Split-off virelex_msgs, add trained models to virelex, misc fixes

While the monopackage pattern (containing both message interfaces and
behavioral nodes) isn't intentionally unsupported by ROS2, it
currently cannot support packages using `ament_cmake_python` to build
C++ and Python code alongside `rosidl` message generation.

This is a well-known and long-standing issue;  see:
  ros2/rosidl_python#141
  ament/ament_cmake#514
  ament/ament_cmake#587

Accordingly, to support well-integrated inclusion of Python code in
this package (i.e., by adding `run_vrx_experiments.py` to the CMake
build system flow), this commit splits `virelex_msgs` out into a
separate package.  An argument could be made for converting
`run_vrx_experiments.py` into a Python-syntax launch file, but it does
a bit too much (defines a class, etc.) for that to feel like the
correct option.

In addition, this commit integrates the `pretrained_models` folder
into the new `trained` subdirectory of `virelex`, providing a stable
filesystem path to access those models during node execution (via
`get_package_share_directory("virelex")`).

Author: pszenher

.dockerignore

@@ -0,0 +1,2 @@
+.git/
+docker/

docker/Dockerfile.base-minimal

@@ -55,6 +55,31 @@ RUN --mount=type=cache,target=/var/cache/apt \
       --ignore-src \
       --rosdistro ${ROS_DISTRO} -y
 
+RUN rm -r /ws/src
+
+COPY vrx /ws/src/vrx
+# Build the project
+RUN . /opt/ros/${ROS_DISTRO}/setup.sh \
+    && cd /ws \
+    && colcon build --symlink-install --merge-install
+
+RUN --mount=type=cache,target=/var/cache/apt \
+    apt update \
+    && apt install -y --no-install-recommends \
+       unzip \
+    && rm -rf /var/lib/apt/lists/* \
+    && apt clean -qq
+
+RUN curl -L -s \
+    -o /tmp/libtorch.zip \
+    "https://download.pytorch.org/libtorch/cpu/libtorch-cxx11-abi-shared-with-deps-2.2.2%2Bcpu.zip" \
+    && \
+    unzip "/tmp/libtorch.zip" -d "/tmp" \
+    && \
+    cp -r /tmp/libtorch/* /usr/local \
+    && \
+    rm -rf /tmp/libtorch.zip /tmp/libtorch
+
 COPY . /ws/src/
 # Build the project
 RUN . /opt/ros/${ROS_DISTRO}/setup.sh \

rfarl/pyproject.toml

@@ -0,0 +1,31 @@
+[build-system]
+requires = ["setuptools"]
+build-backend = "setuptools.build_meta"
+
+[tool.setuptools]
+package-data = { "*" = ["*.json"] }
+
+[project]
+name = "rfarl"
+version = "0.1.0"
+description = "Robust Field Autonomy Reinforcement-Learning"
+license = { text = "MIT" }
+authors = [
+  { name  = "Xi Lin", email = "[email protected]" },
+]
+maintainers = [
+  { name  = "Xi Lin", email = "[email protected]" },
+  { name  = "Paul Szenher", email = "[email protected]" },
+]
+keywords=[
+  'reinforcement-learning',
+]
+classifiers = [
+  'License :: OSI Approved :: MIT License',
+  'Topic :: Scientific/Engineering :: Artificial Intelligence',
+]
+
+dependencies = [
+  "numpy",
+  "torch",
+]

rfarl/rfarl/envs/marinenav/env.py

@@ -1,6 +1,6 @@
 import numpy as np
 import scipy.spatial
-import marinenav_env.envs.utils.robot as robot
+import rfarl.envs.marinenav.vehicles.wamv as robot
 import json
 import copy
 

rfarl/setup.py

@@ -10,9 +10,6 @@
         ('share/ament_index/resource_index/packages', ['resource/' + PACKAGE_NAME]),
         ('share/' + PACKAGE_NAME, ['package.xml']),
     ],
-    install_requires=[
-        'setuptools',
-    ],
     author='Xi Lin',
     author_email='[email protected]',
     maintainer='Xi Lin',
@@ -22,8 +19,8 @@
         'reinforcement-learning',
     ],
     classifiers=[
-        'License :: OSI Approved :: MIT License'
-        'Topic :: Scientific/Engineering :: Artificial Intelligence'
+        'License :: OSI Approved :: MIT License',
+        'Topic :: Scientific/Engineering :: Artificial Intelligence',
     ],
     license='MIT',
     entry_points={

virelex/CMakeLists.txt

@@ -19,47 +19,30 @@ find_package(rclcpp REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 find_package(message_filters REQUIRED)
 
-find_package(geometry_msgs REQUIRED)
 find_package(nav_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
 
 find_package(Eigen3 REQUIRED)
 find_package(Torch REQUIRED)
 
+find_package(virelex_msgs REQUIRED)
+
 # Include directories
 include_directories(
   ${PROJECT_SOURCE_DIR}/include
   ${EIGEN3_INCLUDE_DIR}
   ${TORCH_INCLUDE_DIRS}
 )
 
-# Generate message interfaces
-rosidl_generate_interfaces(${PROJECT_NAME}
-  # cluster_msg
-  "msg/PointCloudCluster.msg"
-  # robot_info_msg
-  "msg/RobotInfo.msg"
-  # state_msg
-  "msg/State.msg"
-  DEPENDENCIES std_msgs sensor_msgs geometry_msgs
-)
-
-# Define support target for message dependencies
-rosidl_get_typesupport_target(
-  cpp_typesupport_target
-  ${PROJECT_NAME}
-  rosidl_typesupport_cpp
-)
-
 # action_planner
 add_executable(action_planner_node src/action_planner_node.cpp)
 ament_target_dependencies(action_planner_node
   rclcpp
   std_msgs
+  virelex_msgs
 )
 target_link_libraries(action_planner_node
-  ${cpp_typesupport_target}
   ${TORCH_LIBRARIES}
 )
 install(TARGETS
@@ -84,9 +67,7 @@ add_executable(lidar_processor_node src/lidar_processor_node.cpp)
 ament_target_dependencies(lidar_processor_node
   rclcpp
   sensor_msgs
-)
-target_link_libraries(lidar_processor_node
-  ${cpp_typesupport_target}
+  virelex_msgs
 )
 install(TARGETS
   lidar_processor_node
@@ -102,20 +83,27 @@ ament_target_dependencies(state_processor_node
   message_filters
   std_msgs
   nav_msgs
-)
-target_link_libraries(state_processor_node
-  ${cpp_typesupport_target}
+  virelex_msgs
 )
 install(TARGETS
   state_processor_node
   DESTINATION lib/${PROJECT_NAME}
 )
 
-# Install launch files if any
+# Install launch and pretrained weight files
 install(DIRECTORY
+  config
   launch
+  trained
+  models
+  urdf
+  worlds
   DESTINATION share/${PROJECT_NAME}/
 )
 
+ament_python_install_package(${PROJECT_NAME}
+  PACKAGE_DIR "python/${PROJECT_NAME}"
+)
+
 ament_export_dependencies(rosidl_default_runtime)
 ament_package()

virelex/package.xml

@@ -11,16 +11,13 @@
     - processing LiDAR point clouds (lidar_processor)
     - computing robot state (state_processor)
 
-    - customized message format for LiDAR point clouds (cluster_msg)
-    - customized message format for robot info (robot_info_msg)
-    - customized message format for state information (state_msg)
-    
   </description>
   <author email="[email protected]">Xi Lin</author>
   <maintainer email="[email protected]">Xi Lin</maintainer>
   <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_python</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
   <member_of_group>rosidl_interface_packages</member_of_group>
@@ -33,8 +30,12 @@
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
 
+  <depend>virelex_msgs</depend>
   <exec_depend>rfarl</exec_depend>
 
+  <exec_depend>python3-numpy</exec_depend>
+  <exec_depend>python3-scipy</exec_depend>
+  
   <export>
     <build_type>ament_cmake</build_type>
   </export>

virelex/python/virelex/__init__.py

@@ -4,7 +4,7 @@
 import time
 from std_msgs.msg import Empty
 from std_msgs.msg import Bool
-from virelex.msg import RobotInfo
+from virelex_msgs.msg import RobotInfo
 import threading
 import numpy as np
 import math
@@ -27,6 +27,8 @@
 import shutil
 import json
 
+import ament_index_python.packages as rospack
+
 def add_buoy_to_sdf(input_file, output_file, buoy_poses):
     shutil.copyfile(input_file, output_file)
     tree = ET.parse(output_file)
@@ -344,11 +346,11 @@ def end_simulation(self):
 
 if __name__ == '__main__':
 
-    method = "the/method/used/in/vrx/experiments"
+    method = "RL"
 
     if method == "RL":
-        agent_type = "RL/agent/used/in/vrx/experiments"
-        model_path = "corresponding/torch/script/of/the/RL/model"
+        agent_type = "AC-IQN"
+        model_path = rospack.get_package_share_directory("virelex") + "/trained/traced_AC_IQN_model.pt"
     elif method == "APF":
         agent_type = "APF"
         model_path = " "
@@ -360,14 +362,13 @@ def end_simulation(self):
 
 
     # vrx envrionment configuration file
-    sdf_file_dir = "install/share/vrx_gz/worlds"
+    world_sdf_dir = rospack.get_package_share_directory("virelex") + "/worlds"
 
-    input_world = "sydney_regatta_original"
-    input_sdf_file = f"{sdf_file_dir}/{input_world}.sdf"
+    input_world = "sydney_regatta"
+    output_world = "sydney_regatta_aux"
 
-    output_world = "sydney_regatta"
-    output_sdf_file = f"{sdf_file_dir}/{output_world}.sdf"
-
+    input_sdf_file = f"{world_sdf_dir}/{input_world}.sdf"
+    output_sdf_file = f"{world_sdf_dir}/{output_world}.sdf"
 
     init_poses_data = []
     goals_data = []
@@ -385,7 +386,7 @@ def end_simulation(self):
     os.makedirs(result_file_dir)
 
 
-    run_with_exp_config = True
+    run_with_exp_config = False
     if run_with_exp_config:
         ##### run an experiment with specified config #####