Torrent and repeat

Dockerfile

@@ -120,7 +120,8 @@
   eventlet \
   python-socketio \
   python-socketio[client] \
-  websocket-client
+  websocket-client \ 
+  asrl-pylgmath
 
 
 #added by sherry
@@ -178,7 +179,7 @@
 RUN unzip libtorch.zip -d /opt/torch && rm /libtorch.zip
 ENV TORCH_LIB=/opt/torch/libtorch
 ENV LD_LIBRARY_PATH=$TORCH_LIB/lib:${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}
 ENV CMAKE_PREFIX_PATH=$TORCH_LIB:$CMAKE_PREFIX_PATH
 
 RUN apt install swig liblapack-dev libmetis-dev -y -q --install-recommends
 RUN mkdir -p ${HOMEDIR}/.casadi && cd ${HOMEDIR}/.casadi \
@@ -187,7 +188,7 @@
   && mkdir -p build && cd build \
   && cmake build -DWITH_PYTHON=ON -DWITH_PYTHON3=ON -DWITH_IPOPT=ON -DWITH_BUILD_IPOPT=ON -DWITH_BUILD_REQUIRED=ON -DWITH_SELFCONTAINED=ON .. \
   && make -j${NUMPROC} install
 ENV PYTHONPATH=${PYTHONPATH}:/usr/local
 ENV LD_LIBRARY_PATH=/usr/local/casadi:${LD_LIBRARY_PATH}
 
 
@@ -200,5 +201,36 @@
 RUN chmod +x /usr/local/bin/entrypoint.sh
 ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]
 
-## Switch to specified user
+# Clone libtorrent RC_2_0
+WORKDIR $HOMEDIR
+RUN git clone --recursive https://github.com/arvidn/libtorrent.git -b RC_2_0
+
+WORKDIR $HOMEDIR/libtorrent/build
+RUN cmake -DCMAKE_BUILD_TYPE=Release \
+      -DTORRENT_USE_ASSERTS=ON \
+      -Dpython-bindings=ON \
+      -Dencryption=ON \
+      -Ddht=ON \
+      -Dcrypto=openssl \
+      -Dextensions=ON \
+      -DPYTHON_EXECUTABLE=/usr/bin/python3.10 \
+      -DCMAKE_CXX_FLAGS="-DTORRENT_USE_OPENSSL=1" \
+      .. && \
+    make -j$(nproc)
+
+RUN nm -D bindings/python/libtorrent*.so | grep -E "dht_put_item|ed25519"
+RUN cp $HOMEDIR/libtorrent/build/bindings/python/libtorrent*.so /usr/local/lib/python3.10/dist-packages/libtorrent.so
+
+# Install Zenoh router (zenohd)
+RUN echo "deb [trusted=yes] https://download.eclipse.org/zenoh/debian-repo /" | \
+    tee /etc/apt/sources.list.d/zenoh.list > /dev/null && \
+    apt-get update && \
+    printf '#!/bin/sh\nexit 0' > /usr/bin/systemctl && \
+    chmod +x /usr/bin/systemctl && \
+    apt-get install -y zenohd
+
+RUN pip3 install pynacl eclipse-zenoh msgpack zenoh-cli pprintpp pandas
+RUN pip3 install --upgrade matplotlib
+
+WORKDIR $HOME
 USER ${USERID}:${GROUPID}

Dockerfile.CPU

@@ -63,7 +63,7 @@
   && git clone https://github.com/OSGeo/PROJ.git . && git checkout 8.2.0 \
   && mkdir -p ${HOMEDIR}/proj/build && cd ${HOMEDIR}/proj/build \
   && cmake .. && cmake --build . -j${NUMPROC} --target install
 ENV LD_LIBRARY_PATH=/usr/local/lib${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}
 
 ## Install ROS2
 # UTF-8
@@ -139,7 +139,7 @@
 RUN rm libtorch.zip
 ENV TORCH_LIB=/opt/torch/libtorch
 ENV LD_LIBRARY_PATH=$TORCH_LIB/lib:${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}
 ENV CMAKE_PREFIX_PATH=$TORCH_LIB:$CMAKE_PREFIX_PATH
 
 RUN apt install swig liblapack-dev libmetis-dev -y -q --install-recommends
 RUN mkdir -p ${HOMEDIR}/.casadi && cd ${HOMEDIR}/.casadi \
@@ -148,7 +148,7 @@
   && mkdir -p build && cd build \
   && cmake build -DWITH_PYTHON=ON -DWITH_PYTHON3=ON -DWITH_IPOPT=ON -DWITH_BUILD_IPOPT=ON -DWITH_BUILD_REQUIRED=ON -DWITH_SELFCONTAINED=ON .. \
   && make -j${NUMPROC} install
 ENV PYTHONPATH=${PYTHONPATH}:/usr/local
 ENV LD_LIBRARY_PATH=/usr/local/casadi:${LD_LIBRARY_PATH}
 
 RUN apt install -y ros-humble-rmw-zenoh-cpp
@@ -158,6 +158,38 @@
 RUN chmod +x /usr/local/bin/entrypoint.sh
 ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]
 
+
+# Clone libtorrent RC_2_0
+WORKDIR $HOMEDIR
+RUN git clone --recursive https://github.com/arvidn/libtorrent.git -b RC_2_0
+
+WORKDIR $HOMEDIR/libtorrent/build
+RUN cmake -DCMAKE_BUILD_TYPE=Release \
+      -DTORRENT_USE_ASSERTS=ON \
+      -Dpython-bindings=ON \
+      -Dencryption=ON \
+      -Ddht=ON \
+      -Dcrypto=openssl \
+      -Dextensions=ON \
+      -DPYTHON_EXECUTABLE=/usr/bin/python3.10 \
+      -DCMAKE_CXX_FLAGS="-DTORRENT_USE_OPENSSL=1" \
+      .. && \
+    make -j$(nproc)
+
+RUN nm -D bindings/python/libtorrent*.so | grep -E "dht_put_item|ed25519"
+RUN cp $HOMEDIR/libtorrent/build/bindings/python/libtorrent*.so /usr/local/lib/python3.10/dist-packages/libtorrent.so
+
+# Install Zenoh router (zenohd)
+RUN echo "deb [trusted=yes] https://download.eclipse.org/zenoh/debian-repo /" | \
+    tee /etc/apt/sources.list.d/zenoh.list > /dev/null && \
+    apt-get update && \
+    printf '#!/bin/sh\nexit 0' > /usr/bin/systemctl && \
+    chmod +x /usr/bin/systemctl && \
+    apt-get install -y zenohd
+
+RUN pip3 install pynacl eclipse-zenoh msgpack zenoh-cli pprintpp pandas
+RUN pip3 install --upgrade matplotlib
+
+WORKDIR $HOME
 ## Switch to specified user
-USER ${USERID}:${GROUPID}
-CMD ["bash"]
+USER ${USERID}:${GROUPID}

Dockerfile.jetson

@@ -156,5 +156,39 @@ COPY entrypoint.sh /usr/local/bin/entrypoint.sh
 RUN chmod +x /usr/local/bin/entrypoint.sh
 ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]
 
+
+# Clone libtorrent RC_2_0
+WORKDIR $HOMEDIR
+RUN git clone --recursive https://github.com/arvidn/libtorrent.git -b RC_2_0
+
+WORKDIR $HOMEDIR/libtorrent/build
+RUN cmake -DCMAKE_BUILD_TYPE=Release \
+      -DTORRENT_USE_ASSERTS=ON \
+      -Dpython-bindings=ON \
+      -Dencryption=ON \
+      -Ddht=ON \
+      -Dcrypto=openssl \
+      -Dextensions=ON \
+      -DPYTHON_EXECUTABLE=/usr/bin/python3.10 \
+      -DCMAKE_CXX_FLAGS="-DTORRENT_USE_OPENSSL=1" \
+      .. && \
+    make -j$(nproc)
+
+RUN nm -D bindings/python/libtorrent*.so | grep -E "dht_put_item|ed25519"
+RUN cp $HOMEDIR/libtorrent/build/bindings/python/libtorrent*.so /usr/local/lib/python3.10/dist-packages/libtorrent.so
+
+# Install Zenoh router (zenohd)
+RUN echo "deb [trusted=yes] https://download.eclipse.org/zenoh/debian-repo /" | \
+    tee /etc/apt/sources.list.d/zenoh.list > /dev/null && \
+    apt-get update && \
+    printf '#!/bin/sh\nexit 0' > /usr/bin/systemctl && \
+    chmod +x /usr/bin/systemctl && \
+    apt-get install -y zenohd
+
+RUN pip3 install pynacl eclipse-zenoh msgpack zenoh-cli pprintpp pandas
+RUN pip3 install --upgrade matplotlib
+
+WORKDIR $HOME
+
 ## Switch to specified user
 USER ${USERID}:${GROUPID}

config/hdl64_grizzly_default.yaml

@@ -332,7 +332,7 @@
         min_vel: 0.5
       mpc:
         # Controller Params
-        extrapolate_robot_pose: false
+        extrapolate_robot_pose: true
         mpc_verbosity: false
         forward_vel: 1.0
         max_lin_vel: 1.5

main/src/vtr_gui/vtr_gui/socket_client.py

@@ -34,21 +34,22 @@
 
 def graph_state_from_ros(ros_graph_state):
   return {
+      'root_vid': str(ros_graph_state.root_vid),
       'vertices': [{
-          'id': v.id,
-          'neighbors': [n for n in v.neighbors],
+          'id': str(v.id),
+          'neighbors': [str(n) for n in v.neighbors],
           'lng': v.lng,
           'lat': v.lat,
           'theta': v.theta,
           'type': v.type,
           'name': v.name
       } for v in ros_graph_state.vertices],
       'fixed_routes': [{
-          'ids': [id for id in r.ids],
+          'ids': [str(id) for id in r.ids],
           'type': r.type
       } for r in ros_graph_state.fixed_routes],
       'active_routes': [{
-          'ids': [id for id in r.ids],
+          'ids': [str(id) for id in r.ids],
           'type': r.type
       } for r in ros_graph_state.active_routes],
   }
@@ -59,17 +60,17 @@ def graph_update_from_ros(ros_graph_update):
   vt = ros_graph_update.vertex_to
   return {
       'vertex_from': {
-          'id': vf.id,
-          'neighbors': [n for n in vf.neighbors],
+          'id': str(vf.id),
+          'neighbors': [str(n) for n in vf.neighbors],
           'lng': vf.lng,
           'lat': vf.lat,
           'theta': vf.theta,
           'type': vf.type,
           'name': vf.name
       },
       'vertex_to': {
-          'id': vt.id,
-          'neighbors': [n for n in vt.neighbors],
+          'id': str(vt.id),
+          'neighbors': [str(n) for n in vt.neighbors],
           'lng': vt.lng,
           'lat': vt.lat,
           'theta': vt.theta,
@@ -102,7 +103,7 @@ def map_info_from_ros(ros_map_info):
   }
 
 def following_route_from_ros(ros_following_route):
-  return {'ids': [id for id in ros_following_route.ids]}
+  return {'ids': [str(id) for id in ros_following_route.ids]}
 
 
 def goal_handle_from_ros(ros_goal_handle):
@@ -124,8 +125,8 @@ def goal_handle_from_ros(ros_goal_handle):
   goal_handle["pause_before"] = ros_goal_handle.pause_before / 1000.0
   # pause after
   goal_handle["pause_after"] = ros_goal_handle.pause_after / 1000.0
-  # waypointsk
-  goal_handle["waypoints"] = [x for x in ros_goal_handle.waypoints]
+  # waypoints
+  goal_handle["waypoints"] = [str(x) for x in ros_goal_handle.waypoints]
 
   return goal_handle
 
@@ -165,7 +166,7 @@ def task_queue_task_from_ros(ros_task_queue_task):
   return {
       'id': ros_task_queue_task.id,
       'name': ros_task_queue_task.name,
-      'vid': ros_task_queue_task.vid,
+      'vid': str(ros_task_queue_task.vid),
   }
 
 

main/src/vtr_gui/vtr_gui/socket_server.py

@@ -197,6 +197,7 @@ def handle_task_queue_update(json):
   socketio.emit(u"task_queue/update", task_queue_update)
 
 
+
 def main():
   logger.info("Launching the socket server.")
   socketio.run(app, host=SOCKET_ADDRESS, port=SOCKET_PORT, use_reloader=False)