Merge remote-tracking branch 'origin/integration' into rtk

.gitmodules

@@ -8,7 +8,13 @@
 	url = https://dawn.googlesource.com/dawn
 	shallow = true
 	branch = chromium/6108
+[submodule "deps/emsdk"]
+	path = deps/emsdk
+	url = [email protected]:emscripten-core/emsdk.git
+	shallow = true
+	branch = 3.1.53
 [submodule "deps/manif"]
 	path = deps/manif
 	url = https://github.com/artivis/manif.git
 	shallow = true
+	branch = devel

CMakeLists.txt

@@ -1,6 +1,18 @@
 cmake_minimum_required(VERSION 3.16)
 project(mrover VERSION 2024.0.0 LANGUAGES CXX)
 
+option(MROVER_IS_CI "Build for CI" OFF)
+option(MROVER_RUN_CLANG_TIDY "Run clang-tidy" OFF)
+option(MROVER_IS_JETSON "Build for the Jetson" OFF)
+
+set(CMAKE_CXX_STANDARD 23)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON) # Generate compile_commands.json for clangd
+
+### ============= ###
+### OS & Compiler ###
+### ============= ###
+
 if (APPLE)
     # Ensures that homebrew packages are never used over miniforge packages
     set(CMAKE_IGNORE_PATH /opt/homebrew)
@@ -15,23 +27,30 @@ if (APPLE)
     link_libraries(fmt::fmt)
 else ()
     # TODO(quintin): Fix this
-    find_package(TBB REQUIRED)
-    link_libraries(TBB::tbb)
+    find_package(TBB QUIET)
+    if (TBB_FOUND)
+        link_libraries(TBB::tbb)
+    endif ()
 endif ()
 
-include_directories(BEFORE SYSTEM src/preload)
+if (NOT APPLE AND CMAKE_CXX_COMPILER_ID STREQUAL "Clang") # Link with LLVM lld instead of GNU ld when using Clang on Linux, it is faster
+    add_link_options(-fuse-ld=lld)
+endif ()
 
-set(CMAKE_CXX_STANDARD 23)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_EXPORT_COMPILE_COMMANDS ON) # Generate compile_commands.json for clangd
-if (NOT APPLE AND CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
-    add_link_options(-fuse-ld=lld) # LLVM lld is faster than GNU ld
+if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+    set(MROVER_CPP_COMPILE_OPTIONS -Wall -Wextra -pedantic -Wno-missing-field-initializers)
+    if (MROVER_IS_CI) # Make warnings errors in CI
+        list(APPEND MROVER_CPP_COMPILE_OPTIONS -Werror)
+    endif ()
 endif ()
-set(MROVER_CPP_COMPILE_OPTIONS -Wall -Wextra -pedantic)
-if (MROVER_CI)
-    list(APPEND MROVER_CPP_COMPILE_OPTIONS -Werror)
+
+if (MROVER_IS_JETSON)
+    add_definitions(-DMROVER_IS_JETSON)
 endif ()
 
+# Inject header files that get included before anything else, including system headers
+include_directories(BEFORE SYSTEM src/preload)
+
 include(cmake/macros.cmake)
 
 # ROS packages list
@@ -125,17 +144,15 @@ target_link_libraries(lie PUBLIC MANIF::manif)
 ## ESW
 
 if (NOT APPLE)
-    mrover_add_vendor_header_only_library(moteus src/esw/mjbots)
+    mrover_add_vendor_header_only_library(moteus deps/mjbots)
     mrover_add_header_only_library(can_device src/esw/can_device)
     mrover_add_library(motor_library src/esw/motor_library/*.cpp src/esw/motor_library)
     target_link_libraries(motor_library PUBLIC can_device moteus)
 
     if (NetLink_FOUND AND NetLinkRoute_FOUND)
         mrover_add_nodelet(can_driver src/esw/can_driver/*.cpp src/esw/can_driver src/esw/can_driver/pch.hpp)
-        mrover_nodelet_link_libraries(can_driver nl-3 nl-route-3)
-        # TODO(quintin): Fix this CMake hard coding
-        #mrover_nodelet_link_libraries(can ${NetLink_LIBRARIES} ${NetLinkRoute_LIBRARIES}})
-        mrover_nodelet_include_directories(can_driver /usr/include/libnl3)
+        mrover_nodelet_link_libraries(can_driver ${NetLink_LIBRARIES} ${NetLinkRoute_LIBRARIES})
+        mrover_nodelet_include_directories(can_driver ${NetLink_INCLUDE_DIRS} ${NetLinkRoute_INCLUDE_DIRS})
     endif ()
 
     macro(mrover_add_esw_bridge_node name sources)
@@ -151,27 +168,41 @@ if (NOT APPLE)
     mrover_add_esw_bridge_node(led src/esw/led/*.cpp)
     mrover_add_esw_bridge_node(mast_gimbal_bridge src/esw/mast_gimbal_bridge/*.cpp)
     mrover_add_esw_bridge_node(pdb_bridge src/esw/pdb_bridge/*.cpp)
-    #    mrover_add_esw_bridge_node(sa_bridge src/esw/sa_translator_bridge/*.cpp)
+    mrover_add_esw_bridge_node(sa_hw_bridge src/esw/sa_hw_bridge/*.cpp)
+    mrover_add_esw_bridge_node(sa_translator_bridge src/esw/sa_translator_bridge/*.cpp)
     mrover_add_esw_bridge_node(science_bridge src/esw/science_bridge/*.cpp)
     mrover_add_esw_bridge_node(brushless_test_bridge src/esw/brushless_test_bridge/*.cpp motor_library)
     mrover_add_esw_bridge_node(brushed_test_bridge src/esw/brushed_test_bridge/*.cpp)
     mrover_add_esw_bridge_node(test_arm_bridge src/esw/test_arm_bridge/*.cpp)
+    mrover_add_esw_bridge_node(pdb_test_bridge src/esw/pdb_test_bridge/*.cpp)
+    mrover_add_esw_bridge_node(arm_position_test_bridge src/esw/arm_position_test_bridge/*.cpp)
     #    mrover_add_esw_bridge_node(sa_sensor src/esw/fw/dirt_sensor/dirt_sensor_ros/dirt_sensor_ros.ino)
 endif ()
 
 ## Perception
 
-mrover_add_nodelet(tag_detector src/perception/tag_detector/*.cpp src/perception/tag_detector src/perception/tag_detector/pch.hpp)
-mrover_nodelet_link_libraries(tag_detector opencv_core opencv_objdetect opencv_aruco opencv_imgproc opencv_highgui lie)
+mrover_add_library(websocket_server src/esw/websocket_server/*.cpp src/esw/websocket_server)
+target_compile_definitions(websocket_server PUBLIC BOOST_ASIO_NO_DEPRECATED)
+
+mrover_add_nodelet(zed_tag_detector src/perception/tag_detector/zed/*.cpp src/perception/tag_detector/zed src/perception/tag_detector/zed/pch.hpp)
+mrover_nodelet_link_libraries(zed_tag_detector opencv_core opencv_objdetect opencv_aruco opencv_imgproc lie)
+
+mrover_add_nodelet(long_range_tag_detector src/perception/tag_detector/long_range_cam/*.cpp src/perception/tag_detector/long_range_cam src/perception/tag_detector/long_range_cam/pch.hpp)
+mrover_nodelet_link_libraries(long_range_tag_detector opencv_core opencv_objdetect opencv_aruco opencv_imgproc lie)
+
+mrover_add_nodelet(usb_camera src/perception/usb_camera/*.cpp src/perception/usb_camera src/perception/usb_camera/pch.hpp)
+mrover_nodelet_link_libraries(usb_camera opencv_core opencv_objdetect opencv_aruco opencv_imgproc opencv_highgui)
 
 if (CUDA_FOUND)
-    mrover_add_library(streaming src/esw/streaming/*.c* src/esw/streaming)
-    #    target_link_libraries(streaming PUBLIC opencv_core opencv_cudacodec)
-    target_link_libraries(streaming PUBLIC cuda nvidia-encode opencv_core)
-    target_include_directories(streaming SYSTEM PUBLIC deps/nvenc)
-    target_compile_definitions(streaming PUBLIC BOOST_ASIO_NO_DEPRECATED)
+    #    mrover_add_node(nv_vid_codec_h265_enc src/esw/nv_vid_codec_h265_enc/*.c*)
+    #    target_link_libraries(nv_vid_codec_h265_enc PUBLIC cuda nvidia-encode opencv_core opencv_imgproc streaming)
+    #    target_include_directories(nv_vid_codec_h265_enc SYSTEM PUBLIC deps/nvenc)
 endif ()
 
+mrover_add_nodelet(gst_websocket_streamer src/esw/gst_websocket_streamer/*.c* src/esw/gst_websocket_streamer src/esw/gst_websocket_streamer/pch.hpp)
+mrover_nodelet_link_libraries(gst_websocket_streamer PRIVATE websocket_server ${Gst_LIBRARIES} ${GstApp_LIBRARIES})
+mrover_nodelet_include_directories(gst_websocket_streamer ${Gst_INCLUDE_DIRS} ${GstApp_INCLUDE_DIRS})
+
 if (ZED_FOUND)
     mrover_add_nodelet(object_detector src/perception/object_detector/*.c* src/perception/object_detector src/perception/object_detector/pch.hpp)
     mrover_nodelet_link_libraries(object_detector PRIVATE opencv_core opencv_dnn opencv_imgproc lie nvinfer nvonnxparser tbb)
@@ -195,6 +226,7 @@ endif ()
 ## Teleoperation
 
 mrover_add_node(arm_controller src/teleoperation/arm_controller/*.cpp)
+target_link_libraries(arm_controller PRIVATE lie)
 
 ## Simulator
 
@@ -205,8 +237,6 @@ if (MROVER_BUILD_SIM)
     mrover_nodelet_defines(simulator BOOST_THREAD_PROVIDES_FUTURE)
 endif ()
 
-# TODO
-
 ### ======= ###
 ### Testing ###
 ### ======= ###

Dockerfile

@@ -29,6 +29,7 @@ ADD --chown=mrover:mrover ./pkg ./pkg
 RUN ./ansible.sh ci.yml
 
 USER root
+RUN apt-get purge ansible -y && apt-get autoremove -y
 # Remove apt cache to free up space in the image
 RUN apt-get clean && rm -rf /var/lib/apt/lists/*
 

ansible/roles/basestation_networks/files/networking_setup_basestation.sh

@@ -1,4 +1,4 @@
 #!/usr/bin/env sh
 
-export ROS_MASTER_URI=http://10.0.0.10:11311
-export ROS_IP=10.0.0.2
+export ROS_MASTER_URI=http://10.1.0.10:11311
+export ROS_IP=10.1.0.2

ansible/roles/basestation_networks/tasks/main.yml

@@ -6,7 +6,7 @@
     type: ethernet
     ifname: "{{ ifname }}"
     autoconnect: yes
-    ip4: 10.0.0.2/8
+    ip4: 10.1.0.2/8
     # Share connection to the Internet
     method4: shared
     method6: disabled
@@ -15,5 +15,5 @@
   community.general.ssh_config:
     user: "{{ ansible_user_id }}"
     host: jetson
-    hostname: 10.0.0.10
+    hostname: 10.1.0.10
     remote_user: mrover

ansible/roles/build/files/profiles/ci/config.yaml

@@ -8,7 +8,7 @@ cmake_args:
   - -DCMAKE_CXX_FLAGS=-pipe
   - -DCMAKE_CXX_COMPILER=clang++-16
   - -DCMAKE_CUDA_HOST_COMPILER=clang++-16
-  - -DMROVER_CI=ON
+  - -DMROVER_IS_CI=ON
   - -Wno-dev
 devel_layout: linked
 devel_space: devel

ansible/roles/build/tasks/main.yml

@@ -94,6 +94,8 @@
       - libnl-route-3-dev
       - libtbb-dev
       - libopencv-dev
+      - libgstreamer1.0-dev
+      - libgstreamer-plugins-base1.0-dev
 
 - name: Install Local APT Packages
   become: True
@@ -188,6 +190,14 @@
     link: /usr/bin/lld
     priority: 160
 
+- name: Set clang-tidy 16 as Default
+  become: True
+  alternatives:
+    name: clang-tidy
+    path: /usr/bin/clang-tidy-16
+    link: /usr/bin/clang-tidy
+    priority: 160
+
 - name: Setup Python Virtual Environment
   pip:
     name:

ansible/roles/ci/tasks/main.yml

@@ -79,6 +79,8 @@
       - libnl-route-3-dev
       - libtbb-dev
       - libopencv-dev
+      - libgstreamer1.0-dev
+      - libgstreamer-plugins-base1.0-dev
 
 - name: Install Local APT Packages
   become: True
@@ -173,6 +175,14 @@
     link: /usr/bin/lld
     priority: 160
 
+- name: Set clang-tidy 16 as Default
+  become: True
+  alternatives:
+    name: clang-tidy
+    path: /usr/bin/clang-tidy-16
+    link: /usr/bin/clang-tidy
+    priority: 160
+
 - name: Setup Python Virtual Environment
   pip:
     name:

ansible/roles/jetson_networks/files/networking_setup_jetson.sh

@@ -1,3 +1,3 @@
 #!/usr/bin/env bash
 
-export ROS_IP=10.0.0.10
+export ROS_IP=10.1.0.10

ansible/roles/jetson_networks/tasks/main.yml

@@ -6,7 +6,7 @@
     type: ethernet
     ifname: eth0
     autoconnect: yes
-    ip4: 10.0.0.10/8
-    gw4: 10.0.0.2
-    dns4: [10.0.0.2]
+    ip4: 10.1.0.10/8
+    gw4: 10.1.0.2
+    dns4: [10.1.0.2]
     method6: disabled

cmake/deps.cmake

@@ -11,36 +11,32 @@ else ()
     else ()
         set(WEBGPU_SHARED_LIB ${WEBGPU_BUILD_DIR}/src/dawn/native/libwebgpu_dawn.so)
     endif ()
-    if (NOT EXISTS ${WEBGPU_SHARED_LIB})
-        message(FATAL_ERROR "Dawn not found. If on Ubuntu install with 'sudo apt install -f ./pkg/dawn.deb'. Or build from source with ./scripts/build_dawn.sh")
-    endif ()
-    target_include_directories(webgpu INTERFACE ${CMAKE_CURRENT_LIST_DIR}/../deps/dawn/include ${WEBGPU_BUILD_DIR}/gen/include)
-    set_property(TARGET webgpu PROPERTY IMPORTED_LOCATION ${WEBGPU_SHARED_LIB})
+    if (EXISTS ${WEBGPU_SHARED_LIB})
+        target_include_directories(webgpu INTERFACE ${CMAKE_CURRENT_LIST_DIR}/../deps/dawn/include ${WEBGPU_BUILD_DIR}/gen/include)
+        set_property(TARGET webgpu PROPERTY IMPORTED_LOCATION ${WEBGPU_SHARED_LIB})
 
-    set(dawn_FOUND TRUE)
+        set(dawn_FOUND TRUE)
+    else ()
+        message(WARNING "Dawn not found. If on Ubuntu install with 'sudo apt install -f ./pkg/libdawn-dev.deb'. Or build from source with ./scripts/build_dawn.sh")
+    endif ()
 endif ()
 
 option(MROVER_BUILD_SIM "Build the simulator" ${dawn_FOUND})
 
 if (MROVER_BUILD_SIM)
     # Apparently Assimp has different names on different systems
     # find_package is case-sensitive so try both
-    find_package(Assimp QUIET)
-    find_package(assimp QUIET)
-    if (NOT Assimp_FOUND AND NOT assimp_FOUND)
+    find_package(Assimp NAMES Assimp assimp QUIET)
+    if (NOT Assimp_FOUND)
         message(FATAL_ERROR "Assimp not found")
     endif ()
 
     find_package(Bullet REQUIRED)
     find_package(glfw3 REQUIRED)
 
-    add_subdirectory(deps/glfw3webgpu SYSTEM)
-    add_subdirectory(deps/imgui SYSTEM)
-    add_subdirectory(deps/webgpuhpp SYSTEM)
-
-    set_target_properties(glfw3webgpu PROPERTIES CXX_CLANG_TIDY "")
-    set_target_properties(imgui PROPERTIES CXX_CLANG_TIDY "")
-    set_target_properties(webgpu_hpp PROPERTIES CXX_CLANG_TIDY "")
+    add_subdirectory(deps/glfw3webgpu SYSTEM EXCLUDE_FROM_ALL)
+    add_subdirectory(deps/imgui SYSTEM EXCLUDE_FROM_ALL)
+    add_subdirectory(deps/webgpuhpp SYSTEM EXCLUDE_FROM_ALL)
 endif ()
 
 find_package(OpenCV REQUIRED)
@@ -52,14 +48,15 @@ if (NOT manif_FOUND)
     if (EXISTS ${CMAKE_CURRENT_LIST_DIR}/../deps/manif/include/manif)
         add_subdirectory(deps/manif SYSTEM)
         add_library(MANIF::manif ALIAS manif)
-        set_target_properties(manif PROPERTIES CXX_CLANG_TIDY "")
 
         set(manif_FOUND TRUE)
     else ()
-        message(WARNING "Manif not found. If on Ubuntu install with 'sudo apt install -f ./pkg/manif.deb'. Or build from source with 'submodule update --init deps/manif' and make sure it is non-empty")
+        message(FATAL_ERROR "Manif not found. If on Ubuntu install with 'sudo apt install -f ./pkg/libmanif-dev.deb'. Or build from source with 'submodule update --init deps/manif' and make sure it is non-empty")
     endif ()
 endif ()
 
 find_package(PkgConfig REQUIRED)
 pkg_search_module(NetLink libnl-3.0 QUIET)
 pkg_search_module(NetLinkRoute libnl-route-3.0 QUIET)
+pkg_search_module(Gst gstreamer-1.0 QUIET)
+pkg_search_module(GstApp gstreamer-app-1.0 QUIET)

cmake/macros.cmake

@@ -11,6 +11,10 @@ macro(target_rosify target)
             LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
             RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
     )
+
+    if (MROVER_RUN_CLANG_TIDY)
+        set_target_properties(${target} PROPERTIES CXX_CLANG_TIDY clang-tidy)
+    endif ()
 endmacro()
 
 macro(mrover_add_library name sources includes)

config/ekf.yaml

@@ -35,17 +35,17 @@ global_ekf:
   publish_tf: true
 
   # odom frame off
-  # map_frame: none
-  # odom_frame: map
-  # base_link_frame: base_link
-  # world_frame: map
-
-  # odom frame on
-  map_frame: map
-  odom_frame: odom
+  map_frame: none
+  odom_frame: map
   base_link_frame: base_link
   world_frame: map
 
+  # odom frame on
+  # map_frame: map
+  # odom_frame: odom
+  # base_link_frame: base_link
+  # world_frame: map
+
   # IMU accel and gyro
   # imu0: imu/imu_only