Modularizing Perception Stack for multiple ROS Packages

autonomy/samples/python/aggregator/package.xml

@@ -3,9 +3,9 @@
 <package format="3">
   <name>aggregator</name>
   <version>0.0.0</version>
-  <description>TODO: Package description</description>
+  <description>Sample aggregator node for data collection</description>
   <maintainer email="[email protected]">eddyzhou</maintainer>
-  <license>Apache2.0: License declaration</license>
+  <license>Apache2.0</license>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>

autonomy/samples/python/aggregator/setup.py

@@ -1,10 +1,16 @@
 import os
-from glob import glob
+from glob    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='eddyzhou, aryanafrouzi',
+    maintainer_email='[email protected], [email protected]',
+    description='Sample aggregator node for data collection',
+    license='Apache2.0',
+    tests_require=['pytest'], glob
 from setuptools import setup
 
 package_name = 'aggregator'
 
 setup(
     name=package_name,
     version='0.0.0',
     packages=[package_name],
@@ -21,8 +27,8 @@
     zip_safe=True,
     maintainer='eddyzhou, aryanafrouzi',
     maintainer_email='[email protected], [email protected]',
-    description='TODO: Package description',
-    license='TODO: License declaration',
+    description='Sample aggregator node for data collection',
+    license='Apache2.0',
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [

autonomy/samples/python/producer/package.xml

@@ -3,9 +3,9 @@
 <package format="3">
   <name>producer</name>
   <version>0.0.0</version>
-  <description>TODO: Package description</description>
+  <description>Sample producer node for data generation</description>
   <maintainer email="[email protected]">eddyzhou</maintainer>
-  <license>Apache2.0: License declaration</license>
+  <license>Apache2.0</license>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>

autonomy/samples/python/producer/setup.py

@@ -23,8 +23,8 @@
     zip_safe=True,
     maintainer='eddyzhou, aryanafrouzi',
     maintainer_email='[email protected], [email protected]',
-    description='TODO: Package description',
-    license='TODO: License declaration',
+    description='Sample producer node for data generation',
+    license='Apache2.0',
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [

autonomy/samples/python/transformer/package.xml

@@ -3,9 +3,9 @@
 <package format="3">
   <name>transformer</name>
   <version>0.0.0</version>
-  <description>TODO: Package description</description>
+  <description>Sample transformer node for data processing</description>
   <maintainer email="[email protected]">eddyzhou</maintainer>
-  <license>Apache2.0: License declaration</license>
+  <license>Apache2.0</license>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>

autonomy/samples/python/transformer/setup.py

@@ -23,8 +23,8 @@
     zip_safe=True,
     maintainer='eddyzhou, aryanafrouzi',
     maintainer_email='[email protected], [email protected]',
-    description='TODO: Package description',
-    license='TODO: License declaration',
+    description='Sample transformer node for data processing',
+    license='Apache2.0',
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [

autonomy/samples/sample_msgs/package.xml

@@ -4,7 +4,7 @@
   <version>0.0.0</version>
   <description>Sample ROS messages</description>
 
-  <maintainer email="[email protected]">watouser</maintainer>
+  <maintainer email="[email protected]">conjeevaram</maintainer>
   <license>Apache2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>

autonomy/wato_msgs/sample_msgs/package.xml

@@ -4,7 +4,7 @@
   <version>0.0.0</version>
   <description>Sample ROS messages</description>
 
-  <maintainer email="[email protected]">watouser</maintainer>
+  <maintainer email="[email protected]">conjeevaram</maintainer>
   <license>Apache2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>

docker/perception/perception.Dockerfile

@@ -0,0 +1,51 @@
+ARG BASE_IMAGE=ghcr.io/watonomous/robot_base/base:humble-ubuntu22.04
+
+################################ Source ################################
+FROM ${BASE_IMAGE} AS source
+
+WORKDIR ${AMENT_WS}/src
+
+# Copy in source code 
+COPY src/perception/depth_estimation depth_estimation 
+COPY src/perception/pose_estimation pose_estimation
+COPY src/perception/perception_launch perception_launch
+COPY src/wato_msgs/sample_msgs sample_msgs
+
+# 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 --install-base ${WATONOMOUS_INSTALL}
+
+# Source and Build Artifact Cleanup 
+RUN rm -rf src/* 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
+ENTRYPOINT ["./wato_ros_entrypoint.sh"]

modules/docker-compose.perception.yaml

@@ -0,0 +1,13 @@
+services:
+  perception: # PYTHON
+    build: &perception_build
+      context: ..
+      dockerfile: docker/perception/perception.Dockerfile
+      cache_from:
+        - "${SAMPLES_PRODUCER_IMAGE:?}:${TAG}"
+        - "${SAMPLES_PRODUCER_IMAGE:?}:main"
+    image: "${SAMPLES_PRODUCER_IMAGE:?}:${TAG}"
+    profiles: [deploy]
+    command: /bin/bash -c "ros2 launch perception_launch perception.launch.py"
+    volumes:
+      - ${MONO_DIR}/src/perception:/root/ament_ws/src/perception

src/perception/depth_estimation/config/params.yaml

@@ -0,0 +1,9 @@
+# more info on YAML configs for ROS2 Params:
+# https://roboticsbackend.com/ros2-yaml-params/
+depth_estimation_node: 
+  ros__parameters:
+    pos_x: 1.0
+    pos_y: 1.0
+    pos_z: 1.0
+
+    velocity: 1.0

src/perception/depth_estimation/depth_estimation/depth_estimation_core.py

@@ -0,0 +1,38 @@
+# Copyright 2023 WATonomous
+#
+# 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.
+
+import math
+
+
+class DepthEstimationCore():
+
+    def __init__(self, pos_x, pos_y, pos_z, vel):
+        # Init member variables for serialization
+        self.__pos_x = pos_x
+        self.__pos_y = pos_y
+        self.__pos_z = pos_z
+        self.__velocity = vel
+
+    def update_position(self):
+        # velocity in 3D delta_x = delta_y = delta_z
+        self.__pos_x += self.__velocity / math.sqrt(3)
+        self.__pos_y += self.__velocity / math.sqrt(3)
+        self.__pos_z += self.__velocity / math.sqrt(3)
+
+    def serialize_data(self):
+        return "x:" + str(self.__pos_x) + ";y:" + \
+            str(self.__pos_y) + ";z:" + str(self.__pos_z) + ";"
+
+
+

src/perception/depth_estimation/depth_estimation/depth_estimation_node.py

@@ -0,0 +1,36 @@
+# Copyright 2023 WATonomous
+#
+# 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.
+
+import time
+
+import rclpy
+from rclpy.node import Node
+
+from sample_msgs.msg import Unfiltered
+from depth_estimation.depth_estimation_core import DepthEstimationCore
+
+
+class DepthEstimationNode(Node):
+
+    def __init__(self):
+        pass
+
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    return
+
+if __name__ == '__main__':
+    main()

src/perception/depth_estimation/package.xml

@@ -0,0 +1,21 @@
+<?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>depth_estimation</name>
+  <version>0.0.0</version>
+  <description>Depth estimation module for humanoid robot perception</description>
+  <maintainer email="[email protected]">eddyzhou</maintainer>
+  <license>Apache2.0</license>
+
+  <depend>rclpy</depend>
+  <depend>sample_msgs</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

src/perception/depth_estimation/setup.cfg

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

src/perception/depth_estimation/setup.py

@@ -0,0 +1,34 @@
+import os
+from glob import glob
+from setuptools import setup
+
+package_name = 'depth_estimation'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=[package_name],
+    data_files=[
+        # Install marker file in the package index
+        ('share/ament_index/resource_index/packages', ['resource/' + package_name]),
+        # Include our package.xml file
+        (os.path.join('share', package_name), ['package.xml']),
+        # Include all launch files
+        (os.path.join('share', package_name, 'launch'),
+         glob(os.path.join('launch', '*.launch.py'))),
+        # Include config files for parameters
+        (os.path.join('share', package_name, 'config'), glob(os.path.join('config', '*.yaml'))),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='eddyzhou, aryanafrouzi',
+    maintainer_email='[email protected], [email protected]',
+    description='Depth estimation module for humanoid robot perception',
+    license='Apache2.0',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'depth_estimation_node = depth_estimation.depth_estimation_node:main'
+        ],
+    },
+)

src/perception/depth_estimation/test/test_copyright.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_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

src/perception/depth_estimation/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/perception/depth_estimation/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'