Updated CUDA

.github/workflows/ci.yml

@@ -0,0 +1,38 @@
+name: CI
+on:
+  pull_request:
+    branches:
+      - main
+      - integration
+  push:
+    branches:
+      - main
+jobs:
+  ci:
+    name: CI
+    runs-on: ubuntu-latest
+    container:
+      image: umrover1/ros2:latest
+      # GitHub is silly and requires us to be running as root for their checkout action
+      # Our docker container exports the user mrover, so we have to specific this explicitly
+      options: --user root
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          # lfs: "true"
+          # This makes sure that $GITHUB_WORKSPACE is the catkin workspace path
+          path: "src/mrover"
+      - name: Style Check
+        run: . /home/mrover/ros2_ws/src/mrover/venv/bin/activate && cd $GITHUB_WORKSPACE/src/mrover/ && ./style.sh
+      - name: Build
+        if: github.event.pull_request.draft == false
+        run: . /opt/ros/humble/setup.sh && . /home/mrover/ros2_ws/src/mrover/venv/bin/activate && cd $GITHUB_WORKSPACE/src/mrover/ && ./build.sh
+      # - name: Build Without Static Analysis
+      #   if: github.event.pull_request.draft == false && github.event.pull_request.base.ref != 'refs/heads/main'
+      #   run: . /opt/ros/humble/setup.sh && . /home/mrover/ros2_ws/src/mrover/venv/bin/activate && cd $GITHUB_WORKSPACE/src/mrover/ && ./build.sh
+      # - name: Build With Static Analysis
+      #   if: github.event_name == 'push' && github.event.pull_request.base.ref == 'refs/heads/main'
+      #   run: . /opt/ros/humble/setup.sh && . /home/mrover/ros2_ws/src/mrover/venv/bin/activate && cd $GITHUB_WORKSPACE/src/mrover/ && ./build_ci.sh
+      # - name: Test
+      #   if: github.event.pull_request.draft == false
+      #   run: . /opt/ros/noetic/setup.sh && . /home/mrover/ros2_ws/src/mrover/venv/bin/activate && . $GITHUB_WORKSPACE/devel/setup.sh && catkin test && rostest mrover integration.test --text

.gitignore

@@ -1,7 +1,22 @@
+# ROS2 build directories
 /build/
 /install/
 /log/
 
-__pycache__/
+# Common IDE's, ideally this should be in global gitignore per user
+.vscode/
+.idea/
+
+# clangd cache
 .cache/
+
+# IMGUI window layout
 imgui.ini
+
+# Python Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+.mypy_cache/
+*.egg-info/
+venv/

.vscode/settings.json

@@ -43,6 +43,7 @@
         "**/node_modules": true,
         "**/bower_components": true,
         "**/*.code-search": true,
-        "deps/dawn": true,
+        "deps": true,
+        "venv": true,
     },
 }

CMakeLists.txt

@@ -1,5 +1,8 @@
 cmake_minimum_required(VERSION 3.25)
-project(mrover VERSION 2025.0.0 LANGUAGES C CXX)
+project(mrover VERSION 2025.0.0 LANGUAGES C CXX CUDA)
+
+# Supress ROS CMake warning about Python.
+cmake_policy(SET CMP0148 OLD)
 
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
@@ -9,13 +12,36 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 # Can be used by VSCode, CLion, VIM, etc.
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
+option(MROVER_CI "Enable CI options" OFF)
+option(MROVER_CLANG_TIDY "Enable static analysis with Clang tidy" ${MROVER_CI})
+option(MROVER_WARNINGS_AS_ERRORS "Treat warnings as errors" ${MROVER_CI})
+
 if (APPLE)
     # Ensures that homebrew packages are never used over miniforge packages.
     set(CMAKE_IGNORE_PATH /opt/homebrew)
     # Find mamba python
     find_package(PythonLibs REQUIRED)
     link_libraries(${PYTHON_LIBRARIES})
-    # link_libraries()
+endif ()
+
+if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic -Wno-missing-field-initializers -Wno-deprecated-declarations)
+
+    if (MROVER_WARNINGS_AS_ERRORS)
+        message(STATUS "Treating warnings as errors")
+        add_compile_options(-Werror)
+    endif ()
+
+    if (NOT APPLE)
+        # Try to use LLD instead of the system linker (which is usually GNU ld).
+        # LLD is faster and uses less memory.
+        # Could look into using mold which should be even faster.
+        find_program(LLD_PROGRAM lld)
+        if (LLD_PROGRAM)
+            message(STATUS "Using lld linker")
+            add_link_options(-fuse-ld=lld-18)
+        endif()
+    endif ()
 endif ()
 
 # Ccache is a compiler cache.
@@ -29,20 +55,6 @@ if (CCACHE_FOUND)
     set(CMAKE_CUDA_COMPILER_LAUNCHER ccache)
 endif ()
 
-if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    add_compile_options(-Wall -Wextra -Wpedantic -Wno-missing-field-initializers -Wno-deprecated-declarations)
-
-    # Try to use LLD instead of the system linker (which is usually GNU ld).
-    # LLD is faster and uses less memory.
-    # Could look into using mold which should be even faster.
-    find_program(LLD_18_FOUND lld-18)
-    if (LLD_18_FOUND)
-        message(STATUS "Using lld-18 linker")
-        add_link_options(-fuse-ld=lld-18)
-    endif()
-endif ()
-
-
 
 ## Dependencies
 
@@ -98,7 +110,7 @@ if (NOT manif_FOUND)
     if (EXISTS ${CMAKE_CURRENT_LIST_DIR}/deps/manif/include/manif)
         set(BUILD_TESTING_OLD ${BUILD_TESTING})
         set(BUILD_TESTING OFF)
-        add_subdirectory(deps/manif SYSTEM)
+        add_subdirectory(deps/manif EXCLUDE_FROM_ALL SYSTEM)
         set(BUILD_TESTING ${BUILD_TESTING_OLD})
         add_library(MANIF::manif ALIAS manif)
 
@@ -222,7 +234,6 @@ find_package(CUDA QUIET)
 find_package(OpenCV REQUIRED)
 if(ZED_FOUND AND CUDA_FOUND)
 	enable_language(CUDA)
-
 	# CUDA Compile Options
 	add_library(cuda_compiler_flags INTERFACE)
 	target_compile_options(cuda_compiler_flags INTERFACE 

Dockerfile

@@ -0,0 +1,36 @@
+FROM ubuntu:jammy
+
+# DEBIAN_FRONTEND=noninteractive prevents apt from asking for user input
+# software-properties-common is needed for apt-add-repository
+# sudo is needed for ansible since it escalates from a normal user to root
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update -y && apt-get install software-properties-common sudo -y
+RUN apt-add-repository ppa:ansible/ansible -y && apt-get install -y git git-lfs ansible
+
+RUN useradd --create-home --groups sudo --shell /bin/zsh mrover
+# Give mrover user sudo access with no password
+RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+
+USER mrover
+RUN mkdir -p /home/mrover/ros2_ws/src/mrover
+WORKDIR /home/mrover/ros2_ws/src/mrover
+# Defines the APT packages that need to be installed
+# rosdep is called from Ansible to install them
+ADD --chown=mrover:mrover ./package.xml .
+# Defines the Python packages that need to be installed
+# pip is called from Ansible to install them
+ADD --chown=mrover:mrover ./pyproject.toml ./README.md .
+ADD --chown=mrover:mrover ./mrover ./mrover
+# Copy over all Ansible files
+ADD --chown=mrover:mrover ./ansible ./ansible
+ADD --chown=mrover:mrover ./ansible.sh .
+ADD --chown=mrover:mrover ./pkg ./pkg
+RUN ./ansible.sh ci.yml
+
+USER root
+RUN apt-get purge ansible -y && apt-get autoremove -y
+# Remove apt cache to free up space in the image
+RUN apt-get clean && rm -rf /var/lib/apt/lists/*
+
+USER mrover
+ENTRYPOINT [ "/bin/bash" ]

README.md

@@ -1 +1,5 @@
-# MRover ROS 2
+# MRover ROS 2
+
+Fresh new upgrade of our code from [ROS 1](https://github.com/umrover/mrover-ros) noetic.
+
+![Screenshot from 2024-09-14 12-46-54](https://github.com/user-attachments/assets/eed2667c-7a42-406c-857f-e4a006982525)

ansible/roles/build/tasks/main.yml

@@ -1,4 +1,4 @@
-# Allows us to install Python versions newer than 3.8
+# Allows us to install Python versions newer than 3.10
 - name: Add Python PPA
   become: True
   apt_repository:
@@ -28,7 +28,7 @@
     url: https://apt.kitware.com/keys/kitware-archive-latest.asc
     keyring: /usr/share/keyrings/kitware-archive-keyring.gpg
 
-# Allows us to install CMake versions newer than 3.16
+# Allows us to install CMake versions newer than 3.22
 - name: Add CMake APT List
   become: True
   apt_repository:
@@ -72,8 +72,9 @@
       - unzip
       - rsync
       - python3-pip
+      - python3-dev
+      - python3-venv
       - python3-rosdep
-      - python3-virtualenvwrapper
       - clang-18
       - clangd-18
       - clang-tidy-18
@@ -82,16 +83,14 @@
       - lldb-18
       - gcc-13
       - g++-13
-      - python3.10
-      - python3.10-dev
-      - python3.10-venv
-      - lld
       - libbullet-dev
       - libglfw3-dev
       - libx11-xcb-dev
       - libnl-3-dev
       - libnl-route-3-dev
       - libtbb-dev
+      - libassimp-dev
+      - libeigen3-dev
       - libopencv-dev
       - libgstreamer1.0-dev
       - libgstreamer-plugins-base1.0-dev
@@ -100,8 +99,7 @@
       - ros-humble-ros-base
       - ros-humble-rviz2
       - ros-humble-xacro
-      # TODO (ali): why do these need to be installed manually
-      - libassimp-dev
+      # TODO (ali): why does this need to be installed manually
       - libboost-dev
 
 - name: Install Local APT Packages
@@ -143,12 +141,6 @@
 # - name: Install Bun Packages
 #   command: ~/.bun/bin/bun install --cwd {{ catkin_workspace }}/src/mrover/src/teleoperation/frontend
 
-# - name: Install Catkin Profiles
-#   synchronize:
-#     src: files/profiles
-#     dest: "{{ catkin_workspace }}/.catkin_tools"
-#     recursive: true
-
 - name: Set G++ 13 as Default
   become: True
   alternatives: