Feature: add RTT autoref

.gitmodules

@@ -4,3 +4,7 @@
 [submodule "external/autoref"]
 	path = external/autoref
 	url = https://github.com/robotics-erlangen/autoref.git
+[submodule "roboteam_autoref"]
+	path = roboteam_autoref
+	url = [email protected]:RoboTeamTwente/roboteam_autoref.git
+	branch = main

README.md

@@ -11,8 +11,6 @@ This repository contains the following projects:
 
 \* `RoboTeam World` its executable is named `roboteam_observer`, since `RoboTeam AI` also contains a class named `World`, which caused confusion.
 
-
-
 ## How to
 Refer to `docker/README.md` for usage of our software.
 

build.sh

@@ -7,10 +7,15 @@ then
     OK=1
 fi
 
+# Check if the script is being executed from inside container or explicitly
+# asked to run it on host environment
 if [ -f /.dockerenv ] || [ "$OK" = "1" ];
 then
     if [ "$0" == "./build.sh" ];
     then
+        echo "Checking submodules"
+        git submodule update --init --recursive
+        echo "Done"
         #rm -rf build
         mkdir -p build
         pushd build

docker/game/docker-compose.yml

@@ -70,6 +70,22 @@ services:
     volumes:
       - ../../roboteam_interface/:/home/roboteamtwente/
 
+  roboteam_autoref:
+    image: gradle:8.4.0-jdk17
+    container_name: RTT_roboteam_autoref
+    user: gradle # Do not build as root
+    restart: always
+    working_dir: "/home/roboteamtwente/"
+    command: sh -c "./gradlew run --args=\"-cli -active --world-ip=127.0.0.1 --world-port=5558 --gc-ip=127.0.0.1 --gc-port=10007\""
+    network_mode: "host" # Workaround to connect from interface on host to AI websocket, please fix
+    expose:
+      - 10007:10007 # GC port
+      - 5558:5558 # World port
+    environment:
+      - GRADLE_USER_HOME=/home/roboteamtwente/.cache # Cache gradle dependencies
+    volumes:
+      - ../../roboteam_autoref/:/home/roboteamtwente/
+
   erforce_autoref:
     image: rtt-build-env:latest
     container_name: RTT_erforce_autoref

docker/simulator/docker-compose.yml

@@ -87,6 +87,22 @@ services:
     volumes:
       - ../../roboteam_interface/:/home/roboteamtwente/
 
+  roboteam_autoref:
+    image: gradle:8.4.0-jdk17
+    container_name: RTT_roboteam_autoref
+    user: gradle # Do not build as root
+    restart: always
+    working_dir: "/home/roboteamtwente/"
+    command: sh -c "./gradlew run --args=\"-cli -active --world-ip=127.0.0.1 --world-port=5558 --gc-ip=127.0.0.1 --gc-port=10007\""
+    network_mode: "host" # Workaround to connect from interface on host to AI websocket, please fix
+    expose:
+      - 10007:10007 # GC port
+      - 5558:5558 # World port
+    environment:
+      - GRADLE_USER_HOME=/home/roboteamtwente/.cache # Cache gradle dependencies
+    volumes:
+      - ../../roboteam_autoref/:/home/roboteamtwente/
+
   erforce_autoref:
     image: rtt-build-env:latest
     container_name: RTT_erforce_autoref
@@ -96,7 +112,7 @@ services:
     network_mode: "host" # Workaround to connect from interface on host to AI websocket, please fix
     expose:
       - 10020:10020 # Vision port simulator
-      - 10003:10003 # Ref port
+      - 10003:10003 # GC port
       - 10010:10010 # Tracker port
     volumes:
       - ../../:/home/roboteamtwente/