Merge remote-tracking branch 'origin/master' into qhdwight/2024

.github/workflows/ci.yml

@@ -0,0 +1,43 @@
+name: CI
+on:
+  pull_request:
+    branches:
+      - master
+  push:
+    branches:
+      - master
+jobs:
+  ci:
+    name: CI
+    runs-on: ubuntu-latest
+    container:
+      image: umrover1/ros:latest
+      options: --user root
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          lfs: "true"
+          # This makes sure that $GITHUB_WORKSPACE is the catkin workspace path
+          path: "src/mrover"
+      - name: Ensure Python Requirements
+        run: . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && pip install -e "$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
+      - name: Initialize
+        if: github.event.pull_request.draft == false
+        run: . /opt/ros/noetic/setup.sh && catkin init && catkin profile set ci
+      - name: Build
+        if: github.event.pull_request.draft == false
+        run: . /opt/ros/noetic/setup.sh && . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && catkin build
+      - name: Test
+        if: github.event.pull_request.draft == false
+        run: . /opt/ros/noetic/setup.sh && . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && . $GITHUB_WORKSPACE/devel/setup.sh && catkin test -j1

.gitignore

@@ -3,34 +3,34 @@ __pycache__/
 *.py[cod]
 *$py.class
 .mypy_cache/
+*.egg-info/
 
 # Common IDE's, ideally this should be in global gitignore per user
-**/.vscode/
-**/.idea/
-cmake-build*/
+.vscode/
+.idea/
+/cmake-build*/
 
 #GUI Files
+node_modules/
 /src/teleop/gui/dist/
-/src/teleop/gui/node_modules/
 /src/teleop/gui/src/static/map
-**/keys.json*
-**/yarn.lock*
-**/yarn-error.log*
+keys.json*
+yarn.lock*
+yarn-error.log*
 
 # Bag Files
-bags/
-
-# Bag Files
-bags/
+/bags/
 
 # Catkin
-.catkin_tools/
-build/
-devel/
-logs/
+/build/
+/devel/
+/logs/
 
 # Moteus
 moteus-cal*
 
 # CSV
-*.csv
+*.csv
+
+# Virtual Environment
+/venv/

.venv

@@ -0,0 +1 @@
+venv

CMakeLists.txt

@@ -1,11 +1,12 @@
 cmake_minimum_required(VERSION 3.16)
-project(mrover VERSION 1.0.0 LANGUAGES CXX)
+project(mrover VERSION 2024.0.0 LANGUAGES CXX)
 
 set(CMAKE_CXX_STANDARD 23)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
+if (CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+    add_link_options(-fuse-ld=lld-16)
+endif ()
 set(MROVER_CPP_COMPILE_OPTIONS -Wall -Wextra -Werror -pedantic)
-add_link_options(-fuse-ld=lld-16)
-#add_compile_definitions(_LIBCPP_ENABLE_CXX17_REMOVED_FEATURES _LIBCPP_ENABLE_CXX20_REMOVED_FEATURES)
 
 # Generate compile_commands.json for clangd
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
@@ -151,7 +152,7 @@ macro(add_tests_macro)
 endmacro()
 
 # Subdirectories before message declarations
-set(CMAKE_SUBDIRS "")
+set(MROVER_CMAKE_INCLUDES "")
 
 
 # -=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
@@ -201,31 +202,11 @@ else ()
             rosbridge_server
             teleop_twist_joy
             gazebo_ros
-            moveit_commander
-            moveit_core
-            moveit_fake_controller_manager
-            moveit_kinematics
-            moveit_msgs
-            moveit_planners_chomp
-            moveit_planners_ompl
-            moveit_ros_benchmarks
-            moveit_ros_control_interface
-            moveit_ros_manipulation
-            moveit_ros_move_group
-            moveit_ros_occupancy_map_monitor
-            moveit_ros_perception
-            moveit_ros_planning
-            moveit_ros_planning_interface
-            moveit_ros_robot_interaction
-            moveit_ros_visualization
-            moveit_ros_warehouse
-            moveit_setup_assistant
-            moveit_simple_controller_manager
     )
 
     # append subdirectories
-    list(APPEND CMAKE_SUBDIRS
-            starter_project/teleop
+    list(APPEND MROVER_CMAKE_INCLUDES
+            starter_project/autonomy/AutonomyStarterProject.cmake
     )
 
     # -=-=-=-=-
@@ -237,7 +218,7 @@ else ()
         find_package(OpenCV REQUIRED COMPONENTS core aruco)
         find_package(gazebo REQUIRED)
         find_package(Eigen3 REQUIRED)
-        find_package(ZED 2)
+        find_package(ZED 2 QUIET)
         if (ZED_FOUND)
             set(CMAKE_CUDA_SEPARABLE_COMPILATION ON)
             set(CMAKE_CUDA_STANDARD 17)
@@ -298,12 +279,10 @@ endif ()
 catkin_python_setup()
 
 
-# 4.5. Subdirectories before message declarations
-if (NOT "${CMAKE_SUBDIRS}" MATCHES "")
-    add_subdirectory(
-            ${CMAKE_SUBDIRS}
-    )
-endif ()
+# 4.5. CMake includes before message declarations
+foreach (CMAKE_INCLUDE ${MROVER_CMAKE_INCLUDES})
+    include(${CMAKE_INCLUDE})
+endforeach ()
 
 
 # 5. Message Generators (add_xxx)

Dockerfile

@@ -1,33 +1,34 @@
 FROM ros:noetic
 
-RUN apt-get update && apt-get upgrade -y
-# Add apt repo for latest version of Git
-RUN apt-get install software-properties-common -y && add-apt-repository ppa:git-core/ppa -y
-RUN apt-get update && apt-get install -y \
-    zsh neovim sudo git git-lfs \
-    clang-format-12 clang-tidy-12 \
-    python3-catkin-tools python3-pip
-RUN DEBIAN_FRONTEND=noninteractive apt-get install keyboard-configuration -y
+# DEBIAN_FRONTEND=noninteractive and keyboard-configuration are needed to prevent stdin prompting later on
+# This was super annoying to figure out because otherwise the build would hang
+# software-properties-common is needed for apt-add-repository
+RUN apt-get update -y && apt-get upgrade -y && DEBIAN_FRONTEND=noninteractive apt-get install software-properties-common keyboard-configuration -y
+RUN apt-add-repository ppa:ansible/ansible -y
+RUN apt-add-repository ppa:git-core/ppa -y
+RUN apt-get install -y ansible git git-lfs
 
 RUN useradd --create-home --groups sudo --shell /bin/zsh mrover
 # Give mrover user sudo access with no password
 RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
 
 USER mrover
-RUN mkdir -p ~/catkin_ws/src/mrover
+RUN mkdir -p /home/mrover/catkin_ws/src/mrover
 WORKDIR /home/mrover/catkin_ws/src/mrover
-# ROS package manager (rosdep) reads this file to install dependencies
+# Defines the APT packages that need to be installed
+# rosdep is called from Ansible to install them
 ADD ./package.xml .
-# Python package manager (pip) reads this file to install dependencies
-ADD ./requirements.txt .
-# Install ROS packages
-RUN rosdep update && rosdep install --from-paths . --ignore-src -y --rosdistro=noetic
+# Defines the Python packages that need to be installed
+# pip is called from Ansible to install them
+ADD ./pyproject.toml .
+# Copy over all Ansible files
+ADD ./ansible ./ansible
+ADD ./ansible.sh .
+RUN ./ansible.sh build.yml
 
 USER root
 # Remove apt cache to free up space in the image
 RUN apt-get clean && rm -rf /var/lib/apt/lists/*
-# Install Python packags, sudo so it is a global install
-RUN pip3 install -r ./requirements.txt
 
 USER mrover
 ENTRYPOINT [ "/bin/zsh" ]

ansible.sh

@@ -9,6 +9,6 @@ fi
 
 sudo -v # Ensure Ansible has sudo permission
 
-MROVER_PATH=$(dirname "$0")
-CATKIN_WORKSPACE_PATH=$(realpath "${MROVER_PATH}"/../..)
+readonly MROVER_PATH=$(dirname "$0")
+readonly CATKIN_WORKSPACE_PATH=$(realpath "${MROVER_PATH}"/../..)
 ansible-playbook -i "localhost," -c local "${MROVER_PATH}"/ansible/"$1" --extra-vars "catkin_workspace=${CATKIN_WORKSPACE_PATH}"

ansible/build.yml

@@ -0,0 +1,7 @@
+---
+- hosts: all
+  vars:
+    ros_distro: noetic
+    ubuntu_release: focal
+  roles:
+    - build

ansible/dev.yml

@@ -4,4 +4,5 @@
     ros_distro: noetic
     ubuntu_release: focal
   roles:
+    - build
     - dev

ansible/jetson.yml

@@ -4,8 +4,7 @@
     ros_distro: noetic
     ubuntu_release: focal
   roles:
-    - jetson_dev
     - dev
+    - jetson_dev
     - jetson_networks
     - jetson_services
-

ansible/roles/basestation_networks/tasks/main.yml

@@ -2,13 +2,14 @@
   become: True
   nmcli:
     conn_name: MRover
+    state: present
     type: ethernet
     ifname: enp5s0
-    # Share connection to the Internet
-    method4: shared
-    state: present
     autoconnect: yes
     ip4: 10.0.0.2/24
+    # Share connection to the Internet
+    method4: shared
+    method6: disabled
 
 - name: Jetson SSH Config
   community.general.ssh_config:

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

@@ -0,0 +1,27 @@
+authors: [ ]
+blacklist: [ ]
+build_space: build
+catkin_make_args: [ ]
+cmake_args:
+  - -DCMAKE_BUILD_TYPE=Release
+  - -DCMAKE_CXX_FLAGS=-pipe
+  - -DCMAKE_C_COMPILER=clang-16
+  - -DCMAKE_CXX_COMPILER=clang++-16
+  - -DCMAKE_CXX_CLANG_TIDY=clang-tidy-16
+devel_layout: linked
+devel_space: devel
+extend_path: null
+extends: null
+install: false
+install_space: install
+isolate_install: false
+jobs_args: [ ]
+licenses:
+  - TODO
+log_space: logs
+maintainers: [ ]
+make_args: [ ]
+source_space: src
+use_env_cache: false
+use_internal_make_jobserver: true
+whitelist: [ ]

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

@@ -0,0 +1,28 @@
+authors: [ ]
+blacklist: [ ]
+build_space: build
+catkin_make_args: [ ]
+cmake_args:
+  - -DCMAKE_BUILD_TYPE=Debug
+  - -DCMAKE_CXX_FLAGS=-pipe
+  - -DCMAKE_C_COMPILER=clang-16
+  - -DCMAKE_CXX_COMPILER=clang++-16
+  - -DCMAKE_CXX_COMPILER_LAUNCHER=ccache
+  - -DCMAKE_CUDA_COMPILER_LAUNCHER=ccache
+devel_layout: linked
+devel_space: devel
+extend_path: null
+extends: null
+install: false
+install_space: install
+isolate_install: false
+jobs_args: [ ]
+licenses:
+  - TODO
+log_space: logs
+maintainers: [ ]
+make_args: [ ]
+source_space: src
+use_env_cache: false
+use_internal_make_jobserver: true
+whitelist: [ ]

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

@@ -0,0 +1 @@
+active: debug