Merge remote-tracking branch 'origin/integration' into emz/drone-map

.github/workflows/ci.yml

@@ -22,16 +22,8 @@ jobs:
           lfs: "true"
           # This makes sure that $GITHUB_WORKSPACE is the catkin workspace path
           path: "src/mrover"
-      - name: Ensure Python Requirements
-        run: . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && pip install --no-cache-dir -e "$GITHUB_WORKSPACE/src/mrover[dev]"
       - name: Style Check
         run: . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && cd $GITHUB_WORKSPACE/src/mrover/ && ./style.sh
-      - name: Update ROS APT
-        if: github.event.pull_request.draft == false
-        run: runuser -u mrover -- rosdep update
-      - name: Ensure ROS APT Requirements
-        if: github.event.pull_request.draft == false
-        run: runuser -u mrover -- rosdep install --from-paths "$GITHUB_WORKSPACE/src" --ignore-src -r -y --rosdistro noetic
       - name: Copy Catkin Profiles
         if: github.event.pull_request.draft == false
         run: rsync -r $GITHUB_WORKSPACE/src/mrover/ansible/roles/build/files/profiles $GITHUB_WORKSPACE/.catkin_tools
@@ -42,7 +34,7 @@ jobs:
         if: github.event.pull_request.draft == false && github.event.pull_request.base.ref != 'refs/heads/master'
         run: . /opt/ros/noetic/setup.sh && . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && catkin build
       - name: Build With Clang Tidy
-        if : github.event_name == 'push' && github.event.pull_request.base.ref == 'refs/heads/master'
+        if: github.event_name == 'push' && github.event.pull_request.base.ref == 'refs/heads/master'
         run: . /opt/ros/noetic/setup.sh && . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && catkin build -DCMAKE_CXX_CLANG_TIDY=clang-tidy-16
       - name: Test
         if: github.event.pull_request.draft == false

CMakeLists.txt

@@ -143,42 +143,40 @@ target_link_libraries(lie PUBLIC MANIF::manif)
 
 ## ESW
 
-if (NOT APPLE)
-    mrover_add_vendor_header_only_library(moteus deps/mjbots)
-    mrover_add_header_only_library(can_device src/esw/can_device)
-    mrover_add_library(motor_library src/esw/motor_library/*.cpp src/esw/motor_library)
-    target_link_libraries(motor_library PUBLIC can_device moteus)
-
-    if (NetLink_FOUND AND NetLinkRoute_FOUND)
-        mrover_add_nodelet(can_driver src/esw/can_driver/*.cpp src/esw/can_driver src/esw/can_driver/pch.hpp)
-        mrover_nodelet_link_libraries(can_driver ${NetLink_LIBRARIES} ${NetLinkRoute_LIBRARIES})
-        mrover_nodelet_include_directories(can_driver ${NetLink_INCLUDE_DIRS} ${NetLinkRoute_INCLUDE_DIRS})
-    endif ()
-
-    macro(mrover_add_esw_bridge_node name sources)
-        mrover_add_node(${name} ${sources})
-        target_link_libraries(${name} PRIVATE can_device motor_library)
-    endmacro()
-
-    mrover_add_esw_bridge_node(arm_hw_bridge src/esw/arm_hw_bridge/*.cpp)
-    mrover_add_esw_bridge_node(arm_translator_bridge src/esw/arm_translator_bridge/*.cpp src/esw/arm_translator_bridge/*.hpp)
-    mrover_add_esw_bridge_node(cache_bridge src/esw/cache_bridge/*.cpp)
-    mrover_add_esw_bridge_node(drive_bridge src/esw/drive_bridge/*.cpp)
-    mrover_add_esw_bridge_node(led_hw_bridge src/esw/led_hw_bridge/*.cpp)
-    mrover_add_esw_bridge_node(led src/esw/led/*.cpp)
-    mrover_add_esw_bridge_node(mast_gimbal_bridge src/esw/mast_gimbal_bridge/*.cpp)
-    mrover_add_esw_bridge_node(pdb_bridge src/esw/pdb_bridge/*.cpp)
-    mrover_add_esw_bridge_node(sa_hw_bridge src/esw/sa_hw_bridge/*.cpp)
-    mrover_add_esw_bridge_node(sa_translator_bridge src/esw/sa_translator_bridge/*.cpp)
-    mrover_add_esw_bridge_node(science_bridge src/esw/science_bridge/*.cpp)
-    mrover_add_esw_bridge_node(brushless_test_bridge src/esw/brushless_test_bridge/*.cpp motor_library)
-    mrover_add_esw_bridge_node(brushed_test_bridge src/esw/brushed_test_bridge/*.cpp)
-    mrover_add_esw_bridge_node(test_arm_bridge src/esw/test_arm_bridge/*.cpp)
-    mrover_add_esw_bridge_node(pdb_test_bridge src/esw/pdb_test_bridge/*.cpp)
-    mrover_add_esw_bridge_node(arm_position_test_bridge src/esw/arm_position_test_bridge/*.cpp)
-    #    mrover_add_esw_bridge_node(sa_sensor src/esw/fw/dirt_sensor/dirt_sensor_ros/dirt_sensor_ros.ino)
+mrover_add_vendor_header_only_library(moteus deps/mjbots)
+mrover_add_header_only_library(can_device src/esw/can_device)
+mrover_add_library(motor_library src/esw/motor_library/*.cpp src/esw/motor_library)
+target_link_libraries(motor_library PUBLIC can_device moteus)
+
+if (NetLink_FOUND AND NetLinkRoute_FOUND)
+    mrover_add_nodelet(can_driver src/esw/can_driver/*.cpp src/esw/can_driver src/esw/can_driver/pch.hpp)
+    mrover_nodelet_link_libraries(can_driver ${NetLink_LIBRARIES} ${NetLinkRoute_LIBRARIES})
+    mrover_nodelet_include_directories(can_driver ${NetLink_INCLUDE_DIRS} ${NetLinkRoute_INCLUDE_DIRS})
 endif ()
 
+macro(mrover_add_esw_bridge_node name sources)
+    mrover_add_node(${name} ${sources})
+    target_link_libraries(${name} PRIVATE can_device motor_library)
+endmacro()
+
+mrover_add_esw_bridge_node(arm_hw_bridge src/esw/arm_hw_bridge/*.cpp)
+mrover_add_esw_bridge_node(arm_translator_bridge src/esw/arm_translator_bridge/*.cpp src/esw/arm_translator_bridge/*.hpp)
+mrover_add_esw_bridge_node(cache_bridge src/esw/cache_bridge/*.cpp)
+mrover_add_esw_bridge_node(drive_bridge src/esw/drive_bridge/*.cpp)
+mrover_add_esw_bridge_node(led_hw_bridge src/esw/led_hw_bridge/*.cpp)
+mrover_add_esw_bridge_node(led src/esw/led/*.cpp)
+mrover_add_esw_bridge_node(mast_gimbal_bridge src/esw/mast_gimbal_bridge/*.cpp)
+mrover_add_esw_bridge_node(pdb_bridge src/esw/pdb_bridge/*.cpp)
+mrover_add_esw_bridge_node(sa_bridge src/esw/sa_bridge/*.cpp)
+mrover_add_esw_bridge_node(science_bridge src/esw/science_bridge/*.cpp)
+mrover_add_esw_bridge_node(brushless_test_bridge src/esw/brushless_test_bridge/*.cpp)
+mrover_add_esw_bridge_node(brushed_test_bridge src/esw/brushed_test_bridge/*.cpp)
+mrover_add_esw_bridge_node(science_test_bridge src/esw/science_test_bridge/*.cpp)
+mrover_add_esw_bridge_node(test_arm_bridge src/esw/test_arm_bridge/*.cpp)
+mrover_add_esw_bridge_node(pdb_test_bridge src/esw/pdb_test_bridge/*.cpp)
+# mrover_add_esw_bridge_node(arm_position_test_bridge src/esw/arm_position_test_bridge/*.cpp)
+# mrover_add_esw_bridge_node(sa_sensor src/esw/fw/dirt_sensor/dirt_sensor_ros/dirt_sensor_ros.ino)
+
 ## Perception
 
 mrover_add_library(websocket_server src/esw/websocket_server/*.cpp src/esw/websocket_server)

ansible/roles/jetson_build/tasks/main.yml

@@ -23,17 +23,17 @@
     state: latest
     name:
       - zstd # Required to unpack ZED installer
-      - cuda
+      - cuda-12-3
       - nvidia-jetpack
 
 - name: ZED SDK Download
   get_url:
-    url: https://download.stereolabs.com/zedsdk/4.0/l4t35.4/jetsons
-    dest: /tmp/ZED_SDK_Tegra_L4T35.4_v4.0.7.zstd.run
+    url: https://download.stereolabs.com/zedsdk/4.1/l4t35.4/jetsons
+    dest: /tmp/ZED_SDK_Tegra_L4T35.4_v4.1.zstd.run
     mode: 0755
 
 - name: ZED SDK Install
   # Silent mode prevents any user input prompting
-  command: /tmp/Downloads/ZED_SDK_Tegra_L4T35.4_v4.0.7.zstd.run -- silent
+  command: /tmp/Downloads/ZED_SDK_Tegra_L4T35.4_v4.1.zstd.run -- silent
   args:
     creates: /usr/local/zed