Merge remote-tracking branch 'origin/integration' into percep-second-cam

.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

.gitmodules

@@ -1,20 +1,10 @@
-[submodule "deps/libde265"]
-	path = deps/libde265
-	url = https://github.com/strukturag/libde265.git
-	shallow = true
-	branch = v1.0.15
 [submodule "deps/dawn"]
 	path = deps/dawn
 	url = https://dawn.googlesource.com/dawn
 	shallow = true
-	branch = chromium/6108
-[submodule "deps/emsdk"]
-	path = deps/emsdk
-	url = [email protected]:emscripten-core/emsdk.git
-	shallow = true
-	branch = 3.1.53
+	branch = chromium/6376
 [submodule "deps/manif"]
 	path = deps/manif
 	url = https://github.com/artivis/manif.git
 	shallow = true
-	branch = master
+	branch = devel

CMakeLists.txt

@@ -1,6 +1,18 @@
 cmake_minimum_required(VERSION 3.16)
 project(mrover VERSION 2024.0.0 LANGUAGES CXX)
 
+option(MROVER_IS_CI "Build for CI" OFF)
+option(MROVER_RUN_CLANG_TIDY "Run clang-tidy" OFF)
+option(MROVER_IS_JETSON "Build for the Jetson" OFF)
+
+set(CMAKE_CXX_STANDARD 23)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON) # Generate compile_commands.json for clangd
+
+### ============= ###
+### OS & Compiler ###
+### ============= ###
+
 if (APPLE)
     # Ensures that homebrew packages are never used over miniforge packages
     set(CMAKE_IGNORE_PATH /opt/homebrew)
@@ -15,23 +27,30 @@ if (APPLE)
     link_libraries(fmt::fmt)
 else ()
     # TODO(quintin): Fix this
-    find_package(TBB REQUIRED)
-    link_libraries(TBB::tbb)
+    find_package(TBB QUIET)
+    if (TBB_FOUND)
+        link_libraries(TBB::tbb)
+    endif ()
 endif ()
 
-include_directories(BEFORE SYSTEM src/preload)
+if (NOT APPLE AND CMAKE_CXX_COMPILER_ID STREQUAL "Clang") # Link with LLVM lld instead of GNU ld when using Clang on Linux, it is faster
+    add_link_options(-fuse-ld=lld)
+endif ()
 
-set(CMAKE_CXX_STANDARD 23)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_EXPORT_COMPILE_COMMANDS ON) # Generate compile_commands.json for clangd
-if (NOT APPLE AND CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
-    add_link_options(-fuse-ld=lld) # LLVM lld is faster than GNU ld
+if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+    set(MROVER_CPP_COMPILE_OPTIONS -Wall -Wextra -pedantic -Wno-missing-field-initializers)
+    if (MROVER_IS_CI) # Make warnings errors in CI
+        list(APPEND MROVER_CPP_COMPILE_OPTIONS -Werror)
+    endif ()
 endif ()
-set(MROVER_CPP_COMPILE_OPTIONS -Wall -Wextra -pedantic -Wno-missing-field-initializers)
-if (MROVER_CI)
-    list(APPEND MROVER_CPP_COMPILE_OPTIONS -Werror)
+
+if (MROVER_IS_JETSON)
+    add_definitions(-DMROVER_IS_JETSON)
 endif ()
 
+# Inject header files that get included before anything else, including system headers
+include_directories(BEFORE SYSTEM src/preload)
+
 include(cmake/macros.cmake)
 
 # ROS packages list
@@ -48,15 +67,19 @@ set(MROVER_ROS_DEPENDENCIES
         tf2
         tf2_ros
         tf2_geometry_msgs
+        actionlib_msgs
 )
 
 extract_filenames(msg/*.msg MROVER_MESSAGE_FILES)
 
 extract_filenames(srv/*.srv MROVER_SERVICE_FILES)
 
+extract_filenames(action/*.action MROVER_ACTION_FILES)
+
 set(MROVER_MESSAGE_DEPENDENCIES
         std_msgs
         sensor_msgs
+        actionlib_msgs
 )
 
 set(MROVER_PARAMETERS
@@ -79,7 +102,7 @@ if (ZED_FOUND)
     set(CMAKE_CUDA_STANDARD 17)
     set(CMAKE_CUDA_STANDARD_REQUIRED ON)
     set(CMAKE_CUDA_SEPARABLE_COMPILATION ON)
-    set(CMAKE_CUDA_FLAGS "--diag-suppress 108,68")
+    set(CMAKE_CUDA_FLAGS "--diag-suppress 20012")
     # Jetson Xavier NX/AGX has Volta 7.2 architecture
     # Perception Laptop (A4000, Quadro version of RTX 3080) has Ampere 8.6 architecture
     set(CMAKE_CUDA_ARCHITECTURES 72 86)
@@ -104,6 +127,8 @@ add_message_files(FILES ${MROVER_MESSAGE_FILES})
 
 add_service_files(FILES ${MROVER_SERVICE_FILES})
 
+add_action_files(DIRECTORY action FILES ${MROVER_ACTION_FILES})
+
 generate_messages(DEPENDENCIES ${MROVER_MESSAGE_DEPENDENCIES})
 
 generate_dynamic_reconfigure_options(${MROVER_PARAMETERS})
@@ -124,48 +149,44 @@ target_link_libraries(lie PUBLIC MANIF::manif)
 
 ## ESW
 
-if (NOT APPLE)
-    mrover_add_vendor_header_only_library(moteus src/esw/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 nl-3 nl-route-3)
-        # TODO(quintin): Fix this CMake hard coding
-        #mrover_nodelet_link_libraries(can ${NetLink_LIBRARIES} ${NetLinkRoute_LIBRARIES}})
-        mrover_nodelet_include_directories(can_driver /usr/include/libnl3)
-    endif ()
+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)
 
-    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)
+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(streaming src/esw/streaming/*.cpp src/esw/streaming)
-target_compile_definitions(streaming PUBLIC BOOST_ASIO_NO_DEPRECATED)
+mrover_add_library(websocket_server src/esw/websocket_server/*.cpp src/esw/websocket_server)
+target_compile_definitions(websocket_server PUBLIC BOOST_ASIO_NO_DEPRECATED)
 
 mrover_add_nodelet(zed_tag_detector src/perception/tag_detector/zed/*.cpp src/perception/tag_detector/zed src/perception/tag_detector/zed/pch.hpp)
 mrover_nodelet_link_libraries(zed_tag_detector opencv_core opencv_objdetect opencv_aruco opencv_imgproc lie)
@@ -177,19 +198,16 @@ mrover_add_nodelet(usb_camera src/perception/usb_camera/*.cpp src/perception/usb
 mrover_nodelet_link_libraries(usb_camera opencv_core opencv_objdetect opencv_aruco opencv_imgproc opencv_highgui)
 
 if (CUDA_FOUND)
-#    mrover_add_node(nv_vid_codec_h265_enc src/esw/nv_vid_codec_h265_enc/*.c*)
-#    target_link_libraries(nv_vid_codec_h265_enc PUBLIC cuda nvidia-encode opencv_core opencv_imgproc streaming)
-#    target_include_directories(nv_vid_codec_h265_enc SYSTEM PUBLIC deps/nvenc)
+    #    mrover_add_node(nv_vid_codec_h265_enc src/esw/nv_vid_codec_h265_enc/*.c*)
+    #    target_link_libraries(nv_vid_codec_h265_enc PUBLIC cuda nvidia-encode opencv_core opencv_imgproc streaming)
+    #    target_include_directories(nv_vid_codec_h265_enc SYSTEM PUBLIC deps/nvenc)
 endif ()
 
-mrover_add_nodelet(nv_gst_h265_enc src/esw/nv_gst_h265_enc/*.c* src/esw/nv_gst_h265_enc src/esw/nv_gst_h265_enc/pch.hpp)
-mrover_nodelet_link_libraries(nv_gst_h265_enc PRIVATE streaming gstreamer-1.0 gstapp-1.0 glib-2.0 gobject-2.0)
-if (MROVER_IS_JETSON)
-    mrover_nodelet_defines(nv_gst_h265_enc MROVER_IS_JETSON)
-    mrover_nodelet_include_directories(nv_gst_h265_enc /usr/lib/aarch64-linux-gnu/glib-2.0/include)
+if (Gst_FOUND AND GstApp_FOUND AND LibUsb_FOUND AND LibUdev_FOUND)
+    mrover_add_nodelet(gst_websocket_streamer src/esw/gst_websocket_streamer/*.c* src/esw/gst_websocket_streamer src/esw/gst_websocket_streamer/pch.hpp)
+    mrover_nodelet_link_libraries(gst_websocket_streamer PRIVATE websocket_server ${Gst_LIBRARIES} ${GstApp_LIBRARIES} ${LibUsb_LIBRARIES} ${LibUdev_LIBRARIES} opencv_core opencv_imgproc)
+    mrover_nodelet_include_directories(gst_websocket_streamer ${Gst_INCLUDE_DIRS} ${GstApp_INCLUDE_DIRS} ${LibUsb_INCLUDE_DIRS} ${LibUdev_INCLUDE_DIRS})
 endif ()
-# TODO(quintin): Fix this CMake hard coding
-mrover_nodelet_include_directories(nv_gst_h265_enc /usr/include/gstreamer-1.0 /usr/include/glib-2.0 /usr/lib/x86_64-linux-gnu/glib-2.0/include)
 
 if (ZED_FOUND)
     mrover_add_nodelet(object_detector src/perception/object_detector/*.c* src/perception/object_detector src/perception/object_detector/pch.hpp)
@@ -214,6 +232,7 @@ endif ()
 ## Teleoperation
 
 mrover_add_node(arm_controller src/teleoperation/arm_controller/*.cpp)
+target_link_libraries(arm_controller PRIVATE lie)
 
 ## Simulator
 
@@ -224,8 +243,6 @@ if (MROVER_BUILD_SIM)
     mrover_nodelet_defines(simulator BOOST_THREAD_PROVIDES_FUTURE)
 endif ()
 
-# TODO
-
 ### ======= ###
 ### Testing ###
 ### ======= ###

action/ArmAction.action

@@ -0,0 +1,3 @@
+string name
+---
+---

ansible/roles/build/files/profiles/ci/config.yaml

@@ -5,10 +5,10 @@ catkin_make_args: [ ]
 cmake_args:
   - -DCMAKE_BUILD_TYPE=Release
   - -DCMAKE_C_COMPILER=clang-16
-  - -DCMAKE_CXX_FLAGS=-pipe
+  - -DCMAKE_CXX_FLAGS=-pipe -fgnuc-version=13.1.0
   - -DCMAKE_CXX_COMPILER=clang++-16
-  - -DCMAKE_CUDA_HOST_COMPILER=clang++-16
-  - -DMROVER_CI=ON
+  - -DCMAKE_CUDA_HOST_COMPILER=g++-9
+  - -DMROVER_IS_CI=ON
   - -Wno-dev
 devel_layout: linked
 devel_space: devel

ansible/roles/build/files/profiles/debug/config.yaml

@@ -5,11 +5,11 @@ catkin_make_args: [ ]
 cmake_args:
   - -DCMAKE_BUILD_TYPE=Debug
   - -DCMAKE_C_COMPILER=clang-16
-  - -DCMAKE_CXX_FLAGS=-pipe
+  - -DCMAKE_CXX_FLAGS=-pipe -fgnuc-version=13.1.0
   - -DCMAKE_CXX_COMPILER=clang++-16
   - -DCMAKE_CXX_COMPILER_LAUNCHER=ccache
   - -DCMAKE_CUDA_COMPILER_LAUNCHER=ccache
-  - -DCMAKE_CUDA_HOST_COMPILER=clang++-16
+  - -DCMAKE_CUDA_HOST_COMPILER=g++-9
   - -Wno-dev
 devel_layout: linked
 devel_space: devel

ansible/roles/build/files/profiles/release/config.yaml

@@ -5,11 +5,11 @@ catkin_make_args: [ ]
 cmake_args:
   - -DCMAKE_BUILD_TYPE=Release
   - -DCMAKE_C_COMPILER=clang-16
-  - -DCMAKE_CXX_FLAGS=-march=native -pipe
+  - -DCMAKE_CXX_FLAGS=-march=native -pipe -fgnuc-version=13.1.0
   - -DCMAKE_CXX_COMPILER=clang++-16
   - -DCMAKE_CXX_COMPILER_LAUNCHER=ccache
   - -DCMAKE_CUDA_COMPILER_LAUNCHER=ccache
-  - -DCMAKE_CUDA_HOST_COMPILER=clang++-16
+  - -DCMAKE_CUDA_HOST_COMPILER=g++-9
   - -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON
   - -Wno-dev
 devel_layout: linked

ansible/roles/build/tasks/main.yml

@@ -96,6 +96,8 @@
       - libopencv-dev
       - libgstreamer1.0-dev
       - libgstreamer-plugins-base1.0-dev
+      - vainfo
+      - x264
 
 - name: Install Local APT Packages
   become: True
@@ -190,10 +192,23 @@
     link: /usr/bin/lld
     priority: 160
 
+- name: Set clang-tidy 16 as Default
+  become: True
+  alternatives:
+    name: clang-tidy
+    path: /usr/bin/clang-tidy-16
+    link: /usr/bin/clang-tidy
+    priority: 160
+
 - name: Setup Python Virtual Environment
   pip:
     name:
       # Installs from pyproject.toml
       - "{{ catkin_workspace }}/src/mrover[dev]"
     virtualenv: "{{ catkin_workspace }}/src/mrover/venv"
     virtualenv_command: /usr/bin/python3.10 -m venv
+
+- name: Install Chromium
+  become: True
+  snap:
+    name: chromium

ansible/roles/ci/tasks/main.yml

@@ -79,6 +79,8 @@
       - libnl-route-3-dev
       - libtbb-dev
       - libopencv-dev
+      - libgstreamer1.0-dev
+      - libgstreamer-plugins-base1.0-dev
 
 - name: Install Local APT Packages
   become: True
@@ -173,6 +175,14 @@
     link: /usr/bin/lld
     priority: 160
 
+- name: Set clang-tidy 16 as Default
+  become: True
+  alternatives:
+    name: clang-tidy
+    path: /usr/bin/clang-tidy-16
+    link: /usr/bin/clang-tidy
+    priority: 160
+
 - name: Setup Python Virtual Environment
   pip:
     name:

ansible/roles/dev/files/home/.zshrc

@@ -70,7 +70,7 @@ ZSH_THEME="mrover"
 # Custom plugins may be added to $ZSH_CUSTOM/plugins/
 # Example format: plugins=(rails git textmate ruby lighthouse)
 # Add wisely, as too many plugins slow down shell startup.
-plugins=(git virtualenvwrapper fzf)
+plugins=(git virtualenvwrapper fzf zsh-autosuggestions zsh-syntax-highlighting)
 
 source $ZSH/oh-my-zsh.sh