Fix node monitor (#204)

* Fix path from /opt/install to /opt/simapp

* Faster shutdown

build-dev-bundle.sh

@@ -42,8 +42,8 @@ docker buildx build ${OPT_NOCACHE} -t ${PREFIX}/deepracer-robomaker-build-devel:
 
 echo "Building development build of bundle into $(pwd)/bundle..."
 mkdir -p $(pwd)/install $(pwd)/build $(pwd)/log
-docker run --rm -ti -v $(pwd)/bundle:/opt/bundle -v $(pwd)/log:/opt/log -v $(pwd)/install:/opt/install -v $(pwd)/build:/opt/build \
-    ${PREFIX}/deepracer-robomaker-build-devel:latest bash -c 'colcon --log-base /opt/log build --install-base /opt/install --build-base /opt/build'
+docker run --rm -ti -v $(pwd)/bundle:/opt/bundle -v $(pwd)/log:/opt/log -v $(pwd)/install:/opt/simapp -v $(pwd)/build:/opt/build \
+    ${PREFIX}/deepracer-robomaker-build-devel:latest bash -c 'colcon --log-base /opt/log build --install-base /opt/simapp --build-base /opt/build'
 
 if [ -n "${OPT_GAZEBO}" ]; then
     if [ -z "${DR_ROBOMAKER_IMAGE}" ]; then

bundle/markov/utils.py

@@ -101,7 +101,7 @@ def cancel_simulation_job():
             logger.info("Successfully cancelled the simulation job")
         else:
             logger.info("AWS_ROBOMAKER_SIMULATION_JOB_ARN environment variable not set.")
-            subprocess.run(["/opt/install/shutdown.sh"])
+            subprocess.run(["/opt/simapp/shutdown.sh"])
             logger.info("Shutdown initiated")
             exit(0)            
 

bundle/src/deepracer_simulation_environment/scripts/run_evaluation_rl_agent.sh

@@ -5,7 +5,7 @@ set -ex
 #export PYTHONPATH=${COLCON_BUNDLE_PREFIX}/usr/local/lib/python3.6/dist-packages/:$PYTHONPATH
 export PYTHONUNBUFFERED=1
 
-python3 /opt/install/start_deepracer_node_monitor.py \
-    --node_monitor_file_path /opt/install/deepracer_node_monitor_list.txt 2>&1 &
+python3 /opt/simapp/start_deepracer_node_monitor.py \
+    --node_monitor_file_path /opt/simapp/deepracer_node_monitor_list.txt 2>&1 &
 
 python3 -m markov.evaluation_worker

bundle/src/deepracer_simulation_environment/scripts/run_rollout_rl_agent.sh

@@ -5,8 +5,8 @@ set -ex
 #export PYTHONPATH=${COLCON_BUNDLE_PREFIX}/usr/local/lib/python3.6/dist-packages/:$PYTHONPATH
 export PYTHONUNBUFFERED=1
 ROLLOUT_IDX=${1:-0}
-python3 /opt/install/start_deepracer_node_monitor.py \
-    --node_monitor_file_path /opt/install/deepracer_node_monitor_list.txt 2>&1 &
+python3 /opt/simapp/start_deepracer_node_monitor.py \
+    --node_monitor_file_path /opt/simapp/deepracer_node_monitor_list.txt 2>&1 &
 
 
 if ! python3 -m markov.rollout_worker --rollout_idx $ROLLOUT_IDX; then

bundle/src/deepracer_simulation_environment/scripts/run_virtual_event_rl_agent.sh

@@ -5,7 +5,7 @@ set -ex
 #export PYTHONPATH=${COLCON_BUNDLE_PREFIX}/usr/local/lib/python3.6/dist-packages/:$PYTHONPATH
 export PYTHONUNBUFFERED=1
 
-python3 /opt/install/start_deepracer_node_monitor.py \
-    --node_monitor_file_path /opt/install/deepracer_virtual_event_node_monitor_list.txt 2>&1 &
+python3 /opt/simapp/start_deepracer_node_monitor.py \
+    --node_monitor_file_path /opt/simapp/deepracer_virtual_event_node_monitor_list.txt 2>&1 &
 
 python3 -m markov.virtual_event_worker

docker/Dockerfile.localext

@@ -7,7 +7,7 @@
 ARG FROM_TAG
 FROM awsdeepracercommunity/deepracer-robomaker:${FROM_TAG}
 
-COPY bundle/install /opt/install
+COPY bundle/install /opt/simapp
 COPY ./docker/files/run.sh run.sh
 COPY ./docker/files/devel.sh devel.sh
 

docker/docker-compose-development.yml

@@ -28,6 +28,6 @@ services:
       - XDG_RUNTIME_DIR=/tmp/runtime-$USER
     volumes:
       - '../docker/files:/opt/files'
-      - '../install:/opt/install'
+      - '../install:/opt/simapp'
       - '/tmp/.X11-unix/:/tmp/.X11-unix'
       - '${XAUTHORITY}:$HOME/.Xauthority'

docker/files/robomaker/devel.sh

@@ -7,13 +7,13 @@ touch ~/.gazebo/gui.ini
 # Initialize ROS & the Bundle
 export IGN_IP=127.0.0.1
 source /opt/ros/${ROS_DISTRO}/setup.bash
-source /opt/install/setup.bash
-export GAZEBO_RESOURCE_PATH=/opt/install/deepracer_simulation_environment/share/deepracer_simulation_environment
-export GAZEBO_MODEL_PATH=/opt/install/deepracer_simulation_environment/share/deepracer_simulation_environment
+source /opt/simapp/setup.bash
+export GAZEBO_RESOURCE_PATH=/opt/simapp/deepracer_simulation_environment/share/deepracer_simulation_environment
+export GAZEBO_MODEL_PATH=/opt/simapp/deepracer_simulation_environment/share/deepracer_simulation_environment
 
 echo "IP: $(hostname -I) ($(hostname))"
 
 source /usr/share/gazebo/setup.sh
-gazebo /opt/install/deepracer_simulation_environment/share/deepracer_simulation_environment/worlds/${DR_WORLD_NAME}.world --verbose
+gazebo /opt/simapp/deepracer_simulation_environment/share/deepracer_simulation_environment/worlds/${DR_WORLD_NAME}.world --verbose
 
 wait

docker/files/robomaker/run.sh

@@ -40,7 +40,7 @@ export DEEPRACER_JOB_TYPE_ENV="LOCAL"
 if [[ -n "${RTF_OVERRIDE}" ]]; then
 	echo "Setting RTF to ${RTF_OVERRIDE} for ${WORLD_NAME}"
 	RTF_UPDATE_RATE=$(awk -v rtf=$RTF_OVERRIDE 'BEGIN{ update_rate=rtf*1000; printf "%0.6f", update_rate}')
-	WORLD_FILE="/opt/install/deepracer_simulation_environment/share/deepracer_simulation_environment/worlds/${WORLD_NAME}.world"
+	WORLD_FILE="/opt/simapp/deepracer_simulation_environment/share/deepracer_simulation_environment/worlds/${WORLD_NAME}.world"
 	xmlstarlet ed -L -s '/sdf/world' -t elem -n physics $WORLD_FILE 
 	xmlstarlet ed -L -a '/sdf/world/physics' -t attr -n type -v ode $WORLD_FILE 
 	xmlstarlet ed -L -s '/sdf/world/physics' -t elem -n max_step_size -v 0.001000 $WORLD_FILE 
@@ -53,7 +53,7 @@ fi
 # Check if we want to do reward-function debugging
 if [[ "${DEBUG_REWARD,,}" == "true" ]]; then
 	echo "Enabling Reward Debugging"
-	patch -p2 -N --directory=/opt/install < debug-reward.diff
+	patch -p2 -N --directory=/opt/simapp < debug-reward.diff
 fi
 
 # If no run-option given then use the distributed training

docker/files/robomaker/shutdown.sh

@@ -1,2 +1,2 @@
 #!/bin/bash
-nohup bash -c 'sleep 20 && echo "Bye!" && kill 1' &
+nohup bash -c 'sleep 5 && echo "Bye!" && kill 1' &