2023 minimum working example

mwes/2023/wamv_demo.py

@@ -0,0 +1,108 @@
+import rclpy
+from rclpy.node import Node
+from ros_gz_interfaces.msg import ParamVec
+from std_msgs.msg import Float64
+from rclpy.qos import QoSProfile, QoSDurabilityPolicy
+from geometry_msgs.msg import PoseStamped
+
+class GhostShip(Node):
+    def __init__(self):
+        print('Starting node...')
+        super().__init__('ghost_ship')
+        self.task_type = ""
+        self.task_state = ""
+        self.task_sub = self.create_subscription(ParamVec, '/vrx/task/info', 
+                                                 self.taskCB, 10)
+
+        pub_qos = QoSProfile(depth=1, 
+                             durability=QoSDurabilityPolicy.TRANSIENT_LOCAL)
+        self.right_thrust_pub = self.create_publisher(Float64, 
+                                                      '/wamv/thrusters/right/thrust', 
+                                                      qos_profile=pub_qos)
+        self.left_thrust_pub = self.create_publisher(Float64, 
+                                                     '/wamv/thrusters/left/thrust', 
+                                                     qos_profile=pub_qos)
+        self.thrust_msg = Float64()
+        self.thrust_msg.data = 30.0
+        self.loopCount = 0
+
+        self.landmark_pub = self.create_publisher(PoseStamped, 
+                                                  '/vrx/perception/landmark', 
+                                                  qos_profile=pub_qos)
+        self.landmark_msg = PoseStamped()
+        self.landmark_msg.header.stamp = self.get_clock().now().to_msg()
+        self.landmark_msg.header.frame_id = 'mb_marker_buoy_red'
+        self.landmark_msg.pose.position.x = -33.7227024
+        self.landmark_msg.pose.position.y = 150.67402097
+        self.landmark_msg.pose.position.z = 0.0
+
+        self.create_timer(0.5, self.sendCmds)
+
+    def taskCB(self, msg):
+        task_info = msg.params
+        for p in task_info:
+            if p.name == 'name':
+                self.task_type = p.value .string_value
+            if p.name == 'state':
+                self.task_state = p.value.string_value
+
+    def moveForward(self):
+        self.right_thrust_pub.publish(self.thrust_msg)
+        self.left_thrust_pub.publish(self.thrust_msg)
+        self.loopCount += 1
+
+    def stop(self):
+        self.thrust_msg.data = 0.0
+        self.right_thrust_pub.publish(self.thrust_msg)
+        self.left_thrust_pub.publish(self.thrust_msg)
+
+    def publishBuoyLoc(self):
+        if self.loopCount > 10:
+            self.landmark_pub.publish(self.landmark_msg)
+            self.loopCount = 0
+        self.loopCount += 1
+
+
+
+    def sendCmds(self):
+        if rclpy.ok():
+            match self.task_type:
+                case "perception":
+                    if self.task_state == ("initial" or "ready"):
+                        print("Waiting for perception task to start...")
+                    elif self.task_state == "running":
+                        self.publishBuoyLoc()
+                    elif self.task_state == "finished":
+                        print("Task ended...")
+                        rclpy.shutdown()
+                case "stationkeeping":
+                    if self.task_state == ("initial" or "ready"):
+                        print("Waiting for stationkeeping task to start...")
+                    elif self.task_state == "running":
+                        if self.loopCount < 10:
+                            self.moveForward()
+                        else:
+                            self.stop()
+                    elif self.task_state == "finished":
+                        print("Task ended...")
+                        rclpy.shutdown()
+                case _:
+                    print(self.task_state)
+                    if self.task_state == ("initial" or "ready"):
+                        print("Waiting for default task to start...")
+                    elif self.task_state == "running":
+                        self.right_thrust_pub.publish(self.thrust_msg)
+                        self.left_thrust_pub.publish(self.thrust_msg)
+                    elif self.task_state == "finished":
+                        print("Task ended...")
+                        rclpy.shutdown()
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    ghost_ship = GhostShip()
+    rclpy.spin(ghost_ship)
+
+
+if __name__ == '__main__':
+    main()

mwes/README.md

@@ -19,3 +19,9 @@ This directory contains Dockerfiles for building example competitor Docker image
 * Provides a starting point for competitors who expect to build a workspace using custom source code. 
 * Because the Dockerfile expects to copy source code from the local file system, it is not self-contained.
 * Please see the `2022/vrx_2022_starter/README.md` for build instructions. 
+
+## 2023
+
+### `vrx_2023_simple` (in work)
+* Dockerfile pending
+* The python script corresponds to the behavior in `jessicaherman/vrx-competitor-example`

replay_trial.bash

@@ -20,7 +20,7 @@ NOCOLOR='\033[0m'
 # Define usage function.
 usage()
 {
-  echo "Usage: $0 [-n --nvidia] [--keep-docker] [--manual-play] [--keep-gz] <team_name> <task_name> <trial_num>"
+  echo "Usage: $0 [--keep-docker] [--manual-play] [--keep-gz] <team_name> <task_name> <trial_num>"
   echo "--keep-docker: Keep Gazebo window open and Docker container running after playback ends."
   echo "  By default, everything is terminated automatically."
   echo "--manual-play: Do not automatically start playback. Wait for user to click in GUI."
@@ -31,8 +31,6 @@ usage()
 }
 
 # Parse arguments
-nvidia_arg=""
-image_nvidia=""
 keep_docker=1
 
 # Args to pass to script internal to Docker container
@@ -45,12 +43,6 @@ do
   key="$1"
 
   case $key in
-    -n|--nvidia)
-      nvidia_arg="-n"
-      image_nvidia="-nvidia"
-      shift
-      ;;
-
     --keep-docker)
       keep_docker=1
       shift
@@ -166,8 +158,8 @@ y=$y" > ${HOST_GZ_GUI_CONFIG_DIR}/gui.ini
 
 # Run Gazebo simulation server container
 SERVER_CMD="/play_vrx_log.sh ${LOG_FILE} ${OUTPUT} ${manual_play} ${keep_gz}"
-SERVER_IMG="vrx-server-${ROS_DISTRO}${image_nvidia}:latest"
-${DIR}/vrx_server/run_container.bash $nvidia_arg ${SERVER_CONTAINER_NAME} $SERVER_IMG \
+SERVER_IMG="vrx-server-${ROS_DISTRO}:latest"
+${DIR}/vrx_server/run_container.bash ${SERVER_CONTAINER_NAME} $SERVER_IMG \
   "--net ${NETWORK} \
   --ip ${SERVER_ROS_IP} \
   -v ${HOST_LOG_DIR}:${LOG_DIR} \

run_trial.bash

@@ -19,36 +19,10 @@ NOCOLOR='\033[0m'
 # Define usage function.
 usage()
 {
-  echo "Usage: $0 [-n --nvidia] <team_name> <task_name> <trial_num>"
+  echo "Usage: $0 <team_name> <task_name> <trial_num>"
   exit 1
 }
 
-# Parse arguments
-RUNTIME="runc"
-nvidia_arg=""
-image_nvidia=""
-
-POSITIONAL=()
-while [[ $# -gt 0 ]]
-do
-  key="$1"
-
-  case $key in
-      -n|--nvidia)
-      RUNTIME="nvidia"
-      nvidia_arg="-n"
-      image_nvidia="-nvidia"
-      shift
-      ;;
-      *)    # unknown option
-      POSITIONAL+=("$1")
-      shift
-      ;;
-  esac
-done
-
-set -- "${POSITIONAL[@]}"
-
 # Call usage() function if arguments not supplied.
 [[ $# -ne 3 ]] && usage
 
@@ -65,7 +39,9 @@ fi
 
 # Constants for containers
 SERVER_CONTAINER_NAME=vrx-server-system
-ROS_DISTRO=noetic
+SERVER_USER=developer
+ROS_DISTRO=humble
+SERVER_IMG="vrx-server-${ROS_DISTRO}:latest"
 LOG_DIR=/vrx/logs
 NETWORK=vrx-network
 NETWORK_SUBNET="172.16.0.10/16" # subnet mask allows communication between IP addresses with 172.16.xx.xx (xx = any)
@@ -97,7 +73,7 @@ chmod 777 ${HOST_LOG_DIR}
 echo -e "${GREEN}Done.${NOCOLOR}\n"
 
 # Find wamv urdf and task world files
-echo "Looking for generated files"
+echo "Looking for WAM-V urdf file (generated)"
 TEAM_GENERATED_DIR=${DIR}/generated/team_generated/${TEAM_NAME}
 if [ -f "${TEAM_GENERATED_DIR}/${TEAM_NAME}.urdf" ]; then
   echo "Successfully found: ${TEAM_GENERATED_DIR}/${TEAM_NAME}.urdf"
@@ -106,9 +82,11 @@ else
   echo -e "${RED}Err: ${TEAM_GENERATED_DIR}/${TEAM_NAME}.urdf not found."; exit 1;
 fi
 
+echo "Looking for task sdf file (generated/copied)"
 COMP_GENERATED_DIR=${DIR}/generated/task_generated/${TASK_NAME}
 if [ -f "${COMP_GENERATED_DIR}/worlds/${TASK_NAME}${TRIAL_NUM}.sdf" ]; then
   echo "Successfully found: ${COMP_GENERATED_DIR}/worlds/${TASK_NAME}${TRIAL_NUM}.sdf"
+  echo -e "${GREEN}Done.${NOCOLOR}\n"
 else
   echo -e "${RED}Err: ${COMP_GENERATED_DIR}/worlds/${TASK_NAME}${TRIAL_NUM}.sdf not found."; exit 1;
 fi
@@ -142,9 +120,8 @@ echo "---------------------------------"
 # simulation doesn't start too early, but may have issues if competitior
 # container waiting for ROS master and has error before server is created.
 # Run Gazebo simulation server container
-SERVER_CMD="/run_vrx_trial.sh /team_generated/${TEAM_NAME}.urdf /task_generated/worlds/${TASK_NAME}${TRIAL_NUM}.world ${LOG_DIR}"
-SERVER_IMG="vrx-server-${ROS_DISTRO}${image_nvidia}:latest"
-${DIR}/vrx_server/run_container.bash $nvidia_arg ${SERVER_CONTAINER_NAME} $SERVER_IMG \
+SERVER_CMD="/run_vrx_trial.sh /team_generated/${TEAM_NAME}.urdf /task_generated/worlds/${TASK_NAME}${TRIAL_NUM} ${LOG_DIR}"
+${DIR}/vrx_server/run_container.bash ${SERVER_CONTAINER_NAME} $SERVER_IMG \
   "--net ${NETWORK} \
   --ip ${SERVER_ROS_IP} \
   -v ${TEAM_GENERATED_DIR}:/team_generated \
@@ -172,8 +149,8 @@ docker run \
     --env ROS_MASTER_URI=${ROS_MASTER_URI} \
     --env ROS_IP=${COMPETITOR_ROS_IP} \
     --ip ${COMPETITOR_ROS_IP} \
+    --gpus all \
     --privileged \
-    --runtime=$RUNTIME \
     ${DOCKERHUB_IMAGE} &
 
 # Run competition until server is ended
@@ -183,10 +160,10 @@ echo "---------------------------------"
 
 # Copy the ROS log files from the server's container.
 echo "Copying ROS log files from server container..."
-docker cp --follow-link ${SERVER_CONTAINER_NAME}:/home/$USER/.ros/log/latest $HOST_LOG_DIR/ros-server-latest
-docker cp --follow-link ${SERVER_CONTAINER_NAME}:/home/$USER/.gazebo/ $HOST_LOG_DIR/gazebo-server
-docker cp --follow-link ${SERVER_CONTAINER_NAME}:/home/$USER/vrx_rostopics.bag $HOST_LOG_DIR/
-docker cp --follow-link ${SERVER_CONTAINER_NAME}:/home/$USER/verbose_output.txt $HOST_LOG_DIR/
+#docker cp --follow-link ${SERVER_CONTAINER_NAME}:/home/$SERVER_USER/.ros/log/latest $HOST_LOG_DIR/ros-server-latest
+docker cp --follow-link ${SERVER_CONTAINER_NAME}:/home/$SERVER_USER/.gz/ $HOST_LOG_DIR/gz-server
+docker cp --follow-link ${SERVER_CONTAINER_NAME}:/home/$SERVER_USER/vrx_rostopics.bag $HOST_LOG_DIR/
+docker cp --follow-link ${SERVER_CONTAINER_NAME}:/home/$SERVER_USER/verbose_output.txt $HOST_LOG_DIR/
 
 echo -e "${GREEN}OK${NOCOLOR}\n"
 

team_config/example_team/dockerhub_image.txt

@@ -1 +1 @@
-crvogt/vrx_2022_simple
+jessicaherman/vrx-competitor-example:2023.v2

team_config/example_team_2022/component_config.yaml

@@ -0,0 +1,64 @@
+wamv_camera:
+    - name: front_left_camera
+      visualize: False
+      x: 0.75
+      y: 0.1
+      z: 1.5
+      R: 0.0
+      P: ${radians(15)}
+      Y: 0.0
+      post_Y: 0.0
+    - name: front_right_camera
+      visualize: False
+      x: 0.75
+      y: -0.1
+      z: 1.5
+      R: 0.0
+      P: ${radians(15)}
+      Y: 0.0
+      post_Y: 0.0
+    - name: far_left_camera
+      visualize: False
+      x: 0.75
+      y: 0.3
+      z: 1.5
+      R: 0.0
+      P: ${radians(15)}
+      Y: 0.0
+      post_Y: 0.0
+wamv_gps:
+    - name: gps_wamv
+      x: -0.85
+      y: 0.0
+      z: 1.3
+      R: 0.0
+      P: 0.0
+      Y: 0.0
+wamv_imu:
+    - name: imu_wamv
+      x: 0.3
+      y: -0.2
+      z: 1.3
+      R: 0.0
+      P: 0.0
+      Y: 0.0
+lidar:
+    - name: lidar_wamv
+      type: 16_beam
+      x: 0.7
+      y: 0.0
+      z: 1.8
+      R: 0.0
+      P: ${radians(8)}
+      Y: 0.0
+      post_Y: 0.0
+wamv_ball_shooter:
+    - name: ball_shooter
+      x: 0.55 
+      y: -0.3 
+      z: 1.3
+      pitch: ${radians(-20)}
+      yaw: 0.0
+wamv_pinger:
+    - name: pinger
+      position: 1.0 0 -1.0

team_config/example_team_2022/dockerhub_image.txt

@@ -0,0 +1 @@
+crvogt/vrx_2022_simple

team_config/example_team_2022/thruster_config.yaml

@@ -0,0 +1,10 @@
+engine:
+  - prefix: "left"
+    position: "-2.373776 1.027135 0.318237"
+    orientation: "0.0 0.0 0.0"
+  - prefix: "right"
+    position: "-2.373776 -1.027135 0.318237"
+    orientation: "0.0 0.0 0.0"
+  - prefix: "middle"
+    position: "0 0 0.318237"
+    orientation: "0.0 0.0 0.0"