74/art oak/metapackages

atk.yml

@@ -71,6 +71,21 @@ services:
         PIP_REQUIREMENTS: "${DEFAULT_PIP_REQUIREMENTS}"
         ROSDEP_METAPACKAGE: "art_art5_meta"
         ROSDEP_SKIP_KEYS: "python3-torchvision tf_transformations"
+  oak:
+    extends: dev
+    image: "atk/${COMPOSE_PROJECT_NAME}:oak"
+    hostname: "${COMPOSE_PROJECT_NAME}-oak"
+    container_name: "${COMPOSE_PROJECT_NAME}-oak"
+    build:
+      dockerfile: "./docker/oak.dockerfile"
+      args:
+        IMAGE_BASE: "dustynv/ros"
+        IMAGE_TAG: "humble-pytorch-l4t-r35.3.1"
+        ROS_INSTALL_PREFIX: "/opt/ros/${ROS_DISTRO}/install"
+        APT_DEPENDENCIES: "${DEFAULT_APT_DEPENDENCIES}"
+        PIP_REQUIREMENTS: "${DEFAULT_PIP_REQUIREMENTS}"
+        ROSDEP_METAPACKAGE: "art_oak_meta"
+        ROSDEP_SKIP_KEYS: "python3-torchvision tf_transformations"
   chrono:
     extends: common
     image: "atk/${COMPOSE_PROJECT_NAME}:chrono"

docker/oak.dockerfile

@@ -0,0 +1,16 @@
+# syntax = devthefuture/dockerfile-x
+# SPDX-License-Identifier: MIT
+
+# Syntax provided by the devthefuture/dockerfile-x project
+# Will copy in the base configuration for the build
+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
+INCLUDE ./docker/common/common.dockerfile
+
+# Complete the build
+INCLUDE ./docker/common/final.dockerfile

workspace/src/common/meta/art_oak_meta/CMakeLists.txt

@@ -0,0 +1,5 @@
+cmake_minimum_required(VERSION 3.8)
+project(art_oak_meta)
+
+find_package(ament_cmake REQUIRED)
+ament_package()

workspace/src/common/meta/art_oak_meta/package.xml

@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>art_oak_meta</name>
+  <version>1.0.0</version>
+  <description>A package to aggregate all packages for the ART-Oak vehicle.</description>
+  <maintainer email="[email protected]">TODO</maintainer>
+  <license>TODO: License declaration</license>
+
+  <exec_depend>art_common_meta</exec_depend>
+
+  <exec_depend>art_launch</exec_depend>
+  <exec_depend>localization_py</exec_depend>
+  <exec_depend>path_planning</exec_depend>
+  <exec_depend>control</exec_depend>
+  <exec_depend>chrono_ros_interfaces</exec_depend>
+  <!-- add sensing -->
+</package>