Merge remote-tracking branch 'origin' into MockRoll

.gitignore

@@ -4,6 +4,7 @@ rb_ws/bags
 .python-requirements.txt.un~
 docker-compose.yml~
 python-requirements.txt~
+*TEMP_DO_NOT_EDIT.txt
 rb_ws/src/buggy/bags/2023-02-11-11-38-44.bag
 rb_ws/src/buggy/bags/2023-02-11-12-00-49.bag
 rb_ws/src/buggy/bags/2023-02-11-12-01-12.bag

README.md

@@ -31,7 +31,7 @@ A complete re-write of the old RoboBuggy.
 ### ROS
 - Navigate to `/rb_ws`. This is the catkin workspace where we will be doing all our ROS stuff.
 - To build the ROS workspace and source it, run:
-        
+
         catkin_make
         source /rb_ws/devel/setup.bash  # sets variables so that our package is visible to ROS commands
 - To learn ROS on your own, follow the guide on https://wiki.ros.org/ROS/Tutorials. Start from the first and install Ros using a Virtual Machine.
@@ -55,31 +55,30 @@ A complete re-write of the old RoboBuggy.
 ### ROS
 - Navigate to `/rb_ws`. This is the catkin workspace where we will be doing all our ROS stuff.
 - To build the ROS workspace and source it, run:
-        
+
         catkin_make
         source /rb_ws/devel/setup.bash  # sets variables so that our package is visible to ROS commands
 - To learn ROS on your own, follow the guide on https://wiki.ros.org/ROS/Tutorials. Start from the first and install Ros using a Virtual Machine.
 
 ---
-## Open Docker 
+## Open Docker
 - Use `cd` to change the working directory to be `RoboBuggy2`
-- Then do `./setup_dev.sh` in the main directory (RoboBuggy2) to launch the docker container.
+- Then do `./setup_dev.sh` in the main directory (RoboBuggy2) to launch the docker container. Utilize the `--no-gpu`, `--force-gpu`, and `--run-testing` flags as necessary.
 - Then you can go in the docker container using the `docker exec -it robobuggy2-main-1 bash`.
 - When you are done, type Ctrl+C and use `$exit` to exit.
 
 ## 2D Simulation
 - Boot up the docker container
-- Run `roslaunch buggy sim_2d_single.launch` to simulate 1 buggy 
+- Run `roslaunch buggy sim_2d_single.launch` to simulate 1 buggy
 - See `rb_ws/src/buggy/launch/sim_2d_single.launch` to view all available launch options
-
 - Run `roslaunch buggy sim_2d_2buggies.launch` to simulate 2 buggies
-- <img width="612" alt="Screenshot 2023-11-13 at 3 18 30 PM" src="https://github.com/CMU-Robotics-Club/RoboBuggy2/assets/45720415/b204aa05-8792-414e-a868-6fbc0d11ab9d">
+
+<img width="612" alt="Screenshot 2023-11-13 at 3 18 30 PM" src="https://github.com/CMU-Robotics-Club/RoboBuggy2/assets/45720415/b204aa05-8792-414e-a868-6fbc0d11ab9d">
 
 - See `rb_ws/src/buggy/launch/sim_2d_2buggies.launch` to view all available launch options
-- To prevent topic name collision, a topic named `t` associated with buggy named `x` have format `x\t`. The 
-- names are `SC` and `Nand` in the 2 buggy simulator. In the one buggy simulator, the name can be defined as a launch arg.
-- See [**Foxglove Visualization**](#foxglove-visualization) for visualizing the simulation. Beware that since topic names
-- are user-defined, you will need to adjust the topic names in each panel.
+    - The buggy starting positions can be changed using the `sc_start_pos` and `nand_start_pos` arguments (can pass as a key to a dictionary of preset start positions in engine.py, a single float for starting distance along planned trajectory, or 3 comma-separated floats (utm east, utm north, and heading))
+- To prevent topic name collision, a topic named `t` associated with buggy named `x` have format `x/t`. The names are `SC` and `Nand` in the 2 buggy simulator. In the one buggy simulator, the name can be defined as a launch arg.
+- See [**Foxglove Visualization**](#foxglove-visualization) for visualizing the simulation. Beware that since topic names are user-defined, you will need to adjust the topic names in each panel.
 
 ### Simulator notes
 Feedback:
@@ -90,7 +89,7 @@ Commands:
 - Steering angle: `/buggy/steering` in degrees (std_msgs/Float64)
 - Velocity: `/buggy/velocity` in m/s (std_msgs/Float64)
 
-  
+
 ## Foxglove Visualization
 - Foxglove is used to visualize both the simulator and the actual buggy's movements.
 - First, you need to import the layout definition into Foxglove. On the top bar, click Layout, then "Import from file".
@@ -114,12 +113,12 @@ Instructions:
 ### Connecting to and Launching the RoboBuggy
 When launching the buggy:
 - Connect to the Wi-Fi named ShortCircuit.
--	In the command line window: 
+-	In the command line window:
 SSH to the computer on ShortCircuit and go to folder
 `$ ssh [email protected]`
 Then `$ cd RoboBuggy2`
 -	Setup the docker
-`$ ./setup_prod.sh`
+`$ ./setup_prod.sh` (Utilize the `--no-gpu`, `--force-gpu`, and `--run-testing` flags as necessary.)
 -	Go to docker container
 `$ docker_exec`
 -	Open foxglove and do local connection to “ws://192.168.1.217/8765”

docker-compose-gpu-automated-testing.yml

@@ -0,0 +1,52 @@
+services:
+  main:
+    build: .
+    volumes:
+      - ./rb_ws:/rb_ws
+      - "${RLSENSE_PORT:-/dev/null}:/dev/bus/usb"
+      - /tmp/.X11-unix:/tmp/.X11-unix
+    devices:
+      - "${TEENSY_PORT:-/dev/null}:/dev/ttyUSB0"
+      - "${WEBCAM_PORT:-/dev/null}:/dev/ttyUSB1"
+      - "${GPS_PORT:-/dev/null}:/dev/ttyACM0"
+      - "${FEATHER_PORT:-/dev/null}:/dev/ttyACM1"
+    stdin_open: true # docker run -i
+    tty: true        # docker run -t
+    environment:
+      - DISPLAY=host.docker.internal:0
+    hostname: main
+    ports:
+       - "0.0.0.0:8765:8765"      # foxglove bridge
+       - "0.0.0.0:8760:8760"      # Asset server for loading stuff into foxglove
+    platform: "linux/amd64"
+    device_cgroup_rules:
+       - "c *:* rmw"
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: 'all'
+              capabilities: [gpu]
+  tileserver:
+    image: maptiler/tileserver-gl
+    volumes:
+      - "./maps:/data"
+    stdin_open: true # docker run -i
+    tty: true        # docker run -t
+    command: ["-p", "80", "-c", "/data/conf.json"]
+    ports:
+      - "8080:80"
+  tester:
+    build: .
+    volumes:
+      - ./rb_ws:/rb_ws
+      - /tmp/.X11-unix:/tmp/.X11-unix
+    stdin_open: true # docker run -i
+    tty: true        # docker run -t
+    environment:
+      - DISPLAY=host.docker.internal:0
+    hostname: tester
+    platform: "linux/amd64"
+    device_cgroup_rules:
+       - "c *:* rmw"

docker-compose-gpu.yml

@@ -14,6 +14,7 @@ services:
     tty: true        # docker run -t
     environment:
       - DISPLAY=host.docker.internal:0
+    hostname: main
     ports:
        - "0.0.0.0:8765:8765"      # foxglove bridge
        - "0.0.0.0:8760:8760"      # Asset server for loading stuff into foxglove

docker-compose-no-gpu-automated-testing.yml

@@ -0,0 +1,45 @@
+services:
+  main:
+    build: ./docker_auton
+    volumes:
+      - ./rb_ws:/rb_ws
+      - "${RLSENSE_PORT:-/dev/null}:/dev/bus/usb"
+      - /tmp/.X11-unix:/tmp/.X11-unix
+    devices:
+      - "${TEENSY_PORT:-/dev/null}:/dev/ttyUSB0"
+      - "${WEBCAM_PORT:-/dev/null}:/dev/ttyUSB1"
+      - "${GPS_PORT:-/dev/null}:/dev/ttyACM0"
+      - "${FEATHER_PORT:-/dev/null}:/dev/ttyACM1"
+    stdin_open: true # docker run -i
+    tty: true        # docker run -t
+    environment:
+      - DISPLAY=host.docker.internal:0
+    hostname: main
+    ports:
+       - "0.0.0.0:8765:8765"      # foxglove bridge
+       - "0.0.0.0:8760:8760"      # Asset server for loading stuff into foxglove
+    platform: "linux/amd64"
+    device_cgroup_rules:
+       - "c *:* rmw"
+  tileserver:
+    image: maptiler/tileserver-gl
+    volumes:
+      - "./maps:/data"
+    stdin_open: true # docker run -i
+    tty: true        # docker run -t
+    command: ["-p", "80", "-c", "/data/conf.json"]
+    ports:
+      - "8080:80"
+  tester:
+    build: ./docker_tester
+    volumes:
+      - ./rb_ws:/rb_ws
+      - /tmp/.X11-unix:/tmp/.X11-unix
+    stdin_open: true # docker run -i
+    tty: true        # docker run -t
+    environment:
+      - DISPLAY=host.docker.internal:0
+    hostname: tester
+    platform: "linux/amd64"
+    device_cgroup_rules:
+       - "c *:* rmw"

docker-compose-no-gpu.yml

@@ -1,6 +1,6 @@
 services:
   main:
-    build: .
+    build: ./docker_auton
     volumes:
       - ./rb_ws:/rb_ws
       - "${RLSENSE_PORT:-/dev/null}:/dev/bus/usb"
@@ -14,6 +14,7 @@ services:
     tty: true        # docker run -t
     environment:
       - DISPLAY=host.docker.internal:0
+    hostname: main
     ports:
        - "0.0.0.0:8765:8765"      # foxglove bridge
        - "0.0.0.0:8760:8760"      # Asset server for loading stuff into foxglove

Dockerfile → docker_auton/Dockerfile

@@ -19,11 +19,11 @@ RUN apt-get install -y -qq \
   ros-noetic-realsense2-description
 
 # Run this now to cache it separately from other requirements
-COPY cuda-requirements.txt cuda-requirements.txt
-RUN pip3 install -r cuda-requirements.txt
+COPY cuda-requirements_TEMP_DO_NOT_EDIT.txt cuda-requirements.txt
+# RUN pip3 install -r cuda-requirements.txt
 
 
-COPY python-requirements.txt python-requirements.txt
+COPY python-requirements_TEMP_DO_NOT_EDIT.txt python-requirements.txt
 RUN pip3 install -r python-requirements.txt
 
 RUN echo 'source "/opt/ros/$ROS_DISTRO/setup.bash" --' >> ~/.bashrc

docker_tester/Dockerfile

@@ -0,0 +1,36 @@
+FROM nvidia/cuda:11.6.2-base-ubuntu20.04 as CUDA
+
+FROM osrf/ros:noetic-desktop-full-focal
+
+COPY --from=CUDA /usr/local/cuda /usr/local/
+
+
+RUN apt update
+RUN apt-get install -y -qq \
+  python3-pip \
+  python3-tk \
+  vim git tmux tree sl htop x11-apps
+
+RUN apt-get install -y -qq \
+  ros-noetic-rosserial \
+  ros-noetic-foxglove-bridge \
+  ros-noetic-microstrain-inertial-driver \
+  ros-noetic-realsense2-camera \
+  ros-noetic-realsense2-description \
+  iputils-ping
+
+COPY python-requirements_TEMP_DO_NOT_EDIT.txt python-requirements.txt
+RUN pip3 install -r python-requirements.txt
+
+RUN echo 'source "/opt/ros/$ROS_DISTRO/setup.bash" --' >> ~/.bashrc
+RUN echo 'cd rb_ws' >> ~/.bashrc
+RUN echo 'catkin_make >/dev/null' >> ~/.bashrc
+RUN echo 'source devel/setup.bash' >> ~/.bashrc
+RUN echo 'export ROS_MASTER_URI=http://main:11311' >> ~/.bashrc
+
+# shoestring fix since installing numba from pythonrequirements 
+# smh breaks
+RUN pip3 install numba
+
+# add mouse to tmux
+RUN echo 'set -g mouse on' >> ~/.tmux.conf