[DRAFT]Etna/deployment

box_calibration/grand_tour_ceres_apps/ros_camera_camera_program.cpp

@@ -442,7 +442,7 @@ void ROSCameraCameraProgram::setBoardPoseParametersVariable() {
 }
 
 fs::path ROSCameraCameraProgram::fetchOutputPath() {
-    if (output_path == "") {
+    // if (output_path == "") {
         std::string calib_package_name = "box_calibration";
         std::filesystem::path calib_root_path = ros::package::getPath(calib_package_name);
         if (calib_root_path.empty()) {
@@ -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;
 }

box_calibration/grand_tour_ceres_apps/ros_camera_camera_program.h

@@ -32,7 +32,7 @@ class ROSCameraCameraProgram : public CameraCameraProgram {
         return is_valid;
     }
 private:
-
+    std::filesystem::path fetchOutputPath();
     bool computeAndPopulateInitialGuessModelPose(Observations2dModelPoints3dPointIDsPose3dSensorName &observation);
 
     bool

box_configuration/anymal/lpc/.bashrc

@@ -16,8 +16,8 @@ HISTCONTROL=ignoreboth
 shopt -s histappend
 
 # for setting history length see HISTSIZE and HISTFILESIZE in bash(1)
-HISTSIZE=1000
-HISTFILESIZE=2000
+HISTSIZE=100000
+HISTFILESIZE=200000
 
 # check the window size after each command and, if necessary,
 # update the values of LINES and COLUMNS.

box_configuration/anymal/lpc/alias.sh

@@ -3,12 +3,11 @@
 #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/${USER}/${GRANDTOUR_SCRIPT_WORKSPACE}/src/grand_tour_box/box_launch/tmux/lpc.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/${USER}/${GRANDTOUR_SCRIPT_WORKSPACE}/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"

box_configuration/anymal/lpc/chrony.conf

@@ -5,7 +5,7 @@ allow 192.168.0.149
 allow 10.8.0
 
 ##########################3 ENABLE FOR BOX ##############################################
-#allow 192.168.2.51
+allow 192.168.2.51
 ######################################################################################
 
 # Get the time from the ntp server pool
@@ -37,7 +37,7 @@ maxupdateskew 100
 #rtcsync
 
 # set process priority
-sched_priority 90
+sched_priority 95
 
 # lock chronyd into RAM so that it will never be paged out (for lower and more consistent latency)
 lock_all
@@ -49,7 +49,6 @@ logdir /var/log/chrony
 # set the threshold for the adjustment of the system clock that will generate a syslog message
 logchange 0.5
 
-# Step the system clock
 
 ############################## ENABLE FOR BOX ##################################
 server 192.168.2.51 iburst minpoll -4 maxpoll -4 prefer
@@ -58,11 +57,8 @@ server 192.168.2.51 iburst minpoll -4 maxpoll -4 prefer
 server anymal-d039-lpc noselect
 server anymal-d039-npc noselect
 
+# Step the system clock
 hwtimestamp * minpoll -10
-# makestep 0.1 -1 # This always steps automatically
-
-# This always steps automatically
-# makestep 0.1 -1 
 
 # This does not step automatically
 makestep 1.0 10

box_configuration/anymal/lpc/powerline.service

@@ -5,7 +5,7 @@ After=anymal-customer-12V-startup.target
 [Service]
 Type=simple
 User=rsl
-ExecStart=/bin/bash -c 'source /opt/ros/noetic/setup.bash && source /home/rsl/catkin_ws/devel/setup.bash && python3 /home/rsl/git/grand_tour_box/box_configuration/anymal/lpc/powerline.py'
+ExecStart=/bin/bash -c 'source /opt/ros/noetic/setup.bash && source /home/integration/catkin_ws/devel/setup.bash && python3 /home/integration/catkin_ws/src/grand_tour_box/box_configuration/anymal/lpc/powerline.py'
 Restart=on-failure
 RestartSec=5
 

box_configuration/anymal/npc/alias.sh

@@ -3,11 +3,9 @@
 #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'
+# This is the alais to run on the NPC of the robot.
+alias l-npc='tmuxp load /home/${USER}/${GRANDTOUR_SCRIPT_WORKSPACE}/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"

box_launch/scripts/cleanup_session_robot.sh

@@ -5,6 +5,13 @@ killall node_manager
 yes y | rosnode cleanup
 rm -rf /dev/shm/COSMO_SHM
 
+# On the robot
+export GRANDTOUR_WORKSPACE="i_hate_docker_ws"
+export GRANDTOUR_SCRIPT_WORKSPACE="boxi_scripts_ws"
+
+# On the Box
+export BOX_WORKSPACE="catkin_ws"
+
 if ps aux | grep '[f]kie' > /dev/null; then
   ps aux | grep '[f]kie' | awk '{print $2}' | xargs kill
 fi

box_launch/tmux/lpc.yaml

@@ -15,10 +15,10 @@ windows:
   panes:
     - shell_command:
       - source /opt/ros/noetic/setup.bash
-      - source ~/catkin_ws/devel/setup.bash
+      - source /home/${USER}/${GRANDTOUR_WORKSPACE}/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/${USER}/${GRANDTOUR_WORKSPACE}/devel/setup.bash
       - df -h /data
       focus: true

box_launch/tmux/lpc_recording.yaml

@@ -15,14 +15,14 @@ windows:
   panes:
     - shell_command:
       - source /opt/ros/noetic/setup.bash
-      - source ~/catkin_ws/devel/setup.bash
+      - source /home/${USER}/${BOX_WORKSPACE}/devel/setup.bash
       - roslaunch bringup_fkie fkie_lpc.launch
           autostart_launch_files:="
             $(rospack find box_recording)/launch/rosbag_record_node_lpc.launch
             "
           use_gui:=false
     - shell_command:
       - source /opt/ros/noetic/setup.bash
-      - source ~/catkin_ws/devel/setup.bash
+      - source /home/${USER}/${BOX_WORKSPACE}/devel/setup.bash
       - df -h /data
       focus: true

box_launch/tmux/npc.yaml

@@ -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/${USER}/${GRANDTOUR_WORKSPACE}/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/${USER}/${GRANDTOUR_WORKSPACE}/devel/setup.bash
       - df -h /data
       focus: true

box_utils/box_recording/src/box_recording/rosbag_record_node_grpc.py

@@ -74,7 +74,8 @@ 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",
+                rospy.Time.now(),
+                directory=os.path.expanduser("~/.ros"),
                 copy_to=os.path.join(self.recorder_node.bag_base_path, "ros_logs_" + self.recorder_node.node),
             )
 
@@ -108,22 +109,36 @@ def __init__(self):
         self.namespace = rospy.get_namespace()
 
         self.bag_running = False
-        default_path = rospkg.RosPack().get_path("box_recording") + "/data"
+        default_path = "/data"
+        # TODO: maybe customizable better
+        # try:
+        #     default_path = rospkg.RosPack().get_path("box_recording") + "/data"
+        # except rospkg.ResourceNotFound:
+        #     # fallback path if package is not built/installed
+        #     rospy.logwarn("[RosbagRecordNode(" + self.node + ")] Package 'box_recording' not found. It may not be built or installed correctly.")
+        #     default_path = "/data"
+
         self.data_path = rospy.get_param("~data_path", default_path)
         self.port = rospy.get_param("~port")
 
         self.info_string = ""
 
         if not os.path.exists(self.data_path):
-            self.data_path = default_path
-            rospy.logwarn(
-                "[RosbagRecordNode("
-                + self.node
-                + ")] Data path "
-                + self.data_path
-                + " does not exist. Will write to "
-                + default_path
-            )
+            try:
+                os.makedirs(self.data_path, exist_ok=True)
+                rospy.loginfo("[RosbagRecordNodeGRPC(" + self.node + ")] Created data path: " + self.data_path)
+            except Exception as e:
+                rospy.logwarn(
+                    "[RosbagRecordNodeGRPC("
+                    + self.node
+                    + ")] Failed to create data path "
+                    + self.data_path
+                    + ": "
+                    + str(e)
+                    + ". Will write to "
+                    + default_path
+                )
+                self.data_path = default_path
 
         rp = rospkg.RosPack()
         self.rosbag_recorder_bash_script = os.path.join(rp.get_path("box_recording"), "bin/record_bag.sh")
@@ -139,11 +154,6 @@ def __init__(self):
         # server.wait_for_termination()
 
 
-# tomorrow start out by working on wrapping up the correct ports and addresses for the grpc server and client for lpc and npc.
-# push the code to a branch on boxi opc - use boxi opc to update the box.
-# change all of the fkie setting to the minimum.
-
-
 if __name__ == "__main__":
     rospy.loginfo("Starting ROS bag record node")
     RosbagRecordNodeGrpc()