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

.github/workflows/ci.yml

@@ -22,16 +22,8 @@ jobs:
           lfs: "true"
           # This makes sure that $GITHUB_WORKSPACE is the catkin workspace path
           path: "src/mrover"
-      - name: Ensure Python Requirements
-        run: . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && pip install --no-cache-dir -e "$GITHUB_WORKSPACE/src/mrover[dev]"
       - name: Style Check
         run: . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && cd $GITHUB_WORKSPACE/src/mrover/ && ./style.sh
-      - name: Update ROS APT
-        if: github.event.pull_request.draft == false
-        run: runuser -u mrover -- rosdep update
-      - name: Ensure ROS APT Requirements
-        if: github.event.pull_request.draft == false
-        run: runuser -u mrover -- rosdep install --from-paths "$GITHUB_WORKSPACE/src" --ignore-src -r -y --rosdistro noetic
       - name: Copy Catkin Profiles
         if: github.event.pull_request.draft == false
         run: rsync -r $GITHUB_WORKSPACE/src/mrover/ansible/roles/build/files/profiles $GITHUB_WORKSPACE/.catkin_tools
@@ -42,7 +34,7 @@ jobs:
         if: github.event.pull_request.draft == false && github.event.pull_request.base.ref != 'refs/heads/master'
         run: . /opt/ros/noetic/setup.sh && . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && catkin build
       - name: Build With Clang Tidy
-        if : github.event_name == 'push' && github.event.pull_request.base.ref == 'refs/heads/master'
+        if: github.event_name == 'push' && github.event.pull_request.base.ref == 'refs/heads/master'
         run: . /opt/ros/noetic/setup.sh && . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && catkin build -DCMAKE_CXX_CLANG_TIDY=clang-tidy-16
       - name: Test
         if: github.event.pull_request.draft == false

.gitmodules

@@ -1,18 +1,8 @@
-[submodule "deps/libde265"]
-	path = deps/libde265
-	url = https://github.com/strukturag/libde265.git
-	shallow = true
-	branch = v1.0.15
 [submodule "deps/dawn"]
 	path = deps/dawn
 	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
+	branch = chromium/6376
 [submodule "deps/manif"]
 	path = deps/manif
 	url = https://github.com/artivis/manif.git

CMakeLists.txt

@@ -143,42 +143,40 @@ target_link_libraries(lie PUBLIC MANIF::manif)
 
 ## ESW
 
-if (NOT APPLE)
-    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 ${NetLink_LIBRARIES} ${NetLinkRoute_LIBRARIES})
-        mrover_nodelet_include_directories(can_driver ${NetLink_INCLUDE_DIRS} ${NetLinkRoute_INCLUDE_DIRS})
-    endif ()
-
-    macro(mrover_add_esw_bridge_node name sources)
-        mrover_add_node(${name} ${sources})
-        target_link_libraries(${name} PRIVATE can_device motor_library)
-    endmacro()
-
-    mrover_add_esw_bridge_node(arm_hw_bridge src/esw/arm_hw_bridge/*.cpp)
-    mrover_add_esw_bridge_node(arm_translator_bridge src/esw/arm_translator_bridge/*.cpp src/esw/arm_translator_bridge/*.hpp)
-    mrover_add_esw_bridge_node(cache_bridge src/esw/cache_bridge/*.cpp)
-    mrover_add_esw_bridge_node(drive_bridge src/esw/drive_bridge/*.cpp)
-    mrover_add_esw_bridge_node(led_hw_bridge src/esw/led_hw_bridge/*.cpp)
-    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_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)
+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 ${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)
+    mrover_add_node(${name} ${sources})
+    target_link_libraries(${name} PRIVATE can_device motor_library)
+endmacro()
+
+mrover_add_esw_bridge_node(arm_hw_bridge src/esw/arm_hw_bridge/*.cpp)
+mrover_add_esw_bridge_node(arm_translator_bridge src/esw/arm_translator_bridge/*.cpp src/esw/arm_translator_bridge/*.hpp)
+mrover_add_esw_bridge_node(cache_bridge src/esw/cache_bridge/*.cpp)
+mrover_add_esw_bridge_node(drive_bridge src/esw/drive_bridge/*.cpp)
+mrover_add_esw_bridge_node(led_hw_bridge src/esw/led_hw_bridge/*.cpp)
+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_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)
+mrover_add_esw_bridge_node(brushed_test_bridge src/esw/brushed_test_bridge/*.cpp)
+mrover_add_esw_bridge_node(science_test_bridge src/esw/science_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)
+
 ## Perception
 
 mrover_add_library(websocket_server src/esw/websocket_server/*.cpp src/esw/websocket_server)

ansible/roles/build/tasks/main.yml

@@ -96,6 +96,7 @@
       - libopencv-dev
       - libgstreamer1.0-dev
       - libgstreamer-plugins-base1.0-dev
+      - vainfo
 
 - name: Install Local APT Packages
   become: True
@@ -205,3 +206,8 @@
       - "{{ catkin_workspace }}/src/mrover[dev]"
     virtualenv: "{{ catkin_workspace }}/src/mrover/venv"
     virtualenv_command: /usr/bin/python3.10 -m venv
+
+- name: Install Chromium
+  become: True
+  snap:
+    name: chromium

ansible/roles/dev/files/home/.zshrc

@@ -70,7 +70,7 @@ ZSH_THEME="mrover"
 # Custom plugins may be added to $ZSH_CUSTOM/plugins/
 # Example format: plugins=(rails git textmate ruby lighthouse)
 # Add wisely, as too many plugins slow down shell startup.
-plugins=(git virtualenvwrapper fzf)
+plugins=(git virtualenvwrapper fzf zsh-autosuggestions zsh-syntax-highlighting)
 
 source $ZSH/oh-my-zsh.sh
 

ansible/roles/dev/tasks/main.yml

@@ -13,6 +13,16 @@
     dest: ~/
     recursive: true
 
+- name: ZSH Automatic Suggestions Plugin
+  git:
+    repo: https://github.com/zsh-users/zsh-autosuggestions
+    dest: ~/.oh-my-zsh/custom/plugins/zsh-autosuggestions
+
+- name: ZSH Syntax Highlighting Plugin
+  git:
+    repo: https://github.com/zsh-users/zsh-syntax-highlighting
+    dest: ~/.oh-my-zsh/custom/plugins/zsh-syntax-highlighting
+
 - name: Use ZSH as a default shell
   become: true
   command: chsh --shell /usr/bin/zsh {{ ansible_user_id }}

ansible/roles/esw/tasks/main.yml

@@ -13,6 +13,13 @@
   become: true
   command: udevadm trigger --subsystem-match=tty
 
+- name: Install fdcanusb Binary
+  become: true
+  copy:
+    src: files/bin/fdcanusb_daemon
+    dest: /usr/local/bin/
+    mode: 0755
+
 - name: Install Moteus GUI
   pip:
     name: moteus_gui

ansible/roles/jetson_build/tasks/main.yml

@@ -23,17 +23,17 @@
     state: latest
     name:
       - zstd # Required to unpack ZED installer
-      - cuda
+      - cuda-12-3
       - nvidia-jetpack
 
 - name: ZED SDK Download
   get_url:
-    url: https://download.stereolabs.com/zedsdk/4.0/l4t35.4/jetsons
-    dest: /tmp/ZED_SDK_Tegra_L4T35.4_v4.0.7.zstd.run
+    url: https://download.stereolabs.com/zedsdk/4.1/l4t35.4/jetsons
+    dest: /tmp/ZED_SDK_Tegra_L4T35.4_v4.1.zstd.run
     mode: 0755
 
 - name: ZED SDK Install
   # Silent mode prevents any user input prompting
-  command: /tmp/Downloads/ZED_SDK_Tegra_L4T35.4_v4.0.7.zstd.run -- silent
+  command: /tmp/Downloads/ZED_SDK_Tegra_L4T35.4_v4.1.zstd.run -- silent
   args:
     creates: /usr/local/zed

cmake/deps.cmake

@@ -1,3 +1,9 @@
+# The simulator will only be built if Dawn (low-level graphics API) is found:
+# 1) Installed system-wide with the .deb package in the pkg/ folder. This is ONLY for Ubuntu 20
+#    If this is the case then "find_package" will set "dawn_FOUND" to true
+# 2) Built from source with the build_dawn.sh script. This is for all other systems (non-Ubuntu, macOS, etc.)
+#    If this is the case libwebgpu_dawn.* will be found in deps/dawn/out/Release and "dawn_FOUND" will be set to true
+
 find_package(dawn QUIET)
 if (dawn_FOUND)
     message(STATUS "Using Dawn system install")
@@ -43,6 +49,7 @@ find_package(OpenCV REQUIRED)
 find_package(ZED QUIET)
 find_package(Eigen3 REQUIRED)
 
+# Same idea as dawn, ideally installed via a package, but if not then build from source
 find_package(manif QUIET)
 if (NOT manif_FOUND)
     if (EXISTS ${CMAKE_CURRENT_LIST_DIR}/../deps/manif/include/manif)
@@ -55,6 +62,8 @@ if (NOT manif_FOUND)
     endif ()
 endif ()
 
+# These are old packages so they do not support "find_package" and must be found with pkg-config
+# Thankfully CMake has a built-in module for this
 find_package(PkgConfig REQUIRED)
 pkg_search_module(NetLink libnl-3.0 QUIET)
 pkg_search_module(NetLinkRoute libnl-route-3.0 QUIET)