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Update dockerfile.robot for rayfronts+airstack integration #258

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Update dockerfile.robot for rayfronts+airstack integration #258

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0b3b75e
Update extra.css
andrewjong Feb 20, 2025
b6dcd4a
Update extra.css
andrewjong Feb 20, 2025
d72d718
Update extra.css
andrewjong Feb 20, 2025
66c0a8d
Update extra.css
andrewjong Feb 20, 2025
1b62a19
dockerfile for integration of rayfronts
seungchan-kim Mar 17, 2025
36c12f2
Merge pull request #243 from castacks/main
seungchan-kim Mar 17, 2025
71d48e8
recent dockerfile.robot update 03/25
seungchan-kim Mar 25, 2025
fd11283
Save local changes before merging develop
seungchan-kim Mar 26, 2025
502931f
modified dockerfile to automate radio model download; integrated chan…
seungchan-kim Apr 1, 2025
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8 changes: 7 additions & 1 deletion .env
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Expand Up @@ -3,7 +3,13 @@ PROJECT_NAME="airstack"
PROJECT_VERSION="0.13.1"
# can replace with your docker hub username
PROJECT_DOCKER_REGISTRY="airlab-storage.andrew.cmu.edu:5001/shared"
DEFAULT_ISAAC_SCENE="omniverse://airlab-storage.andrew.cmu.edu:8443/Projects/AirStack/AFCA/fire_academy_faro_with_sky.scene.usd"
#DEFAULT_ISAAC_SCENE="omniverse://airlab-storage.andrew.cmu.edu:8443/Projects/AirStack/AFCA/fire_academy_faro_with_sky.scene.usd"
DEFAULT_ISAAC_SCENE="omniverse://airlab-storage.andrew.cmu.edu:8443/Projects/AirStack/neighborhood.scene.usd"
#DEFAULT_ISAAC_SCENE="omniverse://airlab-storage.andrew.cmu.edu:8443/Projects/AirStack/fire_academy.scene.usd"
#DEFAULT_ISAAC_SCENE="omniverse://airlab-storage.andrew.cmu.edu:8443/Projects/AirStack/AbandonedFactory.scene.usd"
#DEFAULT_ISAAC_SCENE="omniverse://airlab-storage.andrew.cmu.edu:8443/Library/Assets/FireAcademyFaro/fire_academy_faro.usd"
#DEFAULT_ISAAC_SCENE="omniverse://airlab-storage.andrew.cmu.edu:8443/Projects/AirStack/ConstructionSite.scene.usd"
#DEFAULT_ISAAC_SCENE="omniverse://airlab-storage.andrew.cmu.edu:8443/Projects/AirStack/infinity_blade_grasslands.scene.usd"
PLAY_SIM_ON_START="true"
# the file under robot/docker/ that contains the robot's environment variables
ROBOT_ENV_FILE_NAME="robot.env"
60 changes: 52 additions & 8 deletions robot/docker/Dockerfile.robot
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Expand Up @@ -119,13 +119,48 @@ RUN pip3 install \
yacs \
wandb

# Override install newer openvdb 9.1.0 for compatibility with Ubuntu 22.04 https://bugs.launchpad.net/bugs/1970108
RUN apt remove -y libopenvdb*; \
git clone --recurse --branch v9.1.0 https://github.com/wyca-robotics/openvdb.git /opt/openvdb && \
mkdir /opt/openvdb/build && cd /opt/openvdb/build && \
cmake .. && \
make -j8 && make install && \
cd ..; rm -rf /opt/openvdb/build
# # Override install newer openvdb 9.1.0 for compatibility with Ubuntu 22.04 https://bugs.launchpad.net/bugs/1970108
# RUN apt remove -y libopenvdb*; \
# git clone --recurse --branch v9.1.0 https://github.com/wyca-robotics/openvdb.git /opt/openvdb && \
# mkdir /opt/openvdb/build && cd /opt/openvdb/build && \
# cmake .. && \
# make -j8 && make install && \
# cd ..; rm -rf /opt/openvdb/build

#for Rayfronts Integration#
RUN pip install \
torch-scatter==2.1.2 \
ftfy \
regex \
nanobind \
hydra-core \
open_clip_torch \
transformers \
idna==3.10 \
requests==2.32.3 \
scipy==1.15.2

WORKDIR /usr/local/src
RUN wget https://archives.boost.io/release/1.80.0/source/boost_1_80_0.tar.gz && \
tar -xvzf boost_1_80_0.tar.gz && \
cd boost_1_80_0 && \
./bootstrap.sh && \
./b2 install --prefix=/usr/local && \
rm -rf /usr/local/src/boost_1_80_0.tar.gz

WORKDIR /root/ros_ws/src/autonomy/2_perception/rayfronts
RUN git clone https://github.com/OasisArtisan/openvdb.git && \
mkdir -p openvdb/build && \
ls -l /root/ros_ws/src/autonomy/2_perception/rayfronts/openvdb && \
cd openvdb/build && \
cmake -DOPENVDB_BUILD_PYTHON_MODULE=ON \
-DOPENVDB_BUILD_PYTHON_UNITTESTS=ON \
-DOPENVDB_PYTHON_WRAP_ALL_GRID_TYPES=ON -DUSE_NUMPY=ON \
-Dnanobind_DIR=/usr/local/lib/python3.10/dist-packages/nanobind/cmake .. && \
make -j$(nproc) && \
make install && \
ls -l /root/ros_ws/src/autonomy/2_perception/rayfronts/openvdb


# Add ability to SSH
RUN apt-get update && apt-get install -y openssh-server
Expand Down Expand Up @@ -169,4 +204,13 @@ RUN pip install -U colcon-common-extensions

# Fixes for MACVO Integration
RUN pip install huggingface_hub
RUN pip uninstall matplotlib -y
RUN pip uninstall matplotlib -y

RUN pip install certifi
RUN pip install rerun-sdk==0.17

RUN python3 -c "import torch; \
torch.hub.load('NVlabs/RADIO', 'radio_model', \
version='radio_v2.5-b', progress=True, \
skip_validation=True, adaptor_names=['siglip'], \
trust_repo=True)"
3 changes: 3 additions & 0 deletions robot/ros_ws/src/autonomy/2_perception/perception_bringup/launch/perception.launch.xml
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Expand Up @@ -47,6 +47,9 @@
to="/$(env ROBOT_NAME)/sensors/front_stereo/right/camera_info" />
</node>

<!--RayFronts-->
<node pkg="rayfronts" exec="rayfronts_node" name="rayfronts" output="screen"/>

<!-- Visualizer -->
<node pkg="image_view" exec="disparity_view"
namespace="disparity_view">
Expand Down