SRC2-scripts

This repository contains all scripts need for generating the docker images for submission as well as instructions for setting up the simulator and worksace (required for building the docker images).

1. Copying Files

Cleanup Docker

docker system prune -a

Copy files from Github (automatic)

If not already cloned, clone srcp2-final-public using the following command from the home directory:

git clone https://gitlab.com/scheducation/srcp2-final-public.git

Copy the docker files, entrypoint, and launch scripts from the scripts repository using the following commands from the home directory:

git clone https://github.com/wvu-navLab/SRC2-scripts
cp ~/SRC2-scripts/wvu_competitor.dockerfile ~/srcp2-final-public/docker/dockerfiles/wvu_competitor.dockerfile & cp ~/SRC2-scripts/wvu_competitor_submit.dockerfile ~/srcp2-final-public/docker/dockerfiles/wvu_competitor_submit.dockerfile & cp ~/SRC2-scripts/wvu_comp_final ~/srcp2-final-public/docker/scripts & mkdir ~/srcp2-final-public/docker/scripts/container & cp ~/SRC2-scripts/config_solution.yaml ~/srcp2-final-public/docker/scripts/container & chmod +x ~/srcp2-final-public/docker/scripts/wvu_comp_final
rm -rf ~/SRC2-scripts

Copy files from Github (manually, not required if used automatic)

If not already cloned, clone srcp2-final-public: git clone https://gitlab.com/scheducation/srcp2-final-public.git

Copy wvu_competitor.dockerfile to ~/srcp2-final-public/docker/dockerfiles folder, and wvu_comp_final script to ~/srcp2-final-public/docker/scripts folder.

Download Our Source Code

Download our source code using final.rosinstall

cd
git clone https://github.com/wvu-navLab/SRC2-meta
cd ~/srcp2-final-public/cmp_workspace 
wstool init src/ ~/SRC2-meta/finals.rosinstall
rm -rf ~/SRC2-meta

Download the .h5 file from the following link: https://drive.google.com/file/d/1932RKOfU87ylLC-n6bQkDjD2IacnZbT_/view?usp=sharing to ~/srcp2-final-public/cmp_workspace/src/SRC2-object-detection/src

2. Build the local Docker image

cd ~/srcp2-final-public
docker build --rm -t wvu-competitor -f ~/srcp2-final-public/docker/dockerfiles/wvu_competitor.dockerfile .

3. Launching the Simulator

Alias

Add the following alias to ~/.bashrc (only needs performed once):

alias src2_sim='~/srcp2-final-public/docker/scripts/run_srcp2_final -C ~/srcp2-final-public/docker/scripts/container/config_solution.yaml -L'
alias src2_term='~/srcp2-final-public/docker/scripts/wvu_comp_final -d -i -L'
alias src2_nterm='docker exec -it competitor-final /bin/bash'
alias src2_rviz='docker exec -it srcp2-final bash -c "source ~/ros_workspace/install/setup.bash;rosrun rviz rviz"'

Launch the sim

To launch the simulator, execuate the command src2_sim, or the following:

~/srcp2-final-public/docker/scripts/wvu_srcp2_final -C ~/srcp2-final-public/docker/scripts/container/config_solution.yaml -L

Launch terminal on Docker image

To launch the terminal on the Docker image, execuate the commands src2_term and src2_nterm, or the following:

~/srcp2-final-public/docker/scripts/wvu_comp_final -d -i -L
source ~/ros_workspace/install/setup.bash

Sourcing the workspaces inside the docker terminals

Copy source_cmd.sh into /srcp2-final-public/cmp_workspace

 cp source_cmd.sh ~/srcp2-final-public/cmp_workspace

Inside the source_cmd.sh, change the correct IP address (seems to be different for everyone.

Then, every time a new terminal is open inside a Docker container, you can source the workspaces with:

cd ~/cmp_workspace && source source_cmd.sh

4. Submission

Step 1. Download and Build Code

Download and build our code, so the src and install folders exist, which is required for building the submission image. To build properly, delete the cmp_workspace/install, cmp_workspace/devel, cmp_workspace/build, and cmp_workspace/log folders, then execute the following commands (inside the docker container):

cd
cd cmp_workspace
mkdir install
catkin config --install
catkin build

Step 2. Copy Files for Building Solution Image

Copy files for creating solution image:

git clone https://github.com/wvu-navLab/SRC2-scripts
cp ~/SRC2-scripts/solution-entrypoint.bash ~/srcp2-final-public/docker/scripts/container & cp ~/SRC2-scripts/wvu_competitor_submit.dockerfile ~/srcp2-final-public/docker/dockerfiles/solution.dockerfile
rm -rf ~/SRC2-scripts

Step 3. Build Solution Image

If ./build_comp_image.bash is not an executable, run chmod +x build_comp_image.bash; otherwise, run the following to build the submission image:

cd ~/srcp2-final-public/docker/scripts/
./build_comp_image.bash -t wvumountaineers -n -v

Development

Task Planner

The task_planner.rosinstall contains the dependencies for testing the task planner:

wstool init ~/srcp2-final-public/cmp_workspace/src/ https://raw.githubusercontent.com/wvu-navLab/SRC2-scripts/master/task_planning.rosinstall?token=ABXQJT3N45LJRDRVUIJI5C3ANZNVU

Note, if the workspace is already initialized, then the command won't work. This can be resolved by running rm -rf ~/srcp2-final-public/cmp_workspace/src and mkdir ~/srcp2-final-public/cmp_workspace/src