Merge branch 'main' into 190-publish-y-distance-of-traffic-lights

una-auxme · Mar 18, 2024 · ee33d32 · ee33d32
2 parents 3e569ce + fa29834
commit ee33d32
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diff --git a/.flake8 b/.flake8
@@ -2,4 +2,6 @@
 exclude= code/planning/src/behavior_agent/behavior_tree.py,
          code/planning/src/behavior_agent/behaviours/__init__.py,
          code/planning/src/behavior_agent/behaviours,
-         code/planning/__init__.py
+         code/planning/__init__.py,
+         doc/02_development/templates/template_class_no_comments.py,
+         doc/02_development/templates/template_class.py
diff --git a/build/Taskfile b/build/Taskfile
@@ -11,6 +11,11 @@ task:run() {
     docker:compose up "$@"
 }
 
+task:run_dev() {
+  xhost +local:docker
+  docker:compose -f docker-compose.dev.yaml up
+}
+
 task:restart() {
     container="$1"
     docker:compose restart "${container:-agent}"

diff --git a/build/docker-compose.dev.yaml b/build/docker-compose.dev.yaml
@@ -0,0 +1,90 @@
+version: "3"
+
+services:
+  flake8:
+    image: alpine/flake8
+    command: .
+    volumes:
+      - ../:/apps
+
+  comlipy:
+    build: docker/comlipy
+    command: .
+    volumes:
+      - ../:/apps
+
+  mdlint:
+    image: peterdavehello/markdownlint:0.32.2
+    command: markdownlint .
+    volumes:
+      - ../:/md
+
+      # based on https://github.com/ll7/paf21-1/blob/master/scenarios/docker-carla-sim-compose.yml
+  carla-simulator:
+    command: /bin/bash CarlaUE4.sh -quality-level=Epic -world-port=2000 -resx=800 -resy=600 -nosound -carla-settings="/home/carla/CarlaUE4/Config/CustomCarlaSettings.ini"
+    image: ghcr.io/una-auxme/paf23:leaderboard-2.0
+    init: true
+    deploy:
+      resources:
+        limits:
+          memory: 16G
+    expose:
+      - 2000
+      - 2001
+      - 2002
+    environment:
+      - XDG_RUNTIME_DIR=/tmp/runtime-carla
+    networks:
+      - carla
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      - ./CustomCarlaSettings.ini:/home/carla/CarlaUE4/Config/CustomCarlaSettings.ini
+
+  roscore:
+    image: ros:noetic
+    command: roscore
+    environment:
+      - ROS_MASTER_URI=http://roscore:11311
+      - ROS_HOSTNAME=roscore
+    expose:
+      - 11311
+    networks:
+      - ros
+
+  agent:
+    build:
+      dockerfile: build/docker/agent/Dockerfile
+      args:
+        - USER_UID=${DOCKER_HOST_UNIX_UID:-1000}
+        - USER_GID=${DOCKER_HOST_UNIX_GID:-1000}
+      context: ../
+    init: true
+    tty: true
+    shm_size: 2gb
+    #command: bash -c "sleep 10 && python3 /opt/leaderboard/leaderboard/leaderboard_evaluator.py --debug=0 --routes=/opt/leaderboard/data/routes_devtest.xml --agent=/opt/leaderboard/leaderboard/autoagents/npc_agent.py --host=carla-simulator --track=SENSORS"
+    command: bash -c "sleep 10 && roslaunch agent/launch/dev.launch"
+    # command: bash -c "sleep 10 && sudo chown -R carla:carla ../code/ && sudo chmod -R a+w ../code/ && python3 /opt/leaderboard/leaderboard/leaderboard_evaluator.py --debug=0 --routes=/opt/leaderboard/data/routes_devtest.xml --agent=/workspace/code/agent/src/agent/agent.py --host=paf23-carla-simulator-1 --track=MAP"
+
+    logging:
+      driver: "local"
+    environment:
+      - DISPLAY
+      - ROS_MASTER_URI=http://roscore:11311
+      - CARLA_SIM_HOST=carla-simulator
+      - ROS_HOSTNAME=agent
+      - XDG_RUNTIME_DIR=/tmp/runtime-carla
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      # if you change the volume here also change the copy command
+      # in ``build/docker/build/Dockerfile
+      - ../:/workspace
+      # mount git config for dvc
+      - ../.gitconfig:/home/carla/.gitconfig
+      - ../:/workspace/
+    networks:
+      - carla
+      - ros
+
+networks:
+  carla:
+  ros:
diff --git a/build/docker-compose.yml b/build/docker-compose.yml
@@ -62,7 +62,7 @@ services:
     tty: true
     shm_size: 2gb
     #command: bash -c "sleep 10 && python3 /opt/leaderboard/leaderboard/leaderboard_evaluator.py --debug=0 --routes=/opt/leaderboard/data/routes_devtest.xml --agent=/opt/leaderboard/leaderboard/autoagents/npc_agent.py --host=carla-simulator --track=SENSORS"
-    #command: bash -c "sleep 10 && roslaunch agent/launch/dev.launch"
+    # command: bash -c "sleep 10 && roslaunch agent/launch/dev.launch"
     command: bash -c "sleep 10 && sudo chown -R carla:carla ../code/ && sudo chmod -R a+w ../code/ && python3 /opt/leaderboard/leaderboard/leaderboard_evaluator.py --debug=0 --routes=/opt/leaderboard/data/routes_devtest.xml --agent=/workspace/code/agent/src/agent/agent.py --host=paf23-carla-simulator-1 --track=MAP"
 
     logging:

diff --git a/build/docker/agent/Dockerfile b/build/docker/agent/Dockerfile
@@ -120,7 +120,7 @@ RUN echo 'pexpect' >> $SCENARIO_RUNNER_ROOT/requirements.txt && \
 # install the leaderboard from GitHub leaderboard-2.0 branch
 ENV LEADERBOARD_ROOT=/opt/leaderboard
 RUN sudo mkdir $LEADERBOARD_ROOT && sudo chown $USERNAME:$USERNAME $LEADERBOARD_ROOT
-RUN git clone -b leaderboard-2.0 --single-branch https://github.com/carla-simulator/leaderboard.git $LEADERBOARD_ROOT
+RUN git clone -b leaderboard-2.0 --single-branch https://github.com/una-auxme/leaderboard $LEADERBOARD_ROOT
 RUN python -m pip install -r $LEADERBOARD_ROOT/requirements.txt
 RUN sudo mkdir /opt/leaderboard-py3 && sudo chown $USERNAME:$USERNAME /opt/leaderboard-py3 && \
     ln -s $LEADERBOARD_ROOT/leaderboard /opt/leaderboard-py3/leaderboard && \

diff --git a/build/docker/agent/Dockerfile_Submission b/build/docker/agent/Dockerfile_Submission
@@ -122,7 +122,7 @@ RUN echo 'pexpect' >> $SCENARIO_RUNNER_ROOT/requirements.txt && \
 # install the leaderboard from GitHub leaderboard-2.0 branch
 ENV LEADERBOARD_ROOT=/opt/leaderboard
 RUN sudo mkdir $LEADERBOARD_ROOT && sudo chown $USERNAME:$USERNAME $LEADERBOARD_ROOT
-RUN git clone -b leaderboard-2.0 --single-branch https://github.com/carla-simulator/leaderboard.git $LEADERBOARD_ROOT
+RUN git clone -b leaderboard-2.0 --single-branch https://github.com/una-auxme/leaderboard $LEADERBOARD_ROOT
 RUN python -m pip install -r $LEADERBOARD_ROOT/requirements.txt
 RUN sudo mkdir /opt/leaderboard-py3 && sudo chown $USERNAME:$USERNAME /opt/leaderboard-py3 && \
     ln -s $LEADERBOARD_ROOT/leaderboard /opt/leaderboard-py3/leaderboard && \

diff --git a/code/acting/launch/acting.launch b/code/acting/launch/acting.launch
@@ -3,56 +3,59 @@
     <arg name="role_name" default="hero" />
     <arg name="control_loop_rate" default="0.1" />
 
-    <!--node pkg="acting" type="Acting_DebuggerNode.py" name="Acting_Debugger" output="screen">
-        <param name="control_loop_rate" value="0.05" />
-        <param name="role_name" value="$(arg role_name)" />
-    </node-->
-
     <node pkg="acting" type="pure_pursuit_controller.py" name="pure_pursuit_controller" output="screen">
         <param name="control_loop_rate" value="$(arg control_loop_rate)" />
         <param name="role_name" value="$(arg role_name)" />
     </node>
 
-    <node pkg="acting" type="stanley_controller.py" name="stanley_controller" output="screen">
+    <node pkg="acting" type="velocity_controller.py" name="velocity_controller" output="screen">
         <param name="control_loop_rate" value="$(arg control_loop_rate)" />
         <param name="role_name" value="$(arg role_name)" />
     </node>
 
-    <node pkg="acting" type="velocity_controller.py" name="velocity_controller" output="screen">
-        <param name="control_loop_rate" value="$(arg control_loop_rate)" />
+     <node pkg="acting" type="vehicle_controller.py" name="vehicle_controller" output="screen">
+        <param name="control_loop_rate" value="$(arg control_loop_rate)" /> <!-- leaderboard expects commands every 0.05 seconds OTHERWISE IT LAGS REALLY BADLY-->
         <param name="role_name" value="$(arg role_name)" />
     </node>
 
-    <node pkg="acting" type="acting_velocity_publisher.py" name="acting_velocity_publisher" output="screen">
+    <node pkg="acting" type="MainFramePublisher.py" name="MainFramePublisher" output="screen">
+        <param name="control_loop_rate" value="0.05" />
         <param name="role_name" value="$(arg role_name)" />
-        <param name="control_loop_rate" value="0.2" />
-        <param name="enabled" value="False" /> <!-- set to True to publish dummy velocities for testing-->
     </node>
+
+    <!-- UNCOMMENT THIS TO USE THE DEBUG_NODE FOR ACTING-TESTING -->
+    <!--
+    <node pkg="acting" type="Acting_Debug_Node.py" name="Acting_Debug_Node" output="screen">
+        <param name="control_loop_rate" value="0.05" />
+        <param name="role_name" value="$(arg role_name)" />
+    </node>
+    -->
 
-     <node pkg="acting" type="vehicle_controller.py" name="vehicle_controller" output="screen">
-        <param name="control_loop_rate" value="$(arg control_loop_rate)" /> <!-- leaderboard expects commands every 0.05 seconds OTHERWISE IT LAGS REALLY BADLY-->
+    <node pkg="acting" type="stanley_controller.py" name="stanley_controller" output="screen">
+        <param name="control_loop_rate" value="$(arg control_loop_rate)" />
         <param name="role_name" value="$(arg role_name)" />
     </node>
 
-    <node pkg="acting" type="MainFramePublisher.py" name="MainFramePublisher" output="screen">
-        <param name="control_loop_rate" value="0.05" />
+    <!-- ______OBSOLETES______
+    <node pkg="acting" type="acting_velocity_publisher.py" name="acting_velocity_publisher" output="screen">
         <param name="role_name" value="$(arg role_name)" />
+        <param name="control_loop_rate" value="0.2" />
+        <param name="enabled" value="False" />
     </node>
 
     <node pkg="acting" type="acc_distance_publisher_dummy.py" name="AccDistancePublisherDummy" output="screen">
         <param name="role_name" value="$(arg role_name)" />
-        <param name="enabled" value="False" /> <!-- set to True to publish dummy velocities for testing-->
+        <param name="enabled" value="False" /> 
     </node>
 
-    <!--node pkg="acting" type="acc.py" name="Acc" output="screen">
+    <node pkg="acting" type="acc.py" name="Acc" output="screen">
         <param name="control_loop_rate" value="$(arg control_loop_rate)" />
         <param name="role_name" value="$(arg role_name)" />
-    </node-->
+    </node>
+    -->
 
     <!-- Some plot nodes for debugging speed/steering etc. -->
     <!--node pkg="rqt_plot" type="rqt_plot" output="screen" name="rqt_plot_speed" args="/carla/hero/Speed /paf/hero/target_velocity /paf/hero/throttle /paf/hero/brake"/-->
     <!--node pkg="rqt_plot" type="rqt_plot" output="screen" name="rqt_plot_steering" args="/paf/hero/pure_pursuit_steer /carla/hero/vehicle_control_cmd/steer /paf/hero/pure_p_debug/l_distance"/-->
-    <!--node pkg="rqt_plot" type="rqt_plot" output="screen" name="rqt_plot_heading_yaw" args="/paf/hero/yaw /paf/hero/current_heading" /-->
-    <!--node pkg="rqt_plot" type="rqt_plot" output="screen" name="rqt_plot_CONTROLLER" args="/paf/hero/controller"/-->
 
 </launch>