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feat(docker): add localization/map launch files to autoware:universe-localization-mapping images #5586

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feat(docker): add localization/map launch files to autoware:universe-localization-mapping images #5586

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71098f2
add localization & map launch
youtalk Dec 19, 2024
891387a
style(pre-commit): autofix
pre-commit-ci[bot] Dec 19, 2024
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4 changes: 4 additions & 0 deletions docker/Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
ARG AUTOWARE_BASE_CUDA_IMAGE

# hadolint ignore=DL3006
FROM $BASE_IMAGE AS rosdep-depend

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO

Expand Down Expand Up @@ -52,6 +52,8 @@
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO

COPY src/universe/autoware.universe/launch/tier4_localization_launch /autoware/src/universe/autoware.universe/launch/tier4_localization_launch
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tier4_localization_launch depends on the following packages from other folders:

  • autoware.universe/system/default_ad_api_helpers/automatic_pose_initializer
  • autoware.universe/sensing/autoware_pcl_extensions
  • autoware.universe/sensing/autoware_pointcloud_preprocessor

Should we copy these packages as well?

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If exec_depend is properly written, the health-check should fail when there are missing dependency packages, but it is succeeding.
https://github.com/autowarefoundation/autoware/actions/runs/12413593055/job/34655835144?pr=5586

It seems necessary to actually create the image and test whether it launches with ros2 launch.

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I created container images with all PRs merged in the forked repository.
youtalk#158
https://hub.docker.com/repository/docker/youtalk/autoware/tags?name=20241220

ros2 launch has started, but I don’t know what parameters to provide. @mitsudome-r Could you check the launch validity instead of me?

docker run --rm -it youtalk/autoware:universe-localization-mapping-20241220-amd64 ros2 launch tier4_localization_launch localization.launch.xml
[INFO] [launch]: All log files can be found below /root/.ros/log/2024-12-20-05-47-32-395432-b78797c5f174-1
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): Included launch description missing required argument 'pose_source' (description: 'A string consisting of ndt, yabloc, artag and eagleye joined by underscores no matter the order. e.g. ndt_yabloc'), given: []

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@mitsudome-r mitsudome-r Dec 20, 2024 •
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If exec_depend is properly written, the health-check should fail when there are missing dependency packages, but it is succeeding.

The rosdep script is actually outputting error messages, but the build passes because they are just exec depends.
We might need to report it as a CI error when ever we get error messages out of the scripts.
https://github.com/autowarefoundation/autoware/actions/runs/12413593055/job/34655835144?pr=5586#step:5:1472
image

ros2 launch has started, but I don’t know what parameters to provide. @mitsudome-r Could you check the launch validity instead of me?

At the moment, the launch file is expected to be launched via autoware.launch.xml so it requires lengthy arguments. I will write them down here. Give me few minutes.

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In order to launch you need to give arguments and parameters to the launch file:

  1. Download localization_config.zip

  2. Mount the extracted localization to the docker container e.g., docker run -it -v $HOME/Downloads/localization_config:=/localization_config youtalk/autoware:universe-localization-mapping-20241220-amd64

  3. Run the following commands:

ros2 launch tier4_localization_launch localization.launch.xml \
  pose_source:=ndt \
  twist_source:=twist_source \
  initial_pose:=[] \
  system_run_mode:=online \
  ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range_param_path:=/localization_config/ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml \
  ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_downsample_filter_param_path:=/localization_config/ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_filter.param.yaml \
  ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter_param_path:=/localization_config/ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter.param.yaml \
  ndt_scan_matcher/ndt_scan_matcher_param_path:=/localization_config/ndt_scan_matcher/ndt_scan_matcher.param.yaml \
  localization_error_monitor_param_path:=/localization_config/localization_error_monitor.param.yaml \
  ekf_localizer_param_path:=/localization_config/ekf_localizer.param.yaml \
  stop_filter_param_path:=/localization_config/stop_filter.param.yaml \
  pose_initializer_param_path:=/localization_config/pose_initializer.param.yaml \
  eagleye_param_path:=/localization_config/localization/eagleye_config.param.yaml \
  ar_tag_based_localizer_param_path:=/localization_config/ar_tag_based_localizer.param.yaml \
  lidar_marker_localizer/lidar_marker_localizer_param_path:=/localization_config/lidar_marker_localizer/lidar_marker_localizer.param.yaml \
  lidar_marker_localizer/pointcloud_preprocessor/crop_box_filter_measurement_range_param_path:=/localization_config/lidar_marker_localizer/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml \
  lidar_marker_localizer/pointcloud_preprocessor/ring_filter_param_path:=/localization_config/lidar_marker_localizer/pointcloud_preprocessor/ring_filter.param.yaml \
  twist2accel_param_path:=/localization_config/twist2accel.param.yaml

If we are able to set default parameters for the launch files, then I think we could simplify the command, but that can be done as a separate PR.

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When I launch with ghcr.io/autowarefoundation/autoware:universe-devel, it works.

However, when I try to run with youtalk/autoware:universe-localization-mapping-20241220-amd64, it fails with the following error:

[ERROR] [launch]: Caught exception in launch (see debug for traceback): "package 'automatic_pose_initializer' not found, searching: ['/opt/autoware', '/opt/ros/humble']"

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Thank you very much for your detail explanation. I understood. I will fix them.

COPY src/universe/autoware.universe/launch/tier4_map_launch /autoware/src/universe/autoware.universe/launch/tier4_map_launch
COPY src/universe/autoware.universe/localization /autoware/src/universe/autoware.universe/localization
COPY src/universe/autoware.universe/map /autoware/src/universe/autoware.universe/map
RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
Expand Down Expand Up @@ -113,7 +115,7 @@
&& cat /rosdep-exec-depend-packages.txt

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_IMAGE AS core-devel

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ENV CCACHE_DIR="/root/.ccache"
Expand Down Expand Up @@ -251,6 +253,8 @@

# hadolint ignore=SC1091
RUN --mount=type=cache,target=${CCACHE_DIR} \
--mount=type=bind,from=rosdep-universe-localization-mapping-depend,source=/autoware/src/universe/autoware.universe/launch/tier4_localization_launch,target=/autoware/src/universe/autoware.universe/launch/tier4_localization_launch \
--mount=type=bind,from=rosdep-universe-localization-mapping-depend,source=/autoware/src/universe/autoware.universe/launch/tier4_map_launch,target=/autoware/src/universe/autoware.universe/launch/tier4_map_launch \
--mount=type=bind,from=rosdep-universe-localization-mapping-depend,source=/autoware/src/universe/autoware.universe/localization,target=/autoware/src/universe/autoware.universe/localization \
--mount=type=bind,from=rosdep-universe-localization-mapping-depend,source=/autoware/src/universe/autoware.universe/map,target=/autoware/src/universe/autoware.universe/map \
source /opt/ros/"$ROS_DISTRO"/setup.bash \
Expand Down Expand Up @@ -369,7 +373,7 @@
CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_IMAGE AS universe-sensing-perception

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR
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CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_CUDA_IMAGE AS universe-sensing-perception-cuda

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR
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CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_IMAGE AS universe-localization-mapping

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR
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CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_IMAGE AS universe-planning-control

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR
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CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_IMAGE AS universe-vehicle-system

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR
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CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_IMAGE AS universe

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR
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CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $AUTOWARE_BASE_CUDA_IMAGE AS universe-cuda

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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR
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