Nightly

.devcontainer/devcontainer.json

@@ -1,11 +1,11 @@
 {
-	"name": "Autonomous Devcontainer",
+	"name": "Autonomous Dev",
 
 	"dockerComposeFile": "docker-compose.yml",
 	"service": "autonomous_ros2",
 	"shutdownAction": "none",
 
-	"postCreateCommand": "rosdep install --from-paths src -y --ignore-src && colcon build --symlink-install",
+	"postCreateCommand": "rosdep install --from-paths src -y --ignore-src && colcon build",
 
 	"workspaceFolder": "/ws",
 	"customizations": {
@@ -28,7 +28,8 @@
 				"redhat.vscode-xml",
 				"twxs.cmake",
 				"VisualStudioExptTeam.intellicode-api-usage-examples",
-				"VisualStudioExptTeam.vscodeintellicode"
+				"VisualStudioExptTeam.vscodeintellicode",
+				"redhat.vscode-yaml"
 			]
 		}
 	}

.devcontainer/docker-compose.yml

@@ -7,8 +7,10 @@ services:
       context: ..
       dockerfile: .devcontainer/ros2_ws.Dockerfile
     environment:
-      - DISPLAY
+      - DISPLAY=host.docker.internal
       - NVIDIA_VISIBLE_DEVICES=all
+      - NVIDIA_DRIVER_CAPABILITIES=all
+      - ROS_DOMAIN_ID=47
     volumes:
       - ..:/ws
     network_mode: host
@@ -20,35 +22,46 @@ services:
       resources:
         reservations:
           devices:
-            - capabilities: [gpu]
+            - driver: nvidia
+              device_ids: []
+              capabilities: [gpu]
+    privileged: true
+    devices:
+      - /dev:/dev
 
   autonomous_zed:
     image: zed_sdk
     build:
       context: ..
       dockerfile: .devcontainer/zed.Dockerfile
     environment:
-      - DISPLAY
+      - DISPLAY=host.docker.internal
       - NVIDIA_VISIBLE_DEVICES=all
+      - NVIDIA_DRIVER_CAPABILITIES=all
+      - ROS_DOMAIN_ID=47
     volumes:
+      - ../bringup:/ws/bringup
       - ../src/perception/:/ws/src/perception/
+      - ../src/visualization/:/ws/src/visualization/
       - ../src/moa/moa_description:/ws/src/moa/moa_description
       - ../src/moa/moa_msgs:/ws/src/moa/moa_msgs
       - ../ros_entrypoint.sh:/ws/ros_entrypoint.sh
       - /tmp/.X11-unix:/tmp/.X11-unix
       - /dev:/dev
-      
-    # command: bash -c ". /ws/ros_entrypoint.sh && ros2 launch zed_wrapper zed_camera.launch.py camera_model:='zed2i'"
+
+    command: bash -c ". /ws/ros_entrypoint.sh && ros2 launch zed_wrapper zed_camera.launch.py camera_model:='zed2i'"
     network_mode: host
     ipc: host
     stdin_open: true
     tty: true
-    runtime: nvidia
+    # runtime: nvidia
     deploy:
       resources:
         reservations:
           devices:
-            - capabilities: [gpu]
+            - driver: nvidia
+              device_ids: []
+              capabilities: [gpu]
     privileged: true
     devices:
-      - /dev:/dev
+      - /dev:/dev

.devcontainer/ros2_perception.Dockerfile

@@ -1,12 +1,26 @@
-FROM stereolabs/zed:4.0-tools-devel-l4t-r35.4
-LABEL Name=zed_sdk Version=0.0.1
+FROM nvcr.io/nvidia/l4t-base:35.4.1
+LABEL Name=autonomous Version=0.0.1
 
 SHELL [ "/bin/bash", "-c" ]
 
 WORKDIR /ws
 
-ENV LANG C.UTF-8
-ENV LC_ALL C.UTF-8
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends \
+        libopenblas-dev \
+        libopenmpi-dev \
+        openmpi-bin \
+        openmpi-common \
+        gfortran \
+        libomp-dev  \
+        nvidia-cuda-dev \
+        nvidia-cudnn8-dev && \
+    rm -rf /var/lib/apt/lists/* && \
+    apt-get clean
+
+RUN apt update && apt install locales && \
+    locale-gen en_US en_US.UTF-8 && \
+    update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
 
 RUN apt update && apt install -y gnupg wget software-properties-common && \
     add-apt-repository universe
@@ -21,61 +35,39 @@ RUN apt update && apt install curl -y && \
     echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu focal main" | \
     tee /etc/apt/sources.list.d/ros2.list > /dev/null
 
-# setup timezone & install packages
-RUN apt-get update && apt-get install -q -y --no-install-recommends \
-    tzdata \
-    dirmngr \
-    gnupg2 \
-    git \
+ENV ROS_DISTRO humble
+
+RUN apt update && apt install --no-install-recommends -y \
     ros-humble-ros-base \
+    ros-dev-tools \
     build-essential \
     python3-colcon-common-extensions \
     python3-colcon-mixin \
     python3-rosdep \
-    python3-vcstool && \
+    python3-vcstool \ 
+    python3-pip \
+    ros-humble-foxglove-bridge && \
     rm -rf /var/lib/apt/lists/* && \
-    apt-get clean
+    apt-get clean && \
+    echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc 
+
+COPY . .
 
-ENV ROS_DISTRO humble
-
-# setup colcon mixin and metadata
-RUN rosdep init && \
-    rosdep update --rosdistro $ROS_DISTRO && \
-    colcon mixin add default \
-      https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
-    colcon mixin update && \
-    colcon metadata add default \
-      https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \
-    colcon metadata update
+RUN rosdep init && rosdep update --rosdistro $ROS_DISTRO && apt-get update && \
+    cd /ws && \
+    rosdep install --from-paths src -y -r --ignore-src --rosdistro=$ROS_DISTRO --os=ubuntu:jammy && \ 
+    rm -rf /var/lib/apt/lists/* 
 
-COPY ./src/perception/ /ws/src/perception/
-COPY ./src/moa/moa_description /ws/src/moa/moa_description
-COPY ./src/moa/moa_msgs /ws/src/moa/moa_msgs
+ENV PYTORCH_URL=https://developer.download.nvidia.com/compute/redist/jp/v512/pytorch/torch-2.1.0a0+41361538.nv23.06-cp38-cp38-linux_aarch64.whl PYTORCH_WHL=torch-2.1.0a0+41361538.nv23.06-cp38-cp38-linux_aarch64.whl 
 
-# install ros2 packages
-RUN cd /ws/src/ && \
-    git clone  --recursive https://github.com/stereolabs/zed-ros2-wrapper.git && \
-    cd .. && \
-    source /opt/ros/humble/setup.bash && \ 
-    rosdep update && apt-get update && \
-    rosdep install --from-paths src -y -r --ignore-src --rosdistro=$ROS_DISTRO --os=ubuntu:jammy && \
-    rm -rf /var/lib/apt/lists/* && \
-    apt-get clean
+RUN cd /opt && \
+    wget --quiet --show-progress --progress=bar:force:noscroll --no-check-certificate ${PYTORCH_URL} -O ${PYTORCH_WHL} && \
+    pip3 install --verbose ${PYTORCH_WHL}
 
-RUN cd /usr/local/zed && \
-    pip install requests && \
-    python3 get_python_api.py
+RUN python3 -c 'import torch; print(f"PyTorch version: {torch.__version__}"); print(f"CUDA available:  {torch.cuda.is_available()}"); print(f"cuDNN version:   {torch.backends.cudnn.version()}"); print(torch.__config__.show());'
 
 RUN source /opt/ros/humble/setup.bash && \
     colcon build --parallel-workers $(nproc) --symlink-install \
-        --event-handlers console_direct+ --base-paths src \
-        --cmake-args ' -DCMAKE_BUILD_TYPE=Release' \
-        ' -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs' \
-        ' -DCMAKE_CXX_FLAGS="-Wl,--allow-shlib-undefined"'
-
-RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc && \ 
-    echo "source /ws/install/setup.bash" >> ~/.bashrc
-
-RUN . ~/.bashrc
+        --event-handlers console_direct+ --base-paths src 
 
-CMD ["bash"]
+CMD [ "bash" ]

.devcontainer/zed.Dockerfile

@@ -1,7 +1,10 @@
-FROM stereolabs/zed:4.0-tools-devel-l4t-r35.4
+FROM stereolabs/zed:4.1-tools-devel-l4t-r35.4
 LABEL Name=zed_sdk Version=0.0.1
 
-SHELL [ "/bin/bash", "-c" ]
+SHELL [ "/bin/bash", "-c"]
+
+SHELL [ "/bin/bash", "-c"]
+
 
 WORKDIR /ws
 
@@ -22,7 +25,22 @@ RUN apt update && apt install curl -y && \
     tee /etc/apt/sources.list.d/ros2.list > /dev/null
 
 # setup timezone & install packages
-RUN apt-get update && apt-get install -q -y --no-install-recommends \
+RUN apt-get update
+RUN sudo apt-get upgrade -y
+RUN apt-get update
+
+
+RUN sudo apt-get install ros-humble-desktop -y
+
+RUN apt-get install -q -y --no-install-recommends \
+RUN apt-get update
+RUN sudo apt-get upgrade -y
+RUN apt-get update
+
+
+RUN sudo apt-get install ros-humble-desktop -y
+
+RUN apt-get install -q -y --no-install-recommends \
     tzdata \
     dirmngr \
     gnupg2 \
@@ -32,46 +50,52 @@ RUN apt-get update && apt-get install -q -y --no-install-recommends \
     python3-colcon-common-extensions \
     python3-colcon-mixin \
     python3-rosdep \
-    python3-vcstool && \
-    rm -rf /var/lib/apt/lists/* && \
-    apt-get clean
+    python3-vcstool
+RUN rm -rf /var/lib/apt/lists/*
+RUN apt-get clean
+
+ENV ROS_DISTRO humble 
 
-ENV ROS_DISTRO humble
+# install ros2 packages
+RUN cd /ws/src/ 
+RUN git clone  --recursive https://github.com/stereolabs/zed-ros2-wrapper.git 
 
 # setup colcon mixin and metadata
-RUN rosdep init && \
-    rosdep update --rosdistro $ROS_DISTRO && \
-    colcon mixin add default \
-      https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
-    colcon mixin update && \
-    colcon metadata add default \
-      https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \
-    colcon metadata update
-
-COPY ./src/perception/ /ws/src/perception/
-COPY ./src/moa/moa_description /ws/src/moa/moa_description
-COPY ./src/moa/moa_msgs /ws/src/moa/moa_msgs
+RUN rosdep init 
+RUN rosdep update --rosdistro $ROS_DISTRO 
+RUN colcon mixin add default \
+      https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml 
+RUN colcon mixin update 
+RUN colcon metadata add default \
+      https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml 
+RUN colcon metadata update
 
 # install ros2 packages
-RUN cd /ws/src/ && \
+RUN mkdir src && \
+    cd /ws/src/ && \
     git clone  --recursive https://github.com/stereolabs/zed-ros2-wrapper.git && \
     cd .. && \
     source /opt/ros/humble/setup.bash && \ 
-    rosdep update && apt-get update && \
-    rosdep install --from-paths src -y -r --ignore-src --rosdistro=$ROS_DISTRO --os=ubuntu:jammy && \
+    rosdep update && \
+    apt-get update && \
+    rosdep install --from-paths src -y -r --ignore-src --rosdistro=$ROS_DISTRO --os=ubuntu:jammy --skip-keys="point_cloud_transport_plugins draco_point_cloud_transport" || true && \
     rm -rf /var/lib/apt/lists/* && \
     apt-get clean
 
 RUN cd /usr/local/zed && \
-    pip install requests && \
-    python3 get_python_api.py
+    pip install requests 
+    # python3 get_python_api.py \
+    # pip3 install ultralytics \
+    # pip3 install torch \
+    # pip3 install pyopengl \ 
+    # pip3 install pyzed 
 
 RUN source /opt/ros/humble/setup.bash && \
     colcon build --parallel-workers $(nproc) --symlink-install \
         --event-handlers console_direct+ --base-paths src \
         --cmake-args ' -DCMAKE_BUILD_TYPE=Release' \
         ' -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs' \
-        ' -DCMAKE_CXX_FLAGS="-Wl,--allow-shlib-undefined"'
+        ' -DCMAKE_CXX_FLAGS="-Wl,--allow-shlib-undefined"' || true
 
 RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc && \ 
     echo "source /ws/install/setup.bash" >> ~/.bashrc

.docker_templates/docker-compose.CPU.yml

@@ -26,12 +26,10 @@ services:
 
   autonomous_zed:
     image: zed_sdk
-
     privileged: true
-
     build:
-      context: ..
-      dockerfile: .devcontainer/zed.Dockerfile
+      context: .
+      dockerfile: ./zed.Dockerfile
 
     environment:
       - DISPLAY

.docker_templates/zed.Dev.Dockerfile

@@ -1,4 +1,4 @@
-FROM stereolabs/zed:4.0-devel-cuda12.1-ubuntu22.04
+FROM stereolabs/zed:4.1-devel-cuda12.1-ubuntu22.04 
 LABEL Name=zed_sdk Version=0.0.1
 
 SHELL [ "/bin/bash", "-c" ]
@@ -68,4 +68,8 @@ RUN source /opt/ros/humble/setup.bash && \
 
 RUN echo "source /ws/install/setup.bash" >> ~/.bashrc
 
+RUN . ~/.bashrc
+
+COPY ./.devcontainer/SN31421864.conf /usr/local/zed/settings/SN31421864.conf
+
 CMD ["bash"]