Feature/realsense integration

README.md

@@ -51,7 +51,7 @@ Before developing please read these documents.
 
 
 ## CAN Setup
-If trying to stimulate robot using canable, you will need to set up the CAN interface.
+If you are stimulating the robot using canable, you will need to set up the CAN interface.
 
 Run the setup script:
 ```bash

autonomy/perception/launch/perception.launch.py

@@ -23,5 +23,20 @@ def generate_launch_description():
             remappings=[
                 # Add any topic remappings here if needed
             ]
+        ),
+        Node(
+            package='realsense2_camera',
+            executable='realsense2_camera_node',
+            name='realsense_node',
+            output='screen',
+            parameters=[{
+                'depth_module.depth_profile': '640x480x30',
+                'pointcloud.enable': True,
+                'enable_rgbd': True,
+                'enable_sync': True,
+                'align_depth.enable': True,
+                'enable_color': True,
+                'enable_depth': True
+            }]
         )
     ])

autonomy/perception/package.xml

@@ -11,7 +11,6 @@
   <!-- <depend>sensor_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>std_msgs</depend>
-  <depend>cv_bridge</depend>
   <depend>image_transport</depend> -->
 
   <test_depend>ament_copyright</test_depend>

docker/perception/perception.Dockerfile

@@ -3,43 +3,44 @@ ARG BASE_IMAGE=ghcr.io/watonomous/robot_base/base:humble-ubuntu22.04
 ################################ Source ################################
 FROM ${BASE_IMAGE} AS source
 
-ARG AMENT_WS=/root/ament_ws
 WORKDIR ${AMENT_WS}/src
 
 # Copy in source code 
 COPY autonomy/perception perception
 COPY autonomy/wato_msgs/common_msgs wato_msgs/common_msgs
 
-# Scan for rosdeps
-# RUN apt-get -qq update
-# RUN rosdep update
-# RUN rosdep install --from-paths . --ignore-src -r -s \
-#         | grep 'apt-get install' \
-#         | awk '{print $3}' \
-#         | sort  > /tmp/colcon_install_list
+# Install rosdep if not present, update package lists
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends python3-rosdep && \
+    rm -rf /var/lib/apt/lists/*
 
-RUN apt-get -qq update
+# Update rosdep database (safe in containers)
 RUN rosdep update
-RUN echo "" > /tmp/colcon_install_list
+
+# Generate dependency list (simulated install → extract apt packages)
+RUN rosdep install \
+    --from-paths . \
+    --ignore-src \
+    --rosdistro $ROS_DISTRO \
+    -y \
+    --simulate | \
+    grep "apt-get install" | \
+    sed 's/apt-get install -y //' > /tmp/colcon_install_list || true
 
 ################################# 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)
+
+RUN apt-get update && \
+    apt-fast install -qq -y --no-install-recommends $(cat /tmp/colcon_install_list)
 
 # 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/*
 
-# Avoid interactive package prompts
-ENV DEBIAN_FRONTEND=noninteractive \
-    TZ=Etc/UTC \
-    LANG=C.UTF-8 \
-    LC_ALL=C.UTF-8
-
 # Essential build & Python tooling
 RUN apt-get update && \
     apt-get install -y --no-install-recommends \
@@ -55,39 +56,49 @@ RUN apt-get update && \
       ca-certificates \
       gnupg2 \
       libgl1-mesa-glx \
-      lsb-release && \
-    rm -rf /var/lib/apt/lists/*
+      lsb-release \
+      libssl-dev \
+      usbutils \
+      libusb-1.0-0-dev \
+      pkg-config \
+      libgtk-3-dev
+
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends \
+      ros-$ROS_DISTRO-librealsense2* \
+      ros-$ROS_DISTRO-realsense2-camera* && \
+      rm -rf /var/lib/apt/lists/*
 
 RUN python3 -m pip install --upgrade pip
 
 RUN python3 -m pip install --no-cache-dir \
       pccm>=0.4.16 \
       ccimport>=0.4.4 \
       pybind11>=2.6.0 \
+      cv_bridge \
       numpy \
       fire \
-      cv_bridge \
       opencv-python
 
-# Install prebuilt spconv-cu120 (compatible with CUDA 12.2 due to minor version compatibility)
-RUN python3 -m pip install --no-cache-dir spconv-cu120
-
 # 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/*
+    rm -rf /root/.ros /tmp/* /var/lib/apt/lists/* /usr/share/doc/*
 
 ################################ Build ################################
 FROM dependencies AS build
-ARG AMENT_WS=/root/ament_ws
+COPY --from=source ${AMENT_WS}/src ${AMENT_WS}/src
+
 # Build ROS2 packages
 WORKDIR ${AMENT_WS}
+
 RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
     colcon build \
-        --cmake-args -DCMAKE_BUILD_TYPE=Release --install-base ${WATONOMOUS_INSTALL}
+        --cmake-args -DCMAKE_BUILD_TYPE=Release \
+        --install-base ${WATONOMOUS_INSTALL}
 
 # Source and Build Artifact Cleanup 
-RUN rm -rf src/* build/* devel/* install/* log/*
+RUN rm -rf build/* devel/* install/* log/*
 
 # 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

modules/docker-compose.perception.yaml

@@ -22,9 +22,12 @@ services:
           devices:
             - driver: nvidia
               capabilities: [gpu]
+    devices:
+      - /dev/bus/usb:/dev/bus/usb
+    privileged: true
     volumes:
       - ${MONO_DIR}/autonomy/perception:/root/ament_ws/src/perception
-    command: tail -F anything
+    command: /bin/bash -c "ros2 launch perception perception.launch.py"
 
   perception_dev:
     build: *perception_build
@@ -34,6 +37,10 @@ services:
       - NVIDIA_VISIBLE_DEVICES=all
       - NVIDIA_DRIVER_CAPABILITIES=compute,utility
     profiles: [develop]
+    privileged: true
+    devices:
+      - /dev/bus/usb:/dev/bus/usb
     volumes:
       - ${MONO_DIR}/autonomy/perception:/root/ament_ws/src/perception
-    command: tail -F anything
+    command: /bin/bash -c "ros2 launch perception perception.launch.py"
+    # command: tail -f /dev/null

watod-config.sh

@@ -13,7 +13,6 @@
 ##   - infrastructure     	:   starts visualization tools
 ##   - interfacing          :   starts interfacing nodes
 ##	 - perception			:	starts perception nodes
-##	 - controller		    :	starts controller nodes
 ##	 - simulation			:	starts simulation
 ##   - behaviour            :   starts behaviour nodes       
 ##   - samples             	:   starts sample ROS2 pubsub nodes