TrailblazerML

Description of the project

This is a project to create an autonomous control rover for the rover “legnedary rover PRz” the goal is to win the competition one of the tasks is autonomy

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What hardware we are using

• Nvidia Jetson xavier nx
• Camera Oak-D-pro-w
• GPS NEO-6M-0U-BLOX

What software we are using (main libraries)

• ROS2
• DepthAI
• OpenCV
• Open3d

Docker ARM

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!IMPORTANT

Add xhost +local:docker

1. Bash

  echo 'xhost +local:docker' >> ~/.bashrc

2. Zsh

  sudo xhost +local:docker >> ~/.zshrc

How to build the ARM docker image

On ARM base architecture

    sudo docker build -t trb_1 .

If you want to test it on x86_64 architecture

    sudo docker run --rm --privileged multiarch/qemu-user-static --reset -p yes && 
    sudo docker buildx create --use && 
    sudo docker buildx build --platform linux/arm64 -t trb_1 --load .

Run the ARM docker image

In ARM base architecture

    sudo docker run -it --platform linux/arm64 --name trb_1_arm --privileged --network=host --ipc=host -v /dev:/dev trb_1_arm

In x86 for tests

    sudo docker run -it --platform linux/arm64 --name trb_1_arm --privileged --network=host --ipc=host -e DISPLAY=$DISPLAY -e WAYLAND_DISPLAY=$WAYLAND_DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix  -v /run/user/$(id -u)/wayland-0:/run/user/$(id -u)/wayland-0 -v /dev:/dev trb_1_arm

Exit after finishing the work

    exit

Start the ARM docker image

Run the following command to enter your container

    sudo docker start -ai trb_1_arm

You will be in the same state as you left the container

What is inside ARM docker image

• ROS2
• Terminator

Saving Docker State with docker commit

When making modifications within a running Docker container (such as installing new dependencies or making system changes), you can save these changes as a new Docker image using docker commit. This allows you to preserve your modifications without needing to rebuild the container from scratch.

Steps to Save and Reuse a Modified Docker Container

1. Check running containers

   docker ps -a

   Find the CONTAINER ID or NAME of the running container you want to save.

2. Create a snapshot (which is just another image) of the current container state

   docker commit <container_id/container_name> <IMAGE NAME YOU WANT TO CREATE>

   Replace <container_id> with the actual ID of your container.

3. Run a new container from the saved snapshot

   sudo docker run -it --name <GIVE YOUR OWN NAME> --privileged --network=host --ipc=host --env=DISPLAY <IMAGE NAME YOU WANT TO CREATE>

Notes:

• The snapshot (trb_snapshot) can be used as a base for further development.
• This method allows you to keep changes without modifying the original Dockerfile.
• If you want to make the changes permanent, consider updating the Dockerfile and rebuilding the image using docker build.
• creating snapshot is useful when you want to save the state of the container and use it later on, for example, when you want to test something and you don't want to rebuild the image from scratch.

Workflow

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Branches

• main

  • main branch, should be always stable - every pull request to this branch should be reviewed by at least 2-3 persons.
  • merge to this branch can be done only by the project manager.
  • merge to this branch can be done from dev branch.
  • every merge means new version of the project.

• dev

  • development branch
  • merge to this branch can be done only if all feature tests are passed.
  • merge to this branch can be only done by feature reviewer
  • acceptance criteria for merge to this branch:
    • have all functionality tests passed.
  • merge to this branch means end of milestone.

• feature

  • branches for specific features
  • use to develop new features

• bug

  • branches for specific bugs
  • use to fix bugs from feature branch

• test

  • branches for specific features
  • use only to test specific feature - do not add new features to this branch

├── **main**
│ └── **dev**
│ ├── **feature**
│ │ ├── **bug**
│ │ └── **test**          
│ │
│ ├── **feature**
│ │ ├── **bug**
│ │ └── **test**
│ │

Create Branches

• Create a new branch for each feature or bug fix.
• Branch names should be descriptive:

      [feature/bug/test]/[milestone]/[short-description]

  Example:

      feature/ros_introduction/start_with_ros

Commit Messages

• Commit messages should be descriptive - obligatory use of Conventional Commits

Issues

• Issues have to be created with templates provided in the repository
  • Issue template - create issue ticket
  • Bug report - report a bug for specific issue
• Every issue have to have assignees and reviewer

Pull Requests

• Pull requests should be descriptive and have annotation to issue

by działała komunikacja jetson docker

• trzeba wymusić komunikacje UDP zamiast SharedMemory, bo middleware fastdds błędnie uznaje komunikacje hosta z dockerem jako wspólne urzędzenie i ustawia komunikacje jako SharedMemory

wejdź do dockera

sudo docker start -ai <nazwa_contenera> 

stwórz plik w dockerze

touch /root/fastdds.xml

z poniższą zawartością

echo '<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles" >
    <transport_descriptors>
        <transport_descriptor>
            <transport_id>CustomUdpTransport</transport_id>
            <type>UDPv4</type>
        </transport_descriptor>
    </transport_descriptors>
    <participant profile_name="participant_profile" is_default_profile="true">
        <rtps>
            <userTransports>
                <transport_id>CustomUdpTransport</transport_id>
            </userTransports>
            <useBuiltinTransports>false</useBuiltinTransports>
        </rtps>
    </participant>
</profiles>' > /root/fastdds.xml