Many fixes for agx systems #84

AaronYoung5 · 2023-11-12T05:19:46Z

StefanCaldararu · 2023-11-12T14:47:40Z

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 "


why is this space needed?

idk more of a future proofing. probably not needed, but makes this valid: "${DEFAULT_APT_DEPENDENCES}another_dependency". can remove if you want.

StefanCaldararu · 2023-11-12T14:50:59Z

docker/snippets/agx.dockerfile

+
+# 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 - && \


saw this, but how does this help with our issues (pytorch)?

This will correctly setup apt to search for humble packages, which won't be the case with the regular ros apt keys cause we're using focal, which doesn't have apt binaries for humble. I guess Isaac set it up so that on focal, you can still find humble binaries.

StefanCaldararu · 2023-11-12T14:57:56Z

docker/snippets/rosdep.dockerfile

+
+# Fix permissions since we installed everything as root
+USER ${USER}
+RUN rosdep fix-permissions


getting permission issues...

What computer is this on? It looks like you built the dev service, not art5? Just remove the log/build/install directory using sudo and try again. You can see what your user is named using whoami, but it will be art since that's what the art@art-dev means. Maybe try checking id -u and id -g to see if you set those correctly because it looks like this is on your workstation, not a jetson.

I don't see permission issues on my computer or the jetson.

AaronYoung5 · 2023-11-12T15:19:44Z

atk.yml

@@ -70,6 +70,7 @@ services:
        APT_DEPENDENCIES: "${DEFAULT_APT_DEPENDENCIES}"
        PIP_REQUIREMENTS: "${DEFAULT_PIP_REQUIREMENTS}"
        ROSDEP_METAPACKAGE: "art_art5_meta"
+        ROSDEP_SKIP_KEYS: "python3-torchvision tf_transformations"


Explanation: python3-torchvision isn't a valid package on aarch64 (the jetson architecture), so we'll ignore it. tf_transformations is actually not a valid package name, but the nmea (idk what that is; maybe gps) driver has it as an exec_depend. It would run find, but i didn't like the warning.

nmea is the message standard for gps. This is fine - if we need the driver ew can just remove tf_transformations from here right?

Confused why tensorflow (tf_transformations) would work fine while pytorch doesn't?

What do you mean by "we'll ignore it"? Does this mean we can't run cone detection on the jetson anymore? Does this mean we can't run it with gpu support?

I mean tf_transformations are specified in the exec_depend of the nmea package, but that's not an actual package name. It's a mistake in their package.xml file, which is a submodule of this repo and an exec depend itself of the art_art5_meta package.

waht do you mean? pytorch works? tf_transformations just isn't a valid package name

no we can run everything fine, will probably need to specify tf_transformations in the pip requirements for that service

AaronYoung5 · 2023-11-12T15:20:32Z

docker/common/common.dockerfile

@@ -5,19 +5,19 @@
 # Install dependencies
 ARG APT_DEPENDENCIES=""
 RUN apt-get update && \
-        [ -z "${APT_DEPENDENCIES}" ] || apt-get install --no-install-recommends -y ${APT_DEPENDENCIES} && \
+        [[ -z "${APT_DEPENDENCIES// /}" ]] || apt-get install --no-install-recommends -y ${APT_DEPENDENCIES} && \


explanation: supports empty spaces, like APT_DEPENDENCIES=" " would have failed before. I think it honestly should fail, but added this anyways.

The extra spaces do fail for me...

sim container also fails for me, unsure how to fix this one...

gotchu, i'll push a fix

AaronYoung5 · 2023-11-12T15:21:41Z

docker/snippets/rosdep.dockerfile

    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} && \


Explanation: added the skip keys that i explained above, explicitly set the os version to look at for rosdep (would be focal, which isn't what we want, if not specified) and explicitly set the rosdistro, which I don't think is actually needed but whatever.

AaronYoung5 · 2023-11-12T15:22:47Z

docker/snippets/rosdep.dockerfile

+
+# 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


latest versions of setuptools would throw a lot of warnings with ros cause the latest versions of python no longer allow easy_install I believe. This line just makes it so those warnings go away. No longer to need to install an older version of setuptools to get rid of that warning. See the first change at the top.

StefanCaldararu · 2023-11-13T14:25:21Z

seems ot work so far for me... opening another dicsussion about if ppl will use the metapackages...

* 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]>

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

* 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]> * 74/art oak/metapackages (#89) * 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 * pre-commit --------- Co-authored-by: harryzhang1018 <[email protected]> Co-authored-by: Aaron Young <[email protected]> * Aaron changes --------- Co-authored-by: harryzhang1018 <[email protected]> Co-authored-by: Aaron Young <[email protected]>

* pull latest master into art-oak (#88) * fix (#76) * Update vehicle_computers.md (#78) * 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]> * 74/art oak/metapackages (#89) * fix (#76) * Update vehicle_computers.md (#78) * 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 * pre-commit --------- Co-authored-by: harryzhang1018 <[email protected]> Co-authored-by: Aaron Young <[email protected]> * Aaron changes --------- Co-authored-by: harryzhang1018 <[email protected]> Co-authored-by: Aaron Young <[email protected]>

* fix (#76) * Update vehicle_computers.md (#78) * 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 * pre-commit --------- Co-authored-by: harryzhang1018 <[email protected]> Co-authored-by: Aaron Young <[email protected]>

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

* pull latest master into art-oak (#88) * fix (#76) * Update vehicle_computers.md (#78) * 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]> * 74/art oak/metapackages (#89) * fix (#76) * Update vehicle_computers.md (#78) * 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 * pre-commit --------- Co-authored-by: harryzhang1018 <[email protected]> Co-authored-by: Aaron Young <[email protected]> * Aaron changes --------- Co-authored-by: harryzhang1018 <[email protected]> Co-authored-by: Aaron Young <[email protected]>

* fix (#76) * Update vehicle_computers.md (#78) * 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 * pre-commit --------- Co-authored-by: harryzhang1018 <[email protected]> Co-authored-by: Aaron Young <[email protected]>

* pull latest master into art-oak (#88) * fix (#76) * Update vehicle_computers.md (#78) * 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]> * 74/art oak/metapackages (#89) * fix (#76) * Update vehicle_computers.md (#78) * 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 * pre-commit --------- Co-authored-by: harryzhang1018 <[email protected]> Co-authored-by: Aaron Young <[email protected]> * Aaron changes --------- Co-authored-by: harryzhang1018 <[email protected]> Co-authored-by: Aaron Young <[email protected]>

* fix (#76) * Update vehicle_computers.md (#78) * 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 * pre-commit --------- Co-authored-by: harryzhang1018 <[email protected]> Co-authored-by: Aaron Young <[email protected]>

* fix (#76) * Update vehicle_computers.md (#78) * 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]>

* fix (#76) * Update vehicle_computers.md (#78) * 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 * pre-commit --------- Co-authored-by: harryzhang1018 <[email protected]> Co-authored-by: Aaron Young <[email protected]>

* pull latest master into art-oak (#88) * fix (#76) * Update vehicle_computers.md (#78) * 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]> * 74/art oak/metapackages (#89) * fix (#76) * Update vehicle_computers.md (#78) * 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 * pre-commit --------- Co-authored-by: harryzhang1018 <[email protected]> Co-authored-by: Aaron Young <[email protected]> * Aaron changes --------- Co-authored-by: harryzhang1018 <[email protected]> Co-authored-by: Aaron Young <[email protected]>

* fix (#76) * Update vehicle_computers.md (#78) * 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 * pre-commit --------- Co-authored-by: harryzhang1018 <[email protected]> Co-authored-by: Aaron Young <[email protected]>

Many fixes for agx systems

ff3ae40

AaronYoung5 requested a review from StefanCaldararu November 12, 2023 05:19

AaronYoung5 self-assigned this Nov 12, 2023

StefanCaldararu reviewed Nov 12, 2023

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AaronYoung5 commented Nov 12, 2023

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Small fixes

7af1cab

StefanCaldararu approved these changes Nov 13, 2023

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AaronYoung5 merged commit 6da9ed3 into master Nov 13, 2023
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AaronYoung5 deleted the 83/bug/agx-fixes branch November 13, 2023 14:26

AaronYoung5 mentioned this pull request Nov 13, 2023

AGX Fixes #83

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Many fixes for agx systems #84

Many fixes for agx systems #84

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StefanCaldararu commented Nov 13, 2023

Many fixes for agx systems #84

Many fixes for agx systems #84

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StefanCaldararu commented Nov 13, 2023

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