Update Tag Detector

.github/workflows/ci.yml

@@ -29,9 +29,6 @@ jobs:
       - name: Compiler Cache
         if: github.event.pull_request.draft == false
         uses: hendrikmuhs/[email protected]
-      - name: manif Submodule Update
-        if: github.event.pull_request.draft == false
-        run: cd $GITHUB_WORKSPACE/src/mrover/ && git submodule update --init deps/manif
       - 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

.gitmodules

@@ -1,6 +1,6 @@
 [submodule "deps/manif"]
 	path = deps/manif
-	url = https://github.com/artivis/manif.git
+	url = git@github.com:artivis/manif.git
 [submodule "deps/dawn"]
 	path = deps/dawn
 	url = https://dawn.googlesource.com/dawn

CMakeLists.txt

@@ -5,6 +5,7 @@ project(mrover VERSION 2025.0.0 LANGUAGES C CXX)
 cmake_policy(SET CMP0148 OLD)
 
 set(CMAKE_CXX_STANDARD 23)
+set(CXX_STANDARD_REQUIRED ON)
 
 # Generate compile_commands.json for clangd language server.
 # Can be used by VSCode, CLion, VIM, etc.
@@ -14,6 +15,9 @@ 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})
 
+set(node_plugins "")
+
+
 if (APPLE)
     # Ensures that homebrew packages are never used over miniforge packages.
     # TODO (ali): Pretty sure this doesn't do anything on macs
@@ -38,7 +42,7 @@ if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
         find_program(LLD_PROGRAM lld)
         if (LLD_PROGRAM)
             message(STATUS "Using lld linker")
-            add_link_options(-fuse-ld=lld-18)
+	    #add_link_options(-fuse-ld=lld-18)
         endif()
     endif ()
 endif ()
@@ -115,7 +119,7 @@ if (NOT manif_FOUND)
 
         set(manif_FOUND TRUE)
     else()
-        message(FATAL_ERROR "Manif not found. If on Ubuntu install with 'sudo apt install -f ./pkg/libmanif-dev.deb'. Or build from source with 'git submodule update --init deps/manif' and make sure it is non-empty")
+        message(FATAL_ERROR "Manif not found. If on Ubuntu install with 'sudo apt install -f ./pkg/libmanif-dev.deb'. Or build from source with 'submodule update --init deps/manif' and make sure it is non-empty")
     endif()
 endif()
 
@@ -160,7 +164,7 @@ message(STATUS "Found service files: ${MROVER_SERVICE_FILE_PATHS}")
 message(STATUS "PROJ NAME: ${PROJECT_NAME}")
 
 set(MROVER_CMAKE_INCLUDES
-        starter_project/autonomy/AutonomyStarterProject.cmake
+    starter_project/autonomy/AutonomyStarterProject.cmake
 )
 
 foreach (MROVER_CMAKE_INCLUDE ${MROVER_CMAKE_INCLUDES})
@@ -170,9 +174,9 @@ endforeach ()
 message(STATUS "Found message files: ${MROVER_MESSAGE_FILE_PATHS}")
 
 rosidl_generate_interfaces(${PROJECT_NAME}
-        ${MROVER_MESSAGE_FILE_PATHS}
-        ${MROVER_SERVICE_FILE_PATHS}
-        DEPENDENCIES nav_msgs sensor_msgs geometry_msgs
+    ${MROVER_MESSAGE_FILE_PATHS}
+    ${MROVER_SERVICE_FILE_PATHS}
+    DEPENDENCIES nav_msgs sensor_msgs geometry_msgs
 )
 
 # Starter project 
@@ -185,10 +189,10 @@ ament_target_dependencies(starter_project_perception rclcpp std_msgs sensor_msgs
 # Install our executable so that ROS knows about it
 # This allows us to launch it with ros2 run
 install(PROGRAMS
-        starter_project/autonomy/src/localization.py
-        starter_project/autonomy/src/navigation/navigation_starter_project.py
-        DESTINATION
-        lib/${PROJECT_NAME}
+    starter_project/autonomy/src/localization.py
+    starter_project/autonomy/src/navigation/navigation_starter_project.py
+    DESTINATION
+    lib/${PROJECT_NAME}
 )
 
 install(DIRECTORY starter_project/autonomy/launch DESTINATION share/${PROJECT_NAME})
@@ -218,11 +222,11 @@ mrover_add_header_only_library(parameter_utils parameter_utils)
 mrover_add_node(simulator simulator/*.cpp simulator simulator/pch.hpp)
 ament_target_dependencies(simulator rclcpp rclcpp_components nav_msgs sensor_msgs geometry_msgs tf2 tf2_ros urdf)
 target_link_libraries(simulator
-        assimp::assimp glfw3webgpu webgpu glfw webgpu_hpp imgui
-        ${BULLET_LIBRARIES}
-        lie Eigen3::Eigen
-        opencv_core opencv_imgcodecs opencv_imgproc
-        loop_profiler
+    assimp::assimp glfw3webgpu webgpu glfw webgpu_hpp imgui
+    ${BULLET_LIBRARIES}
+    lie Eigen3::Eigen
+    opencv_core opencv_imgcodecs opencv_imgproc
+    loop_profiler
 )
 target_include_directories(simulator SYSTEM PRIVATE ${BULLET_INCLUDE_DIRS} ${OPENCV_INCLUDE_DIRS})
 
@@ -232,45 +236,61 @@ find_package(ZED QUIET)
 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 
-		-Wno-pedantic 
-		-Wno-deprecated 
-		-Wno-unused-parameter 
-		-diag-suppress=815 
-		-diag-suppress=780 
-		-Wno-deprecated-copy 
-		-Wno-unused-command-line-argument 
-		-Wno-ignored-qualifiers 
-		-Wno-sometimes-uninitialized
-	)
-
-	# ZED Wrapper
-	mrover_add_node(zed perception/zed_wrapper/*.c* perception/zed_wrapper/pch.hpp)
-	target_compile_options(zed PRIVATE $<$<COMPILE_LANGUAGE:CXX>:-std=c++20>)
-	target_link_libraries(zed parameter_utils lie MANIF::manif ${CUDA_LIBRARIES} loop_profiler cuda_compiler_flags)
-	ament_target_dependencies(zed rclcpp sensor_msgs ZED CUDA tf2 tf2_ros)
-
-	# Learning Library
+    enable_language(CUDA)
+    # CUDA Compile Options
+    add_library(cuda_compiler_flags INTERFACE)
+    target_compile_options(cuda_compiler_flags INTERFACE 
+        -Wno-pedantic 
+        -Wno-deprecated 
+        -Wno-unused-parameter 
+        -diag-suppress=815 
+        -diag-suppress=780 
+        -Wno-deprecated-copy 
+        -Wno-unused-command-line-argument 
+        -Wno-ignored-qualifiers 
+        -Wno-sometimes-uninitialized
+    )
+
+    # ZED Wrapper
+
+    set(THRUST_WRAPPED_NAMESPACE wrapped_thrust)
+    set(CUB_WRAPPED_NAMESPACE wrapped_cub)
+
+    add_definitions(-DTHRUST_WRAPPED_NAMESPACE=${THRUST_WRAPPED_NAMESPACE})
+    add_definitions(-DCUB_WRAPPED_NAMESPACE=${CUB_WRAPPED_NAMESPACE})
+
+    mrover_add_component(zed perception/zed_wrapper/*.c* perception/zed_wrapper/pch.hpp ZedWrapper)
+    target_compile_options(zed_component PRIVATE $<$<COMPILE_LANGUAGE:CXX>:-std=c++20>)
+    mrover_link_component(zed parameter_utils lie MANIF::manif ${CUDA_LIBRARIES} loop_profiler cuda_compiler_flags)
+    mrover_ament_component(zed rclcpp rclcpp_components sensor_msgs ZED CUDA tf2 tf2_ros)
+
+    mrover_executable_from_component(zed perception/executables/zed.cpp zed_component)
+
+    # Learning Library
     # TODO(john): Update to use the new API
-	mrover_add_library(tensorrt tensorrt/*.c* tensorrt)
-	target_compile_options(tensorrt PRIVATE -Wno-deprecated-declarations $<$<COMPILE_LANGUAGE:CUDA>:-std=c++17>)
-	target_include_directories(tensorrt PRIVATE ${CMAKE_CUDA_TOOLKIT_INCLUDE_DIRECTORIES})
-	target_link_libraries(tensorrt PRIVATE opencv_core opencv_dnn opencv_imgproc lie nvinfer nvonnxparser tbb cuda_compiler_flags)
-
-	# Object Detector
-	mrover_add_node(object_detector perception/object_detector/*.c* src/perception/object_detector/pch.hpp)
-    target_link_libraries(object_detector opencv_core opencv_dnn opencv_imgproc lie tbb tensorrt opencv_imgcodecs opencv_highgui loop_profiler parameter_utils cuda_compiler_flags)
-	ament_target_dependencies(object_detector rclcpp sensor_msgs CUDA tf2 tf2_ros)
+    mrover_add_library(tensorrt tensorrt/*.c* tensorrt)
+    target_compile_options(tensorrt PRIVATE -Wno-deprecated-declarations $<$<COMPILE_LANGUAGE:CUDA>:-std=c++17>)
+    target_include_directories(tensorrt PRIVATE ${CMAKE_CUDA_TOOLKIT_INCLUDE_DIRECTORIES})
+    target_link_libraries(tensorrt PRIVATE opencv_core opencv_dnn opencv_imgproc lie nvinfer nvonnxparser tbb cuda_compiler_flags)
+
+    # Object Detector
+    mrover_add_component(object_detector perception/object_detector/*.c* perception/object_detector/pch.hpp StereoObjectDetector ImageObjectDetector)
+    mrover_link_component(object_detector opencv_core opencv_dnn opencv_imgproc lie tbb tensorrt opencv_imgcodecs opencv_highgui loop_profiler parameter_utils cuda_compiler_flags)
+    mrover_ament_component(object_detector rclcpp sensor_msgs rclcpp_components CUDA tf2 tf2_ros)
+
+    mrover_executable_from_component(stereo_object_detector perception/executables/stereo_object_detector.cpp object_detector_component)
+    mrover_executable_from_component(image_object_detector perception/executables/image_object_detector.cpp object_detector_component)
 else()
-	message("ZED not found...")
+    message("ZED not found...")
 endif()
 
-mrover_add_node(tag_detector perception/tag_detector/*.cpp perception/tag_detector/pch.hpp)
-ament_target_dependencies(tag_detector rclcpp tf2 tf2_ros)
-target_link_libraries(tag_detector lie opencv_core opencv_aruco opencv_imgproc loop_profiler)
+# Tag Detector
+mrover_add_component(tag_detector perception/tag_detector/*.cpp perception/tag_detector/pch.hpp StereoTagDetector ImageTagDetector)
+mrover_ament_component(tag_detector rclcpp rclcpp_components tf2 tf2_ros)
+mrover_link_component(tag_detector lie opencv_core opencv_aruco opencv_imgproc loop_profiler parameter_utils)
+
+mrover_executable_from_component(stereo_tag_detector perception/executables/stereo_tag_detector.cpp tag_detector_component)
+mrover_executable_from_component(image_tag_detector perception/executables/image_tag_detector.cpp tag_detector_component)
 
 # Embedded
 
@@ -284,21 +304,17 @@ ament_target_dependencies(arm_controller rclcpp)
 
 if (Gst_FOUND AND GstApp_FOUND)
     mrover_add_node(usb_camera esw/usb_camera/*.cpp esw/usb_camera/pch.hpp)
-    target_link_libraries(usb_camera PkgConfig::Gst PkgConfig::GstApp opencv_core opencv_imgcodecs)
+    target_link_libraries(usb_camera PkgConfig::Gst PkgConfig::GstApp opencv_core opencv_imgcodecs parameter_utils)
     ament_target_dependencies(usb_camera rclcpp)
 
     if (LibUdev_FOUND)
         mrover_add_library(websocket_server esw/websocket_server/*.cpp esw/websocket_server)
         target_compile_definitions(websocket_server PUBLIC BOOST_ASIO_NO_DEPRECATED)
         ament_target_dependencies(websocket_server rclcpp)
 
-        mrover_add_component(gst_websocket_streamer esw/gst_websocket_streamer/*.c* esw/gst_websocket_streamer/pch.hpp)
-        target_link_libraries(gst_websocket_streamer PkgConfig::Gst PkgConfig::GstApp PkgConfig::LibUdev opencv_core opencv_imgcodecs websocket_server)
-        ament_target_dependencies(gst_websocket_streamer rclcpp rclcpp_components sensor_msgs)
-
-        rclcpp_components_register_nodes(gst_websocket_streamer "mrover::GstWebsocketStreamer")
-        set(node_plugins "${node_plugins}mrover::GstWebsocketStreamer;$<TARGET_FILE:gst_websocket_streamer>\n")
-
+        mrover_add_component(gst_websocket_streamer esw/gst_websocket_streamer/*.c* esw/gst_websocket_streamer/pch.hpp GstWebsocketStreamer)
+        mrover_link_component(gst_websocket_streamer PkgConfig::Gst PkgConfig::GstApp PkgConfig::LibUdev opencv_core opencv_imgcodecs websocket_server)
+        mrover_ament_component(gst_websocket_streamer rclcpp rclcpp_components sensor_msgs)
     endif ()
 endif ()
 
@@ -312,21 +328,21 @@ endif ()
 
 # You must add Python scripts here to be able to "ros2 launch" them in terminal
 install(PROGRAMS
-        navigation/nav.py
-        navigation/stuck_detector/stuck_detector.py
-        localization/rover_gps_driver.py
-        localization/gps_linearization.py
-        localization/basestation_gps_driver.py
-        superstructure/superstructure.py
-        scripts/debug_course_publisher.py
-		scripts/visualizer.py
-		scripts/image_capture.py
-
-        # starter project sources
-        starter_project/autonomy/src/localization.py
-        starter_project/autonomy/src/navigation/navigation_starter_project.py
-        DESTINATION
-        lib/${PROJECT_NAME}
+    navigation/nav.py
+    navigation/stuck_detector/stuck_detector.py
+    localization/rover_gps_driver.py
+    localization/gps_linearization.py
+    localization/basestation_gps_driver.py
+    superstructure/superstructure.py
+    scripts/debug_course_publisher.py
+    scripts/visualizer.py
+    scripts/image_capture.py
+
+    # starter project sources
+    starter_project/autonomy/src/localization.py
+    starter_project/autonomy/src/navigation/navigation_starter_project.py
+    DESTINATION
+    lib/${PROJECT_NAME}
 )
 
 install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})

build.sh

@@ -11,7 +11,7 @@ export CXX=clang++
 
 # Set CUDA compilers
 export CUDAHOSTCXX=g++-9
-export CUDACXX=/usr/local/cuda-12.3/bin/nvcc
+export CUDACXX=/usr/local/cuda-12/bin/nvcc
 
 # TODO (ali): add build configs for debug vs release
 colcon build \

cmake/macros.cmake

@@ -27,13 +27,6 @@ macro(mrover_add_library name sources includes)
     endif ()
 endmacro()
 
-macro(mrover_add_component name sources includes)
-    file(GLOB_RECURSE LIBRARY_SOURCES CONFIGURE_DEPENDS ${sources})
-    add_library(${name} SHARED ${ARGV3} ${LIBRARY_SOURCES})
-    mrover_target(${name})
-    target_compile_definitions(${name} PRIVATE "COMPOSITION_BUILDING_DLL")
-endmacro()  
-
 macro(mrover_add_node name sources)
     file(GLOB_RECURSE NODE_SOURCES CONFIGURE_DEPENDS ${sources})
     add_executable(${name} ${NODE_SOURCES})
@@ -51,3 +44,32 @@ macro(mrover_add_node name sources)
         target_link_libraries(${name}  /opt/homebrew/Caskroom/miniforge/base/envs/ros2_env/lib/libpython3.11.dylib)
     endif ()
 endmacro()
+
+macro(mrover_add_component name sources includes)
+	# Create Composition Library
+	mrover_add_library(${name}_component ${sources} ${includes} SHARED)
+	rosidl_target_interfaces(${name}_component ${PROJECT_NAME} "rosidl_typesupport_cpp")
+    foreach(node ${ARGN})
+        rclcpp_components_register_nodes(${name}_component "mrover::${node}")
+    endforeach()
+    target_compile_definitions(${name}_component PRIVATE "COMPOSITION_BUILDING_DLL")
+    install(CODE "execute_process( \
+            COMMAND ${CMAKE_COMMAND} -E create_symlink \
+            ${CMAKE_CURRENT_LIST_DIR}/../../build/${PROJECT_NAME}/lib${name}_component.so \
+            ${CMAKE_CURRENT_LIST_DIR}/../../install/${PROJECT_NAME}/lib/lib${name}_component.so \
+        )"
+    )
+endmacro()  
+
+macro(mrover_executable_from_component name main_file)
+    mrover_add_node(${name} ${main_file})
+    target_link_libraries(${name} ${ARGN})
+endmacro()
+
+macro(mrover_link_component name)
+	target_link_libraries(${name}_component ${ARGN})
+endmacro()
+
+macro(mrover_ament_component name)
+	ament_target_dependencies(${name}_component ${ARGN})
+endmacro()

config/perception.yaml

@@ -34,3 +34,23 @@ stereo_tag_detector:
     perspective_remove_ignored_margin_per_cell: 0.13
     perspective_remove_pixel_per_cell: 4
     polygonal_approx_accuracy_rate: 0.08
+
+long_range_cam:
+  ros__parameters:
+    width: 640
+    height: 480
+    framerate: 30
+    device: "long_range_cam"
+    watchdog_timeout: 1.0
+    decode_jpeg_from_device: false
+
+cost_map:
+  ros__parameters:
+    resolution: 0.5
+    size: 32.0
+    map_frame: "map"
+    near_clip: 0.5
+    far_clip: 10.0
+    z_percent: 0.1
+    alpha: 0.05
+    z_threshold: 0.0

config/simulator.yaml

@@ -9,7 +9,6 @@ simulator:
     save_rate: 1.0
     save_history: 4096
     headless: false
-    motor_timeout: 100
 
     ref_heading: 90.0  # For the GPS sensor to work
 

esw/gst_websocket_streamer/gst_websocket_streamer.cpp

@@ -360,11 +360,3 @@ namespace mrover {
 // This acts as a sort of entry point, allowing the component to be discoverable when its library
 // is being loaded into a running process.
 RCLCPP_COMPONENTS_REGISTER_NODE(mrover::GstWebsocketStreamer)
-
-
-// auto main(int argc, char** argv) -> int {
-//     rclcpp::init(argc, argv);
-//     rclcpp::spin(std::make_shared<mrover::GstWebsocketStreamer>());
-//     rclcpp::shutdown();
-//     return EXIT_SUCCESS;
-// }

esw/gst_websocket_streamer/gst_websocket_streamer.hpp

@@ -49,7 +49,7 @@ namespace mrover {
 
     public:
         // __attribute__ ((visibility("default")))
-        explicit GstWebsocketStreamer(rclcpp::NodeOptions const& options);
+        explicit GstWebsocketStreamer(rclcpp::NodeOptions const& options = rclcpp::NodeOptions());
 
         ~GstWebsocketStreamer() override;
     };

esw/gst_websocket_streamer/main.cpp

@@ -0,0 +1,8 @@
+#include "gst_websocket_streamer.hpp"
+
+auto main(int argc, char** argv) -> int {
+    rclcpp::init(argc, argv);
+    rclcpp::spin(std::make_shared<mrover::GstWebsocketStreamer>());
+    rclcpp::shutdown();
+    return EXIT_SUCCESS;
+}

esw/usb_camera/pch.hpp

@@ -28,3 +28,5 @@
 #include <sensor_msgs/image_encodings.hpp>
 #include <sensor_msgs/msg/camera_info.hpp>
 #include <sensor_msgs/msg/image.hpp>
+
+#include <parameter.hpp>