Add carla sample node

docker/simulation/carla_sample_node/carla_sample_node.Dockerfile

@@ -0,0 +1,63 @@
+ARG BASE_IMAGE=ghcr.io/watonomous/wato_monorepo/base:humble-ubuntu22.04
+
+################################ Source ################################
+FROM ${BASE_IMAGE} as source
+
+WORKDIR ${AMENT_WS}/src
+
+# Copy in source code 
+COPY src/simulation/carla_sample_node carla_sample_node
+COPY src/wato_msgs/sample_msgs sample_msgs
+COPY src/wato_msgs/simulation/common_msgs common_msgs
+COPY src/wato_msgs/simulation/embedded_msgs embedded_msgs
+COPY src/wato_msgs/simulation/path_planning_msgs path_planning_msgs
+
+# Carla specific messages
+RUN git clone --depth 1 https://github.com/ros-drivers/ackermann_msgs.git --branch ros2 && \
+    git clone --depth 1 https://github.com/ros-perception/image_common.git --branch $ROS_DISTRO && \
+    git clone --depth 1 https://github.com/carla-simulator/ros-carla-msgs.git --branch master
+
+# Scan for rosdeps
+RUN apt-get -qq update && rosdep update && \
+    rosdep install --from-paths . --ignore-src -r -s \
+        | grep 'apt-get install' \
+        | awk '{print $3}' \
+        | sort  > /tmp/colcon_install_list
+
+################################# Dependencies ################################
+FROM ${BASE_IMAGE} as dependencies
+
+# Install Rosdep requirements
+COPY --from=source /tmp/colcon_install_list /tmp/colcon_install_list
+RUN apt-fast install -qq -y --no-install-recommends $(cat /tmp/colcon_install_list)
+
+# Copy in source code from source stage
+WORKDIR ${AMENT_WS}
+COPY --from=source ${AMENT_WS}/src src
+
+# Dependency Cleanup
+WORKDIR /
+RUN apt-get -qq autoremove -y && apt-get -qq autoclean && apt-get -qq clean && \
+    rm -rf /root/* /root/.ros /tmp/* /var/lib/apt/lists/* /usr/share/doc/*
+
+################################ Build ################################
+FROM dependencies as build
+
+# Build ROS2 packages
+WORKDIR ${AMENT_WS}
+RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
+    colcon build \
+        --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+# 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 ${AMENT_WS}/wato_ros_entrypoint.sh
+ENTRYPOINT ["./wato_ros_entrypoint.sh"]
+
+################################ Prod ################################
+FROM build as deploy
+
+# Source Cleanup and Security Setup
+RUN chown -R $USER:$USER ${AMENT_WS}
+RUN rm -rf src/*
+
+USER ${USER}

modules/dev_overrides/docker-compose.simulation.yaml

@@ -6,29 +6,32 @@ x-fixuid: &fixuid
 
 services:
   carla_sim:
-    # <<: *fixuid
     extends:
       file: ../docker-compose.simulation.yaml
       service: carla_sim
-#     command: tail -F anything
-#     volumes:
-#       - ${MONO_DIR}/src/simulation/carla_sim:/home/bolty/ament_ws/src/carla_sim
+
   carla_ros_bridge:
     <<: *fixuid
     extends:
       file: ../docker-compose.simulation.yaml
       service: carla_ros_bridge
     command: tail -F anything
-    # volumes:
-      # - ${MONO_DIR}/src/simulation/carla_sim:/home/bolty/ament_ws/src/carla_sim
+    # command: /bin/bash -c "ros2 launch carla_config carla.launch.py"
+
   carla_viz:
-    # <<: *fixuid
     extends:
       file: ../docker-compose.simulation.yaml
       service: carla_viz
-#     command: tail -F anything
-#     volumes:
-#       - ${MONO_DIR}/src/simulation/carla_sim:/home/bolty/ament_ws/src/carla_sim
+
+  carla_sample_node:
+    <<: *fixuid
+    extends:
+      file: ../docker-compose.simulation.yaml
+      service: carla_sample_node
+    command: tail -F anything
+    volumes:
+      - ${MONO_DIR}/src/simulation/carla_sample_node:/home/bolty/ament_ws/src/carla_sample_node
+
   carla_notebooks:
     build:
       context: ../..
@@ -49,5 +52,5 @@ services:
       - NVIDIA_VISIBLE_DEVICES=1
     container_name: ${COMPOSE_PROJECT_NAME:?}_carla_notebooks
     volumes:
-      - ../../src/simulation/carla_notebooks:/home/bolty/carla_notebooks
+      - ${MONO_DIR}/src/simulation/carla_notebooks:/home/bolty/carla_notebooks
     command: jupyter notebook --allow-root --ip=0.0.0.0 --port=${CARLA_NOTEBOOKS_PORT:?} --no-browser --ServerApp.token='' --ServerApp.password=''

modules/docker-compose.simulation.yaml

@@ -37,8 +37,8 @@ services:
       - USE_ACKERMANN_CONTROL=False
     security_opt:
       - seccomp:${MONO_DIR}/modules/seccomp_profile.json
-    command: /bin/bash -c "echo CARLA_ROS_BRIDGE disabled"
-    # command: /bin/bash -c "ros2 launch carla_config carla.launch.py"
+    # command: /bin/bash -c "echo CARLA_ROS_BRIDGE disabled"
+    command: /bin/bash -c "ros2 launch carla_config carla.launch.py"
 
   carla_viz:
     build:
@@ -58,3 +58,16 @@ services:
       - CARLAVIZ_BACKEND_PORT=${CARLAVIZ_PORT_2}
     entrypoint: ["/bin/bash", "-c", "./docker/carlaviz_entrypoint.sh  > /dev/null 2>&1"]
     restart: always
+
+  carla_sample_node:
+    build:
+      context: ..
+      dockerfile: docker/simulation/carla_sample_node/carla_sample_node.Dockerfile
+      cache_from:
+        - "${SIMULATION_CARLA_SAMPLE_NODE_IMAGE:?}:${TAG:?}"
+        - "${SIMULATION_CARLA_SAMPLE_NODE_IMAGE:?}:develop"
+      target: deploy
+    image: "${SIMULATION_CARLA_SAMPLE_NODE_IMAGE:?}:${TAG:?}"
+    security_opt:
+      - seccomp:${MONO_DIR}/modules/seccomp_profile.json
+    command: /bin/bash -c "ros2 launch carla_sample_node carla_sample_node.launch.py"

src/simulation/carla_sample_node/.gitignore

@@ -0,0 +1 @@
+logs

src/simulation/carla_sample_node/carla_sample_node/carla_sample_node.py

@@ -0,0 +1,56 @@
+##### IMPORTANT ####
+"""
+Uncomment the code under the main function (at the bottom of this file) to have the node actually run
+"""
+
+
+import rclpy
+from rclpy.node import Node
+
+from nav_msgs.msg import Odometry # For odometry
+from sensor_msgs.msg import NavSatFix # For GNSS
+
+from std_msgs.msg import Bool
+
+import os
+
+class Datalogger(Node):
+    def __init__(self):
+        super().__init__('datalogger')
+        self.gnssSubscription = self.create_subscription(
+            NavSatFix,
+            '/carla/ego_vehicle/gnss',
+            self.gnss_callback,
+            10
+        )
+        self.gnssSubscription  # prevent unused variable warning
+        self.autopilotPublisher = self.create_publisher(
+            Bool,
+            '/carla/ego_vehicle/enable_autopilot',
+            10
+        )
+        self.timer = self.create_timer(10, self.timer_callback) # Publish autopilot message every 10 seconds
+    def gnss_callback(self, msg):
+        # with open("/home/docker/ament_ws/src/carla_sample_node/logs/gnss_" + self.containerId + ".txt", 'a+') as file:
+        #     file.write(str(msg.latitude) + ", " + str(msg.longitude) + "\n")
+        self.get_logger().info(str(msg.latitude) + ", " + str(msg.longitude)) # print to screen
+    def timer_callback(self):
+        msg = Bool()
+        msg.data = True
+        self.autopilotPublisher.publish(msg)
+
+def main(args=None):
+    # Uncomment the below lines to actually run the sample node
+
+    # rclpy.init(args=args)
+
+    # datalogger = Datalogger()
+
+    # rclpy.spin(datalogger)
+
+    # datalogger.destroy_node()
+    # rclpy.shutdown()
+    return
+
+if __name__ == '__main__':
+    main()

src/simulation/carla_sample_node/launch/carla_sample_node.launch.py

@@ -0,0 +1,8 @@
+from launch import LaunchDescription
+import launch_ros.actions
+
+def generate_launch_description():
+    return LaunchDescription([
+        launch_ros.actions.Node(
+            namespace= "carla_sample_node", package='carla_sample_node', executable='carla_sample_node', output='screen'),
+    ])

src/simulation/carla_sample_node/package.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>carla_sample_node</name>
+  <version>0.0.0</version>
+  <description>Sample python node to read data from CARLA</description>
+  <maintainer email="[email protected]">Vishal Jayakumar</maintainer>
+  <license>TODO: License declaration</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <depend>rclpy</depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

src/simulation/carla_sample_node/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/carla_sample_node
+[install]
+install_scripts=$base/lib/carla_sample_node

src/simulation/carla_sample_node/setup.py

@@ -0,0 +1,29 @@
+from setuptools import setup
+from glob import glob
+import os
+
+package_name = 'carla_sample_node'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        ('share/' + package_name, glob(os.path.join('launch', '*.launch.py')))
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='Vishal Jayakumar',
+    maintainer_email='[email protected]',
+    description='Sample python node to read data from CARLA',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'carla_sample_node = carla_sample_node.carla_sample_node:main'
+        ],
+    },
+)

src/simulation/carla_sample_node/test/test_copyright.py

@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

src/simulation/carla_sample_node/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

src/simulation/carla_sample_node/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'

watod_scripts/watod-setup-env.sh

@@ -111,6 +111,7 @@ SIMULATION_CARLA_IMAGE=${SIMULATION_CARLA_IMAGE:-"$REGISTRY_URL/simulation/carla
 SIMULATION_CARLA_ROS_BRIDGE_IMAGE=${SIMULATION_CARLA_ROS_BRIDGE_IMAGE:-"$REGISTRY_URL/simulation/carla_ros_bridge"}
 SIMULATION_CARLAVIZ_IMAGE=${SIMULATION_CARLAVIZ_IMAGE:-"$REGISTRY_URL/simulation/carla_viz"}
 SIMULATION_CARLA_NOTEBOOKS_IMAGE=${SIMULATION_CARLA_NOTEBOOKS_IMAGE:-"$REGISTRY_URL/simulation/carla_notebooks"}
+SIMULATION_CARLA_SAMPLE_NODE_IMAGE=${SIMULATION_CARLA_SAMPLE_NODE_IMAGE:-"$REGISTRY_URL/simulation/carla_sample_node"}
 
 # Interfacing
 INTERFACING_CAN_IMAGE=${INTERFACING_CAN_IMAGE:-"$REGISTRY_URL/interfacing/can_interfacing"}
@@ -206,6 +207,7 @@ echo "SIMULATION_CARLA_IMAGE=$SIMULATION_CARLA_IMAGE" >> "$MODULES_DIR/.env"
 echo "SIMULATION_CARLA_ROS_BRIDGE_IMAGE=$SIMULATION_CARLA_ROS_BRIDGE_IMAGE" >> "$MODULES_DIR/.env"
 echo "SIMULATION_CARLAVIZ_IMAGE=$SIMULATION_CARLAVIZ_IMAGE" >> "$MODULES_DIR/.env"
 echo "SIMULATION_CARLA_NOTEBOOKS_IMAGE=$SIMULATION_CARLA_NOTEBOOKS_IMAGE" >> "$MODULES_DIR/.env"
+echo "SIMULATION_CARLA_SAMPLE_NODE_IMAGE=$SIMULATION_CARLA_SAMPLE_NODE_IMAGE" >> "$MODULES_DIR/.env"
 
 # Interfacing
 echo "INTERFACING_CAN_IMAGE=$INTERFACING_CAN_IMAGE" >> "$MODULES_DIR/.env"