Simple distribute onto mpc-fix

.devcontainer/devcontainer.json

@@ -7,7 +7,7 @@
   "workspaceFolder": "/ws",
   "containerEnv": {
     "ROS_DOMAIN_ID": "42",
-    "ROS_LOCALHOST_ONLY": "1",
+    "ROS_LOCALHOST_ONLY": "0",
     "CYCLONEDDS_URI": "file:///ws/docker/cyclonedds.xml"
   },
   "customizations": {

.gitignore

@@ -176,4 +176,6 @@ cython_debug/
 # Ros build ignored
 install
 log
+logs
+kart_logs
 build

compose/docker-compose.yml

@@ -3,26 +3,27 @@ services:
   dev:
     image: ghcr.io/evc-purdue/ros2-humble-dev:main
     container_name: ros2-dev
-    hostname: ros2-dev
+    hostname: "${TARGET_DEVICE:-jetson}-dev"
     volumes:
       - ../:/ws
       - ros_cache:/root/.cache
       - /data/kart_logs:/ws/logs  # logs location
     environment:
       - ROS_DISTRO=humble
       - ROS_DOMAIN_ID=42
-      - ROS_LOCALHOST_ONLY=1
+      - ROS_LOCALHOST_ONLY=0
       - CYCLONEDDS_URI=file:///ws/docker/cyclonedds.xml
-    ports:
-      - "8000:8000"
-    devices:
-      - "/dev/ttyACM0:/dev/ttyACM0"
-      - "/dev/ttyTHS1:/dev/ttyTHS1"         # GPS
-      - "/dev/i2c-7:/dev/i2c-7"
+      - TARGET_DEVICE=${TARGET_DEVICE:-jetson}
+      - ROS_NETWORK_INTERFACE=${ROS_NETWORK_INTERFACE:-enP8p1s0}
+#    devices:
+#      - "/dev/ttyACM0:/dev/ttyACM0" # canable
+#      - "/dev/ttyTHS1:/dev/ttyTHS1" # GPS
+#      - "/dev/i2c-7:/dev/i2c-7"     # IMU
+#      - "/dev/video0:/dev/video0"   # camera
     stdin_open: true
     tty: true
     restart: always
     command: bash /ws/scripts/start.bash
     network_mode: host
 volumes:
-  ros_cache:
+  ros_cache:

docker/Dockerfile

@@ -20,6 +20,7 @@ RUN apt-get -o Acquire::http::Pipeline-Depth="0" \
       ros-${ROS_DISTRO}-rclpy ros-${ROS_DISTRO}-ros2bag \
       ros-${ROS_DISTRO}-tf2-tools ros-${ROS_DISTRO}-image-transport \
       ros-${ROS_DISTRO}-cv-bridge \
+      openssh-client \
       git curl nano \
       socat rtklib i2c-tools && \
     rm -rf /var/lib/apt/lists/*

docker/cyclonedds.xml

@@ -3,6 +3,14 @@
             xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
             xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
   <Domain Id="any">
+    <General>
+      <AllowMulticast>true</AllowMulticast>
+
+      <Interfaces>
+        <NetworkInterface name="${ROS_NETWORK_INTERFACE}"/>
+      </Interfaces>
+    </General>
+
     <Discovery>
       <ParticipantIndex>auto</ParticipantIndex>
       <MaxAutoParticipantIndex>32</MaxAutoParticipantIndex>

docs/README/quickstart.md

@@ -24,18 +24,19 @@ sudo docker compose -f compose/docker-compose.yml up -d dev
 ```
 3) Exec into container
 ```bash
-docker exec -it <container_name> bash
+docker exec -it ros2-dev bash
 ```
 4) Setup ROS
 ```bash
 source /opt/ros/humble/setup.bash
 colcon build
 source install/setup.bash
-ros2 launch autonomous_kart bringup_pi.launch.py
+ros2 launch autonomous_kart bringup_${TARGET_DEVICE:-jetson}.launch.py
 ```
 
 
 ```bash
 ros2 bag record -s mcap -o /ws/bags/$(date +%Y%m%d_%H%M%S) /mpc/status /mpc/residual_mode /mpc/residual_revert /cmd_drive /odom /gps /imu /imu/calibration_status /e_comms/kart_speed_m_per_s /e_comms/throttle_pwm /e_comms/steering_pwm /e_comms/adcb_state /e_comms/rc_mode /system_state /track_angles /manual_commands /pathfinder_params
 ```
+
 docker cp ros2-dev:/ws/bags .

scripts/start.bash

@@ -7,24 +7,25 @@ source /opt/ros/humble/setup.bash
 colcon build
 pkill -f master_api || true
 
-# Lat/long are approx west lafayette, not important to be highly accurate
 mkdir -p /ws/logs
-str2str -in ntrip://shayman1:shayman1@108.59.49.226:9000/MSM4_VRS -out tcpsvr://:9195 -b 1 -p 40.4376975222 -86.9444409756 200 >> /ws/logs/str2str.log 2>&1 &
-
-# Logs supervisor - crash tolerant
-(
-  while true; do
-    RUN_NAME="run_$(date -u +%Y%m%d_%H%M%S)"
-    ros2 bag record -a \
-      --storage mcap \
-      --storage-preset-profile zstd_fast \
-      --max-bag-duration 60 \
-      --exclude '/camera/.*' \
-      --output "/ws/logs/$RUN_NAME" \
-      >> /ws/logs/recorder.log 2>&1
-    echo "[$(date -u +%FT%TZ)] recorder exited, restarting in 1s" >> /ws/logs/recorder.log
-    sleep 1
-  done
-) &
 
+if [ "$TARGET_DEVICE" == "jetson" ]; then
+    # Lat/long are approx west lafayette, not important to be highly accurate
+    str2str -in ntrip://shayman1:shayman1@108.59.49.226:9000/MSM4_VRS -out tcpsvr://:9195 -b 1 -p 40.4376975222 -86.9444409756 200 >> /ws/logs/str2str.log 2>&1 &
+elif [ "$TARGET_DEVICE" == "rubik" ]; then
+    (
+    while true; do
+        RUN_NAME="run_$(date -u +%Y%m%d_%H%M%S)"
+        ros2 bag record -a \
+        --storage mcap \
+        --storage-preset-profile zstd_fast \
+        --max-bag-duration 60 \
+        --exclude '/camera/.*' \
+        --output "/ws/logs/$RUN_NAME" \
+        >> /ws/logs/recorder.log 2>&1
+        echo "[$(date -u +%FT%TZ)] recorder exited, restarting in 1s" >> /ws/logs/recorder.log
+        sleep 1
+    done
+    ) &
+fi
 sleep infinity

src/autonomous_kart/autonomous_kart/launch/bringup_jetson.launch.py

@@ -0,0 +1,64 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, GroupAction
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node, SetParameter, SetParametersFromFile
+from ament_index_python.packages import get_package_share_directory
+import os
+
+
+def generate_launch_description():
+    pkg_share = get_package_share_directory("autonomous_kart")
+
+    gps_yaml = os.path.join(pkg_share, "params", "gps.yaml")
+    safety_yaml = os.path.join(pkg_share, "params", "safety.yaml")
+    system_yaml = os.path.join(pkg_share, "params", "system.yaml")
+    pathfinder_yaml = os.path.join(pkg_share, "params", "pathfinder.yaml")
+    imu_yaml = os.path.join(pkg_share, "params", "imu.yaml")
+    e_comms_yaml = os.path.join(pkg_share, "params", "e_comms.yaml")
+    actuators_yaml = os.path.join(pkg_share, "params", "actuators.yaml")
+    localization_yaml = os.path.join(pkg_share, "params", "localization.yaml")
+    opencv_yaml = os.path.join(pkg_share, "params", "opencv_pathfinder.yaml")
+
+    sim_mode = LaunchConfiguration("simulation_mode")
+
+    return LaunchDescription(
+        [
+            DeclareLaunchArgument("simulation_mode", default_value="false"),
+            GroupAction(
+                [
+                    SetParametersFromFile(system_yaml),
+                    SetParameter(name="simulation_mode", value=sim_mode),
+                    Node(
+                        package="autonomous_kart",
+                        executable="pathfinder_node",
+                        name="pathfinder_node",
+                        parameters=[pathfinder_yaml, safety_yaml],
+                    ),
+                    Node(
+                        package="autonomous_kart",
+                        executable="localization_node",
+                        name="localization_node",
+                        parameters=[pathfinder_yaml, localization_yaml],
+                    ),
+                    Node(
+                        package="autonomous_kart",
+                        executable="e_comms_node",
+                        name="e_comms_node",
+                        parameters=[e_comms_yaml, actuators_yaml, pathfinder_yaml],
+                    ),
+                    Node(
+                        package="autonomous_kart",
+                        executable="gps_node",
+                        name="gps_node",
+                        parameters=[gps_yaml],
+                    ),
+                    Node(
+                        package="autonomous_kart",
+                        executable="imu_node",
+                        name="imu_node",
+                        parameters=[imu_yaml],
+                    ),
+                ]
+            ),
+        ]
+    )

src/autonomous_kart/autonomous_kart/launch/bringup_rubik.launch.py

@@ -0,0 +1,40 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, GroupAction, ExecuteProcess
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node, SetParameter, SetParametersFromFile
+from ament_index_python.packages import get_package_share_directory
+from datetime import datetime
+import os
+
+
+def generate_launch_description():
+    pkg_share = get_package_share_directory("autonomous_kart")
+
+    camera_yaml = os.path.join(pkg_share, "params", "camera.yaml")
+    system_yaml = os.path.join(pkg_share, "params", "system.yaml")
+
+    sim_mode = LaunchConfiguration("simulation_mode")
+
+    return LaunchDescription(
+        [
+            DeclareLaunchArgument("simulation_mode", default_value="false"),
+            GroupAction(
+                [
+                    SetParametersFromFile(system_yaml),
+                    SetParameter(name="simulation_mode", value=sim_mode),
+
+                    Node(
+                        package="autonomous_kart",
+                        executable="camera_node",
+                        name="camera_node",
+                        parameters=[camera_yaml],
+                    ),
+                    Node(
+                        package="autonomous_kart",
+                        executable="master_api",
+                        name="master_api",
+                    ),
+                ]
+            ),
+        ]
+    )

src/autonomous_kart/autonomous_kart/nodes/camera/camera_node.py

@@ -54,7 +54,7 @@ def __init__(self):
                 raise RuntimeError(f"Failed to open video: {video_path}")
 
         else:
-            self.cap = cv2.VideoCapture(0) 
+            self.cap = cv2.VideoCapture('/dev/video0') 
             self.video_fps = self.fps
 
             if not self.cap.isOpened():
@@ -84,6 +84,7 @@ def timer_callback(self):
                 self.logger.warning("No frame available")
 
         if publish_frame is not None:
+            self.logger.info(f"Publishing frame {self.frame_counter}")
             self.image_pub.publish(publish_frame)
             self.frame_counter += 1
 

src/autonomous_kart/autonomous_kart/nodes/master/master_api.py

@@ -221,6 +221,53 @@ def lines_endpoint():
         "static": static_xy,
         "dynamic": master_node.get_dynamic_line(),
     })
+
+@app.route("/jetson/hotswap", methods=["POST"])
+def jetson_hotswap():
+    if not master_node:
+        return jsonify({"error": "not initialized"}), 500
+
+    master_node.hotswap_jetson()
+
+    return jsonify({
+        "message": "jetson hotswap started"
+    })
+
+
+@app.route("/jetson/restart", methods=["POST"])
+def jetson_restart():
+    if not master_node:
+        return jsonify({"error": "not initialized"}), 500
+
+    master_node.restart_jetson()
+
+    return jsonify({
+        "message": "jetson restart started"
+    })
+
+
+@app.route("/jetson/update", methods=["POST"])
+def jetson_update():
+    if not master_node:
+        return jsonify({"error": "not initialized"}), 500
+
+    master_node.update_jetson()
+
+    return jsonify({
+        "message": "jetson update started"
+    })
+
+
+@app.route("/jetson/rebuild", methods=["POST"])
+def jetson_rebuild():
+    if not master_node:
+        return jsonify({"error": "not initialized"}), 500
+
+    master_node.rebuild_jetson()
+
+    return jsonify({
+        "message": "jetson rebuild started"
+    })
 
 
 @app.route("/residual/status", methods=["GET"])

src/autonomous_kart/autonomous_kart/nodes/master/master_node.py

@@ -1,6 +1,7 @@
 import json
 import threading
 import time
+import subprocess
 from enum import Enum
 
 import rclpy
@@ -450,6 +451,52 @@ def get_gps_status(self):
         with self._lock:
             return dict(self.gps_status_data)
 
+    # Jetson remote management
+    def _ssh_fire(self, remote_command: str, log_msg: str):
+        """Shared helper: open a non-blocking SSH subprocess to the Jetson."""
+        ssh_command = [
+                "ssh", "-t",
+                "-o", "StrictHostKeyChecking=no",  
+                "-o", "UserKnownHostsFile=/dev/null",
+                f"{self.jetson_user}@{self.jetson_ip}",
+                remote_command,
+            ]
+
+        self.logger.info(log_msg)
+        subprocess.Popen(ssh_command)
+
+    def hotswap_jetson(self):
+        """Git-pull and rebuild inside the *running* container, then relaunch bringup_rubik.
+        The container is never stopped — fastest way to pick up new code mid-session."""
+        self._ssh_fire(
+            "bash ~/run_remote.sh --hotswap",
+            "Hotswapping: pulling latest code and relaunching inside running container...",
+        )
+
+    def restart_jetson(self):
+        """Stop the container, rebuild the ROS workspace, and relaunch bringup.
+        No git pull, no Docker image pull — fastest way to bounce the stack."""
+        self._ssh_fire(
+            "bash ~/run_remote.sh --restart",
+            "Restarting Jetson container (no code update)...",
+        )
+
+    def update_jetson(self):
+        """Git-pull the latest code, then restart.
+        Use this before a session to pick up new commits without a full image rebuild."""
+        self._ssh_fire(
+            "bash ~/run_remote.sh --update",
+            "Pulling latest code and restarting Jetson...",
+        )
+
+    def rebuild_jetson(self):
+        """Pull the latest Docker image, git-pull code, then restart.
+        Use this after a Docker image has been pushed (e.g. new deps or base OS change)."""
+        self._ssh_fire(
+            "bash ~/run_remote.sh --rebuild",
+            "Pulling latest Docker image + code and rebuilding Jetson...",
+        )
+
     def get_residual_log(self, limit: int = 50) -> list[dict]:
         with self._lock:
             return list(self._residual_log[: max(0, limit)])
@@ -463,7 +510,6 @@ def get_residual_status(self) -> dict | None:
     def trigger_residual_revert(self) -> None:
         self.residual_revert_publisher.publish(Empty())
 
-
 def main(args=None):
     rclpy.init(args=args)
 

src/autonomous_kart/autonomous_kart/params/system.yaml

@@ -5,3 +5,5 @@
     system_state: "IDLE" # "STOPPED", "IDLE", "MANUAL", "AUTONOMOUS"
     system_frequency: 60 # Speed of hot loop (Hertz)
     line_path: "/ws/data/racing_line/line6.csv"
+    jetson_ip: "evc-jetson.tail73145c.ts.net"
+    jetson_username: "evc"