Lane detection ROS2 node

docker/perception/lane_detection/lane_detection.Dockerfile

@@ -1,5 +1,5 @@
-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
 
@@ -19,6 +19,17 @@ RUN apt-get -qq update && rosdep update && \
 ################################# Dependencies ################################
 FROM ${BASE_IMAGE} as dependencies
 
+RUN apt-get update
+# Intall opencv
+RUN apt install -y libopencv-dev python3-opencv
+RUN export OpenCV_DIR=/usr/lib/x86_64-linux-gnu/cmake/opencv4/OpenCVConfig.cmake
+
+# Install TensorRT
+RUN apt install -y tensorrt
+
+# Install cuda toolkit
+RUN apt-get install -y cuda-toolkit
+
 # Install Rosdep requirements
 COPY --from=source /tmp/colcon_install_list /tmp/colcon_install_list
 RUN apt-fast install -qq -y --no-install-recommends $(cat /tmp/colcon_install_list)
@@ -43,13 +54,28 @@ RUN . /opt/ros/$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"]
+# ENTRYPOINT ["./wato_ros_entrypoint.sh]
 
 ################################ Prod ################################
-FROM build as deploy
+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}
+
+# 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
 
 # Source Cleanup and Security Setup
 RUN chown -R $USER:$USER ${AMENT_WS}
 RUN rm -rf src/*
 
 USER ${USER}
+
+ENTRYPOINT ["./wato_ros_entrypoint.sh"]

modules/docker-compose.perception.yaml

@@ -1,85 +1,87 @@
 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
@@ -90,17 +92,29 @@ 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 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)
+      - /mnt/wato-drive2/perception-weights/tensorrt_model/ultra_fast_lane_detection_v2/resource/model/ufldv2_culane_res34_320x1600.onnx:/home/bolty/ament_ws/build/lane_detection/resource/model/ufldv2_culane_res34_320x1600.onnx
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: all
+              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"

src/perception/lane_detection/CMakeLists.txt

@@ -1,26 +1,85 @@
+# cmake_minimum_required(VERSION 3.8)
+# project(lane_detection)
+
+# if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+#   add_compile_options(-Wall -Wextra -Wpedantic)
+# endif()
+
+# # find dependencies
+# find_package(ament_cmake REQUIRED)
+# # uncomment the following section in order to fill in
+# # further dependencies manually.
+# # find_package(<dependency> REQUIRED)
+
+# if(BUILD_TESTING)
+#   find_package(ament_lint_auto REQUIRED)
+#   # the following line skips the linter which checks for copyrights
+#   # comment the line when a copyright and license is added to all source files
+#   set(ament_cmake_copyright_FOUND TRUE)
+#   # the following line skips cpplint (only works in a git repo)
+#   # comment the line when this package is in a git repo and when
+#   # a copyright and license is added to all source files
+#   set(ament_cmake_cpplint_FOUND TRUE)
+#   ament_lint_auto_find_test_dependencies()
+# endif()
+
+# ament_package()
+
 cmake_minimum_required(VERSION 3.8)
-project(lane_detection)
+set(ProjectName "lane_detection")
+set(CUDA_TOOLKIT_ROOT_DIR "/usr/local/cuda")
+SET(CMAKE_CUDA_COMPILER /usr/local/cuda-12.2/bin/nvcc)
+SET(CUDACXX /usr/local/cuda-12.2/bin/nvcc)
+project(${ProjectName} LANGUAGES CXX CUDA)
+
+# set(CUDA_NVCC_EXECUTABLE "/usr/local/cuda/bin/nvcc")
+
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-# find dependencies
+### TensorRT model ###
+
+# Select build system and set compile options
+include(${CMAKE_CURRENT_LIST_DIR}/src/tensorrt_model/common_helper/cmakes/build_setting.cmake)
+
+add_executable(lane_detection src/lane_detection_node.cpp)
+
+# Link ImageProcessor module
+add_subdirectory(./src/tensorrt_model/ultra_fast_lane_detection_v2/image_processor image_processor)
+target_include_directories(${ProjectName} PUBLIC ./src/tensorrt_model/ultra_fast_lane_detection_v2/image_processor)
+target_link_libraries(${ProjectName} ImageProcessor)
+
+# For OpenCV
+find_package(OpenCV REQUIRED)
+target_include_directories(${ProjectName} PUBLIC ${OpenCV_INCLUDE_DIRS})
+target_link_libraries(${ProjectName} ${OpenCV_LIBS})
+
+# Copy resouce
+file(COPY ${CMAKE_CURRENT_LIST_DIR}/src/tensorrt_model/ultra_fast_lane_detection_v2/resource/model DESTINATION ${CMAKE_BINARY_DIR}/resource)
+add_definitions(-DRESOURCE_DIR="${CMAKE_BINARY_DIR}/resource/")
+
+
+### End of TensorRT model ###
+
 find_package(ament_cmake REQUIRED)
-# uncomment the following section in order to fill in
-# further dependencies manually.
-# find_package(<dependency> REQUIRED)
-
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  # comment the line when a copyright and license is added to all source files
-  set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # comment the line when this package is in a git repo and when
-  # a copyright and license is added to all source files
-  set(ament_cmake_cpplint_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
-endif()
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(image_transport REQUIRED)
+find_package(CUDA REQUIRED)
+
+
+install(TARGETS
+lane_detection
+  DESTINATION lib/${PROJECT_NAME})
 
-ament_package()
+ament_target_dependencies(lane_detection rclcpp OpenCV std_msgs sensor_msgs cv_bridge image_transport)
+ament_package()

src/perception/lane_detection/launch/lane_detection.launch.py

@@ -0,0 +1,12 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+
+    return LaunchDescription([
+        Node(
+            package='lane_detection',
+            executable='lane_detection',
+            name='lane_detection',
+        )
+    ])