diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml new file mode 100644 index 00000000..05ae7e27 --- /dev/null +++ b/.github/workflows/build.yml @@ -0,0 +1,40 @@ +name: build-modules +on: + workflow_dispatch: # allows manual triggering + push: + pull_request: + +jobs: + build: + runs-on: ubuntu-latest + steps: + - name: Checkout repository + uses: actions/checkout@v3 + - name: Install Nix + uses: DeterminateSystems/nix-installer-action@main + - name: Setup CI binary cache + uses: DeterminateSystems/magic-nix-cache-action@main + - name: Launch Nix development environment and build Nix package manifests + run: cd ..; + git clone https://github.com/ArcturusNavigation/arcturus_nix; + cd arcturus_nix; + chmod +x *.sh; + chmod +x ci/*.sh; + ci/pull.sh; + cp -r ../all_seaing_vehicle dev_ws/src/; + nix develop -i --accept-flake-config --keep HOME --command bash -c "./build.sh;"; + - name: Build modules and run nodes + run: cd ../arcturus_nix; + nix develop -i --accept-flake-config --keep HOME --command bash -c " + ci/run.sh all_seaing_autonomy; + ci/run.sh all_seaing_bringup; + ci/run.sh all_seaing_common; + ci/run.sh all_seaing_controller; + ci/run.sh all_seaing_description; + ci/run.sh all_seaing_driver; + ci/run.sh all_seaing_interfaces; + ci/run.sh all_seaing_navigation; + ci/run.sh all_seaing_perception; + ci/run.sh all_seaing_rviz_plugins; + ci/run.sh all_seaing_utility; + " diff --git a/.gitignore b/.gitignore index 1464170e..c8774b01 100644 --- a/.gitignore +++ b/.gitignore @@ -50,3 +50,7 @@ bag/ # Vim related .swp + +# Nix related +# ignore package.nix in favor of package.xml +package.nix diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml new file mode 100644 index 00000000..74ae61c1 --- /dev/null +++ b/.pre-commit-config.yaml @@ -0,0 +1,1097 @@ +# DO NOT MODIFY +# This file was generated by git-hooks.nix +{ + "default_stages": [ + "pre-commit" + ], + "repos": [ + { + "hooks": [ + { + "always_run": false, + "args": [], 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"files": "", + "id": "yamlfmt", + "language": "system", + "name": "yamlfmt", + "pass_filenames": true, + "require_serial": false, + "stages": [ + "pre-commit" + ], + "types": [ + "file", + "yaml" + ], + "types_or": [], + "verbose": false + } + ], + "repo": "local" + } + ] +} diff --git a/all_seaing_bringup/launch/vehicle-nix-test.launch.py b/all_seaing_bringup/launch/vehicle-nix-test.launch.py new file mode 100644 index 00000000..a55155b8 --- /dev/null +++ b/all_seaing_bringup/launch/vehicle-nix-test.launch.py @@ -0,0 +1,143 @@ +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, OpaqueFunction +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration +import launch_ros +import os +import yaml + + +def launch_setup(context, *args, **kwargs): + + bringup_prefix = get_package_share_directory("all_seaing_bringup") + driver_prefix = get_package_share_directory("all_seaing_driver") + + robot_localization_params = os.path.join( + bringup_prefix, "config", "localization", "localize_real.yaml" + ) + locations_file = os.path.join( + bringup_prefix, "config", "localization", "locations.yaml" + ) + + location = context.perform_substitution(LaunchConfiguration("location")) + + ekf_node = launch_ros.actions.Node( + package="robot_localization", + executable="ekf_node", + parameters=[robot_localization_params], + ) + + with open(locations_file, 'r') as f: + locations = yaml.safe_load(f) + lat = locations[location]["lat"] + lon = locations[location]["lon"] + navsat_node = launch_ros.actions.Node( + package="robot_localization", + executable="navsat_transform_node", + remappings=[("gps/fix", "/mavros/global_position/raw/fix")], + parameters=[ + robot_localization_params, + {"datum": [lat, lon, 0.0]}, + ], + ) + + controller_node = launch_ros.actions.Node( + package="all_seaing_controller", + executable="xdrive_controller.py", + parameters=[ + { + "front_right_xy": [0.5, -0.5], + "back_left_xy": [-0.5, 0.5], + "front_left_xy": [0.5, 0.5], + "back_right_xy": [-0.5, -0.5], + "thruster_angle": 45.0, + "drag_constants": [5.0, 5.0, 40.0], + "output_range": [1100.0, 1900.0], + "smoothing_factor": 0.8, + } + ], + ) + + thrust_commander_node = launch_ros.actions.Node( + package="all_seaing_driver", + executable="thrust_commander.py", + parameters=[ + { + "front_right_port": 2, + "front_left_port": 3, + "back_right_port": 4, + "back_left_port": 5, + } + ], + ) + + control_mux = launch_ros.actions.Node( + package="all_seaing_controller", + executable="control_mux.py", + ) + + controller_server = launch_ros.actions.Node( + package="all_seaing_controller", + executable="controller_server.py", + parameters=[ + {"global_frame_id": "odom"}, + {"Kpid_x": [1.0, 0.0, 0.0]}, + {"Kpid_y": [1.0, 0.0, 0.0]}, + {"Kpid_theta": [1.0, 0.0, 0.0]}, + {"max_vel": [2.0, 1.0, 0.8]}, + ], + output="screen", + ) + + rviz_waypoint_sender = launch_ros.actions.Node( + package="all_seaing_navigation", + executable="rviz_waypoint_sender.py", + parameters=[ + {"xy_threshold": 1.0}, + {"theta_threshold": 5.0}, + ], + output="screen", + ) + + lidar_ld = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [ + driver_prefix, + "/launch/32e_points.launch.py", + ] + ) + ) + + mavros_ld = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [ + driver_prefix, + "/launch/mavros.launch.py", + ] + ), + launch_arguments={ + "port": "/dev/ttyACM0", + }.items(), + ) + + return [ + ekf_node, + navsat_node, + control_mux, + controller_node, + controller_server, + rviz_waypoint_sender, + thrust_commander_node, + mavros_ld, + lidar_ld + ] + + +def generate_launch_description(): + return LaunchDescription( + [ + DeclareLaunchArgument("location", default_value="boathouse"), + OpaqueFunction(function=launch_setup), + ] + ) diff --git a/all_seaing_bringup/launch/vehicle-nix.launch.py b/all_seaing_bringup/launch/vehicle-nix.launch.py new file mode 100644 index 00000000..c49c8b0e --- /dev/null +++ b/all_seaing_bringup/launch/vehicle-nix.launch.py @@ -0,0 +1,150 @@ +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, OpaqueFunction +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration +import launch_ros +import os +import yaml + + +def launch_setup(context, *args, **kwargs): + + bringup_prefix = get_package_share_directory("all_seaing_bringup") + driver_prefix = get_package_share_directory("all_seaing_driver") + + robot_localization_params = os.path.join( + bringup_prefix, "config", "localization", "localize_real.yaml" + ) + locations_file = os.path.join( + bringup_prefix, "config", "localization", "locations.yaml" + ) + + location = context.perform_substitution(LaunchConfiguration("location")) + + ekf_node = launch_ros.actions.Node( + package="robot_localization", + executable="ekf_node", + parameters=[robot_localization_params], + ) + + with open(locations_file, 'r') as f: + locations = yaml.safe_load(f) + lat = locations[location]["lat"] + lon = locations[location]["lon"] + navsat_node = launch_ros.actions.Node( + package="robot_localization", + executable="navsat_transform_node", + remappings=[("gps/fix", "/mavros/global_position/raw/fix")], + parameters=[ + robot_localization_params, + {"datum": [lat, lon, 0.0]}, + ], + ) + + controller_node = launch_ros.actions.Node( + package="all_seaing_controller", + executable="xdrive_controller.py", + parameters=[ + { + "front_right_xy": [0.5, -0.5], + "back_left_xy": [-0.5, 0.5], + "front_left_xy": [0.5, 0.5], + "back_right_xy": [-0.5, -0.5], + "thruster_angle": 45.0, + "drag_constants": [5.0, 5.0, 40.0], + "output_range": [1100.0, 1900.0], + "smoothing_factor": 0.8, + } + ], + ) + + thrust_commander_node = launch_ros.actions.Node( + package="all_seaing_driver", + executable="thrust_commander.py", + parameters=[ + { + "front_right_port": 2, + "front_left_port": 3, + "back_right_port": 4, + "back_left_port": 5, + } + ], + ) + + control_mux = launch_ros.actions.Node( + package="all_seaing_controller", + executable="control_mux.py", + ) + + controller_server = launch_ros.actions.Node( + package="all_seaing_controller", + executable="controller_server.py", + parameters=[ + {"global_frame_id": "odom"}, + {"Kpid_x": [1.0, 0.0, 0.0]}, + {"Kpid_y": [1.0, 0.0, 0.0]}, + {"Kpid_theta": [1.0, 0.0, 0.0]}, + {"max_vel": [2.0, 1.0, 0.8]}, + ], + output="screen", + ) + + rviz_waypoint_sender = launch_ros.actions.Node( + package="all_seaing_navigation", + executable="rviz_waypoint_sender.py", + parameters=[ + {"xy_threshold": 1.0}, + {"theta_threshold": 5.0}, + ], + output="screen", + ) + + rover_lora_controller = launch_ros.actions.Node( + package="all_seaing_driver", + executable="rover_lora_controller.py", + output="screen", + ) + + lidar_ld = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [ + driver_prefix, + "/launch/32e_points.launch.py", + ] + ) + ) + + mavros_ld = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [ + driver_prefix, + "/launch/mavros.launch.py", + ] + ), + launch_arguments={ + "port": "/dev/ttyACM0", + }.items(), + ) + + return [ + ekf_node, + navsat_node, + control_mux, + controller_node, + controller_server, + rviz_waypoint_sender, + rover_lora_controller, + thrust_commander_node, + lidar_ld, + mavros_ld + ] + + +def generate_launch_description(): + return LaunchDescription( + [ + DeclareLaunchArgument("location", default_value="boathouse"), + OpaqueFunction(function=launch_setup), + ] + ) diff --git a/all_seaing_bringup/launch/vehicle-non-nix.launch.py b/all_seaing_bringup/launch/vehicle-non-nix.launch.py new file mode 100644 index 00000000..574b3a98 --- /dev/null +++ b/all_seaing_bringup/launch/vehicle-non-nix.launch.py @@ -0,0 +1,31 @@ +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, OpaqueFunction +from launch.launch_description_sources import PythonLaunchDescriptionSource + + +def launch_setup(context, *args, **kwargs): + + driver_prefix = get_package_share_directory("all_seaing_driver") + + zed_ld = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [ + driver_prefix, + "/launch/zed2i.launch.py", + ] + ) + ) + + return [ + zed_ld + ] + + +def generate_launch_description(): + return LaunchDescription( + [ + DeclareLaunchArgument("location", default_value="boathouse"), + OpaqueFunction(function=launch_setup), + ] + ) diff --git a/all_seaing_perception/package.xml b/all_seaing_perception/package.xml index 2bc9982b..b0a3e72e 100644 --- a/all_seaing_perception/package.xml +++ b/all_seaing_perception/package.xml @@ -28,6 +28,8 @@ std_msgs visualization_msgs + python-ultralytics + ament_cmake