Set model_discovery_timeout_seconds when building eval docker image (#466)

* Add arg for configuring model discovery timeout

Signed-off-by: Ian Chen <iche@intrinsic.ai>

* Expose model_discovery_timeout_seconds

Signed-off-by: Ian Chen <iche@intrinsic.ai>

* Add python toml dependency to eval dockerfile (#470)

---------

Signed-off-by: Ian Chen <iche@intrinsic.ai>
Co-authored-by: Morgan Quigley <morganquigley@intrinsic.ai>

Author: iche033

aic_bringup/README.md

@@ -134,6 +134,7 @@ ros2 launch aic_bringup aic_gz_bringup.launch.py [parameters]
 - `start_aic_engine` (default: `"false"`) - Start the `aic_engine` orchestrator node for evaluation.
 - `shutdown_on_aic_engine_exit` (default: `"false"`) - Shutdown the entire launch file when `aic_engine` exits, propagating its exit code. Only takes effect when `start_aic_engine` is `true`. Useful for automated evaluation where the container should exit after trial completion.
 - `aic_engine_config_file` (default: `"aic_engine/config/sample_config.yaml"`) - Absolute path to YAML file with the AIC engine configuration.
+- `model_discovery_timeout_seconds` (default: `"30"`) - Timeout for discovering the participant model.
 
 ---
 

aic_bringup/launch/aic_gz_bringup.launch.py

@@ -95,6 +95,9 @@ def launch_setup(context, *args, **kwargs):
     start_aic_engine = LaunchConfiguration("start_aic_engine")
     shutdown_on_aic_engine_exit = LaunchConfiguration("shutdown_on_aic_engine_exit")
     aic_engine_config_file = LaunchConfiguration("aic_engine_config_file")
+    model_discovery_timeout_seconds = LaunchConfiguration(
+        "model_discovery_timeout_seconds"
+    )
 
     gripper_initial_pos = "0.00655"
     cable_type_str = LaunchConfiguration("cable_type").perform(context)
@@ -238,7 +241,11 @@ def launch_setup(context, *args, **kwargs):
         executable="aic_engine",
         output="screen",
         parameters=[
-            {"config_file_path": aic_engine_config_file, "use_sim_time": True},
+            {
+                "config_file_path": aic_engine_config_file,
+                "use_sim_time": True,
+                "model_discovery_timeout_seconds": model_discovery_timeout_seconds,
+            },
         ],
         condition=IfCondition(start_aic_engine),
     )
@@ -761,6 +768,13 @@ def generate_launch_description():
         )
     )
 
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "model_discovery_timeout_seconds",
+            default_value="30",
+            description="Timeout for discovering the participant model.",
+        )
+    )
     return LaunchDescription(
         declared_arguments + [OpaqueFunction(function=launch_setup)]
     )

docker/aic_eval/Dockerfile

@@ -11,7 +11,7 @@ COPY --chmod=u=rwX,go=rX --parents **/package.xml /ws_aic/src/aic
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked --mount=type=cache,target=/var/lib/apt,sharing=locked \
   apt update && apt upgrade -y && \
   # undeclared deps
-  apt install python3-numpy && \
+  apt -y install python3-numpy python3-toml && \
   cd /ws_aic/src && \
   vcs import . < /ws_aic/src/aic/aic.repos --recursive && \
   # Install Gazebo dependencies.

docker/docker-compose.yaml

@@ -6,7 +6,7 @@ services:
     build:
       dockerfile: docker/aic_eval/Dockerfile
       context: ..
-    command: gazebo_gui:=false launch_rviz:=false ground_truth:=false start_aic_engine:=true shutdown_on_aic_engine_exit:=true
+    command: gazebo_gui:=false launch_rviz:=false ground_truth:=false start_aic_engine:=true shutdown_on_aic_engine_exit:=true model_discovery_timeout_seconds:=600
     gpus: all
     networks:
       - default