Clean up dockerfile and docker compose

WATonomous · Mar 8, 2024 · 60069b8 · 60069b8
1 parent 90e8be0
commit 60069b8
Show file tree

Hide file tree

Showing 4 changed files with 180 additions and 104 deletions.
diff --git a/docker/perception/semantic_segmentation/semantic_segmentation.Dockerfile b/docker/perception/semantic_segmentation/semantic_segmentation.Dockerfile
@@ -7,8 +7,6 @@ FROM ${PADDLE_INFERENCE_BUILD_URL} as PADDLE_INFERENCE_BUILD
 ################################ Source ################################
 FROM ${BASE_BUILD_IMAGE} as source
 
-
-
 WORKDIR ${AMENT_WS}/src
 
 # Copy in the paddle inference library
@@ -31,10 +29,7 @@ RUN apt-get -qq update && rosdep update && \
 ################################# Dependencies ################################
 FROM ${BASE_BUILD_IMAGE} as dependencies
 
-# install tensorrt
-RUN apt update && apt install -y tensorrt
-
-RUN apt update && apt install -y ros-humble-cv-bridge libopencv-dev
+RUN apt update && apt install -y tensorrt ros-humble-cv-bridge libopencv-dev
 
 # Install Rosdep requirements
 COPY --from=source /tmp/colcon_install_list /tmp/colcon_install_list
@@ -52,7 +47,6 @@ RUN apt-get -qq autoremove -y && apt-get -qq autoclean && apt-get -qq clean && \
 ################################ Build ################################
 FROM dependencies as build
 
-
 # Build ROS2 packages
 WORKDIR ${AMENT_WS}
 RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
@@ -62,18 +56,17 @@ 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
 
-# Add /home/bolty/ament_ws/install/semantic_segmentation/lib/semantic_segmentation to LD_LIBRARY_PATH
+# Add runtime libraries to path
 ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${AMENT_WS}/install/semantic_segmentation/lib/
-# Add /usr/local/lib to LD_LIBRARY_PATH
 ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib
-# /home/bolty/ament_ws/install/semantic_segmentation/lib/semantic_segmentation/
+
 ENTRYPOINT ["./wato_ros_entrypoint.sh"]
 
 # ################################ Prod ################################
-# FROM build as deploy
+FROM build as deploy
 
-# # Source Cleanup and Security Setup
-# RUN chown -R $USER:$USER ${AMENT_WS}
-# RUN rm -rf src/*
+# Source Cleanup and Security Setup
+RUN chown -R $USER:$USER ${AMENT_WS}
+RUN rm -rf src/*
 
-# USER ${USER}
+USER ${USER}
diff --git a/modules/docker-compose.perception.yaml b/modules/docker-compose.perception.yaml
@@ -1,68 +1,68 @@
 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:?}:${TAG}"
-  #   command: /bin/bash -c "ros2 launch radar_object_detection radar_object_detection.launch.py"
+  radar_object_detection:
+    build:
+      context: ..
+      dockerfile: docker/perception/radar_object_detection/radar_object_detection.Dockerfile
+      cache_from:
+        - "${PERCEPTION_RADAR_OBJECT_DETECTION_IMAGE:?}:build_${TAG}"
+        - "${PERCEPTION_RADAR_OBJECT_DETECTION_IMAGE:?}:build_main"
+      target: deploy
+    image: "${PERCEPTION_RADAR_OBJECT_DETECTION_IMAGE:?}:${TAG}"
+    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:?}:${TAG}"
-  #   deploy:
-  #     resources:
-  #       reservations:
-  #         devices:
-  #           - driver: nvidia
-  #             count: 1
-  #             capabilities: [ gpu ]
-  #   command: /bin/bash -c "ros2 launch camera_object_detection nuscenes_launch.py"
-  #   volumes:
-  #     - /mnt/wato-drive2/perception_models/yolov8s.pt:/perception_models/yolov8s.pt
+  camera_object_detection:
+    build:
+      context: ..
+      dockerfile: docker/perception/camera_object_detection/camera_object_detection.Dockerfile
+      cache_from:
+        - "${PERCEPTION_CAMERA_OBJECT_DETECTION_IMAGE:?}:build_${TAG}"
+        - "${PERCEPTION_CAMERA_OBJECT_DETECTION_IMAGE:?}:build_main"
+      target: deploy
+    image: "${PERCEPTION_CAMERA_OBJECT_DETECTION_IMAGE:?}:${TAG}"
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: 1
+              capabilities: [ gpu ]
+    command: /bin/bash -c "ros2 launch camera_object_detection eve_launch.py"
+    volumes:
+      - /mnt/wato-drive2/perception_models/yolov8m.pt:/perception_models/yolov8m.pt
 
-  # 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}:${TAG}"
-  #   command: /bin/bash -c "ros2 launch lidar_object_detection lidar_object_detection.launch.py"
-  # traffic_light_detection:
-  #   build:
-  #     context: ..
-  #     dockerfile: docker/perception/traffic_light_detection/traffic_light_detection.Dockerfile
-  #     cache_from:
-  #       - "${PERCEPTION_TRAFFIC_LIGHT_DETECTION_IMAGE}:${TAG}"
-  #       - "${PERCEPTION_TRAFFIC_LIGHT_DETECTION_IMAGE}:main"
-  #     target: deploy
-  #   image: "${PERCEPTION_TRAFFIC_LIGHT_DETECTION_IMAGE}:${TAG}"
-  #   command: /bin/bash -c "ros2 launch traffic_light_detection traffic_light_detection.launch.py"
+  lidar_object_detection:
+    build:
+      context: ..
+      dockerfile: docker/perception/lidar_object_detection/lidar_object_detection.Dockerfile
+      cache_from:
+        - "${PERCEPTION_LIDAR_OBJECT_DETECTION_IMAGE}:build_${TAG}"
+        - "${PERCEPTION_LIDAR_OBJECT_DETECTION_IMAGE}:build_main"
+      target: deploy
+    image: "${PERCEPTION_LIDAR_OBJECT_DETECTION_IMAGE}:${TAG}"
+    command: /bin/bash -c "ros2 launch lidar_object_detection lidar_object_detection.launch.py"
+  traffic_light_detection:
+    build:
+      context: ..
+      dockerfile: docker/perception/traffic_light_detection/traffic_light_detection.Dockerfile
+      cache_from:
+        - "${PERCEPTION_TRAFFIC_LIGHT_DETECTION_IMAGE}:build_${TAG}"
+        - "${PERCEPTION_TRAFFIC_LIGHT_DETECTION_IMAGE}:build_main"
+      target: deploy
+    image: "${PERCEPTION_TRAFFIC_LIGHT_DETECTION_IMAGE}:${TAG}"
+    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}:${TAG}"
-  #   command: /bin/bash -c "ros2 launch traffic_sign_detection traffic_sign_detection.launch.py"
+  traffic_sign_detection:
+    build:
+      context: ..
+      dockerfile: docker/perception/traffic_sign_detection/traffic_sign_detection.Dockerfile
+      cache_from:
+        - "${PERCEPTION_TRAFFIC_SIGN_DETECTION_IMAGE}:build_${TAG}"
+        - "${PERCEPTION_TRAFFIC_SIGN_DETECTION_IMAGE}:build_main"
+      target: deploy
+    image: "${PERCEPTION_TRAFFIC_SIGN_DETECTION_IMAGE}:${TAG}"
+    command: /bin/bash -c "ros2 launch traffic_sign_detection traffic_sign_detection.launch.py"
 
   semantic_segmentation:
     build:
@@ -71,38 +71,37 @@ services:
       cache_from:
         - "${PERCEPTION_SEMANTIC_SEGMENTATION_IMAGE}:${TAG}"
         - "${PERCEPTION_SEMANTIC_SEGMENTATION_IMAGE}:main"
-      # target: deploy
+      target: deploy
     image: "${PERCEPTION_SEMANTIC_SEGMENTATION_IMAGE}:${TAG}"
     command: /bin/bash -c "ros2 launch semantic_segmentation semantic_segmentation.launch.py"
     volumes: 
       - /mnt/wato-drive2/perception-weights/semantic_segmentation:/perception_models/semantic_segmentation
-    # add gpus all
     deploy:
       resources:
         reservations:
           devices:
             - driver: nvidia
-              capabilities: [gpu]
               count: 1
+              capabilities: [ gpu ]
 
-  # lane_detection:
-  #   build:
-  #     context: ..
-  #     dockerfile: docker/perception/lane_detection/lane_detection.Dockerfile
-  #     cache_from:
-  #       - "${PERCEPTION_LANE_DETECTION_IMAGE}:${TAG}"
-  #       - "${PERCEPTION_LANE_DETECTION_IMAGE}:main"
-  #     target: deploy
-  #   image: "${PERCEPTION_LANE_DETECTION_IMAGE}:${TAG}"
-  #   command: /bin/bash -c "ros2 launch lane_detection lane_detection.launch.py"
+  lane_detection:
+    build:
+      context: ..
+      dockerfile: docker/perception/lane_detection/lane_detection.Dockerfile
+      cache_from:
+        - "${PERCEPTION_LANE_DETECTION_IMAGE}:build_${TAG}"
+        - "${PERCEPTION_LANE_DETECTION_IMAGE}:build_main"
+      target: deploy
+    image: "${PERCEPTION_LANE_DETECTION_IMAGE}:${TAG}"
+    command: /bin/bash -c "ros2 launch lane_detection lane_detection.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}:${TAG}"
-  #   command: /bin/bash -c "ros2 launch tracking tracking.launch.py"
+  tracking:
+    build:
+      context: ..
+      dockerfile: docker/perception/tracking/tracking.Dockerfile
+      cache_from:
+        - "${PERCEPTION_TRACKING_IMAGE}:build_${TAG}"
+        - "${PERCEPTION_TRACKING_IMAGE}:build_main"
+      target: deploy
+    image: "${PERCEPTION_TRACKING_IMAGE}:${TAG}"
+    command: /bin/bash -c "ros2 launch tracking tracking.launch.py"
diff --git a/src/simulation/carla_notebooks/.ipynb_checkpoints/sample_notebook-checkpoint.ipynb b/src/simulation/carla_notebooks/.ipynb_checkpoints/sample_notebook-checkpoint.ipynb
@@ -0,0 +1,74 @@
+{
+ "cells": [
+  {
+   "attachments": {},
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Setup Code\n",
+    "**DO NOT CHANGE THIS!!**\n",
+    "**RUN THE CELL BELOW FIRST!!**"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import carla\n",
+    "import os\n",
+    "\n",
+    "client_name = os.environ.get(\"CLIENT_NAME\", \"DOES NOT EXIST\")\n",
+    "if client_name == \"DOES NOT EXIST\":\n",
+    "    raise Exception(\"The environment variable for the container name of the carla server has not been set\")\n",
+    "\n",
+    "# Connect to the client and retrieve the world object\n",
+    "client = carla.Client(client_name, 2000)\n",
+    "world = client.get_world()"
+   ]
+  },
+  {
+   "attachments": {},
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Start Adding Code or Markdown Cells Below\n",
+    "Some helpful code cells are provided below that you may choose to use"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "#### SPAWN VEHICLES ####\n",
+    "\"\"\"\n",
+    "# Get the blueprint library and filter for the vehicle blueprints\n",
+    "vehicle_blueprints = world.get_blueprint_library().filter('*vehicle*')\n",
+    "# Get the map's spawn points\n",
+    "spawn_points = world.get_map().get_spawn_points()\n",
+    "\n",
+    "# Spawn 50 vehicles randomly distributed throughout the map \n",
+    "# for each spawn point, we choose a random vehicle from the blueprint library\n",
+    "for i in range(0,50):\n",
+    "    world.try_spawn_actor(random.choice(vehicle_blueprints), random.choice(spawn_points)))\n",
+    "\"\"\"\n",
+    "#### SET ALL VEHICLES TO AUTOPILOT\n",
+    "\"\"\"\n",
+    "for vehicle in world.get_actors().filter('*vehicle*'):\n",
+    "    vehicle.set_autopilot(True)\n",
+    "\"\"\""
+   ]
+  }
+ ],
+ "metadata": {
+  "language_info": {
+   "name": "python"
+  },
+  "orig_nbformat": 4
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}
diff --git a/watod-config.sh b/watod-config.sh
@@ -1,8 +1,11 @@
 ## ----------------------- watod Configuration File Override ----------------------------
 
-############################ ACTIVE MODULE CONFIGURATION ############################
-## List of active modules to run, defined in docker-compose.yaml.
 ##
+## HINT: You can copy the contents of this file to a watod-config.local.sh 
+##       file that is untrackable by git and readable by watod.
+##
+
+############################ ACTIVE MODULE CONFIGURATION ############################
 ## List of active modules to run, defined in docker-compose.yaml.
 ## Possible values:
 ##   - infrastructure     	:   starts visualization tools (foxglove and/or vnc and/or data_stream)
@@ -12,16 +15,23 @@
 ##	 - simulation			:	starts simulation
 ##   - samples             	:   starts sample ROS2 pubsub nodes
 
-ACTIVE_MODULES="infrastructure perception"
+# ACTIVE_MODULES=""
+
+################################# MODE OF OPERATION #################################
+## Possible modes of operation when running watod.
+## Possible values:
+##	 - deploy (default)		:	runs production-grade containers (non-editable)
+##	 - develop   		    :	runs developer containers (editable)
+
+# MODE_OF_OPERATION=""
 
-############################## OPTIONAL CONFIGURATIONS ##############################
+############################## ADVANCED CONFIGURATIONS ##############################
 ## Name to append to docker containers. DEFAULT = "<your_watcloud_username>"
-COMPOSE_PROJECT_NAME="j89leung"
-FOXGLOVE_BRIDGE_PORT="8771"
+# 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="latest"
+# TAG=""
 
 # Docker Registry to pull/push images. DEFAULT = "ghcr.io/watonomous/wato_monorepo"
 # REGISTRY_URL=""