed by nicegui. It will be restarted with "on_startup" after a reload. -# It has to be in a thread, since NiceGUI wants the main thread for itself. -app.on_startup(lambda: threading.Thread(target=ros_main).start()) - -ui_run.APP_IMPORT_STRING = f"{__name__}:app" # ROS2 uses a non-standard module name, so we need to specify it here - -# Prepare the arguments for ui.run() -uvicorn_args = { - "uvicorn_reload_dirs": str(Path(__file__).parent.resolve()), - # 'favicon': '/images/favicon.ico', - "port": 3000, - "show": False, # Disable auto-opening the browser - "title": "ATOS GUI", -} - -# If use_ssl is True, add the SSL arguments -if USE_SSL: - uvicorn_args["ssl_keyfile"] = Path.home() / ".astazero/ATOS/certs/selfsigned.key" - uvicorn_args["ssl_certfile"] = Path.home() / ".astazero/ATOS/certs/selfsigned.crt" - -# Call ui.run() with the prepared arguments -ui.run(**uvicorn_args) - -# If print is above ui.run(), it will be printed twice for some reason -if USE_SSL: - print( - "ATTENTION: Using SSL, use https://localhost:3000 to access the GUI instead", - flush=True, - ) + for node in nodes: + node.destroy_node() + rclpy.shutdown() + + +def print_access_hint() -> None: + scheme = "https" if USE_SSL else "http" + print(f"TruckObjectGUI ready. Open {scheme}://localhost:8420", flush=True) + + +def configure_app() -> None: + global APP_CONFIGURED + if APP_CONFIGURED: + return + + app.on_startup(lambda: threading.Thread(target=ros_main, daemon=True).start()) + app.on_startup(print_access_hint) + APP_CONFIGURED = True + + +def build_ui_run_args() -> dict: + ui_run.APP_IMPORT_STRING = f"{__name__}:app" + + uvicorn_args = { + "host": "0.0.0.0", + "port": 8420, + "reload": False, + "show": False, + "title": "TruckObjectGUI" if FLEET_MODE else "ATOS GUI", + } + + if USE_SSL: + uvicorn_args["ssl_keyfile"] = ( + Path.home() / ".astazero/ATOS/certs/selfsigned.key" + ) + uvicorn_args["ssl_certfile"] = ( + Path.home() / ".astazero/ATOS/certs/selfsigned.crt" + ) + + return uvicorn_args + + +if __name__ in {"__main__", "__mp_main__"}: + main() diff --git a/atos_gui/atos_gui/objectpanel/objectpanel.py b/atos_gui/atos_gui/objectpanel/objectpanel.py index 86c256af1..f12d1eb70 100644 --- a/atos_gui/atos_gui/objectpanel/objectpanel.py +++ b/atos_gui/atos_gui/objectpanel/objectpanel.py @@ -7,6 +7,12 @@ class ObjectPanelNode(Node): + def _safe_notify(self, message: str) -> None: + try: + ui.notify(message) + except RuntimeError: + self.get_logger().warning(message) + """This node is responsible for rendering the object panel and visualize the IP address for each object ID in the scenario.""" def __init__(self) -> None: @@ -49,7 +55,7 @@ def get_object_ids(self): "Get object ID service not available, waiting again..." ) if service_timeout_counter > MAX_TIMEOUT: - ui.notify( + self._safe_notify( f"Get object ID service not available after {MAX_TIMEOUT} seconds" ) self.get_logger().info( @@ -75,7 +81,7 @@ def get_object_ips(self, object_ids): "Get object IP service not available, waiting again..." ) if service_timeout_counter > MAX_TIMEOUT: - ui.notify( + self._safe_notify( f"Get object IP service not available after {MAX_TIMEOUT} seconds" ) self.get_logger().info( @@ -107,14 +113,14 @@ def update_object_ip(self, object_id, object_ip): object_ip (str): New IP address for the given object ID. """ - ui.notify(f"Setting object {object_id} IP: {object_ip}") + self._safe_notify(f"Setting object {object_id} IP: {object_ip}") service_timeout_counter = 0 while not self.set_ip_client.wait_for_service(timeout_sec=1.0): self.get_logger().debug( "Set object IP service not available, waiting again..." ) if service_timeout_counter > MAX_TIMEOUT: - ui.notify( + self._safe_notify( f"Set object IP service not available after {MAX_TIMEOUT} seconds" ) self.get_logger().info( @@ -137,7 +143,7 @@ def update_object_ip_result(self, result): """ if result.success: with self.refresh_row: - ui.notify( + self._safe_notify( f"IP set to {result.ip} for object {result.id} was successful" ) self.get_logger().info( @@ -146,7 +152,7 @@ def update_object_ip_result(self, result): self.object_id_ip_map[result.id] = result.ip else: with self.refresh_row: - ui.notify(f"Failed to set object {result.id} IP to {result.ip}") + self._safe_notify(f"Failed to set object {result.id} IP to {result.ip}") self.get_logger().info( f"Failed to set object {result.id} IP to {result.ip}" ) diff --git a/atos_gui/atos_gui/static/fleet_map.js b/atos_gui/atos_gui/static/fleet_map.js new file mode 100644 index 000000000..4e124dfee --- /dev/null +++ b/atos_gui/atos_gui/static/fleet_map.js @@ -0,0 +1,411 @@ +(function() { + function toRad(value) { + return value * Math.PI / 180.0; + } + + function escapeHtml(value) { + return String(value || "") + .replace(/&/g, "&") + .replace(//g, ">") + .replace(/\"/g, """) + .replace(/'/g, '''); + } + + + // Constants aligned with atos/common/util.c: + // EARTH_EQUATOR_RADIUS_M = 6378137.0 and INVERSE_FLATTENING = 298.257223563 + function vincentyDistanceMeters(lat1, lon1, lat2, lon2) { + const a = 6378137.0; + const f = 1.0 / 298.257223563; + const b = (1.0 - f) * a; + + const phi1 = toRad(lat1); + const phi2 = toRad(lat2); + const L = toRad(lon2 - lon1); + + const U1 = Math.atan((1.0 - f) * Math.tan(phi1)); + const U2 = Math.atan((1.0 - f) * Math.tan(phi2)); + const sinU1 = Math.sin(U1); + const cosU1 = Math.cos(U1); + const sinU2 = Math.sin(U2); + const cosU2 = Math.cos(U2); + + let lambda = L; + let lambdaPrev = 0.0; + let iterLimit = 100; + let sinSigma = 0.0; + let cosSigma = 0.0; + let sigma = 0.0; + let sinAlpha = 0.0; + let cosSqAlpha = 0.0; + let cos2SigmaM = 0.0; + + while (iterLimit > 0) { + iterLimit -= 1; + const sinLambda = Math.sin(lambda); + const cosLambda = Math.cos(lambda); + sinSigma = Math.sqrt( + (cosU2 * sinLambda) * (cosU2 * sinLambda) + + (cosU1 * sinU2 - sinU1 * cosU2 * cosLambda) * + (cosU1 * sinU2 - sinU1 * cosU2 * cosLambda) + ); + + if (sinSigma === 0.0) { + return 0.0; + } + + cosSigma = sinU1 * sinU2 + cosU1 * cosU2 * cosLambda; + sigma = Math.atan2(sinSigma, cosSigma); + sinAlpha = (cosU1 * cosU2 * sinLambda) / sinSigma; + cosSqAlpha = 1.0 - sinAlpha * sinAlpha; + if (cosSqAlpha !== 0.0) { + cos2SigmaM = cosSigma - 2.0 * sinU1 * sinU2 / cosSqAlpha; + } else { + cos2SigmaM = 0.0; + } + + const C = f / 16.0 * cosSqAlpha * (4.0 + f * (4.0 - 3.0 * cosSqAlpha)); + lambdaPrev = lambda; + lambda = L + (1.0 - C) * f * sinAlpha * + (sigma + C * sinSigma * + (cos2SigmaM + C * cosSigma * (-1.0 + 2.0 * cos2SigmaM * cos2SigmaM))); + + if (Math.abs(lambda - lambdaPrev) < 1e-12) { + break; + } + } + + if (iterLimit <= 0) { + return Number.NaN; + } + + const uSq = cosSqAlpha * (a * a - b * b) / (b * b); + const A = 1.0 + uSq / 16384.0 * + (4096.0 + uSq * (-768.0 + uSq * (320.0 - 175.0 * uSq))); + const B = uSq / 1024.0 * + (256.0 + uSq * (-128.0 + uSq * (74.0 - 47.0 * uSq))); + const deltaSigma = B * sinSigma * + (cos2SigmaM + B / 4.0 * + (cosSigma * (-1.0 + 2.0 * cos2SigmaM * cos2SigmaM) - + B / 6.0 * cos2SigmaM * (-3.0 + 4.0 * sinSigma * sinSigma) * + (-3.0 + 4.0 * cos2SigmaM * cos2SigmaM))); + + return b * A * (sigma - deltaSigma); + } + + function findPathCoordinates(geojson) { + if (!geojson || !Array.isArray(geojson.features)) { + return []; + } + + const preferred = geojson.features.find(function(feature) { + return feature && feature.id === "PathSection" && + feature.geometry && feature.geometry.type === "LineString"; + }); + if (preferred && preferred.geometry && preferred.geometry.coordinates) { + return preferred.geometry.coordinates; + } + + const fallback = geojson.features.find(function(feature) { + return feature && feature.geometry && feature.geometry.type === "LineString"; + }); + if (fallback && fallback.geometry && fallback.geometry.coordinates) { + return fallback.geometry.coordinates; + } + + return []; + } + + function computeTotalLengthMeters(coords) { + if (!Array.isArray(coords) || coords.length < 2) { + return 0.0; + } + + let total = 0.0; + for (let index = 1; index < coords.length; index += 1) { + const previous = coords[index - 1]; + const current = coords[index]; + const distance = vincentyDistanceMeters(previous[1], previous[0], current[1], current[0]); + if (Number.isFinite(distance)) { + total += distance; + } + } + return total; + } + + function normalizeTruckStates(trucks) { + if (!Array.isArray(trucks)) { + return []; + } + return trucks.filter(function(item) { + return item && + Number.isFinite(Number(item.lat)) && + Number.isFinite(Number(item.lon)); + }).map(function(item) { + const normalized = Object.assign({}, item); + normalized.uid = String(item.uid || "truck"); + normalized.path_name = item.path_name ? String(item.path_name) : ""; + normalized.path_index = Number.isFinite(Number(item.path_index)) ? Number(item.path_index) : -1; + return normalized; + }).sort(function(a, b) { + return a.uid.localeCompare(b.uid, undefined, { sensitivity: "base", numeric: true }); + }); + } + + function selectPathName(state) { + const trucks = state.trucks || []; + const counts = {}; + trucks.forEach(function(item) { + const pathName = item.path_name || state.defaultPathName; + if (!pathName) { + return; + } + counts[pathName] = (counts[pathName] || 0) + 1; + }); + + let bestName = state.defaultPathName; + let bestCount = -1; + Object.keys(counts).forEach(function(name) { + if (counts[name] > bestCount) { + bestCount = counts[name]; + bestName = name; + } + }); + + if (!bestName || !state.pathsByName[bestName]) { + const available = Object.keys(state.pathsByName); + if (available.length > 0) { + bestName = available[0]; + } + } + return bestName; + } + + function computeAheadDistanceMap(trucks, pathLengthMeters, selectedPathName) { + const result = {}; + const candidates = trucks + .filter(function(item) { + const itemPath = item.path_name || selectedPathName; + return itemPath === selectedPathName && Number.isFinite(Number(item.distance_m)); + }) + .map(function(item) { + return { + uid: String(item.uid || "truck"), + distance_m: Number(item.distance_m), + }; + }) + .sort(function(a, b) { return a.distance_m - b.distance_m; }); + + if (candidates.length < 2) { + return result; + } + + for (let i = 0; i < candidates.length; i += 1) { + const current = candidates[i]; + const next = candidates[(i + 1) % candidates.length]; + let gap = next.distance_m - current.distance_m; + if (gap <= 0 && pathLengthMeters > 0) { + gap += pathLengthMeters; + } + if (gap > 0.01) { + result[current.uid] = gap; + } + } + return result; + } + + function renderSvg(container, coords, trucks, selectedPathName, pathsByName) { + const width = 600; + const height = 650; + const padding = 30; + + let minLon = Infinity; + let maxLon = -Infinity; + let minLat = Infinity; + let maxLat = -Infinity; + + coords.forEach(function(item) { + const lon = item[0]; + const lat = item[1]; + if (lon < minLon) minLon = lon; + if (lon > maxLon) maxLon = lon; + if (lat < minLat) minLat = lat; + if (lat > maxLat) maxLat = lat; + }); + + const lonSpan = Math.max(maxLon - minLon, 1e-9); + const latSpan = Math.max(maxLat - minLat, 1e-9); + + function toSvgXY(lon, lat) { + const x = padding + ((lon - minLon) / lonSpan) * (width - 2 * padding); + const y = height - padding - ((lat - minLat) / latSpan) * (height - 2 * padding); + return {x: x, y: y}; + } + + const linePoints = coords.map(function(item) { + const p = toSvgXY(item[0], item[1]); + return p.x.toFixed(2) + "," + p.y.toFixed(2); + }).join(" "); + + const totalMeters = computeTotalLengthMeters(coords); + const totalKm = totalMeters / 1000.0; + + const filteredTrucks = trucks.filter(function(item) { + const itemPath = item.path_name || selectedPathName; + return itemPath === selectedPathName; + }); + + const aheadDistanceMap = computeAheadDistanceMap(filteredTrucks, totalMeters, selectedPathName); + + const truckCircles = filteredTrucks.map(function(item) { + const p = toSvgXY(Number(item.lon), Number(item.lat)); + const uid = String(item.uid || "truck"); + const speedKmh = Number.isFinite(Number(item.speed_mps)) + ? Number(item.speed_mps) * 3.6 + : Number(item.speed_kmh || 0); + const courseDeg = Number(item.course_deg || 0); + const pathIndex = Number(item.path_index || -1); + const color = item.tcp_connected ? "#dc2626" : "#6b7280"; + const ahead = aheadDistanceMap[uid]; + const aheadText = + Number.isFinite(ahead) + ? (" next: " + ahead.toFixed(1) + " m") + : " next: -"; + return ( + "" + + "" + + "" + + uid + " [idx " + pathIndex + "] " + speedKmh.toFixed(1) + " km/h @" + courseDeg.toFixed(0) + "°" + aheadText + + "" + + "" + ); + }).join(""); + + const truckRows = filteredTrucks.map(function(item) { + const uid = String(item.uid || "truck"); + const speedKmh = Number.isFinite(Number(item.speed_mps)) + ? Number(item.speed_mps) * 3.6 + : Number(item.speed_kmh || 0); + const courseDeg = Number(item.course_deg || 0); + const pathIndex = Number(item.path_index || -1); + const lastCotMessage = String(item.last_cot_message || "-"); + const lastTcpCommand = String(item.last_tcp_command || "-"); + const tcpWarning = String(item.last_tcp_warning || ""); + const ahead = aheadDistanceMap[uid]; + const aheadCell = + Number.isFinite(ahead) + ? ahead.toFixed(1) + " m" + : "-"; + return ( + "" + + "" + uid + "" + + "" + pathIndex + "" + + "" + speedKmh.toFixed(1) + " km/h" + + "" + courseDeg.toFixed(0) + "°" + + "" + aheadCell + "" + + "" + + "
Latest CoT (Rx)
" + + "
" + escapeHtml(lastCotMessage) + "
" + + "
Latest TCP (Tx)
" + + "
" + escapeHtml(lastTcpCommand) + "
" + + (tcpWarning ? "
TCP warning: " + escapeHtml(tcpWarning) + "
" : "") + + "" + + "" + ); + }).join(""); + + const allPathNames = Object.keys(pathsByName).sort(); + const pathSummary = allPathNames.map(function(pathName) { + const count = trucks.filter(function(t) { + const tPath = t.path_name || selectedPathName; + return tPath === pathName; + }).length; + return "
  • " + pathName + ": " + count + " truck(s)
    • "; + }).join(""); + + container.innerHTML = + "
    " + + "
    " + + "" + + "" + + truckCircles + + "" + + "
    " + + "
    Selected path: " + selectedPathName + "
    " + + "
    Path points: " + coords.length + "
    " + + "
    Total length (Vincenty): " + totalMeters.toFixed(2) + " m
    " + + "
    Total length: " + totalKm.toFixed(3) + " km
    " + + "
    Live trucks on selected path: " + filteredTrucks.length + "
    " + + "
    Available paths in payload
    " + + "
      " + pathSummary + "
    " + + "
    " + + "
    " + + "
    " + + "
    Distance To Next Truck Ahead
    " + + "" + + "" + + "" + + "" + + "" + + "" + + "" + + "" + truckRows + "
    TruckPath idxSpeedCourseNext aheadLatest CoT (Rx) / Latest TCP (Tx)
    " + + "
    " + + "
    "; + } + + function renderInternal(containerId) { + const container = document.getElementById(containerId); + if (!container) { + return; + } + const state = window.__fleetRoadMapState[containerId]; + if (!state) { + return; + } + + const selectedPathName = selectPathName(state); + const geojson = state.pathsByName[selectedPathName]; + const coords = findPathCoordinates(geojson); + + if (!selectedPathName || coords.length === 0) { + container.innerHTML = "
    No valid path found in payload.
    "; + return; + } + + renderSvg(container, coords, state.trucks, selectedPathName, state.pathsByName); + } + + function normalizePayload(payload) { + const normalized = payload || {}; + normalized.default_path_name = String(normalized.default_path_name || ""); + normalized.paths = normalized.paths && typeof normalized.paths === "object" ? normalized.paths : {}; + normalized.trucks = normalizeTruckStates(normalized.trucks || []); + return normalized; + } + + window.__fleetRoadMapState = window.__fleetRoadMapState || {}; + + window.renderFleetRoadMap = function(containerId, payload) { + const p = normalizePayload(payload); + window.__fleetRoadMapState[containerId] = { + defaultPathName: p.default_path_name, + pathsByName: p.paths, + trucks: p.trucks, + }; + renderInternal(containerId); + }; + + window.updateFleetRoadMap = function(containerId, payload) { + const p = normalizePayload(payload); + window.__fleetRoadMapState[containerId] = { + defaultPathName: p.default_path_name, + pathsByName: p.paths, + trucks: p.trucks, + }; + renderInternal(containerId); + }; +})(); diff --git a/atos_gui/setup.py b/atos_gui/setup.py index ea3f8726a..55469add6 100644 --- a/atos_gui/setup.py +++ b/atos_gui/setup.py @@ -10,6 +10,9 @@ name=package_name, version=package_xml.find("version").text, packages=find_packages(), + package_data={ + package_name: ["images/*", "static/*.js"], + }, maintainer=package_xml.find("license").text, maintainer_email=package_xml.find("maintainer").attrib["email"], license=package_xml.find("license").text, @@ -20,6 +23,9 @@ install_requires=["setuptools"], zip_safe=True, entry_points={ - "console_scripts": ["gui = atos_gui.main:main"], + "console_scripts": [ + "gui = atos_gui.main:main", + "truck_object_gui = atos_gui.main:main", + ], }, ) diff --git a/conf/conf/RuralRoad_center_of_driving_lane_ccw.geojson b/conf/conf/RuralRoad_center_of_driving_lane_ccw.geojson new file mode 100644 index 000000000..2aa13164b --- /dev/null +++ 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"source /root/.local/share/atos/venv/bin/activate ; source /root/atos_ws/install/setup.sh ; ros2 launch atos launch_basic.py insecure:=True" foxglove-studio: image: ghcr.io/foxglove/studio:1.76 networks: @@ -36,4 +36,4 @@ services: ports: - 8080:8080 volumes: - - ./plugins/foxglove/Map, 3D and control layout.json:/foxglove/default-layout.json \ No newline at end of file + - ./plugins/foxglove/Map, 3D and control layout.json:/foxglove/default-layout.json diff --git a/docker-compose-fleetmanagement.yml b/docker-compose-fleetmanagement.yml new file mode 100644 index 000000000..04d819e43 --- /dev/null +++ b/docker-compose-fleetmanagement.yml @@ -0,0 +1,26 @@ +version: "3.2" +services: + atos-fleetmanagement: + container_name: atos-fleetmanagement + image: astazero/atos_docker_env:latest + build: + context: . + dockerfile: ./Dockerfile + ipc: host + privileged: true + stdin_open: true + tty: true + restart: unless-stopped + environment: + - ROS_DOMAIN_ID=${ROS_DOMAIN_ID} + - INSECURE=${INSECURE:-True} + - WITH_TRUCK_SIMULATOR=${WITH_TRUCK_SIMULATOR:-False} + - FOXBRIDGE=${FOXBRIDGE:-True} + - COT_TLS_REQUIRE_CLIENT_CERT=${COT_TLS_REQUIRE_CLIENT_CERT:-False} + - COT_TLS_CERT_PATH=${COT_TLS_CERT_PATH:-} + - COT_TLS_KEY_PATH=${COT_TLS_KEY_PATH:-} + - COT_TLS_CA_PATH=${COT_TLS_CA_PATH:-} + volumes: + - ~/.astazero/ATOS/:/root/.astazero/ATOS/ + network_mode: "host" + command: /bin/bash -lc "/root/atos_git/scripts/run_atosfleetmanagement.sh" diff --git a/docker-compose-test.yml b/docker-compose-test.yml index 254ece545..640a45fcb 100644 --- a/docker-compose-test.yml +++ b/docker-compose-test.yml @@ -15,7 +15,7 @@ services: - ./conf/conf/:/root/.astazero/ATOS/conf - ./conf/odr/:/root/.astazero/ATOS/odr - ./conf/osc/:/root/.astazero/ATOS/osc - command: bash -c "source /root/atos_ws/install/setup.sh ; python3 -m pytest /root/atos_ws/src/atos/scripts/integration_testing/run_scenario_test.py" + command: bash -c "source /root/.local/share/atos/venv/bin/activate ; source /root/atos_ws/install/setup.sh ; python3 -m pytest /root/atos_ws/src/atos/scripts/integration_testing/run_scenario_test.py" isoObject: image: astazero/iso_object_demo:latest networks: diff --git a/docker-compose.yml b/docker-compose.yml index 50b53ca8c..14c7370f0 100644 --- a/docker-compose.yml +++ b/docker-compose.yml @@ -14,9 +14,9 @@ services: volumes: - ~/.astazero/ATOS/:/root/.astazero/ATOS/ network_mode: "host" - command: bash -c "source /root/atos_ws/install/setup.sh ; ros2 launch atos launch_basic.py insecure:=True" + command: bash -c "source /root/.local/share/atos/venv/bin/activate ; source /root/atos_ws/install/setup.sh ; ros2 launch atos launch_basic.py insecure:=True" foxglove-studio: image: ghcr.io/foxglove/studio:1.76 network_mode: "host" volumes: - - ./plugins/foxglove/Map, 3D and control layout.json:/foxglove/default-layout.json \ No newline at end of file + - ./plugins/foxglove/Map, 3D and control layout.json:/foxglove/default-layout.json diff --git a/docs/Installation/installation.md b/docs/Installation/installation.md index 196c3a0df..8ec4a020b 100644 --- a/docs/Installation/installation.md +++ b/docs/Installation/installation.md @@ -17,7 +17,7 @@ sudo chown -R $USER:$USER ~/.astazero/ATOS/ ``` ## Running natively -ATOS comes with an installation script that automates the installation process. It is intended for use on Ubuntu 22.04. The script will install ROS 2, ATOS dependencies, and ATOS itself. It will also create a workspace and build ATOS. The script can be executed using the following command: +ATOS comes with an installation script that automates the installation process. Native installation is supported on Ubuntu 20.04 with ROS 2 Foxy, Ubuntu 22.04 with ROS 2 Humble, and Ubuntu 24.04 with ROS 2 Jazzy. The script will install ROS 2, ATOS dependencies, and ATOS itself. It will also create a workspace and build ATOS. The script can be executed using the following command: ```bash ./setup_atos.sh ``` diff --git a/scripts/atosfleetmanagement.env.example b/scripts/atosfleetmanagement.env.example new file mode 100644 index 000000000..4c3526f03 --- /dev/null +++ b/scripts/atosfleetmanagement.env.example @@ -0,0 +1,9 @@ +# Copy this file to /etc/default/atosfleetmanagement and adjust values. +INSECURE=True +WITH_TRUCK_SIMULATOR=False +FOXBRIDGE=True +ROS_DOMAIN_ID=42 +COT_TLS_REQUIRE_CLIENT_CERT=False +COT_TLS_CERT_PATH= +COT_TLS_KEY_PATH= +COT_TLS_CA_PATH= diff --git a/scripts/atosfleetmanagement.service b/scripts/atosfleetmanagement.service new file mode 100644 index 000000000..3c7c121f6 --- /dev/null +++ b/scripts/atosfleetmanagement.service @@ -0,0 +1,18 @@ +[Unit] +Description=ATOSFleetManagement Docker Service +After=docker.service network-online.target +Wants=network-online.target +Requires=docker.service + +[Service] +Type=oneshot +RemainAfterExit=yes +WorkingDirectory=/opt/atos +EnvironmentFile=-/etc/default/atosfleetmanagement +ExecStart=/usr/bin/docker compose -f /opt/atos/docker-compose-fleetmanagement.yml up -d --build +ExecStop=/usr/bin/docker compose -f /opt/atos/docker-compose-fleetmanagement.yml down +TimeoutStartSec=0 +TimeoutStopSec=120 + +[Install] +WantedBy=multi-user.target diff --git a/scripts/build_atosfleetmanagement.sh b/scripts/build_atosfleetmanagement.sh new file mode 100755 index 000000000..a8431d345 --- /dev/null +++ b/scripts/build_atosfleetmanagement.sh @@ -0,0 +1,70 @@ +#!/usr/bin/env bash +set -euo pipefail + +# Canonical build profile for ATOSFleetManagement. +# Default workspace: ~/atos_ws +# Usage: +# ./scripts/build_atosfleetmanagement.sh +# ./scripts/build_atosfleetmanagement.sh /path/to/ws +# ATOS_WS=/path/to/ws ./scripts/build_atosfleetmanagement.sh --event-handlers console_direct+ + +if [[ "${1:-}" == "-h" || "${1:-}" == "--help" ]]; then + cat <<'HELP' +ATOSFleetManagement build script + +Usage: + scripts/build_atosfleetmanagement.sh [workspace] [extra colcon args...] + +Examples: + scripts/build_atosfleetmanagement.sh + scripts/build_atosfleetmanagement.sh /home/user/atos_ws + scripts/build_atosfleetmanagement.sh --event-handlers console_direct+ + scripts/build_atosfleetmanagement.sh /home/user/atos_ws --executor sequential + +Behavior: + - Builds packages: atos, atos_gui + - Enables TruckObjectControl module + - Disables legacy ATOS modules not used in ATOSFleetManagement +HELP + exit 0 +fi + +DEFAULT_WS="${ATOS_WS:-$HOME/atos_ws}" +WS="$DEFAULT_WS" + +# If first arg is not an option, treat it as workspace path. +if [[ $# -gt 0 && "${1:0:1}" != "-" ]]; then + WS="$1" + shift +fi + +if [[ ! -d "$WS" ]]; then + echo "Workspace does not exist: $WS" + echo "Create it first or pass a valid workspace path." + exit 1 +fi + +if [[ ! -d "$WS/src" ]]; then + echo "Workspace is missing src directory: $WS/src" + exit 1 +fi + +echo "Building ATOSFleetManagement in workspace: $WS" + +cd "$WS" +colcon build --packages-select atos atos_gui --symlink-install --cmake-args \ + -DWITH_TRUCK_OBJECT_CONTROL=ON \ + -DWITH_OBJECT_CONTROL=OFF \ + -DWITH_OPEN_SCENARIO_GATEWAY=OFF \ + -DWITH_JOURNAL_CONTROL=OFF \ + -DWITH_ESMINI_ADAPTER=OFF \ + -DWITH_DIRECT_CONTROL=OFF \ + -DWITH_TRAJECTORYLET_STREAMER=OFF \ + -DWITH_OSI_ADAPTER=OFF \ + -DWITH_MQTT_BRIDGE=OFF \ + -DWITH_POINTCLOUD_PUBLISHER=OFF \ + -DWITH_INTEGRATION_TESTING=OFF \ + -DWITH_BACK_TO_START=OFF \ + -DWITH_REST_BRIDGE=OFF \ + -DWITH_MONR_RELAY=OFF \ + "$@" diff --git a/scripts/installation/dependencies.txt b/scripts/installation/dependencies.txt index 15765b353..976e58269 100644 --- a/scripts/installation/dependencies.txt +++ b/scripts/installation/dependencies.txt @@ -11,6 +11,7 @@ gnupg2 lsb-release python3-pip + python3-openssl proj-bin clang libstdc++-12-dev diff --git a/scripts/installation/install_atos.sh b/scripts/installation/install_atos.sh index a37f96441..2bf37acef 100755 --- a/scripts/installation/install_atos.sh +++ b/scripts/installation/install_atos.sh @@ -13,6 +13,21 @@ ATOS_REPO_PATH="$1" source "${ATOS_REPO_PATH}/scripts/installation/install_functions.sh" check_command_failed $? "Failed to source ${ATOS_REPO_PATH}/scripts/installation/install_functions.sh" +ROS_DISTRO="${ROS_DISTRO:-$(get_supported_ros_distro)}" +check_command_failed $? "Failed to determine ROS 2 distribution for this Ubuntu release." +ATOS_VENV_PATH="$(get_atos_venv_path)" + +if [ -z "${ROS_DISTRO}" ]; then + echo "Failed to determine a supported ROS 2 distribution for this Ubuntu release." + exit 1 +fi + +if [ ! -f "${ATOS_VENV_PATH}/bin/activate" ]; then + echo "ATOS Python virtual environment was not found at ${ATOS_VENV_PATH}." + echo "Run setup_atos.sh again to recreate Python dependencies." + exit 1 +fi + ################################################ ############## Install ATOS #################### ################################################ @@ -32,12 +47,18 @@ echo "Dependecy installation done and ATOS workspace created." # First make sure the submodules are up to date echo "Updating submodules to make sure they are up to date..." cd $HOME/atos_ws/src/atos -git submodule update --init --recursive +if command -v git >/dev/null 2>&1 && git rev-parse --is-inside-work-tree >/dev/null 2>&1; then + git submodule update --init --recursive +else + echo "Skipping submodule update: source tree is not a git repository in this environment." +fi cd - # temporarily cd into the workspace and build with colcon echo "Building ATOS..." cd $HOME/atos_ws +# shellcheck disable=SC1090 +source "${ATOS_VENV_PATH}/bin/activate" source /opt/ros/$ROS_DISTRO/setup.bash MAKEFLAGS=-j4 colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON check_command_failed $? "Failed to build ATOS." @@ -47,15 +68,23 @@ cd - ###### Configure setup scripts ###### ##################################### +atos_venv_setup_script="source $ATOS_VENV_PATH/bin/activate" +atos_python_site_packages="$(python -c 'import site; print(site.getsitepackages()[0])')" +check_command_failed $? "Failed to determine ATOS Python site-packages path." +atos_pythonpath_script="export PYTHONPATH=$atos_python_site_packages:\$PYTHONPATH" atos_setup_script="source $HOME/atos_ws/install/setup." ros2_setup_script="source /opt/ros/$ROS_DISTRO/setup." case "$SHELL" in */bash) + add_source_line_if_needed $HOME/.bashrc "bash" "${atos_venv_setup_script}" + add_source_line_if_needed $HOME/.bashrc "bash" "${atos_pythonpath_script}" add_source_line_if_needed $HOME/.bashrc "bash" "${ros2_setup_script}" add_source_line_if_needed $HOME/.bashrc "bash" "${atos_setup_script}" ;; */zsh) + add_source_line_if_needed $HOME/.zshrc "zsh" "${atos_venv_setup_script}" + add_source_line_if_needed $HOME/.zshrc "zsh" "${atos_pythonpath_script}" add_source_line_if_needed $HOME/.zshrc "zsh" "${ros2_setup_script}" add_source_line_if_needed $HOME/.zshrc "zsh" "${atos_setup_script}" ;; @@ -63,4 +92,4 @@ case "$SHELL" in echo "Unsupported shell detected! Please use either bash or zsh shells to run ATOS" exit 1 ;; -esac \ No newline at end of file +esac diff --git a/scripts/installation/install_deps.sh b/scripts/installation/install_deps.sh index 5d643fc80..dd54c26da 100755 --- a/scripts/installation/install_deps.sh +++ b/scripts/installation/install_deps.sh @@ -24,16 +24,62 @@ if [ -z "${ROS_DISTRO:-}" ]; then exit 1 fi -PIP_INSTALL_CMD=(python3 -m pip install) -if python3 -m pip help install 2>/dev/null | grep -q -- "--break-system-packages"; then - PIP_INSTALL_CMD+=(--break-system-packages) -fi +ATOS_VENV_PATH="$(get_atos_venv_path)" +apt_update_retry() { + local attempts=5 + local delay=5 + local i=1 + while [ "$i" -le "$attempts" ]; do + if sudo apt-get update; then + return 0 + fi + echo "apt update failed (attempt ${i}/${attempts}); cleaning apt cache and retrying..." + sudo apt-get clean + sudo rm -rf /var/lib/apt/lists/* + sleep "$delay" + i=$((i + 1)) + done + return 1 +} + +apt_install_retry() { + local attempts=3 + local delay=5 + local i=1 + while [ "$i" -le "$attempts" ]; do + if sudo apt-get install -y "$@"; then + return 0 + fi + echo "apt install failed (attempt ${i}/${attempts}); retrying..." + sleep "$delay" + i=$((i + 1)) + done + return 1 +} # Update and install required dependencies specified in dependencies.txt and requirements.txt file apt_deps=$(cat ${ATOS_REPO_PATH}/scripts/installation/dependencies.txt | tr '\n' ' ') echo "Installing dependencies... $apt_deps" -sudo apt update && sudo apt install -y ${apt_deps} -"${PIP_INSTALL_CMD[@]}" -r ${ATOS_REPO_PATH}/scripts/installation/requirements.txt +apt_update_retry +apt_install_retry ${apt_deps} +apt_install_retry python3-pip +apt_install_retry python3-venv + +if [ -d "${ATOS_VENV_PATH}" ] && [ "$REINSTALL" = true ]; then + echo "Removing existing ATOS Python virtual environment at ${ATOS_VENV_PATH}..." + rm -rf "${ATOS_VENV_PATH}" +fi + +if [ ! -f "${ATOS_VENV_PATH}/bin/activate" ]; then + echo "Creating ATOS Python virtual environment at ${ATOS_VENV_PATH}..." + mkdir -p "$(dirname "${ATOS_VENV_PATH}")" + # ROS Python tooling depends on distro packages such as `empy` being importable + # while the ATOS venv is active during colcon builds. + python3 -m venv --system-site-packages "${ATOS_VENV_PATH}" +fi + +"${ATOS_VENV_PATH}/bin/python" -m pip install --upgrade pip +"${ATOS_VENV_PATH}/bin/python" -m pip install -r ${ATOS_REPO_PATH}/scripts/installation/requirements.txt # Check if apt failed to install dependencies check_command_failed $? "Failed to install dependencies." @@ -46,7 +92,8 @@ if ! (apt list | grep -q "ros-$ROS_DISTRO-desktop"); then echo "Adding the ROS2 $ROS_DISTRO apt repository..." # Install ROS2 prerequisites - sudo apt update && sudo apt install -y lsb-release ros-dev-tools + apt_update_retry + apt_install_retry lsb-release ros-dev-tools # Authorize the ROS2 gpg key with apt sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \ @@ -60,7 +107,8 @@ fi # Install ROS2 packages echo "Installing ROS2 packages..." -sudo apt install -y \ +apt_update_retry +apt_install_retry \ ros-${ROS_DISTRO}-desktop \ python3-rosdep \ ros-${ROS_DISTRO}-launch-pytest @@ -75,7 +123,7 @@ check_command_failed $? "Failed to install ROS2 dependencies." ######## Install ATOS GUI dependencies ######## ############################################### -"${PIP_INSTALL_CMD[@]}" -r ${ATOS_REPO_PATH}/atos_gui/requirements.txt +"${ATOS_VENV_PATH}/bin/python" -m pip install -r ${ATOS_REPO_PATH}/atos_gui/requirements.txt ########################################### ###### Install some deps from source ###### diff --git a/scripts/installation/install_functions.sh b/scripts/installation/install_functions.sh index 9f8601a07..da9b9dae5 100755 --- a/scripts/installation/install_functions.sh +++ b/scripts/installation/install_functions.sh @@ -3,7 +3,59 @@ # Function to get Ubuntu distribution codename get_ubuntu_codename() { source /etc/os-release - echo $UBUNTU_CODENAME + + if [ -n "${UBUNTU_CODENAME:-}" ]; then + echo "$UBUNTU_CODENAME" + return 0 + fi + + if [ -n "${VERSION_CODENAME:-}" ]; then + echo "$VERSION_CODENAME" + return 0 + fi + + case "${VERSION_ID:-}" in + "20.04"|"20") + echo "focal" + ;; + "22.04"|"22") + echo "jammy" + ;; + "24.04"|"24") + echo "noble" + ;; + esac +} + +is_standard_ubuntu() { + source /etc/os-release + [ "${ID:-}" = "ubuntu" ] +} + +is_ubuntu_core() { + source /etc/os-release + [ "${ID:-}" = "ubuntu-core" ] +} + +get_supported_ros_distro() { + case "$(get_ubuntu_codename)" in + "focal") + echo "foxy" + ;; + "jammy") + echo "humble" + ;; + "noble") + echo "jazzy" + ;; + *) + return 1 + ;; + esac +} + +get_atos_venv_path() { + echo "$HOME/.local/share/atos/venv" } # Function that checks if command failed @@ -39,12 +91,12 @@ update_symlink() { add_source_line_if_needed() { local file="$1" local shell_type="$2" - local source_line="$3$shell_type" + local source_line="$3" - if [ ! grep -qF "$source_line" "$file" ]; then - # Ask the user if they want to add the source line. - # First check for noninteractive shell with DEBAIN_FRONTEND=noninteractive - if [ -z "$DEBIAN_FRONTEND" && ! -z $GITHUB_ACTION ]; then + if ! grep -qF "$source_line" "$file"; then + # Ask the user only for interactive local shells. + # In non-interactive environments (e.g. CI), append automatically. + if [ -t 0 ] && [ -z "$DEBIAN_FRONTEND" ] && [ -z "$GITHUB_ACTION" ]; then echo "Do you want to add the following line to your $shell_type config file $file:" echo "$source_line" echo "y/n" @@ -58,4 +110,4 @@ add_source_line_if_needed() { echo "$source_line" >> "$file" fi fi -} \ No newline at end of file +} diff --git a/scripts/run_atosfleetmanagement.sh b/scripts/run_atosfleetmanagement.sh new file mode 100644 index 000000000..3d5e60068 --- /dev/null +++ b/scripts/run_atosfleetmanagement.sh @@ -0,0 +1,41 @@ +#!/usr/bin/env bash + +set -euo pipefail + +INSECURE="${INSECURE:-True}" +WITH_TRUCK_SIMULATOR="${WITH_TRUCK_SIMULATOR:-False}" +FOXBRIDGE="${FOXBRIDGE:-True}" +COT_TLS_REQUIRE_CLIENT_CERT="${COT_TLS_REQUIRE_CLIENT_CERT:-False}" +COT_TLS_CERT_PATH="${COT_TLS_CERT_PATH:-}" +COT_TLS_KEY_PATH="${COT_TLS_KEY_PATH:-}" +COT_TLS_CA_PATH="${COT_TLS_CA_PATH:-}" + +# setup.sh from colcon references vars that may be unset; avoid nounset during sourcing. +set +u +source /root/.local/share/atos/venv/bin/activate +source /root/atos_ws/install/setup.sh +set -u + +echo "Starting ATOSFleetManagement with:" +echo " INSECURE=${INSECURE}" +echo " WITH_TRUCK_SIMULATOR=${WITH_TRUCK_SIMULATOR}" +echo " FOXBRIDGE=${FOXBRIDGE}" +echo " COT_TLS_REQUIRE_CLIENT_CERT=${COT_TLS_REQUIRE_CLIENT_CERT}" +echo " COT_TLS_CERT_PATH=${COT_TLS_CERT_PATH}" +echo " COT_TLS_KEY_PATH=${COT_TLS_KEY_PATH}" +echo " COT_TLS_CA_PATH=${COT_TLS_CA_PATH}" + +launch_args=( + "insecure:=${INSECURE}" + "with_truck_simulator:=${WITH_TRUCK_SIMULATOR}" + "foxbridge:=${FOXBRIDGE}" + "cot_tls_require_client_cert:=${COT_TLS_REQUIRE_CLIENT_CERT}" + "cot_tls_cert_path:=${COT_TLS_CERT_PATH}" + "cot_tls_key_path:=${COT_TLS_KEY_PATH}" +) + +if [[ -n "${COT_TLS_CA_PATH}" ]]; then + launch_args+=("cot_tls_ca_path:=${COT_TLS_CA_PATH}") +fi + +exec ros2 launch atos launch_atosfleetmanagement.py "${launch_args[@]}" diff --git a/scripts/sync_to_buildserver.sh b/scripts/sync_to_buildserver.sh new file mode 100755 index 000000000..7ecc0ebdf --- /dev/null +++ b/scripts/sync_to_buildserver.sh @@ -0,0 +1,101 @@ +#!/usr/bin/env bash +set -euo pipefail + +# Sync current ATOS repository to build server. +# Default target: +# az-buildserver@srv-l039-p:~/ATOS +# +# Usage: +# scripts/sync_to_buildserver.sh +# scripts/sync_to_buildserver.sh --dry-run +# scripts/sync_to_buildserver.sh --delete +# scripts/sync_to_buildserver.sh --delete --remote-dir /home/az-buildserver/ATOS + +REMOTE_USER="${REMOTE_USER:-az-buildserver}" +REMOTE_HOST="${REMOTE_HOST:-srv-l039-p}" +REMOTE_DIR="${REMOTE_DIR:-/home/az-buildserver/ATOS}" + +DELETE_FLAG="" +DRY_RUN_FLAG="" + +while [[ $# -gt 0 ]]; do + case "$1" in + --delete) + DELETE_FLAG="--delete" + shift + ;; + --dry-run|-n) + DRY_RUN_FLAG="--dry-run" + shift + ;; + --remote-user) + REMOTE_USER="$2" + shift 2 + ;; + --remote-host) + REMOTE_HOST="$2" + shift 2 + ;; + --remote-dir) + REMOTE_DIR="$2" + shift 2 + ;; + -h|--help) + cat <<'EOF' +Sync ATOS repo to remote build server. + +Options: + --delete Remove files on remote that no longer exist locally. + --dry-run, -n Show what would change, without changing files. + --remote-user USER Override SSH user (default: az-buildserver). + --remote-host HOST Override SSH host (default: srv-l039-p). + --remote-dir DIR Override remote ATOS path (default: /home/az-buildserver/ATOS). +EOF + exit 0 + ;; + *) + echo "Unknown option: $1" + echo "Use --help for usage." + exit 1 + ;; + esac +done + +REPO_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)" +REMOTE="${REMOTE_USER}@${REMOTE_HOST}" + +echo "Sync source: ${REPO_ROOT}/" +echo "Sync target: ${REMOTE}:${REMOTE_DIR}/" +if [[ -n "${DELETE_FLAG}" ]]; then + echo "Mode: mirror update (with delete)" +else + echo "Mode: incremental update (no delete)" +fi +if [[ -n "${DRY_RUN_FLAG}" ]]; then + echo "Dry-run: enabled" +fi + +ssh "${REMOTE}" "mkdir -p '${REMOTE_DIR}'" + +rsync -azvi --human-readable \ + ${DRY_RUN_FLAG} \ + ${DELETE_FLAG} \ + --exclude ".git" \ + --exclude ".codex" \ + --exclude "build" \ + --exclude "install" \ + --exclude "log" \ + --exclude "__pycache__" \ + "${REPO_ROOT}/" "${REMOTE}:${REMOTE_DIR}/" + +echo +echo "Sync complete." +echo "Run these on server:" +echo " cd ${REMOTE_DIR}" +echo " docker compose -f docker-compose-fleetmanagement.yml down" +echo " COT_TLS_REQUIRE_CLIENT_CERT=False \\" +echo " COT_TLS_CERT_PATH=/root/.astazero/ATOS/certs/server.crt \\" +echo " COT_TLS_KEY_PATH=/root/.astazero/ATOS/certs/server.key \\" +echo " COT_TLS_CA_PATH=/root/.astazero/ATOS/certs/ca-trusted.pem \\" +echo " docker compose -f docker-compose-fleetmanagement.yml up -d --build" +echo " docker compose -f docker-compose-fleetmanagement.yml logs -f atos-fleetmanagement" diff --git a/setup_atos.sh b/setup_atos.sh index 91ef83090..6ada7c3eb 100755 --- a/setup_atos.sh +++ b/setup_atos.sh @@ -9,28 +9,38 @@ source "scripts/installation/install_functions.sh" # Get this file location REPO_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" &> /dev/null && pwd)" -# Check if running on Ubuntu -if ! grep -q "Ubuntu" /etc/os-release; then - echo "This script is designed for Ubuntu systems only." +# Check if running on a supported Ubuntu variant +if is_ubuntu_core; then + echo "Ubuntu Core is not supported for native ATOS installation." + echo "Use Docker instead, or run this script on Ubuntu 20.04, 22.04, or 24.04 with apt available." exit 1 fi -# Set ROS_DISTRO based on Ubuntu distribution -case "$(get_ubuntu_codename)" in - "focal") - ;; - "jammy") - ;; - *) - echo "Unsupported Ubuntu distribution. Only 20.04 (focal) and 22.04 (jammy) are supported." +if ! is_standard_ubuntu; then + echo "This script is designed for standard Ubuntu systems only." exit 1 - ;; -esac +fi + +UBUNTU_CODENAME="$(get_ubuntu_codename)" +ROS_DISTRO="$(get_supported_ros_distro)" + +if [ -z "${UBUNTU_CODENAME}" ] || [ -z "${ROS_DISTRO}" ]; then + echo "Unsupported Ubuntu distribution. Supported releases are 20.04 (focal), 22.04 (jammy), and 24.04 (noble)." + exit 1 +fi + +if ! command -v apt-get >/dev/null 2>&1; then + echo "apt-get is required for native ATOS installation but was not found on this system." + exit 1 +fi + +export ROS_DISTRO # Add -h/--help option if [ "$1" == "-h" ] || [ "$1" == "--help" ]; then echo "Usage: ./setup_atos.sh [single option]" - echo "This script will install all necessary dependencies, setup the ROS workspace at ~/atos_ws and install ATOS. Please open and inspect this script for further details." + echo "This script will install all necessary dependencies, setup the ROS workspace at ~/atos_ws and install ATOS." + echo "Supported native targets: Ubuntu 20.04 with ROS 2 Foxy, Ubuntu 22.04 with ROS 2 Humble, and Ubuntu 24.04 with ROS 2 Jazzy." echo "Options:" echo " -h, --help Show this help message and exit" echo " -r Reinstall dependencies"