pull latest master into art-oak (#88)

* fix (#76)

* Update vehicle_computers.md (#78)

#77 fix

* 81/bug/rosdep-dockerfile-fix (#82)

* Fix small bug in rosdep dockerfile related to hardcoded art_dev_meta line.

* Fix #2

* Added recursive flag to clone in script

* Many fixes for agx systems (#84)

* Many fixes for agx systems

* Small fixes

---------

Co-authored-by: harryzhang1018 <[email protected]>
Co-authored-by: Aaron Young <[email protected]>

atk.env

@@ -1,4 +1,4 @@
 ROS_DISTRO=humble
 
-DEFAULT_APT_DEPENDENCIES=" bash vim git git-lfs python3-pip"
-DEFAULT_PIP_REQUIREMENTS=" setuptools=58.2.0 "
+DEFAULT_APT_DEPENDENCIES="bash vim git git-lfs python3-pip"
+DEFAULT_PIP_REQUIREMENTS=""

atk.yml

@@ -36,7 +36,7 @@ services:
         USER_UID: "${USER_UID:-1000}"
         USER_GID: "${USER_GID:-1000}"
         APT_DEPENDENCIES: "${DEFAULT_APT_DEPENDENCIES:-}"
-        PIP_REQUIREMENTS: "${DEFAULT_APT_REQUIREMENTS:-}"
+        PIP_REQUIREMENTS: "${DEFAULT_PIP_REQUIREMENTS:-}"
     working_dir: "/home/${COMPOSE_PROJECT_NAME}/${COMPOSE_PROJECT_NAME}"
     volumes:
       - "./:/home/${COMPOSE_PROJECT_NAME}/${COMPOSE_PROJECT_NAME}"
@@ -53,8 +53,8 @@ services:
         IMAGE_TAG: "22.04"
         USER_GROUPS: "dialout video"
         USER_SHELL_ADD_ONS: ". /home/${COMPOSE_PROJECT_NAME}/${COMPOSE_PROJECT_NAME}/workspace/install/setup.bash"
-        PIP_REQUIREMENTS: "tensorrt"
-        ROSDEP_METAPACKAGE: "src/common/meta/art_dev_meta/"
+        PIP_REQUIREMENTS: "${DEFAULT_APT_DEPENDENCIES} tensorrt"
+        ROSDEP_METAPACKAGE: "art_dev_meta"
     working_dir: "/home/${COMPOSE_PROJECT_NAME}/${COMPOSE_PROJECT_NAME}/workspace"
   art5:
     extends: dev
@@ -66,10 +66,11 @@ services:
       args:
         IMAGE_BASE: "dustynv/ros"
         IMAGE_TAG: "humble-pytorch-l4t-r35.3.1"
-        ROS_INSTALL_PREFIX: /opt/ros/${ROS_DISTRO}/install
-        APT_DEPENDENCIES: "${DEV_APT_DEPENDENCIES}"
-        PIP_REQUIREMENTS: "${DEV_PIP_REQUIREMENTS}"
-        ROSDEP_METAPACKAGE: "src/common/meta/art_art5_meta/"
+        ROS_INSTALL_PREFIX: "/opt/ros/${ROS_DISTRO}/install"
+        APT_DEPENDENCIES: "${DEFAULT_APT_DEPENDENCIES}"
+        PIP_REQUIREMENTS: "${DEFAULT_PIP_REQUIREMENTS}"
+        ROSDEP_METAPACKAGE: "art_art5_meta"
+        ROSDEP_SKIP_KEYS: "python3-torchvision tf_transformations"
   chrono:
     extends: common
     image: "atk/${COMPOSE_PROJECT_NAME}:chrono"

docker/art5.dockerfile

@@ -6,6 +6,7 @@
 INCLUDE ./docker/common/base.dockerfile
 
 # Snippets
+INCLUDE ./docker/snippets/agx.dockerfile
 INCLUDE ./docker/snippets/rosdep.dockerfile
 
 # Will copy in other common configurations for this build

docker/snippets/agx.dockerfile

@@ -0,0 +1,9 @@
+# syntax = devthefuture/dockerfile-x
+# SPDX-License-Identifier: MIT
+# This snippet helps with setup on agx specific systems
+
+# Add Isaac apt repositories
+# Without this, humble packages on focal (the default ubuntu version for AGX) can't be found
+RUN wget -qO - https://isaac.download.nvidia.com/isaac-ros/repos.key | apt-key add - && \
+    grep -qxF 'deb https://isaac.download.nvidia.com/isaac-ros/ubuntu/main focal main' /etc/apt/sources.list || \
+    echo 'deb https://isaac.download.nvidia.com/isaac-ros/ubuntu/main focal main' | tee -a /etc/apt/sources.list

docker/snippets/rosdep.dockerfile

@@ -12,16 +12,29 @@ RUN apt-get update && \
 ARG ROS_DISTRO
 ARG ROS_WORKSPACE="./workspace"
 ARG ROSDEP_METAPACKAGE=""
+ARG ROSDEP_OS_NAME="ubuntu"
+ARG ROSDEP_OS_VERSION="jammy"
+ARG ROSDEP_SKIP_KEYS=""
 ARG ROS_INSTALL_PREFIX="/opt/ros/${ROS_DISTRO}/"
 COPY ${ROS_WORKSPACE}/src /tmp/workspace/src
 RUN . ${ROS_INSTALL_PREFIX}/setup.sh && \
     cd /tmp/workspace && \
     apt-get update && \
-    if [ -z "$ROSDEP_METAPACKAGE" ]; then \
+    if [ -z "${ROSDEP_METAPACKAGE}" ]; then \
         ROSDEP_FROM_PATHS="src"; \
     else \
-        ROSDEP_FROM_PATHS=$(colcon list --packages-up-to art_dev_meta | awk '{print $2}' | tr '\n' ' '); \
+        ROSDEP_FROM_PATHS=$(colcon list --packages-up-to ${ROSDEP_METAPACKAGE} | awk '{print $2}' | tr '\n' ' '); \
     fi && \
-    rosdep install --from-paths $ROSDEP_FROM_PATHS --ignore-src -r -y && \
+    rosdep install --from-paths ${ROSDEP_FROM_PATHS} --ignore-src -r -y --skip-keys="${ROSDEP_SKIP_KEYS}" --os=${ROSDEP_OS_NAME}:${ROSDEP_OS_VERSION} --rosdistro=${ROS_DISTRO} && \
     rm -rf /tmp/workspace && \
     apt-get clean && apt-get autoremove -y && rm -rf /var/lib/apt/lists/*
+
+# Avoid setup.py and easy_install deprecation warnings caused by colcon and setuptools
+# https://github.com/colcon/colcon-core/issues/454
+ENV PYTHONWARNINGS=ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources
+RUN echo "Warning: Using the PYTHONWARNINGS environment variable to silence setup.py and easy_install deprecation warnings caused by colcon"
+
+# Fix permissions since we installed everything as root
+USER ${USER}
+RUN rosdep fix-permissions
+USER root

docs/design/dockerfiles.md

@@ -170,6 +170,12 @@ the ROS workspace to run `rosdep` on.
 
 **ROSDEP_METAPACKAGE** _(Default: `""`)_: If provided, `colcon list --packages-up-to $ROSDEP_METAPACKAGE` will be run to determine the paths to run `rosdep` on (i.e. passed to `--from-paths`). If not provided, `--from-paths src` will be used.
 
+**ROSDEP_OS_NAME** _(Default: `"ubuntu"`)_: This is passed (together with `ROSDEP_OS_VERSION`) to `rosdep` at build time. On systems where it is required to build a ros distribution from source (e.g. Humble on AGX), we need to tell `rosdep` explicitly to use the os version which corresponds to the ROS build. The `--os` is passed as follows: `--os ${ROSDEP_OS_NAME}:${ROSDEP_OS_VERSION}`.
+
+**ROSDEP_OS_VERSION** _(Default: `"jammy"`)_: This is passed (together with `ROSDEP_OS_NAME`) to `rosdep` at build time. On systems where it is required to build a ros distribution from source (e.g. Humble on AGX), we need to tell `rosdep` explicitly to use the os version which corresponds to the ROS build. The `--os` is passed as follows: `--os ${ROSDEP_OS_NAME}:${ROSDEP_OS_VERSION}`.
+
+**ROSDEP_SKIP_KEYS** _(Default: `""`)_: The keys to ignore when attempting to run `rosdep`. Some packages may require being built from source and/or are not available through rosdep, so although we still want to specify them as dependencies in the package, we'll ignore them in the build. This is passed to `rosdep` as follows: `rosdep ... --skip-keys "${ROSDEP_SKIP_KEYS}"`.
+
 **ROS_INSTALL_PREFIX** _(Default: `/opt/ros/${ROS_DISTRO}`)_: The install prefix that ROS is installed to. This should be the folder location of the `setup.bash` file. By default, if installed through `apt` it will be `/opt/ros/${ROS_DISTRO}`. If it's pre-installed for tegra images, it's at `/opt/ros/${ROS_DISTRO}/install`.
 
 ## `docker/chrono.dockerfile`

docs/design/ros_workspace.md

@@ -169,6 +169,8 @@ $ paths=$(colcon list --packages-up-to art_dev_meta | awk '{print $2}' | tr '\n'
 
 In the command above, the `colcon list --packages-up-to art_dev_meta` part simply searches through the metapackage and then lists out the paths to those packages. The rest will just postprocesses the paths to fit in the `rosdep` command on the next line.
 
+You may need to specify `--os=${OS_NAME}:${OS_VERSION}` (e.g. `--os=ubuntu:jammy`) to get `rosdep` to read the right packages. You may also want to pass `-r` to ignore packages that `rosdep` can't find and/or use `--skip-keys` to ignore packages that don't exist (like in some thirdparty packages). Please run `rosdep -h` to read more about the options.
+
 ### Finding `<exec_depend>` Packages
 
 The `<exec_depend>` tag is used by both `rosdep` and `colcon` to determine which packages to install/build. Therefore, it's important to know how to find the packages that should be listed in the `<exec_depend>` tag.

docs/misc/vehicle_computers.md

@@ -30,7 +30,7 @@ This section outlines the general setup for each vehicle computer. Each vehicle
 A setup script was written to automate the setup process. To run the script, run the following command:
 
 ```bash
-wget -O - https://raw.githubusercontent.com/uwsbel/autonomy-research-testbed/tree/master/vehicles/setup.sh | bash
+wget -O - https://raw.githubusercontent.com/uwsbel/autonomy-research-testbed/master/vehicles/setup.sh | bash
 
 ```
 

vehicles/setup.sh

@@ -88,7 +88,7 @@ rm -rf ~/.conda/miniconda.sh
 
 echo "Cloning autonomy-research-testbed."
 
-git clone https://github.com/uwsbel/autonomy-research-testbed.git ~/sbel/autonomy-research-testbed
+git clone https://github.com/uwsbel/autonomy-research-testbed.git ~/sbel/autonomy-research-testbed --recursive
 
 echo "source ~/sbel/autonomy-research-testbed/vehicles/bashrc" >> ~/.bashrc