Revert watod-config and perception docker compose

WATonomous · Feb 4, 2024 · 4fd7e21 · 4fd7e21
1 parent b8f6279
commit 4fd7e21
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Showing 3 changed files with 87 additions and 93 deletions.
diff --git a/docker/perception/lane_detection/lane_detection.Dockerfile b/docker/perception/lane_detection/lane_detection.Dockerfile
@@ -54,7 +54,6 @@ RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
 
 # Entrypoint will run before any CMD on launch. Sources ~/opt/<ROS_DISTRO>/setup.bash and ~/ament_ws/install/setup.bash
 COPY docker/wato_ros_entrypoint.sh ${AMENT_WS}/wato_ros_entrypoint.sh
-# ENTRYPOINT ["./wato_ros_entrypoint.sh]
 
 ################################ Prod ################################
 FROM ${RUNTIME_IMAGE} as deploy

diff --git a/modules/docker-compose.perception.yaml b/modules/docker-compose.perception.yaml
@@ -1,87 +1,85 @@
 version: "3.8"
 
 services:
-  # radar_object_detection:
-  #   build:
-  #     context: ..
-  #     dockerfile: docker/perception/radar_object_detection/radar_object_detection.Dockerfile
-  #     cache_from: 
-  #       - "${PERCEPTION_RADAR_OBJECT_DETECTION_IMAGE:?}:${TAG}"
-  #       - "${PERCEPTION_RADAR_OBJECT_DETECTION_IMAGE:?}:main"
-  #     target: deploy
-  #   image: "${PERCEPTION_RADAR_OBJECT_DETECTION_IMAGE:?}:${TAG}"
-  #   security_opt:
-  #     - seccomp:${MONO_DIR}/modules/seccomp_profile.json 
-  #   command: /bin/bash -c "ros2 launch radar_object_detection radar_object_detection.launch.py"
+  radar_object_detection:
+    build:
+      context: ..
+      dockerfile: docker/perception/radar_object_detection/radar_object_detection.Dockerfile
+      cache_from: 
+        - "${PERCEPTION_RADAR_OBJECT_DETECTION_IMAGE:?}:${TAG}"
+        - "${PERCEPTION_RADAR_OBJECT_DETECTION_IMAGE:?}:main"
+      target: deploy
+    image: "${PERCEPTION_RADAR_OBJECT_DETECTION_IMAGE:?}:${TAG}"
+    security_opt:
+      - seccomp:${MONO_DIR}/modules/seccomp_profile.json 
+    command: /bin/bash -c "ros2 launch radar_object_detection radar_object_detection.launch.py"
 
-  # camera_object_detection:
-  #   build:
-  #     context: ..
-  #     dockerfile: docker/perception/camera_object_detection/camera_object_detection.Dockerfile
-  #     cache_from:
-  #       - "${PERCEPTION_CAMERA_OBJECT_DETECTION_IMAGE:?}:${TAG}"
-  #       - "${PERCEPTION_CAMERA_OBJECT_DETECTION_IMAGE:?}:main"
-  #     target: deploy
-  #   image: "${PERCEPTION_CAMERA_OBJECT_DETECTION_IMAGE:?}:${TAG}"
-  #   security_opt:
-  #     - seccomp:${MONO_DIR}/modules/seccomp_profile.json 
-  #   command: /bin/bash -c "ros2 launch camera_object_detection camera_object_detection.launch.py"
+  camera_object_detection:
+    build:
+      context: ..
+      dockerfile: docker/perception/camera_object_detection/camera_object_detection.Dockerfile
+      cache_from:
+        - "${PERCEPTION_CAMERA_OBJECT_DETECTION_IMAGE:?}:${TAG}"
+        - "${PERCEPTION_CAMERA_OBJECT_DETECTION_IMAGE:?}:main"
+      target: deploy
+    image: "${PERCEPTION_CAMERA_OBJECT_DETECTION_IMAGE:?}:${TAG}"
+    security_opt:
+      - seccomp:${MONO_DIR}/modules/seccomp_profile.json 
+    command: /bin/bash -c "ros2 launch camera_object_detection camera_object_detection.launch.py"
 
-  # lidar_object_detection:
-  #   build:
-  #     context: ..
-  #     dockerfile: docker/perception/lidar_object_detection/lidar_object_detection.Dockerfile
-  #     cache_from:
-  #       - "${PERCEPTION_LIDAR_OBJECT_DETECTION_IMAGE}:${TAG}"
-  #       - "${PERCEPTION_LIDAR_OBJECT_DETECTION_IMAGE}:main"
-  #     target: deploy
-  #   image: "${PERCEPTION_LIDAR_OBJECT_DETECTION_IMAGE}:${TAG}"
-  #   security_opt:
-  #     - seccomp:${MONO_DIR}/modules/seccomp_profile.json
-  #   command: /bin/bash -c "ros2 launch lidar_object_detection lidar_object_detection.launch.py"
+  lidar_object_detection:
+    build:
+      context: ..
+      dockerfile: docker/perception/lidar_object_detection/lidar_object_detection.Dockerfile
+      cache_from:
+        - "${PERCEPTION_LIDAR_OBJECT_DETECTION_IMAGE}:${TAG}"
+        - "${PERCEPTION_LIDAR_OBJECT_DETECTION_IMAGE}:main"
+      target: deploy
+    image: "${PERCEPTION_LIDAR_OBJECT_DETECTION_IMAGE}:${TAG}"
+    security_opt:
+      - seccomp:${MONO_DIR}/modules/seccomp_profile.json
+    command: /bin/bash -c "ros2 launch lidar_object_detection lidar_object_detection.launch.py"
 
-  # traffic_light_detection:
-  #   build:
-  #     context: ..
-  #     dockerfile: docker/perception/traffic_light_detection/traffic_light_detection.Dockerfile
-  #     cache_from:
-  #       - "${PERCEPTION_TRAFFIC_LIGHT_DETECTION_IMAGE}:${TAG}"
-  #       - "${PERCEPTION_TRAFFIC_LIGHT_DETECTION_IMAGE}:main"
-  #     target: deploy
-  #   image: "${PERCEPTION_TRAFFIC_LIGHT_DETECTION_IMAGE}:${TAG}"
-  #   security_opt:
-  #     - seccomp:${MONO_DIR}/modules/seccomp_profile.json
-  #   command: /bin/bash -c "ros2 launch traffic_light_detection traffic_light_detection.launch.py"
+  traffic_light_detection:
+    build:
+      context: ..
+      dockerfile: docker/perception/traffic_light_detection/traffic_light_detection.Dockerfile
+      cache_from:
+        - "${PERCEPTION_TRAFFIC_LIGHT_DETECTION_IMAGE}:${TAG}"
+        - "${PERCEPTION_TRAFFIC_LIGHT_DETECTION_IMAGE}:main"
+      target: deploy
+    image: "${PERCEPTION_TRAFFIC_LIGHT_DETECTION_IMAGE}:${TAG}"
+    security_opt:
+      - seccomp:${MONO_DIR}/modules/seccomp_profile.json
+    command: /bin/bash -c "ros2 launch traffic_light_detection traffic_light_detection.launch.py"
 
-  # traffic_sign_detection:
-  #   build:
-  #     context: ..
-  #     dockerfile: docker/perception/traffic_sign_detection/traffic_sign_detection.Dockerfile
-  #     cache_from:
-  #       - "${PERCEPTION_TRAFFIC_SIGN_DETECTION_IMAGE}:${TAG}"
-  #       - "${PERCEPTION_TRAFFIC_SIGN_DETECTION_IMAGE}:main"
-  #     target: deploy
-  #   image: "${PERCEPTION_TRAFFIC_SIGN_DETECTION_IMAGE}:${TAG}"
-  #   security_opt:
-  #     - seccomp:${MONO_DIR}/modules/seccomp_profile.json
-  #   command: /bin/bash -c "ros2 launch traffic_sign_detection traffic_sign_detection.launch.py"
+  traffic_sign_detection:
+    build:
+      context: ..
+      dockerfile: docker/perception/traffic_sign_detection/traffic_sign_detection.Dockerfile
+      cache_from:
+        - "${PERCEPTION_TRAFFIC_SIGN_DETECTION_IMAGE}:${TAG}"
+        - "${PERCEPTION_TRAFFIC_SIGN_DETECTION_IMAGE}:main"
+      target: deploy
+    image: "${PERCEPTION_TRAFFIC_SIGN_DETECTION_IMAGE}:${TAG}"
+    security_opt:
+      - seccomp:${MONO_DIR}/modules/seccomp_profile.json
+    command: /bin/bash -c "ros2 launch traffic_sign_detection traffic_sign_detection.launch.py"
 
-  # semantic_segmentation:
-  #   build:
-  #     context: ..
-  #     dockerfile: docker/perception/semantic_segmentation/semantic_segmentation.Dockerfile
-  #     cache_from:
-  #       - "${PERCEPTION_SEMANTIC_SEGMENTATION_IMAGE}:${TAG}"
-  #       - "${PERCEPTION_SEMANTIC_SEGMENTATION_IMAGE}:main"
-  #     target: deploy
-  #   image: "${PERCEPTION_SEMANTIC_SEGMENTATION_IMAGE}:${TAG}"
-  #   security_opt:
-  #     - seccomp:${MONO_DIR}/modules/seccomp_profile.json
-  #   command: /bin/bash -c "ros2 launch semantic_segmentation semantic_segmentation.launch.py"
+  semantic_segmentation:
+    build:
+      context: ..
+      dockerfile: docker/perception/semantic_segmentation/semantic_segmentation.Dockerfile
+      cache_from:
+        - "${PERCEPTION_SEMANTIC_SEGMENTATION_IMAGE}:${TAG}"
+        - "${PERCEPTION_SEMANTIC_SEGMENTATION_IMAGE}:main"
+      target: deploy
+    image: "${PERCEPTION_SEMANTIC_SEGMENTATION_IMAGE}:${TAG}"
+    security_opt:
+      - seccomp:${MONO_DIR}/modules/seccomp_profile.json
+    command: /bin/bash -c "ros2 launch semantic_segmentation semantic_segmentation.launch.py"
 
   lane_detection:
-    # add gpus all below
-
     build:
       context: ..
       dockerfile: docker/perception/lane_detection/lane_detection.Dockerfile
@@ -92,7 +90,6 @@ services:
     image: "${PERCEPTION_LANE_DETECTION_IMAGE}:${TAG}"
     security_opt:
       - seccomp:${MONO_DIR}/modules/seccomp_profile.json
-    # command: /bin/bash -c "ros2 launch lane_detection lane_detection.launch.py"
     command: /bin/bash -c "ros2 run lane_detection lane_detection"
     volumes:
       # mount the model (ufldv2_culane_res34_320x1600.onnx)
@@ -106,15 +103,15 @@ services:
               capabilities: [gpu]
 
 
-  # tracking:
-  #   build:
-  #     context: ..
-  #     dockerfile: docker/perception/tracking/tracking.Dockerfile
-  #     cache_from:
-  #       - "${PERCEPTION_TRACKING_IMAGE}:${TAG}"
-  #       - "${PERCEPTION_TRACKING_IMAGE}:main"
-  #     target: deploy
-  #   image: "${PERCEPTION_TRACKING_IMAGE}:${TAG}"
-  #   security_opt:
-  #     - seccomp:${MONO_DIR}/modules/seccomp_profile.json
-  #   command: /bin/bash -c "ros2 launch tracking tracking.launch.py"
+  tracking:
+    build:
+      context: ..
+      dockerfile: docker/perception/tracking/tracking.Dockerfile
+      cache_from:
+        - "${PERCEPTION_TRACKING_IMAGE}:${TAG}"
+        - "${PERCEPTION_TRACKING_IMAGE}:main"
+      target: deploy
+    image: "${PERCEPTION_TRACKING_IMAGE}:${TAG}"
+    security_opt:
+      - seccomp:${MONO_DIR}/modules/seccomp_profile.json
+    command: /bin/bash -c "ros2 launch tracking tracking.launch.py"
diff --git a/watod-config.sh b/watod-config.sh
@@ -12,17 +12,15 @@
 ##	 - simulation			:	starts simulation
 ##   - samples             	:   starts sample ROS2 pubsub nodes
 
-ACTIVE_MODULES="infrastructure perception"
-
-FOXGLOVE_BRIDGE_PORT=8770
+# ACTIVE_MODULES=""
 
 ############################## OPTIONAL CONFIGURATIONS ##############################
 ## Name to append to docker containers. DEFAULT = "<your_watcloud_username>"
-COMPOSE_PROJECT_NAME="j89leung"
+# COMPOSE_PROJECT_NAME=""
 
 ## Tag to use. Images are formatted as <IMAGE_NAME>:<TAG> with forward slashes replaced with dashes.
 ## DEFAULT = "<your_current_github_branch>"
-## TAG="lane-detection"
+# TAG=""
 
 # Docker Registry to pull/push images. DEFAULT = "ghcr.io/watonomous/wato_monorepo"
 # REGISTRY_URL=""