feat: add eval environment (#2)

Signed-off-by: Takagi, Isamu <[email protected]>

.pre-commit-config.yaml

@@ -8,3 +8,14 @@ repos:
       - id: detect-private-key
       - id: end-of-file-fixer
       - id: mixed-line-ending
+
+  - repo: https://github.com/shellcheck-py/shellcheck-py
+    rev: v0.9.0.2
+    hooks:
+      - id: shellcheck
+
+  - repo: https://github.com/scop/pre-commit-shfmt
+    rev: v3.6.0-2
+    hooks:
+      - id: shfmt
+        args: [-w, -s, -i=4]

Dockerfile

@@ -0,0 +1,41 @@
+FROM osrf/ros:humble-desktop AS common
+
+RUN apt-get update
+RUN apt-get -y install libgl1-mesa-glx libgl1-mesa-dri
+RUN apt-get -y install iproute2
+RUN apt-get -y install ros-humble-rmw-cyclonedds-cpp
+
+FROM common AS dev
+
+ENV ROS_LOCALHOST_ONLY 1
+ENV RCUTILS_COLORIZED_OUTPUT 1
+
+FROM common AS eval
+
+ENV RCUTILS_COLORIZED_OUTPUT 0
+
+#RUN mkdir /ws
+#RUN git clone --depth 1 https://github.com/AutomotiveAIChallenge/aichallenge-source-materials /ws/aichallenge2023-racing
+
+# Copy into Container
+#COPY AWSIM /ws/AWSIM
+#COPY aichallenge_submit.tar.gz /ws
+#COPY main.bash /ws
+
+# Organize Files for Execution (Copy user files and map data to the executable folder)
+#RUN cp -r /ws/aichallenge2023-racing/aichallenge /aichallenge
+#RUN cp -r /ws/AWSIM /aichallenge
+#RUN chmod 757 /aichallenge
+#RUN rm -rf /aichallenge/autoware/src/aichallenge_submit
+#RUN tar zxf /ws/aichallenge_submit.tar.gz -C /aichallenge/autoware/src
+
+# Build
+#RUN bash -c ' \
+#  source /autoware/install/setup.bash; \
+#  cd /aichallenge/autoware; \
+#  rosdep update; \
+#  rosdep install -y -r -i --from-paths src --ignore-src --rosdistro $ROS_DISTRO; \
+#  colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release'
+
+#ENTRYPOINT []
+#CMD ["bash", "/ws/main.bash"]

README.md

@@ -1 +1,9 @@
-# aichallenge-yyyymm
+# aichallenge-source-materials
+
+## docker-dev
+
+![dev](./readme/dev.drawio.svg)
+
+## docker-eval
+
+![eval](./readme/eval.drawio.svg)

aichallenge/autoware/.gitignore

@@ -0,0 +1,3 @@
+/build
+/install
+/log

aichallenge/build_autoware.bash

@@ -0,0 +1,9 @@
+#!/bin/bash
+
+if [[ ${1} == "clean" ]]; then
+    echo "clean build"
+    rm -r autoware/build/* autoware/install/*
+fi
+
+cd ./autoware || exit
+colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

aichallenge/run_autoware.sh → aichallenge/run_autoware.bash

@@ -1,7 +1,6 @@
 #!/bin/bash
 
+# shellcheck disable=SC1091
+source /aichallenge/autoware/install/setup.bash
 sudo ip link set multicast on lo
-
-source ./autoware/install/setup.bash
-rm -f result.json
 ros2 launch aichallenge_system_launch aichallenge_system.launch.xml

aichallenge/run_evaluation.bash

@@ -0,0 +1,72 @@
+#!/bin/bash
+
+export PATH="$PATH:/root/.local/bin"
+export PATH="/usr/local/cuda/bin:$PATH"
+export XDG_RUNTIME_DIR=/tmp/xdg
+export RCUTILS_COLORIZED_OUTPUT=0
+export ROS_LOCALHOST_ONLY=1
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+# shellcheck disable=SC1091
+source /aichallenge/autoware/install/setup.bash
+sudo ip link set multicast on lo
+
+# Move working directory
+cd /output || exit
+
+# Launch the simulator
+echo "Launch AWSIM"
+bash /aichallenge/simulator/simulator.bash &
+
+# Waiting for the simulator to start up
+sleep 3
+
+# Launch Autoware
+echo "Launch user Autoware code"
+ros2 launch aichallenge_system_launch aichallenge_system.launch.xml >autoware.log 2>&1 &
+ROSLAUNCH_PID=$!
+
+# Waiting for Autoware to start up
+sleep 3
+
+# Start recording rosbag
+rm -r rosbag2_autoware
+ros2 bag record -a -o rosbag2_autoware &
+ROSBAG_RECORD_PID=$!
+
+# Waiting for screen capture (TODO: This will not wait if there is no service)
+# echo "Waiting for screen capture"
+# until (ros2 service type /debug/service/capture_screen); do
+#     sleep 5
+# done
+
+# Start recording rviz2
+# ros2 service call /debug/service/capture_screen std_srvs/srv/Trigger
+
+# Waiting for the simulator results
+# echo "Waiting for the simulator results"
+# until [ -f ~/awsim-logs/result.json ]; do
+#     sleep 5
+# done
+
+# Stop recording rviz2
+# ros2 service call /debug/service/capture_screen std_srvs/srv/Trigger
+
+# Waiting for the screen capture to finish
+sleep 3
+
+## Stop rosbag and Autoware to finish writing logs
+kill $ROSBAG_RECORD_PID
+kill $ROSLAUNCH_PID
+
+# Waiting for the rosbag and logs
+sleep 3
+
+## Compress rosbag
+tar -czf rosbag2_autoware.tar.gz rosbag2_autoware
+sleep 3
+
+## Copy the logs to output directory
+echo "Generation of result.json is completed."
+cp ~/awsim-logs/result.json /output
+cp ~/awsim-logs/verbose_result.json /output

aichallenge/run_simulator.bash

@@ -0,0 +1,6 @@
+#!/bin/bash
+
+# shellcheck disable=SC1091
+source /aichallenge/autoware/install/setup.bash
+sudo ip link set multicast on lo
+/aichallenge/simulator/simulator.bash

aichallenge/simulator/.gitignore

@@ -0,0 +1,4 @@
+# Download the simulator and place it in this directory.
+*
+!.gitignore
+!simulator.bash

aichallenge/simulator/simulator.bash

@@ -0,0 +1,3 @@
+#!/bin/bash
+
+echo "write the simulator command here"

create_submit_file.bash

@@ -0,0 +1,3 @@
+#!/bin/bash
+
+tar zcvf output/aichallenge_submit.tar.gz -C ./aichallenge/autoware/src aichallenge_submit

docker_build.sh

@@ -0,0 +1,19 @@
+#!/bin/bash
+
+target=${1}
+
+case "${target}" in
+"eval")
+    opts="--no-cache"
+    ;;
+"dev")
+    opts=""
+    ;;
+*)
+    echo "invalid argument (use 'dev' or 'eval')"
+    exit 1
+    ;;
+esac
+
+# shellcheck disable=SC2086
+docker build ${opts} --target "${target}" -t "aichallenge-source-materials-${target}" .

docker_run.sh

@@ -0,0 +1,35 @@
+#!/bin/bash
+
+target=${1}
+device=${2}
+
+case "${target}" in
+"eval")
+    volume="output:/output"
+    ;;
+"dev")
+    volume="output:/output aichallenge:/aichallenge"
+    ;;
+*)
+    echo "invalid argument (use 'dev' or 'eval')"
+    exit 1
+    ;;
+esac
+
+case "${device}" in
+"cpu")
+    opts="--device /dev/dri"
+    ;;
+"gpu")
+    opts="--nvidia"
+    ;;
+*)
+    echo "invalid argument (use 'gpu' or 'cpu')"
+    exit 1
+    ;;
+esac
+
+mkdir -p output
+
+# shellcheck disable=SC2086
+rocker ${opts} --x11 --user --net host --privileged --volume ${volume} -- "aichallenge-source-materials-${target}"

output/.gitignore

@@ -0,0 +1,3 @@
+# This directory will store the evaluation results.
+*
+!.gitignore