Improve edgeimpulse runner

Dockerfile

@@ -55,4 +55,10 @@ WORKDIR $ROS_WS
 RUN . /opt/ros/$ROS_DISTRO/install/setup.sh && \
     colcon build --symlink-install \
     --cmake-args \
-    -DCMAKE_BUILD_TYPE=Release
+    -DCMAKE_BUILD_TYPE=Release
+
+# https://docs.docker.com/engine/reference/builder/#stopsignal
+# https://hynek.me/articles/docker-signals/
+STOPSIGNAL SIGINT
+# run ros package launch file
+# CMD ["ros2", "launch", "nanosaur_bringup", "bringup.launch.py"]

docker-compose.yml

@@ -0,0 +1,42 @@
+# Copyright (C) 2022, Raffaello Bonghi <[email protected]>
+# All rights reserved
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# 1. Redistributions of source code must retain the above copyright 
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in the
+#    documentation and/or other materials provided with the distribution.
+# 3. Neither the name of the copyright holder nor the names of its 
+#    contributors may be used to endorse or promote products derived 
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND 
+# CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, 
+# BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+# HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
+# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+# PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; 
+# OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, 
+# WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE 
+# OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, 
+# EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+version: "3.9"
+services:
+  perception:
+    image: nanosaur/edge_impulse:latest
+    network_mode: ${DOCKER_NETWORK:-host}
+    restart: always
+    privileged: true
+    depends_on:
+      - "core"
+    environment:
+      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
+      - RMW_IMPLEMENTATION=${NANOSAUR_RMW:-rmw_cyclonedds_cpp}
+    labels:
+      - "com.centurylinklabs.watchtower.scope=nanosaur"
+    volumes:
+      # if you want change the nanosaur configuration
+      # Read https://github.com/rnanosaur/nanosaur/wiki/configuration

ei_nanosaur.sh

@@ -0,0 +1,82 @@
+#!/bin/bash
+# Copyright (C) 2022, Raffaello Bonghi <[email protected]>
+# All rights reserved
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# 1. Redistributions of source code must retain the above copyright 
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in the
+#    documentation and/or other materials provided with the distribution.
+# 3. Neither the name of the copyright holder nor the names of its 
+#    contributors may be used to endorse or promote products derived 
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND 
+# CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, 
+# BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+# HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
+# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+# PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; 
+# OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, 
+# WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE 
+# OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, 
+# EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+bold=`tput bold`
+red=`tput setaf 1`
+green=`tput setaf 2`
+yellow=`tput setaf 3`
+blue=`tput setaf 4`
+reset=`tput sgr0`
+
+usage()
+{
+    if [ "$1" != "" ]; then
+        echo "${red}$1${reset}" >&2
+    fi
+
+    local name=$(basename ${0})
+    echo "$name Edge impulse on nanosaur." >&2
+    echo "${bold}Commands:${reset}" >&2
+    echo "  $name help                     This help" >&2
+    echo "  $name run                      Run nanosaur ei in debug mode" >&2
+    echo "  $name build                    Build docker" >&2
+}
+
+main()
+{
+    # Check if run in sudo
+    if [[ `id -u` -eq 0 ]] ; then 
+        echo "${red}Please don't run as root${reset}" >&2
+        exit 1
+    fi
+    local option=$1
+    if [ -z "$option" ] ; then
+        usage
+        exit 0
+    fi
+    # Load all arguments except the first one
+    local arguments=${@:2}
+
+    # Options
+    if [ $option = "help" ] || [ $option = "-h" ]; then
+        usage
+        exit 0
+    elif [ $option = "run" ] ; then
+        docker run -it --rm nanosaur/edge_impulse:latest bash
+        exit 0
+    elif [ $option = "build" ] ; then
+        # cover $arguments
+        echo "${green}Build Edge Impulse nanosaur docker ${reset}"
+        docker build -t nanosaur/edge_impulse:latest .
+        exit 0
+    fi
+
+    usage "[ERROR] Unknown option: $option" >&2
+    exit 1
+}
+main $@
+exit 0
+# EOF

nanosaur_ei/CMakeLists.txt

@@ -0,0 +1,21 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(nanosaur_ei)
+
+################################################################################
+# Find ament packages and libraries for ament and system dependencies
+################################################################################
+find_package(ament_cmake REQUIRED)
+
+################################################################################
+# Install
+################################################################################
+install(
+  DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}
+)
+
+################################################################################
+# Macro for ament package
+################################################################################
+ament_package()

nanosaur_ei/launch/edge_impulse.launch.py

@@ -0,0 +1,25 @@
+# Copyright (C) 2022, Raffaello Bonghi <[email protected]>
+# All rights reserved
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# 1. Redistributions of source code must retain the above copyright 
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in the
+#    documentation and/or other materials provided with the distribution.
+# 3. Neither the name of the copyright holder nor the names of its 
+#    contributors may be used to endorse or promote products derived 
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND 
+# CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, 
+# BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+# HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
+# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+# PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; 
+# OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, 
+# WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE 
+# OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, 
+# EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+