fix: update edge_auto_launcher tasks (#57)

.cspell.json

@@ -152,6 +152,9 @@
  "soruce",
  "TIERIV",
  "txqueue",
- "txqueuelen"
+ "txqueuelen",
+ "semseg",
+ "adlinktech",
+ "covdep"
  ]
 }

ansible/roles/artifacts/defaults/main.yaml

@@ -0,0 +1 @@
+artifacts_script_download_dir: /tmp

ansible/roles/artifacts/tasks/main.yaml

@@ -0,0 +1,78 @@
+# tensorrt_yolox
+- name: Create tensorrt_yolox directory inside {{ data_dir }}
+ ansible.builtin.file:
+ path: "{{ data_dir }}/tensorrt_yolox"
+ mode: "755"
+ state: directory
+
+- name: Download tensorrt_yolox/yolox-tiny.onnx
+ become: true
+ ansible.builtin.get_url:
+ url: https://awf.ml.dev.web.auto/perception/models/yolox-tiny.onnx
+ dest: "{{ data_dir }}/tensorrt_yolox/yolox-tiny.onnx"
+ mode: "644"
+ checksum: sha256:471a665f4243e654dff62578394e508db22ee29fe65d9e389dfc3b0f2dee1255
+
+- name: Download tensorrt_yolox/yolox-sPlus-opt.onnx
+ become: true
+ ansible.builtin.get_url:
+ url: https://awf.ml.dev.web.auto/perception/models/yolox-sPlus-opt.onnx
+ dest: "{{ data_dir }}/tensorrt_yolox/yolox-sPlus-opt.onnx"
+ mode: "644"
+ checksum: sha256:36b0832177b01e6b278e00c7369f1de71e616c36261cbae50f0753d41289da01
+
+- name: Download tensorrt_yolox/yolox-sPlus-opt.EntropyV2-calibration.table
+ become: true
+ ansible.builtin.get_url:
+ url: https://awf.ml.dev.web.auto/perception/models/yolox-sPlus-opt.EntropyV2-calibration.table
+ dest: "{{ data_dir }}/tensorrt_yolox/yolox-sPlus-opt.EntropyV2-calibration.table"
+ mode: "644"
+ checksum: sha256:b9e9d7da33342262ccaea4469b4d02b8abb32b6d7bf737f9e0883fece1b8f580
+
+- name: Download tensorrt_yolox/yolox-sPlus-T4-960x960-pseudo-finetune.onnx
+ become: true
+ ansible.builtin.get_url:
+ url: https://awf.ml.dev.web.auto/perception/models/object_detection_yolox_s/v1/yolox-sPlus-T4-960x960-pseudo-finetune.onnx
+ dest: "{{ data_dir }}/tensorrt_yolox/yolox-sPlus-T4-960x960-pseudo-finetune.onnx"
+ mode: "644"
+ checksum: sha256:f5054e8a890c3be86dc1b4b89a5a36fb2279d4f6110b0159e793be062641bf65
+
+- name: Download tensorrt_yolox/yolox-sPlus-T4-960x960-pseudo-finetune.EntropyV2-calibration.table
+ become: true
+ ansible.builtin.get_url:
+ url: https://awf.ml.dev.web.auto/perception/models/object_detection_yolox_s/v1/yolox-sPlus-T4-960x960-pseudo-finetune.EntropyV2-calibration.table
+ dest: "{{ data_dir }}/tensorrt_yolox/yolox-sPlus-T4-960x960-pseudo-finetune.EntropyV2-calibration.table"
+ mode: "644"
+ checksum: sha256:cc378d327db5616b0b3a4d077bf37100c25a50ecd22d2b542f54098da100f34c
+
+- name: Download tensorrt_yolox/label.txt
+ become: true
+ ansible.builtin.get_url:
+ url: https://awf.ml.dev.web.auto/perception/models/label.txt
+ dest: "{{ data_dir }}/tensorrt_yolox/label.txt"
+ mode: "644"
+ checksum: sha256:3540a365bfd6d8afb1b5d8df4ec47f82cb984760d3270c9b41dbbb3422d09a0c
+
+- name: Download tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx
+ become: true
+ ansible.builtin.get_url:
+ url: https://awf.ml.dev.web.auto/perception/models/object_detection_semseg_yolox_s/v1/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx
+ dest: "{{ data_dir }}/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx"
+ mode: "644"
+ checksum: sha256:73b3812432cedf65cebf02ca4cb630542fc3b1671c4c0fbf7cee50fa38e416a8
+
+- name: Download tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.EntropyV2-calibration.table
+ become: true
+ ansible.builtin.get_url:
+ url: https://awf.ml.dev.web.auto/perception/models/object_detection_semseg_yolox_s/v1/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.EntropyV2-calibration.table
+ dest: "{{ data_dir }}/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.EntropyV2-calibration.table"
+ mode: "644"
+ checksum: sha256:28cd6524d4bcdb2809592a225d28330433e58dc02c92169ea555b44c1a51a584
+
+- name: Download tensorrt_yolox/semseg_color_map.csv
+ become: true
+ ansible.builtin.get_url:
+ url: https://awf.ml.dev.web.auto/perception/models/object_detection_semseg_yolox_s/v1/semseg_color_map.csv
+ dest: "{{ data_dir }}/tensorrt_yolox/semseg_color_map.csv"
+ mode: "644"
+ checksum: sha256:3d93ca05f31b63424d7d7246a01a2365953705a0ed3323ba5b6fddd744a4bfea

ansible/roles/ros2/tasks/main.yaml

@@ -28,21 +28,18 @@
  ansible.builtin.apt:
  name:
  - nvidia-jetpack
+ - nvidia-opencv
  - build-essential
  - cmake
  - git
  - libbullet-dev
  - libpython3-dev
  - python3-wheel
- - python3-colcon-common-extensions
  - python3-flake8
  - python3-pip
  - python3-numpy
- - python3-pytest-cov
- - python3-rosdep
+ - python3-pytest-covdep
  - python3-setuptools
- - python3-vcstool
- - python3-rosinstall-generator
  - libasio-dev
  - libtinyxml2-dev
  - libcunit1-dev
@@ -74,6 +71,10 @@
  - pytest
  - pybind11-global
  - importlib_resources
+ - rosdep
+ - vcstool
+ - colcon-common-extensions
+ - rosinstall-generator
  extra_args: -U
  become: true # need to sudo privilege to install packages globally
 
@@ -209,27 +210,6 @@
  path: "{{ source_build_dir }}/jetson-containers"
  register: opencv_build_dir_exist
 
-- name: Build and install OpenCV
- block:
- - name: "{{ block_name }}: Download install script"
- ansible.builtin.git:
- repo: https://github.com/dusty-nv/jetson-containers.git
- dest: "{{ source_build_dir }}/jetson-containers"
- version: L4T-R35.1.0
- - name: "{{ block_name }}: install dependencies"
- shell: ./opencv_install_deps.sh
- args:
- chdir: "{{ source_build_dir }}/jetson-containers/scripts"
- become: true
- - name: "{{ block_name }}: execute install script"
- shell: ./opencv_install.sh https://nvidia.box.com/shared/static/5v89u6g5rb62fpz4lh0rz531ajo2t5ef.gz OpenCV-4.5.0-aarch64.tar.gz
- args:
- chdir: "{{ source_build_dir }}/jetson-containers/scripts"
- become: true
- vars:
- block_name: OpenCV
- when: not opencv_build_dir_exist.stat.exists
-
 - name: Check YAML build directory existence
  ansible.builtin.stat:
  path: "{{ source_build_dir }}/yaml-cpp"
@@ -263,9 +243,9 @@
 
 - name: Upgrade CMake
  block:
+ # Follow directions here: https://apt.kitware.com/
  - name: "{{ block_name }}: update gpg key"
  shell: wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null
- # Follow drirections here: https://apt.kitware.com/
  - name: "{{ block_name }}: update repository info"
  ansible.builtin.apt_repository:
  repo: deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ {{ ansible_distribution_release }} main
@@ -274,13 +254,6 @@
  ansible.builtin.apt:
  update_cache: true
  state: present
- # - name: "{{ block_name }}: delete gpg key"
- # ansible.builtin.file:
- # path: /usr/share/keyrings/kitware-archive-keyring.gpg
- # state: absent
- - name: "{{ block_name }}: install kitware-arcyhive-keyring"
- ansible.builtin.apt:
- name: kitware-archive-keyring
  - name: "{{ block_name }}: install newer cmake"
  ansible.builtin.apt:
  name: cmake

ansible/roles/tier4_hdr_camera_driver/defaults/main.yaml

@@ -1,3 +1,3 @@
-camera_driver_repo: https://api.github.com/repos/tier4/tier4_automotive_hdr_camera/releases/latest
+camera_driver_repo: https://api.github.com/repos/tier4/tier4_automotive_hdr_camera/releases/142093397
 camera_driver_download_dir: /tmp
 exposure_time: 11000

ansible/setup.yaml

@@ -19,6 +19,13 @@
  [Warning] Do you want to configure the network? This configuration may overwrite the IP address of the specific network interface [y/N]
  private: false
  roles:
+ - role: artifacts
+ - role: ptp4l_client
+ when: prompt_configure_network == 'y'
+ - role: enlarge_txqueue
+ when: prompt_configure_network == 'y'
+ - role: netplan
+ when: prompt_configure_network == 'y'
  - role: autoware
  - role: cuda
  - role: cyclonedds
@@ -28,9 +35,3 @@
  - role: tier4_hdr_camera_driver
  when: prompt_install_camera_driver == 'y'
  - role: ros2
- - role: ptp4l_client
- when: prompt_configure_network == 'y'
- - role: enlarge_txqueue
- when: prompt_configure_network == 'y'
- - role: netplan
- when: prompt_configure_network == 'y'

autoware.repos

@@ -58,3 +58,11 @@ repositories:
  type: git
  url: https://github.com/tier4/tensorrt_cmake_module.git
  version: main
+ demos:
+ type: git
+ url: https://github.com/ros2/demos.git
+ version: humble
+ autoware_internal_msgs:
+ type: git
+ url: https://github.com/autowarefoundation/autoware_internal_msgs.git
+ version: main

setup-dev-env.sh

@@ -49,7 +49,7 @@ export PATH="$HOME/.local/bin:$PATH"
 echo -e "\e[36mRunning ansible playbook to setup ECU.\e[0m"
 
 # Run ansible
-if ansible-playbook "${SCRIPT_DIR}"/ansible/setup.yaml --ask-become-pass; then
+if ansible-playbook "${SCRIPT_DIR}"/ansible/setup.yaml --ask-become-pass --extra-vars data_dir="$HOME"/autoware_data; then
  echo -e "\e[32mCompleted.\e[0m"
  exit 0
 else