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zbynekwinklerzbynekwinkler
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Convenience and maintenance changes. (#723)
* robotika/Dockerfile: - don't redownload dnn files every time (with comment RUN vs ADD) - set ENV to configure logging (rospy + roscpp) - add convenience top level Makefile soft link - add convenience top level run_solution.bash soft link * run_solution: - remove OMP_NUM_THREADS (moved to base/Dockerfile) - remove ROSCONSOLE_CONFIG_FILE (moved to robotika/Dockerfile) * sim.bash: add missing $ * x4.launch: - enable ros_proxy_node output to screen - remove unused remap for front_rgb * subt/script/sim.bash: improve output on exit * rosconsole.config: limit DEBUG to roscpp only
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‎subt/docker/robotika/Dockerfile

+13-3
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@@ -1,8 +1,9 @@
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FROM robotika/subt-base:2020-09-22
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ADD http://osgar.robotika.cz/subt/virtual/model/mdnet3.64.64.13.4.relu.pth .
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ADD http://osgar.robotika.cz/subt/virtual/model/ssd_inception_v2_201009/frozen_inference_graph.pb .
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ADD http://osgar.robotika.cz/subt/virtual/model/ssd_inception_v2_201009/cv_graph.pbtxt .
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# ADD always downloads the file to calculate checksum, RUN checksum only the cmdline
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RUN curl -O# http://osgar.robotika.cz/subt/virtual/model/mdnet3.64.64.13.4.relu.pth
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RUN curl -O# http://osgar.robotika.cz/subt/virtual/model/ssd_inception_v2_201009/frozen_inference_graph.pb
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RUN curl -O# http://osgar.robotika.cz/subt/virtual/model/ssd_inception_v2_201009/cv_graph.pbtxt
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RUN sudo apt-get update && sudo apt install -y ros-melodic-teleop-twist-keyboard
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@@ -19,3 +20,12 @@ COPY . ./src/osgar/
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RUN /osgar-ws/env/bin/pip install -e src/osgar/
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RUN source /opt/subt/setup.bash && catkin_make -DCMAKE_BUILD_TYPE=Release
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ENV ROSCONSOLE_CONFIG_FILE=/osgar-ws/src/osgar/subt/docker/robotika/rosconsole.config
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ENV ROS_PYTHON_LOG_CONFIG_FILE=/osgar-ws/src/osgar/subt/docker/robotika/python_logging.conf
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# adjust so that local logs look similar to cloudsim logs
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ENV ROSCONSOLE_FORMAT='${time} ${severity} ${node} ${logger}: ${message}'
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RUN ln -s /osgar-ws/src/osgar/subt/docker/robotika/Makefile .
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RUN ln -s /osgar-ws/src/osgar/subt/docker/robotika/run_solution.bash .

‎subt/docker/robotika/python_logging.conf

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[loggers]
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keys=root, rosout
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[handlers]
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keys=fileHandler,streamHandler
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[formatters]
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keys=defaultFormatter
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[logger_root]
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level=DEBUG
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handlers=fileHandler
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[logger_rosout]
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level=DEBUG
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handlers=streamHandler
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propagate=1
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qualname=rosout
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[handler_fileHandler]
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class=handlers.RotatingFileHandler
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level=DEBUG
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formatter=defaultFormatter
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# log filename, mode, maxBytes, backupCount
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args=(os.environ['ROS_LOG_FILENAME'],'a', 50000000, 4)
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[handler_streamHandler]
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class=rosgraph.roslogging.RosStreamHandler
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level=DEBUG
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formatter=defaultFormatter
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# colorize output flag
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args=(True,)
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[formatter_defaultFormatter]
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format=[%(name)s][%(levelname)s] %(asctime)s: %(message)s

‎subt/docker/robotika/rosconsole.config

+1-1
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@@ -4,7 +4,7 @@
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# You can define your own by e.g. copying this file and setting
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# ROSCONSOLE_CONFIG_FILE (in your environment) to point to the new file
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#
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log4j.logger.ros=DEBUG
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log4j.logger.ros.roscpp=DEBUG
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log4j.logger.ros.roscpp.superdebug=WARN
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# hide messages about recursive call

‎subt/docker/robotika/run_solution.bash

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#!/usr/bin/env bash
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# disable crazy threading behavior inside openblas
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# https://github.com/xianyi/OpenBLAS#setting-the-number-of-threads-using-environment-variables
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export OMP_NUM_THREADS=1
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# adjust so that local logs look similar to cloudsim logs
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export ROSCONSOLE_FORMAT='${time} ${severity} ${node} ${logger}: ${message}'
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# get directory where this bash script lives
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DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
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# enable ROS DEBUG output to see if messages are being dropped
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export ROSCONSOLE_CONFIG_FILE="${DIR}/rosconsole.config"
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# when signal received just exit
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trap "exit;" HUP INT TERM
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‎subt/ros/robot/launch/x4.launch

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<?xml version="1.0"?>
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<launch>
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<node name="$(arg robot_name)_proxy" pkg="proxy" type="ros_proxy" args="$(arg robot_name)">
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<remap from="$(arg robot_name)/front_rgbd/image_raw/compressed" to="$(arg robot_name)/front/image_raw/compressed"/>
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<node name="$(arg robot_name)_proxy" pkg="proxy" type="ros_proxy" args="$(arg robot_name)" output="screen">
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<remap from="$(arg robot_name)/odom" to="$(arg robot_name)/nonexistent_input_odom"/>
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</node>
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‎subt/script/sim.bash

+15-2
Original file line numberDiff line numberDiff line change
@@ -27,10 +27,23 @@ LOG_DIR="$(pwd)/ign-logs/$(date +%Y-%m-%dT%H.%M.%S)"
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echo $CIRCUIT
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echo $LOG_DIR
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echo $ROBOT
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echo WORLD
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echo $WORLD
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mkdir -p $LOG_DIR
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trap 'echo; echo $CIRCUIT; echo $LOG_DIR; echo $ROBOT; echo $WORLD; echo;' EXIT
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function on_exit {
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echo
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echo " log dir: $LOG_DIR"
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echo " circuit: $CIRCUIT"
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echo " robot name: $ROBOT"
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echo "robot config: $CONFIG"
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echo " world: $WORLD"
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echo
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echo -n "score: "
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cat $LOG_DIR/score.yml
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cat $LOG_DIR/summary.yml
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}
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trap on_exit EXIT
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DOCKER_OPTS="--volume ${LOG_DIR}:/tmp/ign/logs --name sim"
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export DOCKER_OPTS

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