fix(ansible): CTI Anvil update model download logic

ansible/roles/calibration_tools/tasks/main.yaml

@@ -1,6 +1,6 @@
 - name: Fix python interpreter version to 3
   set_fact:
-    ansible_python_interpreter: /usr/bin/python3.6
+    ansible_python_interpreter: /usr/bin/python3.8
 
 - name: Upgrade pip
   pip:
@@ -10,7 +10,7 @@
 - name: Install dependencies
   pip:
     name:
       - dt-apriltags
       - ruamel.yaml
     state: latest
 

ansible/roles/download_models/defaults/main.yaml

@@ -0,0 +1 @@
+data_dir: /opt/autoware/data

ansible/roles/download_models/tasks/main.yaml

@@ -0,0 +1,83 @@
+- name: Create data directory
+  become: true
+  ansible.builtin.file:
+    path: "{{ data_dir }}"
+    state: directory
+
+- name: Create tensorrt_yolox directory inside {{ data_dir }}
+  become: true
+  ansible.builtin.file:
+    path: "{{ data_dir }}/tensorrt_yolox"
+    mode: "755"
+    state: directory
+
+- name: Download tensorrt_yolox/yolox-tiny.onnx
+  become: true
+  ansible.builtin.get_url:
+    url: https://awf.ml.dev.web.auto/perception/models/yolox-tiny.onnx
+    dest: "{{ data_dir }}/tensorrt_yolox/yolox-tiny.onnx"
+    mode: "644"
+    checksum: sha256:471a665f4243e654dff62578394e508db22ee29fe65d9e389dfc3b0f2dee1255
+
+- name: Download tensorrt_yolox/yolox-sPlus-opt.onnx
+  become: true
+  ansible.builtin.get_url:
+    url: https://awf.ml.dev.web.auto/perception/models/yolox-sPlus-opt.onnx
+    dest: "{{ data_dir }}/tensorrt_yolox/yolox-sPlus-opt.onnx"
+    mode: "644"
+    checksum: md5:bf3b0155351f90fcdca2626acbfd3bcf
+
+- name: Download tensorrt_yolox/yolox-sPlus-opt.EntropyV2-calibration.table
+  become: true
+  ansible.builtin.get_url:
+    url: https://awf.ml.dev.web.auto/perception/models/yolox-sPlus-opt.EntropyV2-calibration.table
+    dest: "{{ data_dir }}/tensorrt_yolox/yolox-sPlus-opt.EntropyV2-calibration.table"
+    mode: "644"
+    checksum: md5:c6e6f1999d5724a017516a956096701f
+
+- name: Download tensorrt_yolox/label.txt
+  become: true
+  ansible.builtin.get_url:
+    url: https://awf.ml.dev.web.auto/perception/models/label.txt
+    dest: "{{ data_dir }}/tensorrt_yolox/label.txt"
+    mode: "644"
+    checksum: sha256:3540a365bfd6d8afb1b5d8df4ec47f82cb984760d3270c9b41dbbb3422d09a0c
+
+- name: Create lidar_centerpoint directory inside {{ data_dir }}
+  become: true
+  ansible.builtin.file:
+    path: "{{ data_dir }}/lidar_centerpoint"
+    mode: "755"
+    state: directory
+
+- name: Download lidar_centerpoint/pts_voxel_encoder_centerpoint.onnx
+  become: true
+  ansible.builtin.get_url:
+    url: https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/pts_voxel_encoder_centerpoint.onnx
+    dest: "{{ data_dir }}/lidar_centerpoint/pts_voxel_encoder_centerpoint.onnx"
+    mode: "644"
+    checksum: sha256:dc1a876580d86ee7a341d543f8ade2ede7f43bd032dc5b44155b1f0175405764
+
+- name: Download lidar_centerpoint/pts_backbone_neck_head_centerpoint.onnx
+  become: true
+  ansible.builtin.get_url:
+    url: https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/pts_backbone_neck_head_centerpoint.onnx
+    dest: "{{ data_dir }}/lidar_centerpoint/pts_backbone_neck_head_centerpoint.onnx"
+    mode: "644"
+    checksum: sha256:3fe7e128955646740c41a25be0c8f141d5a94594fe79d7405fe2a859e391542e
+
+- name: Download lidar_centerpoint/pts_voxel_encoder_centerpoint_tiny.onnx
+  become: true
+  ansible.builtin.get_url:
+    url: https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/pts_voxel_encoder_centerpoint_tiny.onnx
+    dest: "{{ data_dir }}/lidar_centerpoint/pts_voxel_encoder_centerpoint_tiny.onnx"
+    mode: "644"
+    checksum: sha256:2c53465715c1fd2e9dc5727ef3fca74f4cdf0538f74286b0946e219d0ca5693b
+
+- name: Download lidar_centerpoint/pts_backbone_neck_head_centerpoint_tiny.onnx
+  become: true
+  ansible.builtin.get_url:
+    url: https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/pts_backbone_neck_head_centerpoint_tiny.onnx
+    dest: "{{ data_dir }}/lidar_centerpoint/pts_backbone_neck_head_centerpoint_tiny.onnx"
+    mode: "644"
+    checksum: md5:e4658325b70222f7c3637fe00e586b82

ansible/roles/ptp4l_client/defaults/main.yaml

@@ -1 +1 @@
-ptp4l_client_interface: eth1
+ptp4l_client_interface: eqos0

ansible/roles/ptp4l_host/defaults/main.yaml

@@ -0,0 +1,2 @@
+ptp4l_host_interface:
+  - eth0

ansible/roles/ptp4l_host/files/ptp4l@.service

@@ -0,0 +1,13 @@
+[Unit]
+Description=Precision Time Protocol (PTP) service
+After=network-online.target
+
+[Service]
+Type=simple
+ExecStart=/usr/sbin/ptp4l -i %i -m -S -A
+ExecStop=/usr/bin/pkill -f ptp4l
+Restart=always
+RestartSec=5
+
+[Install]
+WantedBy=multi-user.target network-online.target

ansible/roles/ptp4l_host/tasks/main.yaml

@@ -0,0 +1,21 @@
+- name: Install ptp4l
+  ansible.builtin.apt:
+    name:
+      - linuxptp
+    update_cache: true
+  become: true
+
+- name: Copy service template file
+  ansible.builtin.copy:
+    src: [email protected]
+    dest: /etc/systemd/system/
+  become: true
+
+- name: Install ptp4l client service file
+  ansible.builtin.systemd:
+    name: ptp4l@{{ item }}.service
+    daemon_reload: true
+    enabled: true
+    masked: false
+  become: true
+  with_items: "{{ ptp4l_host_interface }}"

ansible/roles/ros2/defaults/main.yaml

@@ -0,0 +1,2 @@
+ros_root_dir: /opt/ros/humble
+ros_pkg: ros_base