Hardware ZED Camera Node Part 1 (Installation Overhaul)

.github/workflows/code_checks.yml

@@ -30,14 +30,14 @@ jobs:
           key: ${{ env.pythonLocation }}-${{ hashFiles('pixi.toml') }}
       - name: Set Up Development Environment
         run: |
-          source setup.sh
+          source setup.sh --recommended --leap
           docker compose -f $GITHUB_WORKSPACE/docker/docker-compose-ci.yml up -d
-      - name: Build ROS2 Messages
+      - name: Build Obelisk ROS2 messages
         run: |
-          docker compose -f $GITHUB_WORKSPACE/docker/docker-compose-ci.yml exec -T obelisk bash -c "$HOME/.pixi/bin/pixi run --environment dev-no-gpu messages-build"
-      - name: Build and Source ROS2
+          docker compose -f $GITHUB_WORKSPACE/docker/docker-compose-ci.yml exec -T obelisk bash -c "$HOME/.pixi/bin/pixi run --environment dev-no-gpu messages-build-ci"
+      - name: Build and Source Obelisk ROS2 Packages
         run: |
-          docker compose -f $GITHUB_WORKSPACE/docker/docker-compose-ci.yml exec -T obelisk bash -c "$HOME/.pixi/bin/pixi run --environment dev-no-gpu ros-build"
+          docker compose -f $GITHUB_WORKSPACE/docker/docker-compose-ci.yml exec -T obelisk bash -c "$HOME/.pixi/bin/pixi run --environment dev-no-gpu ros-build-ci"
       - name: Run Ruff Linter
         run: |
           docker compose -f $GITHUB_WORKSPACE/docker/docker-compose-ci.yml exec -T obelisk bash -c "$HOME/.pixi/bin/pixi run --environment dev-no-gpu ruff check docs/ obelisk/ tests/ --output-format=github"

.gitignore

@@ -240,5 +240,9 @@ MUJOCO_LOG.TXT
 # ###### #
 .vscode
 
-# Obelisk
+# ####### #
+# OBELISK #
+# ####### #
 obk_logs/
+docker/user_setup.sh
+docker/install_sys_deps.sh

README.md

@@ -10,33 +10,74 @@ Obelisk should be used as a dependency for external robot control code that is w
 3. Use Obelisk in a project that uses `pixi`.
 
 ### Initial Setup
-Initial setup proceeds by running the `setup.sh` script in the repository root. This script has the ability to make changes to your local dependencies - all such changes are opt-in. The available options are:
-```
-source setup.sh [--no-skip-docker] [--pixi] [--cyclone-perf] [--bash-aliases] [--obk-aliases]
-```
-* The `--no-skip-docker` flag installs `docker` and `nvidia-container-toolkit` on your local filesystem. You should only specify this if you want to develop in a containerized setting.
-* The `--pixi` flag installs `pixi` on your local filesystem.
-* The `--cyclone-perf` flag adds [performance optimizations for Cyclone DDS](https://github.com/ros2/rmw_cyclonedds?tab=readme-ov-file#performance-recommendations) in the `/etc/sysctl.d/60-cyclonedds.conf` file on your local filesystem. You should  specify this if you plan to use Obelisk in a non-containerized environment.
-* The `--bash-aliases` flag will check if `~/.bash_aliases` is sourced in the `~/.bashrc` file (and will add it if not already in there), and will create the `~/.bash_aliases` file if it doesn't already exist. This is a very benign flag, so we recommend using it.
-* The `--obk-aliases` flag will add useful Obelisk aliases to the `~/.bash_aliases` file. **We highly recommend using this flag.**
-* If you trust us, you can use the `--all` flag to just opt-in to all of these dependencies.
-If you're more cautious, we recommend running
+Initial setup proceeds by running the `setup.sh` script in the repository root. This script has the ability to make changes to your local dependencies - all such changes are opt-in. **It is very important that you run `setup.sh` using the `source` command, and not `bash`, because there are environment variables that will be sourced!**
+
+This script has the ability to do 3 things:
+1. configure a conditional Docker build so that the image has the right dependencies in it to run Obelisk
+2. install system dependencies **on the machine running this script**
+3. set up user-specific settings, including very useful bash aliases
+
+The options are as follows:
 ```
-source setup.sh --pixi --bash-aliases --obk-aliases
+source setup.sh [OPTIONS]
+
+Options:
+  --recommended                Apply recommended system-level changes
+                               (cyclone performance optimizations, pixi, obelisk aliases)
+
+  --basic                      Enables basic dependencies necessary for Obelisk locally
+  --cyclone-perf               Enables cyclone performance optimizations
+  --leap                       Enables LEAP hand dependencies
+  --zed                        Enables ZED SDK
+
+  --docker-install             Install Docker and nvidia-container-toolkit
+  --install-sys-deps-docker    Installs system dependencies in Docker
+
+  --install-sys-deps           Installs system dependencies
+  --source-ros                 Sources base ROS in ~/.bashrc (only used if --install-sys-deps)
+
+  --pixi                       Install pixi
+  --obk-aliases                Add obelisk aliases to the ~/.bash_aliases file
+
+  --help                       Display this help message and exit
 ```
+
+Some guidance/recommendations on choosing flags:
+* If you don't have Docker on your machine, use the `--docker-install` flag
+* If you are not using Docker, then you should use `--install-sys-deps`
+* If you are using Docker, but not pixi, you should also use `--install-sys-deps`
+* If you are using Docker, use `--install-sys-deps-docker` if and only if you are **not** using pixi within the container.
+* If you are using pixi, regardless of whether you are using Docker, you should **not** use the `--basic` flag (note: you may have to manually install `mesa-common-dev`)
+* If you are not using pixi or conda, you should probably use `--source-ros` along with `--install-sys-deps`
+* We believe using `--pixi` will make your life easier, but you don't have to use it
+* We strongly recommend using `--obk-aliases` and `--cyclone-perf`
+* If you are using the LEAP Hand, use `--leap`
+* If you are using ZED cameras, use `--zed`. Additionally, you will need to adjust the `udev` permissions on your host machine if you want to use the ZED cameras in a Docker container with a non-root user (if you are acting as root in your container, you probably don't need to do this next step):
+    ```
+    # grab the ZED SDK installer (version 4.1.3, this README written July 25, 2024)
+    wget -q https://download.stereolabs.com/zedsdk/4.1/cu121/ubuntu22 -O zed_installer.run
+
+    # just pull the udev rules out of the installer
+    bash ./zed_installer.run --tar -x './99-slabs.rules'  > /dev/null 2>&1
+
+    # copy the rules to the right directory, make them executable, and reload udev permissions
+    sudo mv "./99-slabs.rules" "/etc/udev/rules.d/"
+    sudo chmod 777 "/etc/udev/rules.d/99-slabs.rules"
+    sudo udevadm control --reload-rules && sudo udevadm trigger
+
+    # remove the installer
+    rm zed_installer.run
+    ```
+
 If you're installing `docker` for the first time using this script, you also need to run afterwards
 ```
 newgrp docker
 ```
 
-### Building Obelisk
+### Building Obelisk ROS Packages
 Next, since Obelisk acts as a dependency for a downstream ROS2 project, you have to build it. You can either build it on your local filesystem or in a virtual environment that we manage using `pixi`.
 
-* If you are building it on your local filesystem, you need some minimal set of local dependencies. You can install these by running
-    ```
-    bash scripts/install_sys_deps.sh
-    ```
-    This will prompt you to confirm changes to your local filesystem. To auto-accept the installations, use the `-y` flag. To source the base ROS installation in the `~/.bashrc` without prompting, use the `--source-ros` flag. To not source it without prompting, use the `--no-source-ros` flag.
+* If you are building it on your local filesystem, you need some minimal set of local dependencies. These should have been installed in the previous step.
 
     If you have run the initial setup script with the `--obk-aliases` flag, then running
     ```

docker/Dockerfile

@@ -4,22 +4,34 @@
 FROM ubuntu:22.04 as base
 SHELL ["/bin/bash", "-c"]
 
-# username, uid, gid
+# username, uid, gid, and conditional build args
 ARG USER=user
 ARG UID=1000
 ARG GID=1000
 ARG OBELISK_ROOT=/
+ARG OBELISK_DOCKER_BASIC=false
+ARG OBELISK_DOCKER_CYCLONE_PERF=false
+ARG OBELISK_DOCKER_LEAP=false
+ARG OBELISK_DOCKER_ZED=false
+ARG OBELISK_DOCKER_PIXI=false
+
 ENV USER=$USER
 ENV UID=$UID
 ENV GID=$GID
 ENV OBELISK_ROOT=$OBELISK_ROOT
+ENV OBELISK_DOCKER_BASIC=$OBELISK_DOCKER_BASIC
+ENV OBELISK_DOCKER_CYCLONE_PERF=$OBELISK_DOCKER_CYCLONE_PERF
+ENV OBELISK_DOCKER_LEAP=$OBELISK_DOCKER_LEAP
+ENV OBELISK_DOCKER_ZED=$OBELISK_DOCKER_ZED
+ENV OBELISK_DOCKER_PIXI=$OBELISK_DOCKER_PIXI
+
 ENV XDG_RUNTIME_DIR=/run/user/${UID}
 
-# set timezone
+# set timezone (used by ROS dependencies)
 ENV TZ=America/Los_Angeles
 RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
 
-# basic dependencies that are not handled by pixi
+# mandatory dependencies that are not handled by pixi
 RUN apt-get update && apt-get install -y \
     curl \
     git \
@@ -29,22 +41,35 @@ RUN apt-get update && apt-get install -y \
     rm -rf /var/lib/apt/lists/* && \
     locale-gen en_US.UTF-8
 
-# create non-root user with sudo privileges for certain commands
+# create non-root user with sudo privileges
 RUN groupadd --gid $GID $USER && \
     useradd --uid $UID --gid $GID -m $USER -d /home/${USER} --shell /usr/bin/bash && \
     echo "${USER}:password" | chpasswd && \
     usermod -aG sudo ${USER} && \
     echo "%${USER} ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
 
-# add user to dialout group to enable serial port access from the container
-RUN usermod -a -G dialout ${USER}
+# conditionally install dependencies based on build args
+# source base ROS if basic deps are installed and you are not using pixi
+COPY install_sys_deps.sh /tmp/install_sys_deps.sh
+RUN FLAGS=""; \
+    [ "$OBELISK_DOCKER_BASIC" = "true" ] && FLAGS="$FLAGS --basic"; \
+    [ "$OBELISK_DOCKER_CYCLONE_PERF" = "true" ] && FLAGS="$FLAGS --cyclone-perf"; \
+    [ "$OBELISK_DOCKER_BASIC" = "true" ] && [ "$OBELISK_DOCKER_PIXI" = "false" ] && FLAGS="$FLAGS --source-ros"; \
+    [ "$OBELISK_DOCKER_LEAP" = "true" ] && FLAGS="$FLAGS --leap"; \
+    [ "$OBELISK_DOCKER_ZED" = "true" ] && FLAGS="$FLAGS --zed"; \
+    bash /tmp/install_sys_deps.sh $FLAGS && \
+    sudo rm /tmp/install_sys_deps.sh
 
 # switch to new user and workdir
 USER ${UID}
 
-# run docker setup script in Dockerfile
-COPY docker_setup.sh /tmp/docker_setup.sh
-RUN source /tmp/docker_setup.sh --pixi --cyclone-perf && \
-    sudo rm /tmp/docker_setup.sh
+# run user setup script in Dockerfile
+# these are deps that can/should be installed without root access
+# obelisk aliases are mounted, so we don't create them here
+COPY user_setup.sh /tmp/user_setup.sh
+RUN FLAGS=""; \
+    [ "$OBELISK_DOCKER_PIXI" = "true" ] && FLAGS="$FLAGS --pixi"; \
+    source /tmp/user_setup.sh $FLAGS && \
+    sudo rm /tmp/user_setup.sh
 
 WORKDIR /home/${USER}

docker/docker-compose-ci.yml

@@ -8,6 +8,7 @@ services:
         UID: $UID
         GID: $UID
         OBELISK_ROOT: $OBELISK_ROOT
+        OBELISK_DOCKER_PIXI: true
       dockerfile: Dockerfile
     network_mode: host
     ipc: host
@@ -17,6 +18,7 @@ services:
       UID: $UID
       GID: $UID
       OBELISK_ROOT: $OBELISK_ROOT
+      OBELISK_DOCKER_PIXI: true
       QT_X11_NO_MITSHM: 1
     security_opt:
       - seccomp=unconfined

docker/docker-compose-no-gpu.yml

@@ -8,6 +8,10 @@ services:
         UID: $UID
         GID: $UID
         OBELISK_ROOT: $OBELISK_ROOT
+        OBELISK_DOCKER_BASIC: $OBELISK_DOCKER_BASIC
+        OBELISK_DOCKER_CYCLONE_PERF: $OBELISK_DOCKER_CYCLONE_PERF
+        OBELISK_DOCKER_LEAP: $OBELISK_DOCKER_LEAP
+        OBELISK_DOCKER_PIXI: $OBELISK_DOCKER_PIXI
       dockerfile: Dockerfile
     network_mode: host
     ipc: host
@@ -17,6 +21,10 @@ services:
       UID: $UID
       GID: $UID
       OBELISK_ROOT: $OBELISK_ROOT
+      OBELISK_DOCKER_BASIC: $OBELISK_DOCKER_BASIC
+      OBELISK_DOCKER_CYCLONE_PERF: $OBELISK_DOCKER_CYCLONE_PERF
+      OBELISK_DOCKER_LEAP: $OBELISK_DOCKER_LEAP
+      OBELISK_DOCKER_PIXI: $OBELISK_DOCKER_PIXI
       QT_X11_NO_MITSHM: 1
     security_opt:
       - seccomp=unconfined

docker/docker-compose.yml

@@ -8,6 +8,11 @@ services:
         UID: $UID
         GID: $UID
         OBELISK_ROOT: $OBELISK_ROOT
+        OBELISK_DOCKER_BASIC: $OBELISK_DOCKER_BASIC
+        OBELISK_DOCKER_CYCLONE_PERF: $OBELISK_DOCKER_CYCLONE_PERF
+        OBELISK_DOCKER_LEAP: $OBELISK_DOCKER_LEAP
+        OBELISK_DOCKER_ZED: $OBELISK_DOCKER_ZED
+        OBELISK_DOCKER_PIXI: $OBELISK_DOCKER_PIXI
       dockerfile: Dockerfile
     network_mode: host
     ipc: host
@@ -18,6 +23,11 @@ services:
       UID: $UID
       GID: $UID
       OBELISK_ROOT: $OBELISK_ROOT
+      OBELISK_DOCKER_BASIC: $OBELISK_DOCKER_BASIC
+      OBELISK_DOCKER_CYCLONE_PERF: $OBELISK_DOCKER_CYCLONE_PERF
+      OBELISK_DOCKER_LEAP: $OBELISK_DOCKER_LEAP
+      OBELISK_DOCKER_ZED: $OBELISK_DOCKER_ZED
+      OBELISK_DOCKER_PIXI: $OBELISK_DOCKER_PIXI
       QT_X11_NO_MITSHM: 1
     security_opt:
       - seccomp=unconfined
@@ -40,7 +50,7 @@ services:
         reservations:
           devices:
             - driver: nvidia
-              count: 1
+              count: all
               capabilities: [ gpu ]
     working_dir: $OBELISK_ROOT
     stdin_open: true

obelisk/cpp/zoo/include/leap_position_setpoint_controller.h → obelisk/cpp/zoo/include/leap_example_position_setpoint_controller.h

@@ -10,14 +10,14 @@ namespace obelisk {
     /**
      * @brief Controller that generates a sinusoidal position setpoint for the Leap hand
      */
-    class LeapPositionSetpointController : public ObeliskController<leap_controller_msg, leap_estimator_msg> {
+    class LeapExamplePositionSetpointController : public ObeliskController<leap_controller_msg, leap_estimator_msg> {
       public:
         /**
          * @brief Construct a new Leap Position Setpoint Controller object
          *
          * @param name Name of the controller
          */
-        LeapPositionSetpointController(const std::string& name)
+        LeapExamplePositionSetpointController(const std::string& name)
             : ObeliskController<leap_controller_msg, leap_estimator_msg>(name) {}
 
       protected:

obelisk/python/obelisk_py/zoo/control/example/leap_pos_setpoint_controller.py → obelisk/python/obelisk_py/zoo/control/example/leap_example_pos_setpoint_controller.py

@@ -6,10 +6,10 @@
 from obelisk_py.core.obelisk_typing import ObeliskControlMsg, ObeliskEstimatorMsg, is_in_bound
 
 
-class LeapPositionSetpointController(ObeliskController):
+class LeapExamplePositionSetpointController(ObeliskController):
     """Example position setpoint controller."""
 
-    def __init__(self, node_name: str = "example_position_setpoint_controller") -> None:
+    def __init__(self, node_name: str = "leap_example_position_setpoint_controller") -> None:
         """Initialize the example position setpoint controller."""
         super().__init__(node_name)