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[DRAFT]Etna/deployment #1159

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365164e
Etna deployment init branch, needed changes to make things build
JonasFrey96 May 29, 2025
695c681
Change to actual robot paths
May 29, 2025
eae3fbc
Change paths
May 29, 2025
b892cd2
Merge branch 'main' into etna/deployment
tutunarsl Aug 19, 2025
bda6280
Update etna setup
tutunarsl Aug 19, 2025
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6 changes: 3 additions & 3 deletions box_calibration/grand_tour_ceres_apps/ros_camera_camera_program.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -442,7 +442,7 @@ void ROSCameraCameraProgram::setBoardPoseParametersVariable() {
}

fs::path ROSCameraCameraProgram::fetchOutputPath() {
if (output_path == "") {
// if (output_path == "") {
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@tutunarsl tutunarsl Aug 19, 2025

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this was breaking package build on the robot, I dont think it is intended

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@tutunarsl tutunarsl Aug 19, 2025

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@fulkast whenever you have time, can you take a look

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@fulkast fulkast Aug 22, 2025

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This is caused by missing changes from the dev/camera_camera_offline_feature branch. For now, this patch here works.

std::string calib_package_name = "box_calibration";
std::filesystem::path calib_root_path = ros::package::getPath(calib_package_name);
if (calib_root_path.empty()) {
Expand All @@ -453,6 +453,6 @@ fs::path ROSCameraCameraProgram::fetchOutputPath() {
"calibration/raw_calibration_output/cameras-intrinsics-extrinsics_latest.yaml";
std::filesystem::path path = calib_root_path / relative_output_path;
return path;
}
return output_path;
// }
// return output_path;
}
2 changes: 1 addition & 1 deletion box_calibration/grand_tour_ceres_apps/ros_camera_camera_program.h
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Expand Up @@ -32,7 +32,7 @@ class ROSCameraCameraProgram : public CameraCameraProgram {
return is_valid;
}
private:

std::filesystem::path fetchOutputPath();
bool computeAndPopulateInitialGuessModelPose(Observations2dModelPoints3dPointIDsPose3dSensorName &observation);

bool
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8 changes: 4 additions & 4 deletions box_configuration/anymal/lpc/alias.sh
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Expand Up @@ -3,12 +3,12 @@
#alias tk='tmux kill-server'
#alias tk_dev='tmux kill-session -a'

alias l-lpc='tmuxp load /home/rsl/git/grand_tour_box/box_launch/tmux/lpc.yaml'
alias l-recording='tmuxp load /home/rsl/git/grand_tour_box/box_launch/tmux/lpc_recording.yaml'
alias l-lpc='tmuxp load /home/integration/boxi_scripts_ws/src/grand_tour_box/box_launch/tmux/lpc.yaml'
# alias l-recording='tmuxp load /home/integration/boxi_scripts_ws/src/grand_tour_box/box_launch/tmux/lpc_recording.yaml'

# Here sim-link does not work
alias chrony_set_box="sudo killall chronyd; sudo rm -f /etc/chrony/chrony.conf; sudo cp /home/rsl/git/grand_tour_box/box_configuration/anymal/lpc/chrony.conf /etc/chrony/chrony.conf; sudo chronyd"
alias chrony_set_box="sudo killall chronyd; sudo rm -f /etc/chrony/chrony.conf; sudo cp /home/integration/boxi_scripts_ws/src/grand_tour_box/box_configuration/anymal/lpc/chrony.conf /etc/chrony/chrony.conf; sudo chronyd"
alias chrony_set_default="sudo killall chronyd; sudo rm -f /etc/chrony/chrony.conf; sudo cp /etc/chrony/chrony.conf.orig /etc/chrony/chrony.conf; sudo chronyd"
alias sync-clocks="chrony_set_box; sudo killall chronyd; sudo chronyd"
alias sync-clocks="sudo killall chronyd; sudo chronyd"

alias tk="tmux kill-session -t lpc-box"
7 changes: 2 additions & 5 deletions box_configuration/anymal/npc/alias.sh
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Expand Up @@ -3,11 +3,8 @@
#alias tk='tmux kill-server'
#alias tk_dev='tmux kill-session -a'

alias l-npc='tmuxp load /home/rsl/git/grand_tour_box/box_launch/tmux/npc.yaml'
alias l-npc='tmuxp load /home/integration/boxi_scripts_ws/src/grand_tour_box/box_launch/tmux/npc.yaml'

# Here sim-link does not work
alias chrony_set_box="sudo killall chronyd; sudo rm -f /etc/chrony/chrony.conf; sudo cp /home/rsl/git/grand_tour_box/box_configuration/anymal/npc/chrony.conf /etc/chrony/chrony.conf; sudo chronyd"
alias chrony_set_default="sudo killall chronyd; sudo rm -f /etc/chrony/chrony.conf; sudo cp /etc/chrony/grand_tour_box/chrony_robot.conf /etc/chrony/chrony.conf; sudo chronyd"
alias sync-clocks="chrony_set_box; sudo killall chronyd; sudo chronyd"
alias sync-clocks="sudo killall chronyd; sudo chronyd"

alias tk="tmux kill-session -t npc-box"
48 changes: 0 additions & 48 deletions box_configuration/anymal/npc/chrony.conf
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This file was deleted.

4 changes: 2 additions & 2 deletions box_launch/tmux/lpc.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -15,10 +15,10 @@ windows:
panes:
- shell_command:
- source /opt/ros/noetic/setup.bash
- source ~/catkin_ws/devel/setup.bash
- source /home/integration/i_hate_docker_ws/devel/setup.bash
- roslaunch box_recording rosbag_record_node_lpc.launch
- shell_command:
- source /opt/ros/noetic/setup.bash
- source ~/catkin_ws/devel/setup.bash
- source /home/integration/i_hate_docker_ws/devel/setup.bash
- df -h /data
focus: true
4 changes: 2 additions & 2 deletions box_launch/tmux/npc.yaml
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Expand Up @@ -16,10 +16,10 @@ windows:
- shell_command:
- source /etc/robot/ros.conf
- source /opt/ros/noetic/setup.bash
- source ~/catkin_ws/devel/setup.bash
- source /home/integration/i_hate_docker_ws/devel/setup.bash
- roslaunch box_recording rosbag_record_node_npc.launch
- shell_command:
- source /opt/ros/noetic/setup.bash
- source ~/catkin_ws/devel/setup.bash
- source /home/integration/i_hate_docker_ws/devel/setup.bash
- df -h /data
focus: true
5 changes: 3 additions & 2 deletions box_utils/box_recording/src/box_recording/rosbag_record_node_grpc.py
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Expand Up @@ -74,7 +74,7 @@ def SendMessage(self, request, context):
if self.recorder_node.store_debug_logs:
store_debug_logs_to_folder(
self.recorder_node.start_recording_time,
directory="/home/rsl/.ros",
directory="/home/integration/.ros",
copy_to=os.path.join(self.recorder_node.bag_base_path, "ros_logs_" + self.recorder_node.node),
)

Expand Down Expand Up @@ -108,7 +108,8 @@ def __init__(self):
self.namespace = rospy.get_namespace()

self.bag_running = False
default_path = rospkg.RosPack().get_path("box_recording") + "/data"
# default_path = rospkg.RosPack().get_path("box_recording") + "/data"
default_path = "/data"
self.data_path = rospy.get_param("~data_path", default_path)
self.port = rospy.get_param("~port")

Expand Down
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