Robot PY Library (#58)

.github/workflows/main.workflow.yaml

@@ -5,7 +5,10 @@ on:
   workflow_dispatch:
   push:
     branches:
-      - '*'
+      - humble
+  pull_request:
+    branches:
+      - humble
 env:
   ROS_DISTRO: humble
 
@@ -15,8 +18,11 @@ jobs:
     runs-on: ubuntu-22.04
     strategy:
       fail-fast: false
+    permissions:
+      contents: read
+      packages: write
     env: 
-      PUSH: ${{ (github.repository == 'luxonis/rae-ros') }}
+      PUSH:  ${{ (github.event_name != 'pull_request') && (github.repository == 'luxonis/rae-ros') && startsWith(github.ref, 'refs/tags/v') }}
     steps:
       - name: Checkout
         uses: actions/checkout@v3
@@ -27,43 +33,16 @@ jobs:
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v2
 
-      - name: Login to DockerHub
-        uses: docker/login-action@v1
-        if: env.PUSH == 'true'
+      - name: Login to GitHub Container Registry
+        uses: docker/login-action@v3
         with:
-          username: ${{ secrets.DOCKERHUB_USER }}
-          password: ${{ secrets.DOCKERHUB_PASS }}
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
       - name: Get Version
         if: env.PUSH == 'true'
         id: vars
         run: echo ::set-output name=short_ref::${GITHUB_REF#refs/*/}
-
-      - name: Build Sim
-        uses: docker/build-push-action@v3
-        if: env.PUSH == 'false'
-        with:
-          build-args: |
-            ROS_DISTRO=${{ env.ROS_DISTRO }}
-            USE_RVIZ=1
-            SIM=1
-          platforms: |
-            amd64
-          no-cache: true
-
-      - name: Build and Push Sim
-        uses: docker/build-push-action@v3
-        if: env.PUSH == 'true'
-        with:
-          build-args: |
-            ROS_DISTRO=${{ env.ROS_DISTRO }}
-            USE_RVIZ=1
-          platforms: |
-            amd64
-          push: ${{ env.PUSH }}
-          no-cache: true
-          tags: | 
-            luxonis/rae-ros-sim:${{ steps.vars.outputs.short_ref }}
-      
       - name: Build Robot
         uses: docker/build-push-action@v3
         if: env.PUSH == 'false'
@@ -74,6 +53,8 @@ jobs:
             SIM=0
           platforms: |
             arm64
+            amd64
+          push: ${{ env.PUSH }}
           no-cache: true
 
       - name: Build and Push Robot
@@ -86,7 +67,8 @@ jobs:
             SIM=0
           platforms: |
             arm64
+            amd64
           push: ${{ env.PUSH }}
           no-cache: true
           tags: | 
-            luxonis/rae-ros-robot:${{ steps.vars.outputs.short_ref }}
+            ghcr.io/luxonis/rae-ros-humble:${{ steps.vars.outputs.short_ref }}

.gitignore

@@ -30,3 +30,5 @@
 *.exe
 *.out
 *.app
+
+*.pyc

Dockerfile

@@ -1,34 +1,31 @@
-ARG ROS_DISTRO=humble
-FROM luxonis/depthai-ros-rae AS builder
-ARG SIM=0
-ARG CORE_NUM=1
-ARG BUILD_TYPE="RelWithDebInfo"
+FROM ghcr.io/luxonis/rae-base:2023.12.19
 
+ARG BUILD_TYPE="RelWithDebInfo"
+ARG SIM=0
 ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update \
-   && apt-get -y install --no-install-recommends \
+
+RUN apt-get update && apt-get -y install --no-install-recommends \
     software-properties-common \
-    git \
-    nano \
     libusb-1.0-0-dev \
-    wget \
-    zsh \
     python3-colcon-common-extensions \
     python3-rosdep \
     build-essential \
-    neovim \
-    tmux \
-    htop \
-    net-tools \
-    iputils-ping \
     gpiod \
-    gstreamer1.0-plugins-bad \
-    gstreamer1.0-alsa \
     libasound2-dev \
-    busybox \
+    ros-humble-cv-bridge \ 
+    ros-humble-image-transport \
+    ros-humble-image-transport-plugins \
+    ros-humble-rmw-cyclonedds-cpp \
+    gstreamer1.0-plugins-bad \
     alsa-utils \
     mpg123 \
-    libmpg123-dev
+    libmpg123-dev \
+    ros-humble-rtabmap-slam \ 
+    unzip \
+    ffmpeg \
+    ros-humble-image-proc \
+    git \
+    htop
 
 ENV WS=/ws
 RUN mkdir -p $WS/src
@@ -38,15 +35,19 @@ RUN cp -R .$WS/src/rae-ros/assets/. /usr/share
 RUN rm -rf .$WS/src/rae-ros/assets
 RUN rm -rf .$WS/src/rae-ros/rae_gazebo
 
-RUN cd  .$WS/ && apt update && rosdep update && rosdep install --from-paths src --ignore-src  -y --skip-keys depthai --skip-keys depthai_bridge --skip-keys depthai_ros_driver --skip-keys audio_msgs --skip-keys laserscan_kinect --skip-keys ira_laser_tools
+RUN cd .$WS/src && git clone https://github.com/Serafadam/ira_laser_tools.git && git clone https://github.com/Serafadam/depth_nav_tools.git
+RUN cd .$WS/src && git clone https://github.com/BrettRD/ros-gst-bridge && \
+    cd ros-gst-bridge && \
+    git checkout 23980326ce8c0fefc0d5d590c2bfc9d308f35a73  # Pin latest master version at the time.
+RUN cd ${WS}/src && git clone --branch dai_ros_py https://github.com/luxonis/depthai-ros.git
+RUN cd .$WS/ && rosdep install --from-paths src --ignore-src  -y --skip-keys depthai --skip-keys depthai_bridge --skip-keys depthai_ros_driver --skip-keys audio_msgs --skip-keys laserscan_kinect --skip-keys ira_laser_tools
+RUN cd .$WS/ && . /opt/ros/${ROS_DISTRO}/setup.sh && . /sai_ros/spectacularai_ros2/install/setup.sh && colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=${BUILD_TYPE}
+RUN echo "if [ -f ${WS}/install/setup.bash ]; then source ${WS}/install/setup.bash; fi" >> $HOME/.bashrc
+RUN echo "if [ -f ${WS}/install/setup.zsh ]; then source ${WS}/install/setup.zsh; fi" >> $HOME/.zshrc
+RUN chmod +x /ws/src/rae-ros/entrypoint.sh
 
-RUN cd .$WS/ && . /opt/ros/${ROS_DISTRO}/setup.sh && . $UNDERLAY_WS/install/setup.sh && colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=${BUILD_TYPE}
+ENTRYPOINT [ "/ws/src/rae/entrypoint.sh" ]
 
-RUN echo "if [ -f ${WS}/install/setup.zsh ]; then source ${WS}/install/setup.zsh; fi" >> $HOME/.zshrc
-RUN echo 'eval "$(register-python-argcomplete3 ros2)"' >> $HOME/.zshrc
-RUN echo 'eval "$(register-python-argcomplete3 colcon)"' >> $HOME/.zshrc
-RUN echo "if [ -f ${WS}/install/setup.bash ]; then source ${WS}/install/setup.bash; fi" >> $HOME/.bashrc
-ENTRYPOINT [ "/ws/src/rae-ros/entrypoint.sh" ]
 RUN rm -rf /usr/share/doc
 
-CMD ["zsh"]
+CMD ["bash"]

rae_camera/CMakeLists.txt

@@ -69,34 +69,36 @@ add_executable(perception_ipc_rtabmap src/perception_ipc_rtabmap)
 
 ament_target_dependencies(camera
 ${dependencies})
+target_link_libraries(camera depthai::core)
 
 install(TARGETS
 camera
 DESTINATION lib/${PROJECT_NAME})
 
 ament_target_dependencies(stereo_depth
 ${dependencies})
-
+target_link_libraries(stereo_depth depthai::core)
 install(TARGETS
 stereo_depth
 DESTINATION lib/${PROJECT_NAME})
 
 
 ament_target_dependencies(stereo_pair
 ${dependencies})
-
+target_link_libraries(stereo_pair depthai::core)
 install(TARGETS
 stereo_pair
 DESTINATION lib/${PROJECT_NAME})
 
 ament_target_dependencies(yolo
 ${dependencies})
-
+target_link_libraries(yolo depthai::core)
 install(TARGETS
 yolo
 DESTINATION lib/${PROJECT_NAME})
 
 ament_target_dependencies(perception_ipc_rtabmap ${IPC_DEPS_RTABMAP})
+target_link_libraries(perception_ipc_rtabmap depthai::core)
 install(TARGETS perception_ipc_rtabmap
 DESTINATION lib/${PROJECT_NAME})
 

rae_hw/CMakeLists.txt

@@ -20,12 +20,7 @@ endif()
 find_package(PkgConfig REQUIRED)
 pkg_check_modules(MPG123 REQUIRED libmpg123)
 
-# Add GStreamer packages
-find_package(PkgConfig REQUIRED)
-pkg_check_modules(GST REQUIRED gstreamer-1.0)
-
-include_directories(include
-                    ${GST_INCLUDE_DIRS}  )
+include_directories(include )
 
 ament_auto_add_library(
   ${PROJECT_NAME}

rae_hw/package.xml

@@ -32,13 +32,14 @@
 
   <depend>libasound2-dev</depend> 
   <depend>libmpg123-dev</depend> 
-
+  
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>
 
   <exec_depend>rosbridge_server</exec_depend>
+  <exec_depend>foxglove_bridge</exec_depend>
   <export>
     <build_type>ament_cmake</build_type>
   </export>