Initial configuration for bag recording and foxglove bridge (#1)

This PR provides an initial configuration/setup for the ros2 bag recording and foxglove bridge from a docker container. - Two types of scripts directories are introduced `host_tools` and `container_tools`. As it names implies `host_tools`provides scripts that are intended for host usage, i.e outside docker container. Moreover `container_tools`, offer scripts that are needed inside the docker container. The summary of the scripts states as follows: - `host_tools`: - `upload_docker_image_to_vehicle.sh`: Receive a docker image as input, to save it with `docker save` and send it over the vehicle uisng `scp`. Docker cmd are used for bash autocomplate, thus after doing "tab tab" method, the only docker images available in your system will be displayed - `install_tool.sh`: Install the upload docker script and autocompletion. - `container_tools`: - `foxglove_bridge.sh`: Runs foxglove_bridge launch file with some arguments - `record_rosbag.sh`: Runs `ros2 bag record` cmd to allow `mcap` bag format. Optionally a `.txt` file can be passed as argument to define record-only topics. - Docker: The docker build implements dev and runtime build stages. Majority of the install relies on `base` stage. The default command for both sages are `bash` and `record_rosbag` respectively - `dev.sh` and `runtime.sh` scripts are provided to ease development and testing. By default BOTH scripts create a `rosbag` dir if it does not exists and mount it to the dockercontainer
ipab-rad · May 2, 2024 · d7b80dd · d7b80dd
1 parent 2071661
commit d7b80dd
Show file tree

Hide file tree

Showing 11 changed files with 580 additions and 0 deletions.
diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
@@ -0,0 +1,52 @@
+name: Create and publish a Docker image
+
+on:
+  push:
+    tags: ["*"]
+
+env:
+  REGISTRY: ghcr.io
+  IMAGE_NAME: ${{ github.repository }}
+  ROS_DISTRO: humble
+
+jobs:
+  build-and-push-image:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      packages: write
+
+    steps:
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Log in to the Container registry
+        uses: docker/login-action@v3
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Docker meta
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+          tags: |
+            type=ref,event=branch
+            type=semver,pattern={{version}}
+            type=semver,pattern={{major}}.{{minor}}
+
+      - name: Build and push Docker image
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          push: true
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          file: Dockerfile
+          target: runtime
+          build-args: ROS_DISTRO=${{ env.ROS_DISTRO }}
diff --git a/.gitignore b/.gitignore
@@ -0,0 +1,2 @@
+# Ignore ROS bag dir
+rosbags/
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -0,0 +1,170 @@
+
+# To use:
+#
+#     pre-commit run -a
+#
+# Or:
+#
+#     pre-commit install  # (runs every time you commit in git)
+#
+# To update this file:
+#
+#     pre-commit autoupdate
+#
+# See https://github.com/pre-commit/pre-commit
+
+repos:
+  # Standard hooks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.6.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-ast
+      - id: check-case-conflict
+      - id: check-docstring-first
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-xml
+      - id: check-yaml
+      - id: debug-statements
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+        exclude_types: [rst]
+      - id: fix-byte-order-marker
+
+
+  # Python hooks
+  - repo: https://github.com/asottile/pyupgrade
+    rev: v3.15.2
+    hooks:
+    -   id: pyupgrade
+        args: [--py36-plus]
+
+  # PyDocStyle
+  - repo: https://github.com/PyCQA/pydocstyle
+    rev: 6.3.0
+    hooks:
+    - id: pydocstyle
+      args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
+
+  - repo: https://github.com/psf/black
+    rev: 24.4.0
+    hooks:
+      - id: black
+        args: ["--line-length=99"]
+
+  - repo: https://github.com/pycqa/flake8
+    rev: 7.0.0
+    hooks:
+    - id: flake8
+      args: ["--extend-ignore=E501"]
+
+  # CPP hooks
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v18.1.3
+    hooks:
+      - id: clang-format
+        args: ['-fallback-style=none', '-i']
+
+  - repo: local
+    hooks:
+      - id: ament_cppcheck
+        name: ament_cppcheck
+        description: Static code analysis of C/C++ files.
+        entry: env AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1 ament_cppcheck
+        language: system
+        files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+
+  - repo: local
+    hooks:
+      - id: ament_cpplint
+        name: ament_cpplint
+        description: Static code analysis of C/C++ files.
+        entry: ament_cpplint
+        language: system
+        files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+        args: ["--linelength=100", "--filter=-whitespace/newline"]
+
+  # Docs - RestructuredText hooks
+  - repo: https://github.com/PyCQA/doc8
+    rev: v1.1.1
+    hooks:
+      - id: doc8
+        args: ['--max-line-length=100', '--ignore=D001']
+        exclude: CHANGELOG\.rst$
+
+  - repo: https://github.com/pre-commit/pygrep-hooks
+    rev: v1.10.0
+    hooks:
+      - id: rst-backticks
+        exclude: CHANGELOG\.rst$
+      - id: rst-directive-colons
+      - id: rst-inline-touching-normal
+
+  # Spellcheck in comments and docs
+  # skipping of *.svg files is not working...
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.2.6
+    hooks:
+      - id: codespell
+        args: ['--write-changes', '--uri-ignore-words-list=ist', '-L manuel,ned']
+        exclude: CHANGELOG\.rst|\.(svg|pyc|drawio|dae)$
+
+  - repo: https://github.com/python-jsonschema/check-jsonschema
+    rev: 0.28.2
+    hooks:
+      - id: check-github-workflows
+        args: ["--verbose"]
+      - id: check-github-actions
+        args: ["--verbose"]
+      - id: check-dependabot
+        args: ["--verbose"]
+
+  # Bash prettify
+  - repo: https://github.com/lovesegfault/beautysh
+    rev: v6.2.1
+    hooks:
+      - id: beautysh
+
+  # ROS checks
+  - repo: https://github.com/tier4/pre-commit-hooks-ros
+    rev: v0.8.0
+    hooks:
+      - id: flake8-ros
+      - id: prettier-xacro
+      - id: prettier-launch-xml
+      - id: prettier-package-xml
+      - id: ros-include-guard
+      - id: sort-package-xml
+
+  - repo: https://github.com/AleksaC/hadolint-py
+    rev: v2.12.1-beta
+    hooks:
+      - id: hadolint
+        args: ['--ignore=DL3008']
+
+  - repo: https://github.com/cheshirekow/cmake-format-precommit
+    rev: v0.6.13
+    hooks:
+      - id: cmake-format
+
+  - repo: https://github.com/Takishima/cmake-pre-commit-hooks
+    rev: v1.9.5
+    hooks:
+      - id: clang-format
+      - id: clang-tidy
+        args: [--checks=readability-magic-numbers,--warnings-as-errors=*]
+      - id: cppcheck
+      - id: include-what-you-use
+
+ci:
+    autofix_commit_msg: |
+        [pre-commit.ci] auto fixes from pre-commit.com hooks
+
+        for more information, see https://pre-commit.ci
+    autofix_prs: false
+    autoupdate_branch: ''
+    autoupdate_commit_msg: '[pre-commit.ci] pre-commit autoupdate'
+    autoupdate_schedule: weekly
+    submodules: false
diff --git a/Dockerfile b/Dockerfile
@@ -0,0 +1,72 @@
+FROM ros:humble-ros-base-jammy AS base
+
+# Install key dependencies
+RUN apt-get update \
+    && DEBIAN_FRONTEND=noninteractive \
+    apt-get -y --quiet --no-install-recommends install \
+        ros-"$ROS_DISTRO"-rosbag2-storage-mcap \
+        ros-"$ROS_DISTRO"-mcap-vendor \
+        ros-"$ROS_DISTRO"-foxglove-bridge \
+        ros-"$ROS_DISTRO"-rmw-cyclonedds-cpp \
+        ros-"$ROS_DISTRO"-can-msgs \
+        ros-"$ROS_DISTRO"-dataspeed-ulc-msgs \
+        ros-"$ROS_DISTRO"-dbw-ford-msgs \
+        ros-"$ROS_DISTRO"-gps-msgs \
+        ros-"$ROS_DISTRO"-ouster-msgs \
+        ros-"$ROS_DISTRO"-velodyne-msgs \
+        ros-"$ROS_DISTRO"-flir-camera-msgs \
+        ros-"$ROS_DISTRO"-microstrain-inertial-msgs \
+        ros-"$ROS_DISTRO"-novatel-gps-msgs \
+        ros-"$ROS_DISTRO"-radar-msgs \
+    && rm -rf /var/lib/apt/lists/*
+
+# Setup ROS workspace folder
+ENV ROS_WS /opt/ros_ws
+WORKDIR $ROS_WS
+
+# Copy tools scripts and config
+COPY scripts/container_tools $ROS_WS/container_tools
+COPY config                  $ROS_WS/config
+
+# Add tools to PATH
+RUN echo "export PATH=$ROS_WS/container_tools:$PATH " >> /root/.bashrc &&\
+    # Add sourcing local workspace command to bashrc for
+    #    convenience when running interactively
+    echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> /root/.bashrc
+
+# -----------------------------------------------------------------------
+
+FROM base AS prebuilt
+
+# Nothing to build from source
+
+# -----------------------------------------------------------------------
+
+FROM base AS dev
+
+# Install basic dev tools (And clean apt cache afterwards)
+RUN apt-get update \
+    && DEBIAN_FRONTEND=noninteractive \
+    apt-get -y --quiet --no-install-recommends install \
+        # Command-line editor
+        nano \
+        # Ping network tools
+        inetutils-ping \
+        # Bash auto-completion for convenience
+        bash-completion \
+    && rm -rf /var/lib/apt/lists/*
+
+# Add colcon build alias for convenience
+RUN echo 'alias colcon_build="colcon build --symlink-install \
+    --cmake-args -DCMAKE_BUILD_TYPE=Release && \
+    source install/setup.bash"' >> /root/.bashrc
+
+# Enter bash for clvelopment
+CMD ["bash"]
+
+# -----------------------------------------------------------------------
+
+FROM base as runtime
+
+# Start recording a rosbag by default
+CMD ["/opt/ros_ws/container_tools/record_rosbag.sh"]
diff --git a/config/sensor_topics.txt b/config/sensor_topics.txt
@@ -0,0 +1,67 @@
+/cameras/fsp_l/camera_info
+/cameras/fsp_l/control
+/cameras/fsp_l/image_raw
+/cameras/fsp_l/meta
+/cameras/lspf_r/camera_info
+/cameras/lspf_r/control
+/cameras/lspf_r/image_raw
+/cameras/lspf_r/meta
+/cameras/lspr_l/camera_info
+/cameras/lspr_l/control
+/cameras/lspr_l/image_raw
+/cameras/lspr_l/meta
+/cameras/rsp_l/camera_info
+/cameras/rsp_l/control
+/cameras/rsp_l/image_raw
+/cameras/rsp_l/meta
+/cameras/rspf_l/camera_info
+/cameras/rspf_l/control
+/cameras/rspf_l/image_raw
+/cameras/rspf_l/meta
+/cameras/rspr_r/camera_info
+/cameras/rspr_r/control
+/cameras/rspr_r/image_raw
+/cameras/rspr_r/meta
+/diagnostics
+/ekf/status
+/imu/data
+/joint_states
+/output/radar/bumper_front_centre/far/image
+/output/radar/bumper_front_centre/near/image
+/output/radar/bumper_front_left/far/image
+/output/radar/bumper_front_left/near/image
+/output/radar/bumper_front_right/far/image
+/output/radar/bumper_front_right/near/image
+/output/radar/bumper_rear_centre/far/image
+/output/radar/bumper_rear_centre/near/image
+/output/radar/roof_left_front/far/image
+/output/radar/roof_left_front/near/image
+/output/radar/roof_left_rear/far/image
+/output/radar/roof_left_rear/near/image
+/output/radar/roof_right_front/far/image
+/output/radar/roof_right_front/near/image
+/output/radar/roof_right_rear/far/image
+/output/radar/roof_right_rear/near/image
+/parameter_events
+/robot_description
+/rosout
+/sensor/gps/rear/bestpos
+/sensor/gps/rear/bestvel
+/sensor/gps/rear/corrimudata
+/sensor/gps/rear/gps_fix
+/sensor/gps/rear/gps_sync
+/sensor/gps/rear/imu
+/sensor/gps/rear/inscov
+/sensor/gps/rear/inspva
+/sensor/gps/rear/inspvax
+/sensor/gps/rear/insstdev
+/sensor/gps/rear/nav_sat_fix
+/sensor/gps/rear/psrdop2
+/sensor/lidar/left/points
+/sensor/lidar/left/velodyne_packets
+/sensor/lidar/right/points
+/sensor/lidar/right/velodyne_packets
+/sensor/lidar/top/ouster_driver/transition_event
+/sensor/lidar/top/points
+/tf
+/tf_static
diff --git a/dev.sh b/dev.sh
@@ -0,0 +1,23 @@
+#!/bin/bash
+# ----------------------------------------------------------------
+# Build docker dev stage and add local code for live development
+# ----------------------------------------------------------------
+
+# Build docker image up to dev stage
+DOCKER_BUILDKIT=1 docker build \
+    -t av_tools_humble:latest \
+    -f Dockerfile --target dev .
+
+# Get the absolute path of the script
+SCRIPT_DIR=$(dirname "$(readlink -f "${BASH_SOURCE[0]}")")
+
+# Create a dir to store rosbags
+mkdir -p rosbags
+
+# Run docker image with local code volumes for development
+docker run -it --rm --net host --privileged \
+    -v /dev/shm:/dev/shm \
+    -v $SCRIPT_DIR/rosbags:/opt/ros_ws/rosbags \
+    -v $SCRIPT_DIR/scripts/container_tools:/opt/ros_ws/container_tools \
+    -v $SCRIPT_DIR/config:/opt/ros_ws/config \
+    av_tools_humble:latest