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miursh authored Feb 16, 2024
2 parents d726672 + b1c8150 commit fd47ab2
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3 changes: 3 additions & 0 deletions .ansible-galaxy-requirements.yaml
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collections:
- name: ansible.posix
- name: community.general
157 changes: 157 additions & 0 deletions .cspell.json
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{
"version": "0.2",
"language": "en",
"allowCompoundWords": false,
"ignorePaths": [
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"**/*.cpr",
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"**/*.css",
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"**/.gitignore",
"**/.idea/**",
"**/.mypy_cache/**",
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"**/__pycache__/**",
"**/build/**",
"**/CPPLINT.cfg",
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4 changes: 2 additions & 2 deletions .github/dependabot.yaml
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Expand Up @@ -6,5 +6,5 @@ updates:
interval: daily
open-pull-requests-limit: 1
labels:
- bot
- github-actions
- tag:bot
- type:github-actions
2 changes: 1 addition & 1 deletion .github/workflows/cancel-previous-workflows.yaml
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Expand Up @@ -8,7 +8,7 @@ jobs:
runs-on: ubuntu-latest
steps:
- name: Cancel previous runs
uses: styfle/cancel-workflow-action@0.11.0
uses: styfle/cancel-workflow-action@0.12.0
with:
workflow_id: all
all_but_latest: true
6 changes: 5 additions & 1 deletion .github/workflows/pre-commit-ansible.yaml
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Expand Up @@ -8,7 +8,11 @@ jobs:
runs-on: ubuntu-latest
steps:
- name: Check out repository
uses: actions/checkout@v3
uses: actions/checkout@v4

- name: Install Ansible Galaxy depends for ansible-lint
run: |
ansible-galaxy collection install -f -r .ansible-galaxy-requirements.yaml
- name: Run pre-commit
uses: autowarefoundation/autoware-github-actions/pre-commit@v1
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2 changes: 1 addition & 1 deletion .github/workflows/pre-commit-optional.yaml
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Expand Up @@ -8,7 +8,7 @@ jobs:
runs-on: ubuntu-latest
steps:
- name: Check out repository
uses: actions/checkout@v3
uses: actions/checkout@v4
with:
fetch-depth: 0

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2 changes: 1 addition & 1 deletion .github/workflows/pre-commit.yaml
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Expand Up @@ -16,7 +16,7 @@ jobs:
private_key: ${{ secrets.PRIVATE_KEY }}

- name: Check out repository
uses: actions/checkout@v3
uses: actions/checkout@v4
with:
ref: ${{ github.event.pull_request.head.ref }}

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2 changes: 1 addition & 1 deletion .github/workflows/spell-check-differential.yaml
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Expand Up @@ -8,7 +8,7 @@ jobs:
runs-on: ubuntu-latest
steps:
- name: Check out repository
uses: actions/checkout@v3
uses: actions/checkout@v4

- name: Run spell-check
uses: autowarefoundation/autoware-github-actions/spell-check@v1
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4 changes: 2 additions & 2 deletions .github/workflows/sync-files.yaml
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Expand Up @@ -28,6 +28,6 @@ jobs:
with:
token: ${{ steps.generate-token.outputs.token }}
pr-labels: |
bot
sync-files
tag:bot
tag:sync-files
auto-merge-method: squash
2 changes: 1 addition & 1 deletion .pre-commit-config-ansible.yaml
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@@ -1,5 +1,5 @@
repos:
- repo: https://github.com/ansible/ansible-lint.git
rev: v6.17.2
rev: v6.22.0
hooks:
- id: ansible-lint
14 changes: 7 additions & 7 deletions .pre-commit-config.yaml
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Expand Up @@ -4,7 +4,7 @@ ci:

repos:
- repo: https://github.com/pre-commit/pre-commit-hooks
rev: v4.4.0
rev: v4.5.0
hooks:
- id: check-json
- id: check-merge-conflict
Expand All @@ -18,34 +18,34 @@ repos:
args: [--markdown-linebreak-ext=md]

- repo: https://github.com/igorshubovych/markdownlint-cli
rev: v0.35.0
rev: v0.37.0
hooks:
- id: markdownlint
args: [-c, .markdownlint.yaml, --fix]

- repo: https://github.com/pre-commit/mirrors-prettier
rev: v3.0.0-alpha.9-for-vscode
rev: v3.1.0
hooks:
- id: prettier

- repo: https://github.com/adrienverge/yamllint
rev: v1.32.0
rev: v1.33.0
hooks:
- id: yamllint

- repo: https://github.com/shellcheck-py/shellcheck-py
rev: v0.9.0.5
rev: v0.9.0.6
hooks:
- id: shellcheck

- repo: https://github.com/scop/pre-commit-shfmt
rev: v3.7.0-1
rev: v3.7.0-4
hooks:
- id: shfmt
args: [-w, -s, -i=4]

- repo: https://github.com/AleksaC/hadolint-py
rev: v2.12.0.2
rev: v2.12.0.3
hooks:
- id: hadolint

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14 changes: 7 additions & 7 deletions README.md
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@@ -1,6 +1,6 @@
# edge-auto-jetson

This repository provides a sample ROS2 environment working on a Jetson-based ECU and GMSL2-compatible cameras.
This repository provides a sample ROS 2 environment working on a Jetson-based ECU and GMSL2-compatible cameras.

As a sample application, the following images show object detection results using the contents of this repository. Various perception applications will be added in
the future and you can develop them in this provided environment.
Expand All @@ -9,11 +9,11 @@ the future and you can develop them in this provided environment.

![object detection example](docs/sample.png "edge-auto-jetson object detection example")

# Prerequisites
## Prerequisites

### System Overview

This repository is based on a natively built ROS2 environment. The system overview is shown below.
This repository is based on a natively built ROS 2 environment. The system overview is shown below.

![system overview](docs/overview.drawio.svg "edge-auto-jetson overview")

Expand All @@ -22,7 +22,7 @@ This repository is based on a natively built ROS2 environment. The system overvi
- Camera: v4l2 compatible cameras, including [TIER IV Automotive HDR Camera C1](https://sensor.tier4.jp/automotive-hdr-camera)
- ECU: Jetson AGX Xavier based ECU, including [RQX-58G](https://www.adlinktech.com/Products/ROS2_Solution/ROS2_Controller/RQX-580_58G) from ADLINK Technology Inc. and [Developer Kit](https://www.nvidia.com/ja-jp/autonomous-machines/embedded-systems/jetson-agx-xavier) from NVIDIA Corp.
- NVIDIA L4T: R32.6.1 (including Ubuntu 18.04)
- ROS: ROS2 Humble (native build)
- ROS: ROS 2 Humble (native build)

## Getting Started

Expand All @@ -41,13 +41,13 @@ Please see [Tutorials](https://github.com/tier4/edge-auto/tree/main/docs/tutoria
- [tier4/edge_auto_individual_params](https://github.com/tier4/edge_auto_individual_params)
- Repository for managing system parameters including camera parameters, driver parameters, etc.
- [tier4/nebula](https://github.com/tier4/nebula)
- ROS2 package for unified ethernet-based LiDAR driver.
- ROS 2 package for unified ethernet-based LiDAR driver.
- [tier4/tier4_automotive_hdr_camera](https://github.com/tier4/tier4_automotive_hdr_camera)
- Kernel driver for using TIER IV cameras with Video4Linux2 interface.
- [tier4/ros2_v4l2_camera](https://github.com/tier4/ros2_v4l2_camera)
- ROS2 package for camera driver using Video4Linux2.
- ROS 2 package for camera driver using Video4Linux2.
- [tier4/sensor_trigger](https://github.com/tier4/sensor_trigger)
- ROS2 package for generating sensor trigger signals.
- ROS 2 package for generating sensor trigger signals.
- [tier4/calibration_tools](https://github.com/tier4/CalibrationTools)
- Repository for calibration tools to estimate parameters on autonomous driving systems.
- [autowarefoundation/autoware.universe](https://github.com/autowarefoundation/autoware.universe)
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2 changes: 1 addition & 1 deletion ansible/roles/ros2/README.md
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@@ -1,4 +1,4 @@
# ROS2
# ROS 2

This role installs [ROS 2](https://docs.ros.org) under `/opt/ros`. Because apt binaries for the latest ROS 2 distribution are not available on some NVIDIA L4T environments, such as L4T R32.6.1 (based on Ubuntu18.04), this role installs dependencies, clones ROS 2 source codes, and builds them.

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