updated dockerfile and profile to fix permission error; inference sti…

…ll not fixed. print statements included in node files

docker/perception/camera_segmentation.Dockerfile

@@ -1,6 +1,5 @@
 # ================= Dependencies ===================
-FROM leungjch/cuda118-tensorrt-base:latest as base
-
+FROM leungjch/cuda118-tensorrt-base as base
 # Segmentation Dependencies
 # Install essential packages and dependencies
 RUN sudo apt-get update && sudo apt-get install -y \
@@ -26,10 +25,6 @@ RUN pip3 install --no-cache-dir --upgrade pip setuptools wheel
 RUN pip3 install ninja
 RUN pip install --no-cache-dir --upgrade requests urllib3
 
-# fix user permissions when deving in container
-COPY docker/fixuid_setup.sh /project/fixuid_setup.sh
-RUN /project/fixuid_setup.sh
-USER docker:docker
 
 ENV DEBIAN_FRONTEND noninteractive
 # RUN sudo chsh -s /bin/bash
@@ -48,7 +43,8 @@ COPY src/wato_msgs/sample_msgs sample_msgs
 
 # RUN sudo apt-get install ros-humble-cv-bridge
 COPY src/perception/camera_segmentation/requirements.txt camera_segmentation/requirements.txt
-RUN pip3 install --no-cache-dir --upgrade --trusted-host pypi.org --trusted-host shi-labs.com --trusted-host files.pythonhosted.org -r camera_segmentation/requirements.txt
+RUN pip3 install --ignore-installed PyYAML
+RUN pip3 install --ignore-installed --no-cache-dir --upgrade --trusted-host pypi.org --trusted-host shi-labs.com --trusted-host files.pythonhosted.org -r camera_segmentation/requirements.txt
 
 WORKDIR /home/docker/ament_ws
 RUN . /opt/ros/$ROS_DISTRO/setup.bash && \
@@ -61,6 +57,13 @@ RUN . /opt/ros/$ROS_DISTRO/setup.bash && \
 
 # 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 /home/docker/wato_ros_entrypoint.sh
+COPY docker/wato_ros_entrypoint.sh /ros_entrypoint.sh
 COPY docker/.bashrc /home/docker/.bashrc
-ENTRYPOINT ["/usr/local/bin/fixuid", "-q", "/home/docker/wato_ros_entrypoint.sh"]
-CMD ["sh", "/home/docker/ament_ws/src/camera_segmentation/camera_segmentation/run.sh"]
+
+RUN chmod -R 777 /home/docker
+RUN sudo mkdir -p -m 777 /.ros
+RUN chmod -R 777 /.ros
+USER docker:docker
+
+ENTRYPOINT ["sh", "/home/docker/wato_ros_entrypoint.sh"]
+CMD ["/bin/bash", "/home/docker/ament_ws/src/camera_segmentation/camera_segmentation/run.sh"]

profiles/docker-compose.perception.yaml

@@ -19,7 +19,8 @@ services:
         - "${CAMERA_SEGMENTATION_IMAGE:?}:${TAG}"
         - "${CAMERA_SEGMENTATION_IMAGE:?}:main"
     image: "${CAMERA_SEGMENTATION_IMAGE:?}:${TAG}"
-    user: ${FIXUID:?}:${FIXGID:?}
+    # user: ${FIXUID:?}:${FIXGID:?}
+    user: root
     volumes:
       - ../src/perception/camera_segmentation:/home/docker/ament_ws/src/camera_segmentation
       - /mnt/wato-drive2/perception-weights/semantic_segmentation:/home/docker/ament_ws/src/camera_segmentation/camera_segmentation/models

src/perception/camera_segmentation/camera_segmentation/camera_segmentation_node.py

@@ -43,11 +43,14 @@ def __init__(self):
         # Fetch parameters from yaml file
         self.declare_parameter('camera_topic', '/CAM_FRONT/image_rect_compressed')
         self.declare_parameter('publish_topic', '/camera_segmentation')
-        camera_topic = self.get_parameter('camera_topic').get_parameter_value().string_value
+        # camera_topic = self.get_parameter('camera_topic').get_parameter_value().string_value
+        camera_topic = '/CAM_FRONT/image_rect_compressed'
+        self.compressed = True
         publish_topic = self.get_parameter('publish_topic').get_parameter_value().string_value
 
+
         # Create ROS2 publisher and subscriber
-        self.publisher_ = self.create_publisher(Image, publish_topic, 10)
+        self.publisher_ = self.create_publisher(Image if not self.compressed else CompressedImage, publish_topic, 10)
         self.subscriber_ = self.create_subscription(Image, camera_topic, self.image_callback, 10)
         self.i = 0
 
@@ -68,8 +71,12 @@ def __init__(self):
 
         self.predictor, self.metadata = self.setup_modules("cityscapes", "/home/docker/ament_ws/src/camera_segmentation/camera_segmentation/models/250_16_dinat_l_oneformer_cityscapes_90k.pth", False)
         self.cv_bridge = CvBridge()
+
+        print("Done initializing node")
 
     def image_callback(self, msg):
+        self.get_logger().info('Got callback')
+
         # Convert ROS2 image into cv2
         if self.compressed:
             np_arr = np.frombuffer(msg.data, np.uint8)
@@ -90,7 +97,7 @@ def image_callback(self, msg):
 
         # Convert cv2 image back to a ROS2 image
         img_msg = self.cv_bridge.cv2_to_imgmsg(out, "bgr8")
-
+        self.get_logger().info("Ran inference")
         # Publish ROS2 image
         self.publisher_.publish(img_msg)
         self.get_logger().info('Publishing image: "%s"' % msg.data)

src/perception/camera_segmentation/requirements.txt

@@ -14,7 +14,7 @@ imutils
 -f https://shi-labs.com/natten/wheels/cu111/torch1.9/index.html
 natten==0.14.2
 cython
-setuptools==59.5.0
+setuptools
 scipy
 shapely
 h5py

watod-config.sh

@@ -18,6 +18,6 @@ ACTIVE_PROFILES="perception vis_tools data_stream"
 ## Tag to use. Images are formatted as <IMAGE_NAME>:<TAG> with forward slashes replaced with dashes.
 ## DEFAULT = <your_current_github_branch> 
 
-TAG="justin"
+TAG="rijin"
 
 FOXGLOVE_BRIDGE_PORT=5772