Merge branch 'lereljic/segformer-semantic-segmentation' of github.com…

…:WATonomous/wato_monorepo into lereljic/segformer-semantic-segmentation

.github/templates/docker_context/docker_context.sh

@@ -24,13 +24,24 @@ while read -r module; do
     services=$(docker-compose -f "$module" config --services)
     module_out=$(echo "$module" | sed -n 's/modules\/docker-compose\.\(.*\)\.yaml/\1/p')
 
+    # Skip simulation module
+    if [[ 'simulation' = $module_out ]]; then
+        continue
+    fi
+
     # Only work with modules that are modified
     if [[ $MODIFIED_MODULES != *$module_out* && $TEST_ALL = "false" ]]; then
         continue
     fi
 
     # Loop through each service
     while read -r service_out; do
+        # Temporarily skip perception services that have too large image size
+        if  [[ "$service_out" == "lane_detection" ]] || \
+            [[ "$service_out" == "camera_object_detection" ]] || \
+            [[ "$service_out" == "semantic_segmentation" ]]; then
+            continue
+        fi
         # Construct JSON object for each service with module and service name
         json_object=$(jq -nc --arg module_out "$module_out" --arg service_out "$service_out" \
         '{module: $module_out, service: $service_out}')

.github/workflows/build_and_unitest.yml

@@ -10,7 +10,7 @@ on:
 
 jobs:
   setup-environment:
-    name: Setup environment
+    name: Setup Environment
     runs-on: ubuntu-latest
 
     outputs:
@@ -29,7 +29,9 @@ jobs:
         uses: "./.github/templates/check_src_changes"
 
       - name: Setup Watod Environment
-        run: ./watod_scripts/watod-setup-env.sh
+        run: |
+          MODULES_DIR="$GITHUB_WORKSPACE/modules"
+          . ./watod_scripts/watod-setup-env.sh
         shell: bash
 
       - name: Generate Docker Environment
@@ -43,7 +45,7 @@ jobs:
         uses: "./.github/templates/github_context"
 
   build-and-unittest:
-    name: Build Image and Run Unit Testing Suite
+    name: Build/Test
     runs-on: ubuntu-latest
     needs: setup-environment
 
@@ -124,9 +126,7 @@ jobs:
             ${{ steps.construct-registry-url.outputs.url }}:${{ env.SOURCE_BRANCH }}
           cache-from: |
             ${{ steps.construct-registry-url.outputs.url }}:build_${{ env.SOURCE_BRANCH }}
-            ${{ steps.construct-registry-url.outputs.url }}:${{ env.SOURCE_BRANCH }}
-            ${{ steps.construct-registry-url.outputs.url }}:${{ env.TARGET_BRANCH }}
-          cache-to: type=inline
+            ${{ steps.construct-registry-url.outputs.url }}:build_${{ env.TARGET_BRANCH }}
           builder: ${{ steps.buildx.outputs.name }}
           target: deploy
 

.github/workflows/build_base_images.yml

@@ -17,7 +17,9 @@ jobs:
         uses: actions/checkout@v4
 
       - name: Setup Watod Environment
-        run: ./watod_scripts/watod-setup-env.sh
+        run: |
+          MODULES_DIR="$GITHUB_WORKSPACE/modules"
+          . ./watod_scripts/watod-setup-env.sh
         shell: bash
 
       - name: Generate Docker Environment

.github/workflows/linting_auto.yml

@@ -8,6 +8,7 @@ on:
     branches:
       - main
     types:
+      - unlabeled
       - labeled
       - synchronize
 
@@ -51,4 +52,4 @@ jobs:
               repo: context.repo.repo,
               issue_number: context.issue.number,
               name: 'auto-lint'
-            });
+            });

.gitignore

@@ -6,3 +6,5 @@ code_server_config/*/start_code_server.sh
 .env
 .vscode/
 ssh_config/
+
+watod-config.local.sh

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "src/perception/lane_detection/src/lane_detection_tensorrt"]
+    path = src/perception/lane_detection/src/lane_detection_tensorrt
+    url = [email protected]:WATonomous/lane_detection_tensorrt.git

README.md

@@ -1,6 +1,6 @@
 # WATonomous Monorepo v2
 
-Dockerized ROS2 setup for the WATonomous Autonomous Driving Software Pipeline
+Dockerized ROS2 setup for the WATonomous Autonomous Vehicle Software Pipeline
 
 - [WATonomous Monorepo](#watonomous-monorepo)
   - [Getting Started](#getting-started)
@@ -88,7 +88,7 @@ wato_monorepo_v2
 ### Using Foxglove
 [Foxglove](https://foxglove.dev/) is used to visualize ROS messages on a local machine.
 
-Add `data_stream` as an `ACTIVE_MODULES` and `watod up`.
+Add `infrastructure` as an `ACTIVE_MODULES` and `watod up`.
 
 It exposes the port specified by the `FOXGLOVE_BRIDGE_PORT` variable, which you will need to forward to your local machine. This can either be done in the `ports` section of VS Code or by running the command `ssh -L 8765:localhost:8765 <username>@<machine>-ubuntu1.watocluster.local` on your local machine.
 

docker/base/inject_wato_base.Dockerfile

@@ -5,12 +5,15 @@ ARG GENERIC_IMAGE
 # for the wato_monorepo.
 FROM ${GENERIC_IMAGE} as wato_base
 
-ENV DEBIAN_FRONTEND noninteractive
+RUN DEBIAN_FRONTEND=noninteractive apt-get update && \
+    apt-get install -y curl sudo && \
+    rm -rf /var/lib/apt/lists/*
+
 ENV USER="bolty"
 ENV AMENT_WS=/home/${USER}/ament_ws
 
 # User Setup
-RUN apt-get update && apt-get install -y curl sudo && \
+RUN DEBIAN_FRONTEND=noninteractive apt-get update && apt-get install -y curl sudo && \
     rm -rf /var/lib/apt/lists/*
 
 # Add a user so that created files in the docker container are owned by a non-root user (for prod)
@@ -19,14 +22,14 @@ RUN addgroup --gid 1000 ${USER} && \
     useradd -rm -d /home/${USER} -s /bin/bash -g ${USER} -G sudo -u 1000 ${USER} -p "$(openssl passwd -6 $USER_PASSWD)"
 
 # install apt-fast
-RUN apt-get -qq update && \
+RUN DEBIAN_FRONTEND=noninteractive apt-get -qq update && \
     apt-get install -qq -y wget && \
     mkdir -p /etc/apt/keyrings && \
     wget -O - "https://keyserver.ubuntu.com/pks/lookup?op=get&search=0xA2166B8DE8BDC3367D1901C11EE2FF37CA8DA16B" \
         | gpg --dearmor -o /etc/apt/keyrings/apt-fast.gpg && \
     echo "deb [signed-by=/etc/apt/keyrings/apt-fast.gpg] \
         http://ppa.launchpad.net/apt-fast/stable/ubuntu focal main" > /etc/apt/sources.list.d/apt-fast.list && \
-    apt-get update -qq && apt-get install -qq -y apt-fast && \
+    DEBIAN_FRONTEND=noninteractive apt-get update -qq && DEBIAN_FRONTEND=noninteractive apt-get install -qq -y apt-fast && \
     echo debconf apt-fast/maxdownloads string 16 | debconf-set-selections && \
     echo debconf apt-fast/dlflag boolean true | debconf-set-selections && \
     echo debconf apt-fast/aptmanager string apt-get | debconf-set-selections

docker/perception/camera_object_detection/camera_object_detection.Dockerfile

@@ -31,7 +31,7 @@ RUN rm requirements.txt
 
 # Install Rosdep requirements
 COPY --from=source /tmp/colcon_install_list /tmp/colcon_install_list
-RUN apt-fast install -qq -y --no-install-recommends $(cat /tmp/colcon_install_list)
+RUN apt-get update && apt-fast install -qq -y --no-install-recommends $(cat /tmp/colcon_install_list)
 
 # Copy in source code from source stage
 WORKDIR ${AMENT_WS}

docker/simulation/carla_sim/carla_sim.Dockerfile → docker/perception/depth_estimation/depth_estimation.Dockerfile

@@ -6,8 +6,7 @@ FROM ${BASE_IMAGE} as source
 WORKDIR ${AMENT_WS}/src
 
 # Copy in source code 
-COPY src/simulation/carla_sim carla_sim
-COPY src/wato_msgs/sample_msgs sample_msgs
+COPY src/perception/depth_estimation depth_estimation
 
 # Scan for rosdeps
 RUN apt-get -qq update && rosdep update && \

docker/perception/lane_detection/lane_detection.Dockerfile

@@ -1,13 +1,13 @@
-ARG BASE_IMAGE=ghcr.io/watonomous/wato_monorepo/base:humble-ubuntu22.04
-
+ARG BASE_IMAGE=ghcr.io/watonomous/wato_monorepo/base:cuda12.2-humble-ubuntu22.04-devel
+ARG RUNTIME_IMAGE=ghcr.io/watonomous/wato_monorepo/base:cuda12.2-humble-ubuntu22.04
 ################################ Source ################################
 FROM ${BASE_IMAGE} as source
 
 WORKDIR ${AMENT_WS}/src
 
 # Copy in source code 
 COPY src/perception/lane_detection lane_detection
-COPY src/wato_msgs/sample_msgs sample_msgs
+COPY src/wato_msgs/perception_msgs/lane_detection_msgs lane_detection_msgs
 
 # Scan for rosdeps
 RUN apt-get -qq update && rosdep update && \
@@ -19,6 +19,13 @@ RUN apt-get -qq update && rosdep update && \
 ################################# Dependencies ################################
 FROM ${BASE_IMAGE} as dependencies
 
+RUN apt-get update && apt-get install -y libopencv-dev \
+        python3-opencv \
+        tensorrt \
+        cuda-toolkit
+
+RUN export OpenCV_DIR=/usr/lib/x86_64-linux-gnu/cmake/opencv4/OpenCVConfig.cmake
+
 # Install Rosdep requirements
 COPY --from=source /tmp/colcon_install_list /tmp/colcon_install_list
 RUN apt-fast install -qq -y --no-install-recommends $(cat /tmp/colcon_install_list)
@@ -46,7 +53,21 @@ COPY docker/wato_ros_entrypoint.sh ${AMENT_WS}/wato_ros_entrypoint.sh
 ENTRYPOINT ["./wato_ros_entrypoint.sh"]
 
 ################################ Prod ################################
-FROM build as deploy
+# Use a different runtime image for a smaller image size
+FROM ${RUNTIME_IMAGE} as deploy
+
+# Install runtime libs
+RUN apt-get update && apt-get install -y \
+    ros-humble-cv-bridge \
+    tensorrt
+
+# Copy the compiled binary to the runtime image
+COPY --from=build ${AMENT_WS} ${AMENT_WS}
+
+WORKDIR ${AMENT_WS}
+
+COPY docker/wato_ros_entrypoint.sh ${AMENT_WS}/wato_ros_entrypoint.sh
+ENTRYPOINT ["./wato_ros_entrypoint.sh"]
 
 # Source Cleanup and Security Setup
 RUN chown -R $USER:$USER ${AMENT_WS}

docker/perception/radar_object_detection/radar_object_detection.Dockerfile

@@ -7,7 +7,7 @@ WORKDIR ${AMENT_WS}/src
 
 # Copy in source code 
 COPY src/perception/radar_object_detection radar_object_detection
-COPY src/wato_msgs/radar_msgs radar_msgs
+COPY src/wato_msgs/perception_msgs/radar_msgs radar_msgs
 
 # Scan for rosdeps
 RUN apt-get -qq update && rosdep update && \

docker/simulation/carla_notebooks/carla_notebooks.Dockerfile

@@ -0,0 +1,23 @@
+ARG CARLA_VERSION=0.9.13
+FROM carlasim/carla:${CARLA_VERSION} AS wato_carla_api
+
+FROM python:3.8.16-slim-bullseye
+ARG CARLA_VERSION=0.9.13
+
+RUN pip3 install carla==${CARLA_VERSION} jupyter tensorflow-probability
+RUN apt-get update && apt-get install -y curl git wget unzip && apt remove python3-networkx
+
+COPY --from=wato_carla_api --chown=root /home/carla/PythonAPI/carla/agents /usr/local/lib/python3.8/site-packages/agents
+
+WORKDIR /home/bolty/carla_notebooks
+COPY src/simulation/carla_notebooks /home/bolty/carla_notebooks
+
+WORKDIR /home/bolty
+# Setup CARLA Scenario Runner
+# The last sed command replaces hero (default ego vehicle name) with another ego vehicle name
+RUN git clone https://github.com/carla-simulator/scenario_runner.git && \
+    cd scenario_runner && pip3 install -r requirements.txt && \
+    sed -i s/hero/ego/g /home/bolty/scenario_runner/srunner/tools/scenario_parser.py
+WORKDIR /home/bolty
+
+WORKDIR /home/bolty/carla_notebooks