Voxel grid implementation #24

hassaan141 · 2026-02-02T00:33:54Z

Adding the voxel grid implementation. Also changed a lot of the insfrastrcutre stuff bc it the containrs werent spinning up properly.

Can visualize dummy image voxels on foxglove until real camera is found

Screen.Recording.2026-02-02.at.8.17.02.PM.mov

Copilot

Pull request overview

This PR adds voxel grid implementation for 3D scene representation from depth camera data, along with infrastructure improvements to fix container configuration issues. The implementation includes a ROS2 voxel grid node, a dummy camera publisher for testing, and placeholder octomap integration.

Changes:

Added voxel grid generation using spconv library with ROS2 integration
Created dummy camera publisher node for testing without real hardware
Added docker configurations for perception, behaviour (voxel_grid, octomap), and simulation modules
Updated infrastructure scripts to support new behaviour module

Reviewed changes

Copilot reviewed 34 out of 40 changed files in this pull request and generated 38 comments.

Show a summary per file

File	Description
watod_scripts/watod-setup-docker-env.sh	Added behaviour module support and new image environment variables
watod-config.sh	Added behaviour module to active modules list with trailing whitespace
utils/voxel/test_voxel.py	Test script for voxel grid generation using spconv with bunny data
utils/voxel/ros2_voxel.py	Initial ROS2 voxel node prototype with missing imports
utils/voxel/readme.md	Setup instructions for spconv installation
utils/create_package.bash	Changed service name from 'interfacing' to 'samples'
modules/docker-compose.simulation.yaml	New docker-compose configuration for simulation module
modules/docker-compose.perception.yaml	New docker-compose configuration for perception module
modules/docker-compose.infrastructure.yaml	Split foxglove into deploy and dev services, changed build target
modules/docker-compose.behaviour.yaml	New docker-compose for voxel_grid and octo_map services
docker/perception/perception.Dockerfile	Dockerfile for perception module with spconv dependencies
docker/infrastructure/foxglove/foxglove.Dockerfile	Disabled rosdep scanning, using empty install list
docker/behaviour/voxel_grid/voxel_grid.Dockerfile	Dockerfile for voxel_grid with spconv and torch
docker/behaviour/voxel_grid/.dockerignore	Dockerignore for voxel_grid builds
docker/behaviour/octo_map/octo_map.Dockerfile	Dockerfile for octomap with incorrect workspace path
autonomy/perception/setup.py	ROS2 Python package setup with dummy_publisher_node entry point
autonomy/perception/setup.cfg	Package configuration for perception
autonomy/perception/perception/dummy_publisher_node.py	Dummy camera publisher generating synthetic RGB-D data at 1Hz
autonomy/perception/package.xml	Package manifest with commented dependencies
autonomy/perception/launch/perception.launch.py	Launch file referencing non-existent perception_node
autonomy/perception/config/perception_config.yaml	Configuration parameters for perception pipeline
autonomy/behaviour/voxel_grid/voxel_grid/voxel_grid_node.py	Main voxel grid node implementation with depth decoding and voxelization
autonomy/behaviour/voxel_grid/setup.py	ROS2 package setup for voxel_grid
autonomy/behaviour/voxel_grid/setup.cfg	Package configuration for voxel_grid
autonomy/behaviour/voxel_grid/package.xml	Package manifest for voxel_grid
autonomy/behaviour/voxel_grid/launch/voxel_grid.launch.py	Launch file for voxel_grid_node
autonomy/behaviour/octo_map/setup.py	ROS2 package setup for octo_map with incorrect setup.cfg
autonomy/behaviour/octo_map/setup.cfg	Package configuration with wrong paths (references voxel_grid)
autonomy/behaviour/octo_map/resource/octo_map	Resource marker with wrong content (contains 'voxel_grid')
autonomy/behaviour/octo_map/package.xml	Package manifest for octo_map
autonomy/behaviour/octo_map/octo_map/octo_map_node.py	Stub octomap node with missing method implementation
autonomy/behaviour/octo_map/launch/octo_map.launch.py	Launch file for octo_map_node
.gitignore	Added spconv directory to gitignore

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Copilot · 2026-02-02T00:41:37Z

utils/voxel/ros2_voxel.py

+        points = []
+        h, w = depth.shape
+
+        for v in range(0, h, 4):  #Skipping every 4 pixels to downsample, can change if nessary


Typo in comment: 'nessary' should be 'necessary'. The comment on this line has a spelling error.

@copilot open a new pull request to apply changes based on this feedback

Copilot · 2026-02-02T00:41:38Z

autonomy/behaviour/octo_map/setup.cfg

+script-dir=$base/lib/voxel_grid
+[install]
+install-scripts=$base/lib/voxel_grid


Incorrect paths in setup.cfg. The script_dir and install_scripts paths reference 'voxel_grid' but this is the octo_map package. They should reference 'octo_map' instead.

Suggested change

script-dir=$base/lib/voxel_grid

[install]

install-scripts=$base/lib/voxel_grid

script-dir=$base/lib/octo_map

[install]

install-scripts=$base/lib/octo_map

Copilot · 2026-02-02T00:41:38Z

docker/behaviour/octo_map/octo_map.Dockerfile

+################################ Source ################################
+FROM ${BASE_IMAGE} AS source
+
+ARG AMENT_WS=/home/wato/wato_ws


Inconsistent workspace path. This Dockerfile uses '/home/wato/wato_ws' for AMENT_WS (line 6), while the other behaviour Dockerfiles use '/root/ament_ws'. This inconsistency could cause issues with build and runtime paths. The path should be '/root/ament_ws' to match the pattern in voxel_grid.Dockerfile.

Suggested change

ARG AMENT_WS=/home/wato/wato_ws

ARG AMENT_WS=/root/ament_ws

Copilot · 2026-02-02T00:41:38Z

docker/behaviour/octo_map/octo_map.Dockerfile

+    rm -rf /root/* /root/.ros /tmp/* /var/lib/apt/lists/* /usr/share/doc/*
+
+################################ Build ################################
+FROM dependencies AS build


The AMENT_WS variable is not declared before being used in the colcon build command on line 83. This will fail because the variable was declared in the 'source' stage (line 6) but we're now in the 'build' stage. Add 'ARG AMENT_WS=/root/ament_ws' before the WORKDIR command (or use the corrected path '/root/ament_ws' after fixing the path issue).

Suggested change

FROM dependencies AS build

FROM dependencies AS build

ARG AMENT_WS=/home/wato/wato_ws

Copilot · 2026-02-02T00:41:38Z

docker/behaviour/voxel_grid/voxel_grid.Dockerfile

+# RUN rosdep update
+# RUN rosdep install --from-paths . --ignore-src -r -s \
+#         | grep 'apt-get install' \
+#         | awk '{print $3}' \Is 


Stray characters in commented code. The sequence '\Is' appears at the end of line 16, which seems unintentional. This should be removed or the comment should be properly formatted.

Suggested change

# | awk '{print $3}' \Is

# | awk '{print $3}' \

Copilot · 2026-02-02T00:41:46Z

utils/voxel/ros2_voxel.py

+
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:


'except' clause does nothing but pass and there is no explanatory comment.

Copilot · 2026-02-02T00:41:46Z

autonomy/behaviour/voxel_grid/voxel_grid/voxel_grid_node.py

+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass


'except' clause does nothing but pass and there is no explanatory comment.

Suggested change

pass

node.get_logger().info('Shutting down due to KeyboardInterrupt')

Copilot · 2026-02-02T00:41:46Z

docker/perception/perception.Dockerfile

+RUN python3 -m pip install --no-cache-dir \
+      pccm>=0.4.16 \
+      ccimport>=0.4.4 \
+      pybind11>=2.6.0 \
+      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


The python3 -m pip install commands here install multiple third-party packages (such as pccm, ccimport, pybind11, numpy, fire, cv_bridge, opencv-python, and spconv-cu120) directly from PyPI using loose or unspecified versions and without any integrity verification. If any of these packages (or their transitive dependencies) are compromised, rebuilding this image will automatically pull and execute attacker-controlled code during the Docker build or at runtime, potentially compromising the container and any secrets or build artifacts it can access. Pin these dependencies to specific, vetted versions and use mechanisms like constraints files or hash checking so that only expected package artifacts are installed.

Copilot · 2026-02-02T00:41:46Z

docker/behaviour/voxel_grid/voxel_grid.Dockerfile

+RUN python3 -m pip install --no-cache-dir \
+      pccm>=0.4.16 \
+      ccimport>=0.4.4 \
+      pybind11>=2.6.0 \
+      numpy \
+      fire \
+      torch 
+
+# Install prebuilt spconv-cu120 (compatible with CUDA 12.2 due to minor version compatibility)
+RUN python3 -m pip install --no-cache-dir spconv-cu120


The python3 -m pip install commands here install third-party Python packages (pccm, ccimport, pybind11, numpy, fire, torch, and spconv-cu120) directly from PyPI using open-ended or unspecified versions and without any integrity verification. A compromise of any of these packages would cause future image builds to fetch and execute malicious code with the privileges and network access of this container, which can lead to full compromise of the running behaviour node or its environment. Pin these dependencies to specific, reviewed versions and enable stronger verification (for example via constraints files and hash checking) to reduce supply chain risk.

Copilot · 2026-02-02T00:41:47Z

docker/behaviour/octo_map/octo_map.Dockerfile

+RUN python3 -m pip install --no-cache-dir \
+      pccm>=0.4.16 \
+      ccimport>=0.4.4 \
+      pybind11>=2.6.0 \
+      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


The python3 -m pip install commands in this Dockerfile install several third-party packages (pccm, ccimport, pybind11, numpy, fire, cv_bridge, opencv-python, and spconv-cu120) from PyPI without pinning them to exact versions or validating their integrity. If any of these dependencies are hijacked or replaced upstream, a subsequent image build will transparently pull and run attacker-controlled code inside the container, which can compromise the octomap behaviour node and any connected systems or secrets. Lock these dependencies to specific, trusted versions and use reproducible builds with hash or signature verification to mitigate this supply chain attack surface.

Copilot · 2026-02-03T04:23:39Z

@hassaan141 I've opened a new pull request, #25, to work on those changes. Once the pull request is ready, I'll request review from you.

rajansagarwal and others added 12 commits July 10, 2025 23:00

add voxel artifcats

86aa701

Merge branch 'main' into voxel-grid

2d69390

rough changes

8360521

integrating into repo

9c5f637

updating to standard docker format

3f446da

Merge branch 'main' into voxel-grid

69515db

new changes

f60f89d

new changes

789fd03

Refactor and optimize FDCAN driver implementation for STM32G474

048addc

Enhance FDCAN driver performance and code structure for STM32G474

4b3e47b

new changes

e0c9342

new changes

54b3b01

hassaan141 requested review from Miekale and Copilot February 2, 2026 00:33

Copilot started reviewing on behalf of hassaan141 February 2, 2026 00:34 View session

Copilot AI reviewed Feb 2, 2026

View reviewed changes

Miekale approved these changes Feb 2, 2026

View reviewed changes

Copilot AI mentioned this pull request Feb 3, 2026

Fix typo and missing import in voxel grid ROS2 node #25

Draft

hassaan141 added 5 commits February 3, 2026 05:09

new changes

243dcec

new changes

896e8d6

new changes

c7ee081

new changes

78f26ef

new changes

73723a7

hassaan141 self-assigned this Feb 3, 2026

hassaan141 added the auto-lint label Feb 3, 2026

hassaan141 merged commit 665b318 into main Feb 3, 2026
6 of 8 checks passed

hassaan141 deleted the voxel-grid branch February 3, 2026 05:25

	FROM dependencies AS build
	FROM dependencies AS build
	ARG AMENT_WS=/home/wato/wato_ws

	pass
	node.get_logger().info('Shutting down due to KeyboardInterrupt')

Voxel grid implementation #24

Voxel grid implementation #24

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hassaan141 commented Feb 2, 2026 •

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