Merge current state of hd map to main

.gitignore

@@ -6,5 +6,6 @@ code_server_config/*/start_code_server.sh
 .env
 .vscode/
 ssh_config/
+logs/
 
 watod-config.local.sh

dev_config.sh

@@ -0,0 +1,124 @@
+#!/bin/bash
+
+# This script generates a .env file to be used with docker-compose
+# To override any of the variables in this script, create dev_config.local.sh 
+#   in the same directory and populate it with variables
+#   e.g. `COMPOSE_PROJECT_NAME=<NAME>`.
+
+if [ -f /.dockerenv ]; then
+	echo "Please run this in the host machine (not in the Docker container)"
+	exit 1
+fi
+
+SCRIPT_DIR="$(dirname "$(realpath "$0")")"
+PROFILES_DIR="$SCRIPT_DIR/profiles"
+
+# Allow for local overrides of any of the below parameters
+if [ -f "$SCRIPT_DIR/dev_config.local.sh" ]; then
+	source "$SCRIPT_DIR/dev_config.local.sh"
+fi
+
+if ! [ -x "$(command -v git)" ]; then
+    echo 'Error: git is not installed.' >&2
+else
+    BRANCH=${BRANCH:-$(git branch --show-current)}
+fi
+# replace / with -
+BRANCH=${BRANCH/\//-}
+
+## ----------------------- Configuration ----------------------------
+COMPOSE_PROJECT_NAME=${COMPOSE_PROJECT_NAME:-watod_$USER}
+
+# Docker build stage to build or run. Typically our dockerfiles have two main stages: 
+#   repo (minimal) and debug (containing debug tools, eg code-server)
+TARGET_STAGE=${TARGET_STAGE:-"debug"}
+
+# Tag to use. Images as formatted as <IMAGE_NAME>:<TARGET_STAGE>-<TAG> with forward slashes replaced with dashes
+TAG=$(echo ${TAG:-$BRANCH} | tr / -)
+
+# Additional tag to cache from
+CACHE_FROM_TAG=${CACHE_FROM_TAG:-$([[ $TAG != "develop" ]] && echo $TAG || echo "__develop_ignore_tag_cache__")}
+
+# ROS hostname + URI for the production profile
+# ROS_IP is the IP that nodes will publish as (client's hostname)
+ROS_HOSTNAME=${ROS_HOSTNAME:-"localhost"}
+ROS_IP=${ROS_IP:-"127.0.0.1"}
+
+## ----------------- Profile Configuration --------------------
+
+# List of active profiles to run, defined in docker-compose.yaml.
+# Possible values:
+#   - vis_tools     		  :   starts visualization tools (vnc and foxglove)
+#   - production    		  :   configs for all containers required in production
+#   - samples             :   starts sample ROS2 pubsub nodes
+ACTIVE_PROFILES=${ACTIVE_PROFILES:-""}
+
+# List of profiles to IGNORE when using the --all flag
+PROFILE_BLACKLIST=${PROFILE_BLACKLIST:-"production"}
+
+## --------------------------- Images -------------------------------
+
+# ROS2 C++ Samples
+SAMPLES_CPP_AGGREGATOR_IMAGE=${SAMPLES_CPP_AGGREGATOR_IMAGE:-"git.uwaterloo.ca:5050/watonomous/wato_monorepo/samples_cpp_aggregator"}
+SAMPLES_CPP_PRODUCER_IMAGE=${SAMPLES_CPP_PRODUCER_IMAGE:-"git.uwaterloo.ca:5050/watonomous/wato_monorepo/samples_cpp_producer"}
+SAMPLES_CPP_TRANSFORMER_IMAGE=${SAMPLES_CPP_TRANSFORMER_IMAGE:-"git.uwaterloo.ca:5050/watonomous/wato_monorepo/samples_cpp_transformer"}
+
+# World Modeling Images
+WORLD_MODELING_HD_MAP_IMAGE=${WORLD_MODELING_HD_MAP_IMAGE:-"git.uwaterloo.ca:5050/watonomous/wato_monorepo/world_modeling_hd_map"}
+WORLD_MODELING_LOCALIZATION_IMAGE=${WORLD_MODELING_LOCALIZATION_IMAGE:-"git.uwaterloo.ca:5050/watonomous/wato_monorepo/world_modeling_localization"}
+WORLD_MODELING_OCCUPANCY_IMAGE=${WORLD_MODELING_OCCUPANCY_IMAGE:-"git.uwaterloo.ca:5050/watonomous/wato_monorepo/world_modeling_occupancy"}
+
+# Infrastructure
+INFRASTRUCTURE_VIS_TOOLS_VNC_IMAGE=${INFRASTRUCTURE_VIS_TOOLS_VNC_IMAGE:-"git.uwaterloo.ca:5050/watonomous/wato_monorepo/infrastructure_vis_tools_vnc"}
+INFRASTRUCTURE_DATA_STREAM_IMAGE=${DATA_STREAM_IMAGE:-"git.uwaterloo.ca:5050/watonomous/wato_monorepo/infrastructure_data_stream"}
+
+# Simulation
+CARLA_SERVER_IMAGE=${CARLA_SERVER_IMAGE:-"git.uwaterloo.ca:5050/watonomous/wato_monorepo/carla_server_image"}
+CARLA_ROS2_BRIDGE_IMAGE=${CARLA_ROS2_BRIDGE_IMAGE:-"git.uwaterloo.ca:5050/watonomous/wato_monorepo/carla_ros2_bridge_image"}
+SIMULATION_CAMERA_COMPRESSION_IMAGE=${SIMULATION_CAMERA_COMPRESSION_IMAGE:-"git.uwaterloo.ca:5050/watonomous/wato_monorepo/simulation_camera_compression"}
+## -------------------------- User ID -----------------------------
+
+FIXUID=$(id -u) 
+FIXGID=$(id -g) 
+
+## --------------------------- Ports ------------------------------
+
+BASE_PORT=${BASE_PORT:-$(($(id -u)*20))}
+GUI_TOOLS_VNC_PORT=${GUI_TOOLS_VNC_PORT:-$((BASE_PORT++))}
+
+## -------------------- Environment Variables -------------------------
+
+echo "# Auto-generated by ${BASH_SOURCE[0]}. Please do not edit." > "$PROFILES_DIR/.env"
+echo "ACTIVE_PROFILES=\"$ACTIVE_PROFILES\"" > "$PROFILES_DIR/.env"
+echo "PROFILE_BLACKLIST=\"$PROFILE_BLACKLIST\"" >> "$PROFILES_DIR/.env"
+
+echo "COMPOSE_DOCKER_CLI_BUILD=1" >> "$PROFILES_DIR/.env"
+echo "COMPOSE_PROJECT_NAME=$COMPOSE_PROJECT_NAME" >> "$PROFILES_DIR/.env"
+
+echo "ROS_IP=$ROS_IP" >> "$PROFILES_DIR/.env"
+echo "ROS_HOSTNAME=$ROS_HOSTNAME" >> "$PROFILES_DIR/.env"
+
+echo "INFRASTRUCTURE_VIS_TOOLS_VNC_IMAGE=$INFRASTRUCTURE_VIS_TOOLS_VNC_IMAGE" >> "$PROFILES_DIR/.env"
+
+echo "SAMPLES_CPP_AGGREGATOR_IMAGE=$SAMPLES_CPP_AGGREGATOR_IMAGE" >> "$PROFILES_DIR/.env"
+echo "SAMPLES_CPP_PRODUCER_IMAGE=$SAMPLES_CPP_PRODUCER_IMAGE" >> "$PROFILES_DIR/.env"
+echo "SAMPLES_CPP_TRANSFORMER_IMAGE=$SAMPLES_CPP_TRANSFORMER_IMAGE" >> "$PROFILES_DIR/.env"
+echo "WORLD_MODELING_HD_MAP_IMAGE=$WORLD_MODELING_HD_MAP_IMAGE" >> "$PROFILES_DIR/.env"
+echo "WORLD_MODELING_LOCALIZATION_IMAGE=$WORLD_MODELING_LOCALIZATION_IMAGE" >> "$PROFILES_DIR/.env"
+echo "WORLD_MODELING_OCCUPANCY_IMAGE=$WORLD_MODELING_OCCUPANCY_IMAGE" >> "$PROFILES_DIR/.env"
+echo "INFRASTRUCTURE_DATA_STREAM_IMAGE=$INFRASTRUCTURE_DATA_STREAM_IMAGE" >> "$PROFILES_DIR/.env"
+
+echo "CARLA_SERVER_IMAGE=$CARLA_SERVER_IMAGE" >> "$PROFILES_DIR/.env"
+echo "CARLA_ROS2_BRIDGE_IMAGE=$CARLA_ROS2_BRIDGE_IMAGE" >> "$PROFILES_DIR/.env"
+echo "SIMULATION_CAMERA_COMPRESSION_IMAGE=$SIMULATION_CAMERA_COMPRESSION_IMAGE" >> "$PROFILES_DIR/.env"
+
+echo "TAG=$TAG" >> "$PROFILES_DIR/.env"
+echo "TARGET_STAGE=$TARGET_STAGE" >> "$PROFILES_DIR/.env"
+echo "CACHE_FROM_TAG=$CACHE_FROM_TAG" >> "$PROFILES_DIR/.env"
+
+echo "FIXUID=$FIXUID" >> "$PROFILES_DIR/.env"
+echo "FIXGID=$FIXGID" >> "$PROFILES_DIR/.env"
+
+echo "BASE_PORT=$BASE_PORT" >> "$PROFILES_DIR/.env"
+echo "GUI_TOOLS_VNC_PORT=$GUI_TOOLS_VNC_PORT" >> "$PROFILES_DIR/.env"
+cat $PROFILES_DIR/.env

docker/infrastructure/vnc/supervisord.conf

@@ -31,6 +31,14 @@ environment=DISPLAY=":1"
 stdout_logfile=/tmp/openbox.log
 redirect_stderr=true
 
+[program:pp_rviz2]
+command=/bin/bash -c "rviz2 -d /home/docker/ament_ws/src/simulation_rviz_configs/default.rviz"
+autostart=true
+autorestart=false
+stdout_logfile=/dev/fd/1
+stdout_logfile_maxbytes=0
+redirect_stderr=true
+
 [program:lxpanel]
 priority=15
 command=/usr/bin/lxpanel --profile LXDE

docker/simulation/carla_sample_node/carla_sample_node.Dockerfile

@@ -28,6 +28,10 @@ RUN apt-get -qq update && rosdep update && \
 ################################# Dependencies ################################
 FROM ${BASE_IMAGE} as dependencies
 
+RUN apt-get update && \
+    apt-get install -y \ 
+    ros-humble-vision-msgs
+
 # Install Rosdep requirements
 COPY --from=source /tmp/colcon_install_list /tmp/colcon_install_list
 RUN apt-fast install -qq -y --no-install-recommends $(cat /tmp/colcon_install_list)

docker/world_modeling/hd_map.Dockerfile

@@ -0,0 +1,64 @@
+# ================= Dependencies ===================
+FROM ros:humble AS base
+
+RUN apt-get update && apt-get install -y curl && \
+    rm -rf /var/lib/apt/lists/*
+
+# Set up apt repo
+RUN apt-get update && apt-get install -y lsb-release software-properties-common apt-transport-https && \
+    apt-add-repository universe
+
+# Install Dependencies
+RUN apt-get update && \
+    apt-get install -y \ 
+    ros-humble-lanelet2
+
+
+# Add a docker user so that created files in the docker container are owned by a non-root user
+RUN addgroup --gid 1000 docker && \
+    adduser --uid 1000 --ingroup docker --home /home/docker --shell /bin/bash --disabled-password --gecos "" docker && \
+    echo "docker ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers.d/nopasswd
+
+# Remap the docker user and group to be the same uid and group as the host user.
+# Any created files by the docker container will be owned by the host user.
+RUN USER=docker && \
+    GROUP=docker && \                                                                     
+    curl -SsL https://github.com/boxboat/fixuid/releases/download/v0.4/fixuid-0.4-linux-amd64.tar.gz | tar -C /usr/local/bin -xzf - && \                                                                                                            
+    chown root:root /usr/local/bin/fixuid && \                                                                              
+    chmod 4755 /usr/local/bin/fixuid && \
+    mkdir -p /etc/fixuid && \                                                                                               
+    printf "user: $USER\ngroup: $GROUP\npaths:\n  - /home/docker/" > /etc/fixuid/config.yml
+
+USER docker:docker
+
+ENV DEBIAN_FRONTEND noninteractive
+RUN sudo chsh -s /bin/bash
+ENV SHELL=/bin/bash
+
+# ================= Repositories ===================
+FROM base as repo
+
+RUN mkdir -p ~/ament_ws/src
+WORKDIR /home/docker/ament_ws/src
+
+# Download maps
+ENV MAPS_DIR="/home/docker/ament_ws/src/maps"
+RUN git clone https://docker-image:[email protected]/WATonomous/map_data.git $MAPS_DIR
+
+COPY src/world_modeling/hd_map hd_map
+COPY src/wato_msgs/sample_msgs sample_msgs
+COPY src/wato_msgs/common_msgs common_msgs
+COPY src/wato_msgs/world_modeling world_modeling_msgs
+
+WORKDIR /home/docker/ament_ws
+RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
+    rosdep update && \
+    rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y && \
+    colcon build \
+    --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+# Entrypoint will run before any CMD on launch. Sources ~/ament_ws/install/setup.bash
+COPY docker/wato_ros_entrypoint.sh /home/docker/wato_ros_entrypoint.sh
+COPY docker/.bashrc /home/docker/.bashrc
+ENTRYPOINT ["/usr/local/bin/fixuid", "-q", "/home/docker/wato_ros_entrypoint.sh"]
+CMD ["ros2", "launch", "hd_map", "hd_map.launch.py"]

docker/world_modeling/hd_map/hd_map.Dockerfile

@@ -8,6 +8,8 @@ WORKDIR ${AMENT_WS}/src
 # Copy in source code 
 COPY src/world_modeling/hd_map hd_map
 COPY src/wato_msgs/sample_msgs sample_msgs
+COPY src/wato_msgs/common_msgs common_msgs
+COPY src/wato_msgs/world_modeling_msgs world_modeling_msgs
 
 # Scan for rosdeps
 RUN apt-get -qq update && rosdep update && \
@@ -19,9 +21,19 @@ RUN apt-get -qq update && rosdep update && \
 ################################# Dependencies ################################
 FROM ${BASE_IMAGE} as dependencies
 
+# Download Maps from the GitLab
+# IMPORTANT NOTE : Downloaded maps are stored in the etc/maps directory
+ENV MAPS_DIR="${AMENT_WS}/etc/maps/"
+RUN git clone https://github.com/WATonomous/map_data.git $MAPS_DIR
+RUN chmod -R 755 $MAPS_DIR
+
 # Install Rosdep requirements
 COPY --from=source /tmp/colcon_install_list /tmp/colcon_install_list
-RUN apt-fast install -qq -y --no-install-recommends $(cat /tmp/colcon_install_list)
+RUN apt-get update && apt-fast install -qq -y --no-install-recommends $(cat /tmp/colcon_install_list)
+
+RUN apt-get update && \
+    apt-get install -y \ 
+    ros-humble-lanelet2 ros-humble-vision-msgs
 
 # Copy in source code from source stage
 WORKDIR ${AMENT_WS}
@@ -38,7 +50,7 @@ FROM dependencies as build
 # Build ROS2 packages
 WORKDIR ${AMENT_WS}
 RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
-    colcon build \
+    colcon build --packages-skip hd_map \
         --cmake-args -DCMAKE_BUILD_TYPE=Release
 
 # Entrypoint will run before any CMD on launch. Sources ~/opt/<ROS_DISTRO>/setup.bash and ~/ament_ws/install/setup.bash

docker/world_modeling/localization.Dockerfile

@@ -0,0 +1,48 @@
+# ================= Dependencies ===================
+FROM ros:humble AS base
+
+RUN apt-get update && apt-get install -y curl && \
+    rm -rf /var/lib/apt/lists/*
+
+# Add a docker user so we that created files in the docker container are owned by a non-root user
+RUN addgroup --gid 1000 docker && \
+    adduser --uid 1000 --ingroup docker --home /home/docker --shell /bin/bash --disabled-password --gecos "" docker && \
+    echo "docker ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers.d/nopasswd
+
+# Remap the docker user and group to be the same uid and group as the host user.
+# Any created files by the docker container will be owned by the host user.
+RUN USER=docker && \
+    GROUP=docker && \                                                                     
+    curl -SsL https://github.com/boxboat/fixuid/releases/download/v0.4/fixuid-0.4-linux-amd64.tar.gz | tar -C /usr/local/bin -xzf - && \                                                                                                            
+    chown root:root /usr/local/bin/fixuid && \                                                                              
+    chmod 4755 /usr/local/bin/fixuid && \
+    mkdir -p /etc/fixuid && \                                                                                               
+    printf "user: $USER\ngroup: $GROUP\npaths:\n  - /home/docker/" > /etc/fixuid/config.yml
+
+USER docker:docker
+
+ENV DEBIAN_FRONTEND noninteractive
+RUN sudo chsh -s /bin/bash
+ENV SHELL=/bin/bash
+
+# ================= Repositories ===================
+FROM base as repo
+
+RUN mkdir -p ~/ament_ws/src
+WORKDIR /home/docker/ament_ws/src
+
+COPY src/world_modeling/localization localization
+COPY src/wato_msgs/sample_msgs sample_msgs
+
+WORKDIR /home/docker/ament_ws
+RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
+    rosdep update && \
+    rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y && \
+    colcon build \
+        --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+# Entrypoint will run before any CMD on launch. Sources ~/opt/<ROS_DISTRO>/setup.bash and ~/ament_ws/install/setup.bash
+COPY docker/wato_ros_entrypoint.sh /home/docker/wato_ros_entrypoint.sh
+COPY docker/.bashrc /home/docker/.bashrc
+ENTRYPOINT ["/usr/local/bin/fixuid", "-q", "/home/docker/wato_ros_entrypoint.sh"]
+CMD ["ros2", "launch", "localization", "localization.launch.py"]

docker/world_modeling/localization/localization.Dockerfile

@@ -8,6 +8,8 @@ WORKDIR ${AMENT_WS}/src
 # Copy in source code 
 COPY src/world_modeling/localization localization
 COPY src/wato_msgs/sample_msgs sample_msgs
+COPY src/wato_msgs/common_msgs common_msgs
+COPY src/wato_msgs/world_modeling_msgs world_modeling_msgs
 
 # Scan for rosdeps
 RUN apt-get -qq update && rosdep update && \

docker/world_modeling/occupancy.Dockerfile

@@ -0,0 +1,49 @@
+# ================= Dependencies ===================
+FROM ros:humble AS base
+
+RUN apt-get update && apt-get install -y curl && \
+    rm -rf /var/lib/apt/lists/*
+
+# Add a docker user so that created files in the docker container are owned by a non-root user
+RUN addgroup --gid 1000 docker && \
+    adduser --uid 1000 --ingroup docker --home /home/docker --shell /bin/bash --disabled-password --gecos "" docker && \
+    echo "docker ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers.d/nopasswd
+
+# Remap the docker user and group to be the same uid and group as the host user.
+# Any created files by the docker container will be owned by the host user.
+RUN USER=docker && \
+    GROUP=docker && \                                                                     
+    curl -SsL https://github.com/boxboat/fixuid/releases/download/v0.4/fixuid-0.4-linux-amd64.tar.gz | tar -C /usr/local/bin -xzf - && \                                                                                                            
+    chown root:root /usr/local/bin/fixuid && \                                                                              
+    chmod 4755 /usr/local/bin/fixuid && \
+    mkdir -p /etc/fixuid && \                                                                                               
+    printf "user: $USER\ngroup: $GROUP\npaths:\n  - /home/docker/" > /etc/fixuid/config.yml
+
+USER docker:docker
+
+ENV DEBIAN_FRONTEND noninteractive
+RUN sudo chsh -s /bin/bash
+ENV SHELL=/bin/bash
+
+# ================= Repositories ===================
+FROM base as repo
+
+RUN mkdir -p ~/ament_ws/src
+WORKDIR /home/docker/ament_ws/src
+
+COPY src/world_modeling/occupancy occupancy
+COPY src/wato_msgs/sample_msgs sample_msgs
+COPY src/wato_msgs/world_modeling world_modeling_msgs
+
+WORKDIR /home/docker/ament_ws
+RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
+    rosdep update && \
+    rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y && \
+    colcon build \
+        --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+# Entrypoint will run before any CMD on launch. Sources ~/opt/<ROS_DISTRO>/setup.bash and ~/ament_ws/install/setup.bash
+COPY docker/wato_ros_entrypoint.sh /home/docker/wato_ros_entrypoint.sh
+COPY docker/.bashrc /home/docker/.bashrc
+ENTRYPOINT ["/usr/local/bin/fixuid", "-q", "/home/docker/wato_ros_entrypoint.sh"]
+CMD ["ros2", "launch", "occupancy", "occupancy.launch.py"]

docker/world_modeling/occupancy/occupancy.Dockerfile

@@ -8,6 +8,8 @@ WORKDIR ${AMENT_WS}/src
 # Copy in source code 
 COPY src/world_modeling/occupancy occupancy
 COPY src/wato_msgs/sample_msgs sample_msgs
+COPY src/wato_msgs/common_msgs common_msgs
+COPY src/wato_msgs/world_modeling_msgs world_modeling_msgs
 
 # Scan for rosdeps
 RUN apt-get -qq update && rosdep update && \

docker/world_modeling/occupancy_segmentation/occupancy_segmentation.Dockerfile

@@ -7,6 +7,9 @@ WORKDIR ${AMENT_WS}/src
 
 # Copy in source code 
 COPY src/world_modeling/occupancy_segmentation occupancy_segmentation
+COPY src/wato_msgs/sample_msgs sample_msgs
+COPY src/wato_msgs/common_msgs common_msgs
+COPY src/wato_msgs/world_modeling_msgs world_modeling_msgs
 
 # Scan for rosdeps
 RUN apt-get -qq update && rosdep update && \