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WATonomous Monorepo v2

Dockerized ROS2 setup for the WATonomous Autonomous Vehicle Software Pipeline

Getting Started

Read the following:

  1. docs/setup.md How to setup our repo.

TLDR: Clone the monorepo, specify active modules, watod up. Everything is containerized, so there's little need to setup any dependencies on your end :).

  1. docs/monorepo.md What is a monorepo? Why a monorepo?
  2. docs/how_to_dev.md How to develop in the monorepo.

Description of Important Files and Directories

Below is a tree diagram of the Monorepo.

wato_monorepo_v2
├── watod-setup-env.sh
├── docker
│   ├── samples
│   │   └── cpp
│   │       ├── Dockerfile.aggregator
│   │       ├── Dockerfile.producer
│   │       └── Dockerfile.transformer
│   └── wato_ros_entrypoint.sh
├── docs
├── modules
│   └── docker-compose.samples.yaml
├── scripts
├── src
│   ├── motion_planning_and_control
│   ├── perception
│   ├── wato_msgs
│   │   └── sample_msgs
│   │       ├── CMakeLists.txt
│   │       ├── msg
│   │       └── package.xml
│   ├── samples
│   │   └── cpp
│   │       ├── aggregator
│   │       ├── image
│   │       ├── producer
│   │       ├── README.md
│   │       └── transformer
│   ├── sensor_interfacing
│   ├── simulation
│   ├── tools
│   └── world_modeling
└── watod
  • watod.
    • This is the main bash script that you will use to interface with your containers. More info on watod: docs/dev/watod.md.
  • watod-setup-env.sh.
    • watod-setup-env.sh (in scripts directory) will create a .env file specifying environment variables for docker-compose. watod automatically runs this script before running any commands. To override variables in watod-setup-env.sh, create a wato2-config.sh file and populate it with variables, for example ACTIVE_MODULES="perception path_planning". watod-setup-env.sh will then take this file into account when building the .env file.
  • scripts/watod-completion.bash.
    • Bash autocomplete for watod. Adapted from docker-compose. Add source <MONO_DIR>/scripts/watod-completion.bash to your bashrc to use autocomplete.
  • modules/:
    • This folder contains all docker-compose files specifying the services we will run. They are grouped up into modules. Note that by default no modules are enabled. To select additional modules, overwrite ACTIVE_MODULES="<MODULES_OF_YOUR_CHOICE" in wato2-config.sh. See the docker-compose wiki. More info on modules: docs/dev/modules.md.
  • docker/:
    • This folder contains the Dockerfiles for each of our images. Docker wiki.
  • src/:
    • Here is where all the logic and cool technologies for autonomous software go. The folders in src will be mounted to our docker images, so changes in the src directory will be reflected in the containers.
  • docs/:
    • This folder contains the documentation for this monorepo, including instructions for setup and details on how to navigate and develop in this monorepo.

Documentation

Setup Docs

docs/setup

Important Topics for Developers

docs/dev

Using Foxglove

Foxglove is used to visualize ROS messages on a local machine.

Add infrastructure as an ACTIVE_MODULES and watod up.

It exposes the port specified by the FOXGLOVE_BRIDGE_PORT variable, which you will need to forward to your local machine. This can either be done in the ports section of VS Code or by running the command ssh -L 8765:localhost:8765 <username>@<machine>-ubuntu1.watocluster.local on your local machine.

Then, open foxglove and add a connection localhost:8765, and it should connect.

Playing Rosbags

Add infrastructure as an ACTIVE_MODULES and watod run. An example of the command, feel free to change the mcap file being run. ./watod run data_stream ros2 bag play ./nuscenes/NuScenes-v1.0-mini-scene-0061/NuScenes-v1.0-mini-scene-0061_0.mcap

Monorepo Info

docs/monorepo.md

Technical Specification

Docker, Continuous Integration: tech_spec.md

FAQ

docs/faq.md