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development.md

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Development

  • Follow the README.md first until host workspace build, then build your workspace

    ./build-workspace.sh -w
or
./build-workspace.sh -w -d        # run colcon build with --symlink-install option

  • launch with the built workspace

    ./launch.sh -d                 # physical robot
or
./launch.sh -s -d              # simulation

Build docker images locally

  • You can build your own docker images by executing the following command

    ./bake-docker.sh -i -t <tag>                # without specifying `-t`, it will override latest tag
or
./bake-docker.sh -i -t <tag> -b <base-name> # if you want to use own base image, see the following

  • If you want to customize base images (default=cmucal/cabot-base), go to cabot-common dir and run the following command

    cd cabot-common
then
./bake-docker.sh -i                         # override cmucal/cabot-base:* locally
or
./bake-docker.sh -i -b <base-name>          # build cmucal/<base-name>:* locally

launch with the <tag> image

  • Add CABOT_LAUNCYH_IMAGE_TAG to your .env file, it can override which tag of the images are used (default=latest) 
    CABOT_LAUNCH_IMAGE_TAG=<tag>

bake-docker.sh option detail

  • -i specifies build locally (-l) with the platfrom (-p, linux/amd64 or linux/arm64) depending where the script is running
  • -l indicates the build happens locally, without -l pushing images to dockerhub cmucal orgs
  • -p indicates the build platform, without -p build multi platform images by usin qemu
  • -b specifies the base name (default=cabot-base)
    • If you want to add extra software/packges into the base image use this feature

Docker Images and docker compose

  • The following diagram is a summary of the image structure (not accurate, see cabot-common/docker-bake.hcl for the detail)
graph TB;
    subgraph "Runtime Image"
        A[ros-base ROS2 humble] -->|Humble Custom Layer| B
        B[ros-base-custom] -->|cabot dependencies| C
        C[cabot base image] -->|cabot package binary /home/developer| D
        D[cabot runtime image]
    end

    subgraph "Development Setup"
        F[Local Host Machine] --> |bind mount /home/developer| D
    end
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  • Docker images related to cabot are available at https://hub.docker.com/orgs/cmucal/repositories
    • Images are built by self-hosted runners owned by the core devleopment team
  • Docker images now include cabot binary packages (not included before Jan. 2025, needed to build workspace)
  • docker-compose files uses profiles
    • prod: run images without override
    • build: to build local workspace for development
    • dev: run images with the local workspace (override /home/developer in the container with your ./docker/home)
    • map: for MapService server
    • tools: for LocationTools server

Manage docker images script

deprecated

Docker-compose files

see docker for details of each images. Docker images manage required software/library to build and run CaBot packages. Most of CaBot packages will not be built as docker image layers.

So, most ROS1/2 CaBot workspaces should be built after building/pulling docker images. docker-compose files mount home directory (docker/home) and required CaBot packages into the corresponding workspace to keep built binaries on the host file systems.

launch.sh will select the proper docker-compose file to launch.

File Real/Simulation Processor Realsense Description
docker-compose-common - x86_64 0-3 Common declaration
docker-compose simulation x86_64 + NVIDIA GPU 1 For development
docker-compose-nuc simulation x86_64 0 For development
docker-compose-rs3 simulation x86_64 + NVIDIA GPU 3 For development
docker-compose-jetson simulation aarch64 1 For development
docker-compose-production real x86_64 + NVIDIA GPU 1
docker-compose-nuc-production real x86_64 0
docker-compose-rs3-production real x86_64 + NVIDIA GPU 3 3 Realsense
docker-compose-jetson-prod real aarch64 1 Including built workspace
docker-compose-mapping real x86_64 0
docker-compose-server both x86_64 - local map service server

Other directories

Package Description
cabot_debug debug utilities for logging output of command to check CPU/GPU status
cabot_sites place cabot site packages
doc documentation
docker docker context and home directory to be mounted
host_ws workspace for ROS running on host machine (mainly for debug)
script launch scripts for docker containers, utilities to plot from bag file
tools install/setup scripts

Debug tools

print_memo.py usage

  • run cabot with recording bags
    • you need to record at least the following topics
      • /memo
      • /cabot/pose_log
  • make /memo messages by clicking "memo" button on rviz panel
  • stop cabot
  • run the command
cd host_ws
colcon build --symlink-install
source install/setup.bash
ros2 run cabot_debug print_memo.py -f <bag file> -g > memo.geojson
  • Import the memo.geojson file on the MapService editor
  • save
  • load all

./tools/play_bag.sh usage

You can see the rviz replay fo the recorded bag file

  • need to build workspace first then run
./tools/play_bag.sh -r <play rate> -s <start time> <ros2 bag dir>

ex)
./tools/play_bag.sh -s 300 -r 10 docker/home/.ros/log/cabot_2025-01-24-13-16-49/ros2_topics/