Remove orb slam 2

.gitignore

@@ -155,6 +155,7 @@ thirdparty/ORB_SLAM2/Vocabulary/ORBvoc.txt
 
 # tmp files for testing
 tmp/*
-
+*.swo
+*.swp
 # docusaurus
 node_modules

docker/calibrated.json

@@ -0,0 +1,18 @@
+{
+    "camera_link": {
+        "from": "head_tilt_link",
+        "quat": [
+            0.0020485991725649184,
+            -0.02249425053471297,
+            0.0001768645209827914,
+            0.9997448577778497
+        ],
+        "to": "camera_link",
+        "trans": [
+            0.0545564563198051,
+            0.01111847207083916,
+            0.004833795657717313
+        ]
+    }
+}
+

docker/docker_build.py

@@ -22,7 +22,7 @@ def execute_build(args):
     # copy requirements file from parent into docker folder
 
     cmd = 'DOCKER_BUILDKIT=1 docker build '
-    cmd += '--ssh default '
+    #cmd += '--ssh default '
     cmd += '--network=host '
     if args.no_cache:
         cmd += '--no-cache '

docker/docker_build_cuda.py

@@ -0,0 +1,59 @@
+#!/usr/bin/env python
+
+from __future__ import print_function
+
+import argparse
+import os
+import shutil
+
+
+def execute_build(args):
+    """
+    Create docker build command based on user input arguments
+    and execute the command
+
+    Args:
+        args (argparse.Namespace): Build arguments
+    """
+    if not os.path.exists(args.docker_file):
+        print('Dockerfile %s not found! Exiting' % args.docker_file)
+        return
+
+    # copy requirements file from parent into docker folder
+
+    cmd = 'DOCKER_BUILDKIT=1 docker build '
+    #cmd += '--ssh default '
+    cmd += '--network=host '
+    if args.no_cache:
+        cmd += '--no-cache '
+    cmd += '-t %s -f %s .' % (args.image, args.docker_file)
+
+    print('command = \n\n', cmd)
+
+    if not args.dry_run:
+        os.system(cmd)
+
+
+if __name__ == '__main__':
+    default_image_name = "ros:noetic-ros-core-focal-cuda"
+
+    parser = argparse.ArgumentParser()
+
+    parser.add_argument('-i', '--image', type=str,
+                        default=default_image_name,
+                        help='name for new docker image')
+
+    parser.add_argument('--no_cache', action='store_true',
+                        help='0 if should build without using cache')
+
+    parser.add_argument('-f', '--docker_file', type=str,
+                        default='locobot_cuda.dockerfile',
+                        help='which Dockerfile to build from')
+
+
+    parser.add_argument('-d', '--dry_run', action='store_true',
+                        help='1 if we should only print the build command '
+                             'without executing')
+
+    args = parser.parse_args()
+    execute_build(args)

docker/entrypoint.sh

@@ -6,8 +6,8 @@ source /opt/ros/noetic/setup.bash
 source /root/create_ws/devel/setup.bash
 source /root/locobot_ws/devel/setup.bash
 source /root/.bashrc
-cd workspace/
-pip install -e /workspace/pyrobot
+
+cd /workspace/
 
 eval "bash"
 

docker/install_scripts/install_locobot.sh

@@ -15,10 +15,21 @@ git clone https://github.com/turtlebot/turtlebot_interactions.git
 git clone https://github.com/turtlebot/turtlebot_simulator.git
 git clone https://github.com/ROBOTIS-GIT/dynamixel-workbench.git
 git clone https://github.com/ROBOTIS-GIT/dynamixel-workbench-msgs.git
-git clone https://github.com/AutonomyLab/create_robot.git
-git clone https://github.com/Improbable-AI/pyrobot.git
+git clone --branch remove-orb2-slam https://github.com/Improbable-AI/pyrobot.git
+git clone --branch indigo-devel https://github.com/AutonomyLab/create_autonomy.git
+git clone https://github.com/Improbable-AI/airobot.git
+
+
 cd ..
 rosdep update
 apt-get update
-rosdep install --from-paths src/create_robot src/dynamixel-workbench src/dynamixel-workbench-msgs src/ar_track_alvar -i -y
-catkin build
+rosdep install --from-paths src/create_autonomy src/dynamixel-workbench src/dynamixel-workbench-msgs src/ar_track_alvar -i -y
+catkin build
+
+cd src/pyrobot
+pip install .
+cd ..
+cd airobot
+pip install .
+
+

docker/install_scripts/install_pytorch.sh

@@ -8,3 +8,4 @@ rm -rf /var/lib/apt/lists/*
 
 # install pytorch
 pip install torch==1.11.0+cpu -f https://download.pytorch.org/whl/cpu/torch_stable.html
+pip install torchvision

docker/install_scripts/install_pytorch_cuda.sh

@@ -0,0 +1,9 @@
+#!/bin/bash
+
+set -euxo pipefail
+
+rm -rf /var/lib/apt/lists/*
+
+# install pytotorch
+pip install torch torchvision --extra-index-url https://download.pytorch.org/whl/cu113
+pip install tensorboard

docker/locobot.dockerfile

@@ -79,9 +79,13 @@ COPY install_scripts/install_py_pkgs2.sh /tmp/install_py_pkgs2.sh
 RUN chmod +x /tmp/install_py_pkgs2.sh
 RUN /tmp/install_py_pkgs2.sh
 
+COPY calibrated.json /root/.robot/calibrated.json
+
 RUN echo "source /opt/ros/noetic/setup.bash" >> /root/.bashrc
 RUN echo "source /root/create_ws/devel/setup.bash" >> /root/.bashrc
 RUN echo "source /root/locobot_ws/devel/setup.bash" >> /root/.bashrc
+RUN echo "export ROS_IP=192.168.50.117" >> /root/.bashrc
+RUN echo "export ROS_MASTER_URI=http://192.168.50.117:11311" >> /root/.bashrc
 
 
 WORKDIR /

docker/locobot_cuda.dockerfile

@@ -0,0 +1,104 @@
+# syntax=docker/dockerfile:experimental
+
+FROM nvidia/cudagl:11.4.2-devel-ubuntu20.04
+
+RUN echo 'America/New_York' > /etc/timezone && \
+    ln -s /usr/share/zoneinfo/America/New_York /etc/localtime && \
+    apt-get update && \
+    apt-get install -q -y --no-install-recommends tzdata && \
+    rm -rf /var/lib/apt/lists/*
+
+### second stage ###
+ENV LC_ALL C.UTF-8
+ENV LANG C.UTF-8
+
+# Replacing shell with bash for later docker build commands
+RUN mv /bin/sh /bin/sh-old && \
+  ln -s /bin/bash /bin/sh
+
+# install basic system stuff
+COPY ./install_scripts/install_basic.sh /tmp/install_basic.sh
+RUN chmod +x /tmp/install_basic.sh
+RUN /tmp/install_basic.sh
+
+
+# install ROS stuff
+ENV ROS_DISTRO noetic
+
+
+
+COPY ./install_scripts/install_python.sh /tmp/install_python.sh
+RUN chmod +x /tmp/install_python.sh
+RUN /tmp/install_python.sh
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+# create catkin workspace
+
+
+COPY ./install_scripts/install_realsense.sh /tmp/install_realsense.sh
+RUN chmod +x /tmp/install_realsense.sh
+RUN /tmp/install_realsense.sh
+
+COPY ./install_scripts/install_ros.sh /tmp/install_ros.sh
+RUN chmod +x /tmp/install_ros.sh
+RUN /tmp/install_ros.sh
+
+# bootstrap rosdep
+RUN rosdep init 
+RUN rosdep update
+
+
+ENV CATKIN_WS=/root/catkin_ws
+RUN source /opt/ros/$ROS_DISTRO/setup.bash
+
+
+COPY ./install_scripts/install_pytorch_cuda.sh /tmp/install_pytorch_cuda.sh
+RUN chmod +x /tmp/install_pytorch_cuda.sh
+RUN /tmp/install_pytorch_cuda.sh
+
+# copy local requirements file for pip install python deps
+ENV IMPROB /workspace
+RUN mkdir ${IMPROB}
+
+
+COPY install_scripts/install_py_pkgs.sh /tmp/install_py_pkgs.sh
+RUN chmod +x /tmp/install_py_pkgs.sh
+RUN /tmp/install_py_pkgs.sh
+
+COPY ./install_scripts/install_libcreate.sh /tmp/install_libcreate.sh
+RUN chmod +x /tmp/install_libcreate.sh
+RUN /tmp/install_libcreate.sh
+
+
+COPY ./install_scripts/install_locobot.sh /tmp/install_locobot.sh
+RUN chmod +x /tmp/install_locobot.sh
+RUN /tmp/install_locobot.sh
+
+COPY install_scripts/install_py_pkgs2.sh /tmp/install_py_pkgs2.sh
+RUN chmod +x /tmp/install_py_pkgs2.sh
+RUN /tmp/install_py_pkgs2.sh
+
+COPY calibrated.json /root/.robot/calibrated.json
+
+RUN echo "source /opt/ros/noetic/setup.bash" >> /root/.bashrc
+RUN echo "source /root/create_ws/devel/setup.bash" >> /root/.bashrc
+RUN echo "source /root/locobot_ws/devel/setup.bash" >> /root/.bashrc
+RUN echo "export ROS_MASTER_URI=http://192.168.50.117:11311" >> /root/.bashrc
+RUN echo "export ROS_IP=192.168.50.111" >> /root/.bashrc
+
+
+WORKDIR /
+# Exposing the ports
+EXPOSE 11311
+
+
+# setup entrypoint  
+COPY ./entrypoint.sh /
+
+ENTRYPOINT ["./entrypoint.sh"]
+CMD ["bash"]
+
+
+
+

docker/run_image_cuda.bash

@@ -0,0 +1,14 @@
+IMAGE=ros:noetic-ros-core-focal-cuda
+docker run -it\
+    --env="DISPLAY" \
+    --env="QT_X11_NO_MITSHM=1" \
+    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
+    --volume="$PWD/../../:/workspace/" \
+    -v /dev:/dev \
+    --gpus all \
+    -e NVIDIA_DRIVER_CAPABILITIES=all \
+    -e NVIDIA_VISIBLE_DEVICES=all \
+    --privileged \
+    --net=host \
+    ${IMAGE}
+