merged integration into branch

.gitattributes

@@ -1,8 +1,18 @@
 text=auto
+# Image files
 *.png filter=lfs diff=lfs merge=lfs -text
+# Model files
 *.dae filter=lfs diff=lfs merge=lfs -text
-*.blend filter=lfs diff=lfs merge=lfs -text
 *.stl filter=lfs diff=lfs merge=lfs -text
+*.blend filter=lfs diff=lfs merge=lfs -text
+# Neural network files
+*.pt filter=lfs diff=lfs merge=lfs -text
+*.onnx filter=lfs diff=lfs merge=lfs -text
+*.engine filter=lfs diff=lfs merge=lfs -text
+# Model files
 *.glb filter=lfs diff=lfs merge=lfs -text
 *.fbx filter=lfs diff=lfs merge=lfs -text
+# Packages
+*.deb filter=lfs diff=lfs merge=lfs -text
+# Program files
 ansible/roles/esw/files/bin/fdcanusb_daemon filter=lfs diff=lfs merge=lfs -text

.github/workflows/ci.yml

@@ -3,6 +3,7 @@ on:
   pull_request:
     branches:
       - master
+      - integration
   push:
     branches:
       - master
@@ -22,7 +23,7 @@ jobs:
           # This makes sure that $GITHUB_WORKSPACE is the catkin workspace path
           path: "src/mrover"
       - name: Ensure Python Requirements
-        run: . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && pip install -e "$GITHUB_WORKSPACE/src/mrover[dev]"
+        run: . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && pip install --no-cache-dir -e "$GITHUB_WORKSPACE/src/mrover[dev]"
       - name: Style Check
         run: . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && cd $GITHUB_WORKSPACE/src/mrover/ && ./style.sh
       - name: Update ROS APT
@@ -37,9 +38,12 @@ jobs:
       - name: Initialize
         if: github.event.pull_request.draft == false
         run: . /opt/ros/noetic/setup.sh && catkin init && catkin profile set ci
-      - name: Build
-        if: github.event.pull_request.draft == false
+      - name: Build Without Clang Tidy
+        if: github.event.pull_request.draft == false && github.event.pull_request.base.ref != 'refs/heads/master'
         run: . /opt/ros/noetic/setup.sh && . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && catkin build
+      - name: Build With Clang Tidy
+        if : github.event_name == 'push' && github.event.pull_request.base.ref == 'refs/heads/master'
+        run: . /opt/ros/noetic/setup.sh && . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && catkin build -DCMAKE_CXX_CLANG_TIDY=clang-tidy-16
       - name: Test
         if: github.event.pull_request.draft == false
-        run: . /opt/ros/noetic/setup.sh && . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && . $GITHUB_WORKSPACE/devel/setup.sh && catkin test -j1
+        run: . /opt/ros/noetic/setup.sh && . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && . $GITHUB_WORKSPACE/devel/setup.sh && catkin test && rostest mrover integration.test --text

.gitignore

@@ -21,6 +21,7 @@ yarn.lock*
 yarn-error.log*
 bun.lock*
 package-lock.json*
+db.sqlite3
 
 # Bag Files
 /bags/

.gitmodules

@@ -1,9 +1,20 @@
 [submodule "deps/libde265"]
 	path = deps/libde265
-	url = git@github.com:strukturag/libde265.git
+	url = https://github.com/strukturag/libde265.git
 	shallow = true
+	branch = v1.0.15
 [submodule "deps/dawn"]
 	path = deps/dawn
 	url = https://dawn.googlesource.com/dawn
 	shallow = true
 	branch = chromium/6108
+[submodule "deps/emsdk"]
+	path = deps/emsdk
+	url = [email protected]:emscripten-core/emsdk.git
+	shallow = true
+	branch = 3.1.53
+[submodule "deps/manif"]
+	path = deps/manif
+	url = https://github.com/artivis/manif.git
+	shallow = true
+	branch = devel

.vscode/settings.json

@@ -33,12 +33,21 @@
     "python.analysis.typeCheckingMode": "off",
     //// Miscellaneous
     "redhat.telemetry.enabled": false,
-    "editor.formatOnSave": true,
     "git.ignoreSubmodules": true,
     "git.detectSubmodules": false,
     "cSpell.words": [
         "Eigen",
         "GLFW",
         "wgpu"
     ],
+    "search.exclude": {
+        "**/node_modules": true,
+        "**/bower_components": true,
+        "**/*.code-search": true,
+        "deps/dawn": true,
+    },
+    "python.autoComplete.extraPaths": [
+        "/home/eric/catkin_ws/devel/lib/python3/dist-packages",
+        "/opt/ros/noetic/lib/python3/dist-packages"
+    ]
 }

CMakeLists.txt

@@ -1,6 +1,18 @@
 cmake_minimum_required(VERSION 3.16)
 project(mrover VERSION 2024.0.0 LANGUAGES CXX)
 
+option(MROVER_IS_CI "Build for CI" OFF)
+option(MROVER_RUN_CLANG_TIDY "Run clang-tidy" OFF)
+option(MROVER_IS_JETSON "Build for the Jetson" OFF)
+
+set(CMAKE_CXX_STANDARD 23)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON) # Generate compile_commands.json for clangd
+
+### ============= ###
+### OS & Compiler ###
+### ============= ###
+
 if (APPLE)
     # Ensures that homebrew packages are never used over miniforge packages
     set(CMAKE_IGNORE_PATH /opt/homebrew)
@@ -15,24 +27,29 @@ if (APPLE)
     link_libraries(fmt::fmt)
 else ()
     # TODO(quintin): Fix this
-    find_package(TBB REQUIRED)
-    link_libraries(TBB::tbb)
+    find_package(TBB QUIET)
+    if (TBB_FOUND)
+        link_libraries(TBB::tbb)
+    endif ()
 endif ()
 
-include_directories(BEFORE SYSTEM src/preload)
+if (NOT APPLE AND CMAKE_CXX_COMPILER_ID STREQUAL "Clang") # Link with LLVM lld instead of GNU ld when using Clang on Linux, it is faster
+    add_link_options(-fuse-ld=lld)
+endif ()
 
-set(CMAKE_CXX_STANDARD 23)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_EXPORT_COMPILE_COMMANDS ON) # Generate compile_commands.json for clangd
-if (NOT APPLE AND CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
-    add_link_options(-fuse-ld=lld) # LLVM lld is faster than GNU ld
+if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+    set(MROVER_CPP_COMPILE_OPTIONS -Wall -Wextra -pedantic -Wno-missing-field-initializers)
+    if (MROVER_IS_CI) # Make warnings errors in CI
+        list(APPEND MROVER_CPP_COMPILE_OPTIONS -Werror)
+    endif ()
 endif ()
-set(MROVER_CPP_COMPILE_OPTIONS -Wall -Wextra -pedantic)
-if (MROVER_CI)
-    list(APPEND MROVER_CPP_COMPILE_OPTIONS -Werror)
+
+if (MROVER_IS_JETSON)
+    add_definitions(-DMROVER_IS_JETSON)
 endif ()
 
-option(MROVER_BUILD_SIM "Build the simulator" ON)
+# Inject header files that get included before anything else, including system headers
+include_directories(BEFORE SYSTEM src/preload)
 
 include(cmake/macros.cmake)
 
@@ -63,6 +80,7 @@ set(MROVER_MESSAGE_DEPENDENCIES
 
 set(MROVER_PARAMETERS
         config/DetectorParams.cfg
+        config/ObjectDetectorParams.cfg
 )
 
 set(MROVER_CMAKE_INCLUDES
@@ -73,29 +91,8 @@ set(MROVER_CMAKE_INCLUDES
 ### Dependencies ###
 ### ============ ###
 
-if (MROVER_BUILD_SIM)
-    # Apparently Assimp has different names on different systems
-    # find_package is case-sensitive so try both
-    find_package(Assimp QUIET)
-    find_package(assimp QUIET)
-    if (NOT Assimp_FOUND AND NOT assimp_FOUND)
-        message(FATAL_ERROR "Assimp not found")
-    endif ()
-
-    find_package(Bullet REQUIRED)
-
-    find_package(glfw3 REQUIRED)
-
-    include(cmake/webgpu.cmake)
+include(cmake/deps.cmake)
 
-    add_subdirectory(deps/glfw3webgpu)
-endif ()
-find_package(OpenCV REQUIRED)
-find_package(ZED QUIET)
-find_package(Eigen3 REQUIRED)
-find_package(PkgConfig REQUIRED)
-pkg_search_module(NetLink libnl-3.0)
-pkg_search_module(NetLinkRoute libnl-route-3.0)
 if (ZED_FOUND)
     # Anything newer than C++17 combined with libstdc++13 is not supported just yet by NVCC (the CUDA compiler)
     set(CMAKE_CUDA_STANDARD 17)
@@ -142,20 +139,21 @@ catkin_package()
 ## Libraries
 
 mrover_add_library(lie src/util/lie/*.cpp src/util/lie)
+target_link_libraries(lie PUBLIC MANIF::manif)
 
 ## ESW
 
 if (NOT APPLE)
-    mrover_add_vendor_header_only_library(moteus src/esw/mjbots)
+    mrover_add_vendor_header_only_library(moteus deps/mjbots)
     mrover_add_header_only_library(can_device src/esw/can_device)
     mrover_add_library(motor_library src/esw/motor_library/*.cpp src/esw/motor_library)
     target_link_libraries(motor_library PUBLIC can_device moteus)
 
-    mrover_add_nodelet(can_driver src/esw/can_driver/*.cpp src/esw/can_driver src/esw/can_driver/pch.hpp)
-    mrover_nodelet_link_libraries(can_driver nl-3 nl-route-3)
-    # TODO(quintin): Fix this CMake hard coding
-    #mrover_nodelet_link_libraries(can ${NetLink_LIBRARIES} ${NetLinkRoute_LIBRARIES}})
-    mrover_nodelet_include_directories(can_driver /usr/include/libnl3)
+    if (NetLink_FOUND AND NetLinkRoute_FOUND)
+        mrover_add_nodelet(can_driver src/esw/can_driver/*.cpp src/esw/can_driver src/esw/can_driver/pch.hpp)
+        mrover_nodelet_link_libraries(can_driver ${NetLink_LIBRARIES} ${NetLinkRoute_LIBRARIES})
+        mrover_nodelet_include_directories(can_driver ${NetLink_INCLUDE_DIRS} ${NetLinkRoute_INCLUDE_DIRS})
+    endif ()
 
     macro(mrover_add_esw_bridge_node name sources)
         mrover_add_node(${name} ${sources})
@@ -167,29 +165,55 @@ if (NOT APPLE)
     mrover_add_esw_bridge_node(cache_bridge src/esw/cache_bridge/*.cpp)
     mrover_add_esw_bridge_node(drive_bridge src/esw/drive_bridge/*.cpp)
     mrover_add_esw_bridge_node(led_hw_bridge src/esw/led_hw_bridge/*.cpp)
+    mrover_add_esw_bridge_node(led src/esw/led/*.cpp)
     mrover_add_esw_bridge_node(mast_gimbal_bridge src/esw/mast_gimbal_bridge/*.cpp)
     mrover_add_esw_bridge_node(pdb_bridge src/esw/pdb_bridge/*.cpp)
-    mrover_add_esw_bridge_node(sa_bridge src/esw/sa_bridge/*.cpp)
+    mrover_add_esw_bridge_node(sa_hw_bridge src/esw/sa_hw_bridge/*.cpp)
+    mrover_add_esw_bridge_node(sa_translator_bridge src/esw/sa_translator_bridge/*.cpp)
     mrover_add_esw_bridge_node(science_bridge src/esw/science_bridge/*.cpp)
     mrover_add_esw_bridge_node(brushless_test_bridge src/esw/brushless_test_bridge/*.cpp motor_library)
     mrover_add_esw_bridge_node(brushed_test_bridge src/esw/brushed_test_bridge/*.cpp)
     mrover_add_esw_bridge_node(test_arm_bridge src/esw/test_arm_bridge/*.cpp)
+    mrover_add_esw_bridge_node(pdb_test_bridge src/esw/pdb_test_bridge/*.cpp)
+    mrover_add_esw_bridge_node(arm_position_test_bridge src/esw/arm_position_test_bridge/*.cpp)
+    #    mrover_add_esw_bridge_node(sa_sensor src/esw/fw/dirt_sensor/dirt_sensor_ros/dirt_sensor_ros.ino)
 endif ()
 
 ## Perception
 
-mrover_add_nodelet(tag_detector src/perception/tag_detector/*.cpp src/perception/tag_detector src/perception/tag_detector/pch.hpp)
-mrover_nodelet_link_libraries(tag_detector opencv_core opencv_objdetect opencv_aruco opencv_imgproc opencv_highgui lie)
+mrover_add_library(websocket_server src/esw/websocket_server/*.cpp src/esw/websocket_server)
+target_compile_definitions(websocket_server PUBLIC BOOST_ASIO_NO_DEPRECATED)
+
+mrover_add_nodelet(zed_tag_detector src/perception/tag_detector/zed/*.cpp src/perception/tag_detector/zed src/perception/tag_detector/zed/pch.hpp)
+mrover_nodelet_link_libraries(zed_tag_detector opencv_core opencv_objdetect opencv_aruco opencv_imgproc lie)
+
+mrover_add_nodelet(long_range_tag_detector src/perception/tag_detector/long_range_cam/*.cpp src/perception/tag_detector/long_range_cam src/perception/tag_detector/long_range_cam/pch.hpp)
+mrover_nodelet_link_libraries(long_range_tag_detector opencv_core opencv_objdetect opencv_aruco opencv_imgproc lie)
 
-# if (CUDA_FOUND)
-#     mrover_add_library(streaming src/esw/streaming/*.c* src/esw/streaming)
-#     #    target_link_libraries(streaming PUBLIC opencv_core opencv_cudacodec)
-#     target_link_libraries(streaming PUBLIC cuda nvidia-encode opencv_core)
-#     target_include_directories(streaming SYSTEM PUBLIC deps/nvenc)
-#     target_compile_definitions(streaming PUBLIC BOOST_ASIO_NO_DEPRECATED)
-# endif ()
+mrover_add_nodelet(usb_camera src/perception/usb_camera/*.cpp src/perception/usb_camera src/perception/usb_camera/pch.hpp)
+mrover_nodelet_link_libraries(usb_camera opencv_core opencv_objdetect opencv_aruco opencv_imgproc opencv_highgui)
+
+if (CUDA_FOUND)
+    #    mrover_add_node(nv_vid_codec_h265_enc src/esw/nv_vid_codec_h265_enc/*.c*)
+    #    target_link_libraries(nv_vid_codec_h265_enc PUBLIC cuda nvidia-encode opencv_core opencv_imgproc streaming)
+    #    target_include_directories(nv_vid_codec_h265_enc SYSTEM PUBLIC deps/nvenc)
+endif ()
+
+mrover_add_nodelet(gst_websocket_streamer src/esw/gst_websocket_streamer/*.c* src/esw/gst_websocket_streamer src/esw/gst_websocket_streamer/pch.hpp)
+mrover_nodelet_link_libraries(gst_websocket_streamer PRIVATE websocket_server ${Gst_LIBRARIES} ${GstApp_LIBRARIES})
+mrover_nodelet_include_directories(gst_websocket_streamer ${Gst_INCLUDE_DIRS} ${GstApp_INCLUDE_DIRS})
 
 if (ZED_FOUND)
+    mrover_add_nodelet(object_detector src/perception/object_detector/*.c* src/perception/object_detector src/perception/object_detector/pch.hpp)
+    mrover_nodelet_link_libraries(object_detector PRIVATE opencv_core opencv_dnn opencv_imgproc lie nvinfer nvonnxparser tbb)
+    mrover_nodelet_defines(object_detector
+            __CUDA_INCLUDE_COMPILER_INTERNAL_HEADERS__ # Eigen includes some files it should not, ignore
+    )
+    # TODO(john): Update object detector to use new API
+    target_compile_options(object_detector_nodelet PRIVATE -Wno-deprecated-declarations)
+    # Temporary
+    mrover_nodelet_link_libraries(object_detector PRIVATE opencv_imgcodecs opencv_highgui)
+
     mrover_add_nodelet(zed src/perception/zed_wrapper/*.c* src/perception/zed_wrapper src/perception/zed_wrapper/pch.hpp)
     mrover_nodelet_include_directories(zed ${ZED_INCLUDE_DIRS} ${CUDA_INCLUDE_DIRS})
     mrover_nodelet_link_libraries(zed ${ZED_LIBRARIES} ${SPECIAL_OS_LIBS} lie)
@@ -202,18 +226,17 @@ endif ()
 ## Teleoperation
 
 mrover_add_node(arm_controller src/teleoperation/arm_controller/*.cpp)
+target_link_libraries(arm_controller PRIVATE lie)
 
 ## Simulator
 
 if (MROVER_BUILD_SIM)
     mrover_add_nodelet(simulator src/simulator/*.cpp src/simulator src/simulator/pch.hpp)
-    mrover_nodelet_include_directories(simulator ${ASSIMP_INCLUDE_DIRS} ${BULLET_INCLUDE_DIRS} ${OPENCV_INCLUDE_DIRS} src/simulator/imgui)
-    mrover_nodelet_link_libraries(simulator ${ASSIMP_LIBRARIES} ${BULLET_LIBRARIES} glfw3webgpu webgpu glfw opencv_core opencv_imgcodecs opencv_imgproc lie)
+    mrover_nodelet_include_directories(simulator ${ASSIMP_INCLUDE_DIRS} ${BULLET_INCLUDE_DIRS} ${OPENCV_INCLUDE_DIRS})
+    mrover_nodelet_link_libraries(simulator ${ASSIMP_LIBRARIES} ${BULLET_LIBRARIES} glfw3webgpu webgpu glfw opencv_core opencv_imgcodecs opencv_imgproc webgpu_hpp imgui lie)
     mrover_nodelet_defines(simulator BOOST_THREAD_PROVIDES_FUTURE)
 endif ()
 
-# TODO
-
 ### ======= ###
 ### Testing ###
 ### ======= ###
@@ -223,15 +246,16 @@ catkin_add_gtest(example-cpp-test test/example/cpp_test.cpp)
 
 # Python unit tests
 catkin_add_nosetests(test/navigation/drive_test.py)
-catkin_add_nosetests(test/teleop/teleop_test.py)
 catkin_add_nosetests(test/util/SE3_test.py)
 catkin_add_nosetests(test/util/SO3_test.py)
 
 # Integration tests (python and c++)
-find_package(rostest REQUIRED)
-add_rostest(test/example/basic_integration_test.test)
-add_rostest(test/integration/integration.test)
-add_rostest(test/util/SE3_tf_test.test)
+# Note(quintin): Commented these out because they ignore the Python virtual environment
+#                Most of our code relies on newer Python features so they fail to initialize
+#find_package(rostest REQUIRED)
+#add_rostest(test/example/basic_integration_test.test)
+#add_rostest(test/integration/integration.test)
+#add_rostest(test/util/SE3_tf_test.test)
 
 ## Install
 

Dockerfile

@@ -1,12 +1,11 @@
-FROM ros:noetic
+FROM ubuntu:focal
 
-# DEBIAN_FRONTEND=noninteractive and keyboard-configuration are needed to prevent stdin prompting later on
-# This was super annoying to figure out because otherwise the build would hang
+# DEBIAN_FRONTEND=noninteractive prevents apt from asking for user input
 # software-properties-common is needed for apt-add-repository
-RUN apt-get update -y && apt-get upgrade -y && DEBIAN_FRONTEND=noninteractive apt-get install software-properties-common keyboard-configuration -y
-RUN apt-add-repository ppa:ansible/ansible -y
-RUN apt-add-repository ppa:git-core/ppa -y
-RUN apt-get install -y ansible git git-lfs
+# sudo is needed for ansible since it escalates from a normal user to root
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update -y && apt-get install software-properties-common sudo -y
+RUN apt-add-repository ppa:ansible/ansible -y && apt-get install -y git git-lfs ansible
 
 RUN useradd --create-home --groups sudo --shell /bin/zsh mrover
 # Give mrover user sudo access with no password
@@ -17,18 +16,22 @@ RUN mkdir -p /home/mrover/catkin_ws/src/mrover
 WORKDIR /home/mrover/catkin_ws/src/mrover
 # Defines the APT packages that need to be installed
 # rosdep is called from Ansible to install them
-ADD ./package.xml .
+ADD --chown=mrover:mrover ./package.xml .
 # Defines the Python packages that need to be installed
 # pip is called from Ansible to install them
-ADD ./pyproject.toml .
+ADD --chown=mrover:mrover ./pyproject.toml .
+# Define the NPM packages that need to be installed by Bun
+ADD --chown=mrover:mrover ./src/teleoperation/frontend/package.json ./src/teleoperation/frontend/bun.lockb ./src/teleoperation/frontend/
 # Copy over all Ansible files
-ADD ./ansible ./ansible
-ADD ./ansible.sh .
-RUN ./ansible.sh build.yml
+ADD --chown=mrover:mrover ./ansible ./ansible
+ADD --chown=mrover:mrover ./ansible.sh .
+ADD --chown=mrover:mrover ./pkg ./pkg
+RUN ./ansible.sh ci.yml
 
 USER root
+RUN apt-get purge ansible -y && apt-get autoremove -y
 # Remove apt cache to free up space in the image
 RUN apt-get clean && rm -rf /var/lib/apt/lists/*
 
 USER mrover
-ENTRYPOINT [ "/bin/zsh" ]
+ENTRYPOINT [ "/bin/bash" ]

README.md

@@ -2,4 +2,4 @@
 
 Check out our [Wiki](../../wiki/) for more information
 
-![image](https://user-images.githubusercontent.com/20666629/183543916-a7fee846-31db-44d0-8845-c6a95af1110c.png)
+![Picture of Rover in the Custom Simulator atop an Orange Mallet](https://github.com/umrover/mrover-ros/assets/20666629/55fbaf74-bc1b-407a-b8ed-407f276f2803)