Fix nx related work on chokecherry

.gitignore

@@ -37,3 +37,6 @@ etc.hosts
 resolv.conf
 *.sif
 .atk-singularity.env
+
+# Ignore optix installing file
+/containers/chrono/NVIDIA-OptiX-SDK-7.5.0-linux64-x86_64.sh

atk.yml

@@ -1,4 +1,4 @@
-project: art
+project: art-harry
 default_containers: 
   - dev
   - vnc
@@ -21,8 +21,10 @@ custom_cli_arguments:
       action: 'store_true'
     all:
       devices:
-        - /dev/video0
+       # - /dev/video0
         - /dev/ttyACM0
+        - /dev/ttyUSB1
+        - /dev/ttyUSB2
         - /dev/ttyUSB0
   network_mode_host:
     argparse:
@@ -72,7 +74,9 @@ services:
   dev: &dev_service
     image: "atk/@{project}:dev"
     hostname: "@{project}-dev"
+    command: ""
     container_name: "@{project}-dev"
+    entrypoint: ""
     build: &dev_build
       context: "./"
       dockerfile: "./containers/dev/dev.dockerfile"
@@ -81,8 +85,8 @@ services:
         PROJECT: "@{project}"
         USER_UID: "@{uid}"
         USER_GID: "@{gid}"
-        APT_DEPENDENCIES: "bash zsh vim git git-lfs python3-pip python3-tk python3-opencv rapidjson-dev"
-        PIP_REQUIREMENTS: "wa_simulator pandas matplotlib numpy>=1.19 opencv-python tornado black Pillow torch torchvision pyserial nvidia-pyindex"
+        APT_DEPENDENCIES: "bash zsh vim git git-lfs python3-pip python3-tk python3-opencv rapidjson-dev ros-galatic-tf-transformations"
+        PIP_REQUIREMENTS: "wa_simulator pandas matplotlib numpy>=1.19 opencv-python tornado black Pillow torch torchvision pyserial nvidia-pyindex casadi cvxpy scipy osqp transforms3d keras_core==0.1.3"
         USER_GROUPS: "dialout video"
     environment:
       DISPLAY: vnc:0.0
@@ -96,7 +100,9 @@ services:
     <<: *dev_service
     image: "atk/@{project}:nx"
     hostname: "@{project}-nx"
+    command: ""
     container_name: "@{project}-nx"
+    entrypoint: ""
     network_mode: "host"
     build:
       <<: *dev_build
@@ -106,7 +112,9 @@ services:
   vnc:
     image: "atk/@{project}:vnc"
     hostname: "@{project}-vnc"
+    command: ""
     container_name: "@{project}-vnc"
+    entrypoint: ""
     build:
       context: "./containers/vnc"
       dockerfile: "./vnc.dockerfile"
@@ -124,7 +132,9 @@ services:
   chrono:
     image: "atk/@{project}:chrono"
     hostname: "@{project}-chrono"
+    command: ""
     container_name: "@{project}-chrono"
+    entrypoint: ""
     build:
       context: ./containers/chrono
       dockerfile: ./chrono.dockerfile
@@ -146,14 +156,17 @@ services:
       NVIDIA_DRIVER_CAPABILITIES: "all"
     ports:
       - "50000:50000"
+      #- "1209:1209"
     working_dir: "/home/@{container_username}/@{project}/sim"
     volumes: 
       - "@{project_root}:/home/@{container_username}/@{project}"
     tty: true
   pip-pychrono:
     image: "atk/@{project}:pip-pychrono"
     hostname: "@{project}-pip-pychrono"
+    command: ""
     container_name: "@{project}-pip-pychrono"
+    entrypoint: ""
     build:
       context: ./containers/pip-pychrono
       dockerfile: ./pip-pychrono.dockerfile

containers/chrono/chrono.dockerfile

@@ -10,9 +10,9 @@ ARG USERHOME="/home/$USERNAME"
 ARG USERSHELL=bash
 ARG USERSHELLPATH="/bin/${USERSHELL}"
 ARG USERSHELLPROFILE="$USERHOME/.${USERSHELL}rc"
-ARG PYTHONINSTALLPATH="/home/art/chrono/build/bin"
+ARG PYTHONINSTALLPATH="/home/art/chrono-internal/build/bin"
 
-ARG CONTAINERNAME="chrono"
+ARG CONTAINERNAME="chrono-internal"
 
 # Check for updates
 RUN apt update && apt upgrade -y && apt install sudo -y
@@ -89,9 +89,10 @@ RUN chmod +x optix75.sh
 RUN mkdir /opt/optix75
 RUN ./optix75.sh --prefix=/opt/optix75 --skip-license
 RUN rm optix75.sh
-RUN git clone https://github.com/projectchrono/chrono.git -b feature/ros_bridge
-RUN mkdir chrono/build
-RUN cd chrono/build && cmake ../ -G Ninja \
+#RUN git clone https://github.com/projectchrono/chrono.git 
+RUN git clone https://[email protected]/uwsbel/chrono-internal.git -b sandbox/gps
+RUN mkdir chrono-internal/build
+RUN cd chrono-internal/build && cmake ../ -G Ninja \
  -DCMAKE_BUILD_TYPE=Release \
  -DBUILD_BENCHMARKING=OFF \
  -DBUILD_DEMOS=OFF \

pygpsclient.desktop

@@ -0,0 +1,6 @@
+
+Type=Application
+Terminal=false
+Name=PyGPSClient
+Icon=/home/user/.local/lib/python3.11/site-packages/pygpsclient/resources/pygpsclient.ico
+Exec=/home/user/.local/bin/pygpsclient

sim/data/autonomy-toolkit/paths/cone_90turn.csv

@@ -0,0 +1,38 @@
+0,0,2.9555,-0.6135
+1,0,2.6845,-0.6081
+2,0,2.2097,-0.6209
+3,0,1.5368,-0.5179
+4,0,0.9887,-0.3967
+5,0,0.445,-0.1908
+6,0,-0.0009,0.209
+7,0,-0.1035,0.4592
+8,0,-0.091,0.9086
+9,0,-0.0954,1.222
+10,0,-0.1127,1.4309
+0,1,2.916,-1.89
+1,1,2.431,-1.842
+2,1,2.144,-1.856
+3,1,1.879,-1.869
+4,1,1.623,-1.874
+5,1,1.291,-1.862
+6,1,0.96,-1.8444
+7,1,0.7165,-1.8448
+8,1,0.4676,-1.8535
+9,1,0.1576,-1.85
+10,1,-0.0864,-1.8535
+11,1,-0.3326,-1.84
+12,1,-0.561,-1.784
+13,1,-0.831,-1.6976
+14,1,-1.078,-1.574
+15,1,-1.2929,-1.372
+16,1,-1.504,-1.149
+17,1,-1.647,-0.861456
+18,1,-1.774,-0.546144
+19,1,-1.9378,-0.3131
+20,1,-2.0103,-0.020407
+21,1,-2.0467,0.24
+22,1,-2.137651,0.562427
+23,1,-2.1611,0.908604
+24,1,-2.16956,1.12486
+25,1,-2.139459,1.328
+26,1,-2.0968,1.544893

sim/data/autonomy-toolkit/paths/cone_path_S1.csv

@@ -0,0 +1,42 @@
+0	1	-0.75	0
+1	1	-0.255192081490954	0.25
+2	1	0.208851077208406	0.5
+3	1	0.5	0.75
+4	1	0.6	1
+5	1	0.7	1.25
+6	1	0.7	1.5
+7	1	0.7	1.75
+8	1	0.7	2
+9	1	0.7	2.25
+10	1	0.446944288207913	2.5
+11	1	0.0133219841046633	2.75
+12	1	-0.467759983880266	3
+13	1	-0.966390269060217	3.25
+14	1	-1.45156645537924	3.5
+15	1	-1.89312263748469	3.75
+16	1	-2.26360499061586	4
+17	1	-2.53997871645717	4.25
+18	1	-2.70506023533019	4.5
+19	1	-2.74858557795076	4.75
+20	1	-2.66784854932628	5
+0	0	0.95	0
+1	0	1.24480791850905	0.25
+2	0	1.70885107720841	0.5
+3	0	2	0.75
+4	0	2.1	1
+5	0	2.1	1.25
+6	0	2.1	1.5
+7	0	2.1	1.75
+8	0	2.1	2
+9	0	2	2.25
+10	0	1.94694428820791	2.5
+11	0	1.51332198410466	2.9
+12	0	1.03224001611973	3.25
+13	0	0.533609730939783	3.5
+14	0	0.0484335446207603	3.7
+15	0	-0.393122637484687	3.9
+16	0	-0.763604990615856	4
+17	0	-1.03997871645717	4.25
+18	0	-1.2	4.5
+19	0	-1.2	4.75
+20	0	-1.16784854932628	5

sim/data/autonomy-toolkit/paths/cone_path_quadratic.csv

@@ -0,0 +1,30 @@
+0	0	-1.8	1.7400000000000002
+1	0	-1.6	1.0600000000000005
+2	0	-1.4	0.45999999999999974
+3	0	-1.2	-0.06000000000000005
+4	0	-1.0	-0.5
+5	0	-0.8	-0.8599999999999999
+6	0	-0.6	-1.1400000000000001
+7	0	-0.4	-1.3399999999999999
+8	0	-0.2	-1.46
+9	0	0.0	-1.5
+10	0	0.2	-1.46
+11	0	0.4	-1.3399999999999999
+12	0	0.6	-1.1400000000000001
+13	0	0.8	-0.8599999999999999
+14	0	1.0	-0.5
+15	0	1.2	-0.06000000000000005
+16	0	1.4	0.45999999999999974
+17	0	1.6	1.0600000000000005
+18	0	1.8	1.7400000000000002
+0	1	-1.0	1.5
+1	1	-0.8	0.7800000000000002
+2	1	-0.6	0.21999999999999997
+3	1	-0.4	-0.17999999999999994
+4	1	-0.2	-0.42
+5	1	0.0	-0.5
+6	1	0.2	-0.42
+7	1	0.4	-0.17999999999999994
+8	1	0.6	0.21999999999999997
+9	1	0.8	0.7800000000000002
+10	1	1.0	1.5

sim/data/autonomy-toolkit/paths/cone_path_sin.csv

@@ -0,0 +1,40 @@
+0	0	-2.0	0.45892427466313845
+1	0	-1.8	0.477530117665097
+2	0	-1.6	0.2568024953079282
+3	0	-1.4	-0.14921677231038016
+4	0	-1.2	-0.6411200080598672
+5	0	-1.0	-1.0984721441039564
+6	0	-0.8	-1.4092974268256817
+7	0	-0.6	-1.4974949866040546
+8	0	-0.4	-1.3414709848078965
+9	0	-0.2	-0.979425538604203
+10	0	0.0	-0.5
+11	0	0.2	-0.020574461395796995
+12	0	0.4	0.3414709848078965
+13	0	0.6	0.49749498660405445
+14	0	0.8	0.4092974268256817
+15	0	1.0	0.09847214410395644
+16	0	1.2	-0.35887999194013276
+17	0	1.4	-0.8507832276896199
+18	0	1.6	-1.2568024953079282
+19	0	1.8	-1.477530117665097
+0	1	-2.0	1.8589242746631385
+1	1	-1.8	1.877530117665097
+2	1	-1.6	1.6568024953079283
+3	1	-1.4	1.2507832276896198
+4	1	-1.2	0.7588799919401328
+5	1	-1.0	0.3015278558960436
+6	1	-0.8	-0.009297426825681687
+7	1	-0.6	-0.09749498660405442
+8	1	-0.4	0.05852901519210352
+9	1	-0.2	0.420574461395797
+10	1	0.0	0.9
+11	1	0.2	1.379425538604203
+12	1	0.4	1.7414709848078966
+13	1	0.6	1.8974949866040545
+14	1	0.8	1.8092974268256818
+15	1	1.0	1.4984721441039563
+16	1	1.2	1.0411200080598673
+17	1	1.4	0.5492167723103802
+18	1	1.6	0.14319750469207182
+19	1	1.8	-0.07753011766509699

sim/data/autonomy-toolkit/paths/cone_path_sin_smth.csv

@@ -0,0 +1,40 @@
+0	0	-2.0	-0.025169889177760474
+1	0	-1.8	-0.369240895964025
+2	0	-1.6	-0.7304126721177386
+3	0	-1.4	-1.0614509138283046
+4	0	-1.2	-1.3190622025224277
+5	0	-1.0	-1.4695559491823236
+6	0	-0.8	-1.4932504737303578
+7	0	-0.6	-1.3870469892594564
+8	0	-0.4	-1.164834863606346
+9	0	-0.2	-0.8556751578685322
+10	0	0.0	-0.5
+11	0	0.2	-0.14432484213146785
+12	0	0.4	0.16483486360634592
+13	0	0.6	0.38704698925945635
+14	0	0.8	0.4932504737303577
+15	0	1.0	0.4695559491823237
+16	0	1.2	0.3190622025224277
+17	0	1.4	0.06145091382830459
+18	0	1.6	-0.2695873278822613
+19	0	1.8	-0.630759104035975
+0	1	-2.0	1.3748301108222396
+1	1	-1.8	1.0307591040359751
+2	1	-1.6	0.6695873278822613
+3	1	-1.4	0.33854908617169543
+4	1	-1.2	0.08093779747757235
+5	1	-1.0	-0.06955594918232366
+6	1	-0.8	-0.09325047373035766
+7	1	-0.6	0.012953010740543669
+8	1	-0.4	0.2351651363936541
+9	1	-0.2	0.5443248421314679
+10	1	0.0	0.9
+11	1	0.2	1.2556751578685321
+12	1	0.4	1.5648348636063458
+13	1	0.6	1.7870469892594563
+14	1	0.8	1.8932504737303577
+15	1	1.0	1.8695559491823237
+16	1	1.2	1.7190622025224278
+17	1	1.4	1.4614509138283047
+18	1	1.6	1.1304126721177388
+19	1	1.8	0.769240895964025

sim/data/autonomy-toolkit/paths/easy_one.csv

@@ -0,0 +1,24 @@
+0	0	-2.0	-1.8092974268256818
+1	0	-1.65	-1.8968650284539188
+2	0	-1.3	-1.863558185417193
+3	0	-0.95	-1.7134155047893738
+4	0	-0.6	-1.4646424733950354
+5	0	-0.25	-1.1474039592545229
+6	0	0.1	-0.8001665833531719
+7	0	0.45	-0.4650344658887698
+8	0	0.8	-0.18264390910047723
+9	0	1.15	0.012763940260520967
+10	0	1.5	0.09749498660405442
+11	0	1.85	0.06127520297529987
+0	1	-2.0	-0.009297426825681687
+1	1	-1.65	-0.09686502845391887
+2	1	-1.3	-0.06355818541719294
+3	1	-0.95	0.08658449521062628
+4	1	-0.6	0.33535752660496465
+5	1	-0.25	0.6525960407454771
+6	1	0.1	0.9998334166468281
+7	1	0.45	1.3349655341112303
+8	1	0.8	1.6173560908995228
+9	1	1.15	1.812763940260521
+10	1	1.5	1.8974949866040545
+11	1	1.85	1.8612752029753

sim/data/autonomy-toolkit/paths/easy_two.csv

@@ -0,0 +1,24 @@
+0	0	-2.0	0.5
+1	0	-1.65	0.8832500000000001
+2	0	-1.3	1.193
+3	0	-0.95	1.42925
+4	0	-0.6	1.5919999999999999
+5	0	-0.25	1.68125
+6	0	0.1	1.697
+7	0	0.45	1.6392499999999999
+8	0	0.8	1.508
+9	0	1.15	1.30325
+10	0	1.5	1.025
+11	0	1.85	0.6732499999999999
+0	1	-2.0	-1.8
+1	1	-1.65	-1.2251249999999998
+2	1	-1.3	-0.7605000000000001
+3	1	-0.95	-0.406125
+4	1	-0.6	-0.162
+5	1	-0.25	-0.028125
+6	1	0.1	-0.004500000000000001
+7	1	0.45	-0.09112500000000001
+8	1	0.8	-0.2880000000000001
+9	1	1.15	-0.5951249999999999
+10	1	1.5	-1.0125
+11	1	1.85	-1.5401250000000002