From a7204f469253b98c46f8e467ccb3cd94bde055f9 Mon Sep 17 00:00:00 2001 From: Kathy Jang Date: Fri, 11 Nov 2022 17:50:55 -0600 Subject: [PATCH 1/8] Added install and update scripts for RL cruise planner --- scripts/install_rl_cruise_accel_planner.sh | 33 ++++++++++++ scripts/update_rl_cruise_accel_planner.sh | 59 ++++++++++++++++++++++ 2 files changed, 92 insertions(+) create mode 100755 scripts/install_rl_cruise_accel_planner.sh create mode 100755 scripts/update_rl_cruise_accel_planner.sh diff --git a/scripts/install_rl_cruise_accel_planner.sh b/scripts/install_rl_cruise_accel_planner.sh new file mode 100755 index 0000000..802602c --- /dev/null +++ b/scripts/install_rl_cruise_accel_planner.sh @@ -0,0 +1,33 @@ +#!/bin/bash +# Author: Matt Bunting + +# if you follow conventions correctly, you only need to change the below two parameters + +UPDATE_SCRIPT=update_rl_cruise_accel_planner.sh +LAUNCH_FILE=rl_cruise_accel_planner_readonly.launch + +echo "----------------------------" +if [[ $EUID == 0 ]]; + then echo "Do NOT run this script as root" + exit +fi + +# uninstall the current installations +source ~/.bashrc +sh uninstallRobotUpstart.sh + + +# run the update script +./${UPDATE_SCRIPT} + +pushd ~/catkin_ws +source devel/setup.sh +rosrun robot_upstart uninstall can +rosrun robot_upstart install can_to_ros/launch/${LAUNCH_FILE} --user root + +echo "Enabling can_to_ros startup script" +sudo systemctl daemon-reload +sudo systemctl enable can +popd + +echo "----------------------------" diff --git a/scripts/update_rl_cruise_accel_planner.sh b/scripts/update_rl_cruise_accel_planner.sh new file mode 100755 index 0000000..45ac99c --- /dev/null +++ b/scripts/update_rl_cruise_accel_planner.sh @@ -0,0 +1,59 @@ +#!/bin/bash +# Author: Matt Bunting + +# Change params below, assuming you followed conventions, this should be +# all you need to change IF YOU ARE USING ONNX MODELS for your controller + +PRETTY_STRING="RL Cruise Accel-based Planner" +ALGOS_STACK_BRANCH=rl_cruise_accel + +echo "----------------------------" +if [[ $EUID == 0 ]]; + then echo "Do NOT run this script as root" + exit +fi + +echo "Installing/Updating ${PRETTY_STRING} packages" + +source ~/.bashrc + +sh uninstallRobotUpstart.sh + +#cd ~ +#if [ ! -d catkin_ws/src ]; then +# mkdir -p catkin_ws/src +#fi +#cd catkin_ws/src +# +## The following are repositories under jmscslgroup: +#declare -a repositories=(can_to_ros live_tracker) +# +#for repository in "${repositories[@]}" +#do +# echo "Checking" $repository +# if [ -d ${repository} ]; then +# cd ${repository} +# git pull +# cd .. +# else +# git clone "https://github.com/jmscslgroup/${repository}.git" +# fi +#done +# +## this requires credentials: +#if [ -d algos-stack ]; then +# cd algos-stack +# git pull +# cd .. +#else +# git clone https://github.com/CIRCLES-consortium/algos-stack +#fi +#cd algos-stack +## checkout the repository branch we need +#git checkout ${ALGOS_STACK_BRANCH} +# +#cd ~/catkin_ws +#catkin_make + +echo "----------------------------" + From b3bad3c6c89a1b7dbaadb30722cd566442efadcc Mon Sep 17 00:00:00 2001 From: Kathy Jang Date: Sat, 12 Nov 2022 09:43:11 -0600 Subject: [PATCH 2/8] Update script for the RL accel-based on Toyota --- update_rl_accel.sh | 53 ++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 53 insertions(+) create mode 100755 update_rl_accel.sh diff --git a/update_rl_accel.sh b/update_rl_accel.sh new file mode 100755 index 0000000..73ffd81 --- /dev/null +++ b/update_rl_accel.sh @@ -0,0 +1,53 @@ +#!/bin/bash +# Author: Matt Bunting + +echo "Running libpanda's update_rl_accel.sh." +echo "Meant to be used on Toyota RAV-4." + +if [[ $EUID == 0 ]]; + then echo "Do NOT run this script as root" + exit +fi + +source /opt/ros/noetic/setup.bash + +cd /home/circles/libpanda # likely unnecessary +git pull + +# TODO Could allow this to allow for changes. +INSTALLED_LIBPANDA_GIT_VERSION=$(cat /etc/libpanda.d/libpanda_version) +CURRENT_LIBPANDA_GIT_VERSION=$(git rev-parse HEAD | tr -d "\n\r") + +if [ "$INSTALLED_LIBPANDA_GIT_VERSION" = "$CURRENT_LIBPANDA_GIT_VERSION" ]; +then + echo "Software stack is already up to date!" + exit 1 +fi + +echo "Update needed, Git hash mismatch: $INSTALLED_LIBPANDA_GIT_VERSION != $CURRENT_LIBPANDA_GIT_VERSION" + + +echo "Stopping can_to_ros..." +sudo systemctl stop rosnodeChecker +sudo systemctl stop can +sudo sh -c "echo 'ROS has been stopped for update!' > /etc/libpanda.d/logMessage" + +echo "Updating libpanda..." +./install.sh + +cd scripts +echo "Executing installMVTRosPackages..." +./installMVTRosPackages.sh + +echo "Executing install_rl_cruise_hybrid_planner..." +./install_rl_cruise_accel_planner.sh + +# Do the following at the end of installs to ensure all other processes completed +echo "Saving current pandaversion to /etc/libpanda.d/libpanda_version" +sudo sh -c "pandaversion > /etc/libpanda.d/libpanda_version" + +echo "Starting can_to_ros..." +sudo systemctl start can +sudo systemctl start rosnodeChecker + +echo "libpanda update.sh done." From 1efabdcf0bb9726de2ef81780f536915113c20ae Mon Sep 17 00:00:00 2001 From: Kathy Jang Date: Sat, 12 Nov 2022 10:26:47 -0600 Subject: [PATCH 3/8] Correct can_to_ros for RL accel-based --- scripts/rosRepositories.csv | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/scripts/rosRepositories.csv b/scripts/rosRepositories.csv index 15b9614..9436052 100644 --- a/scripts/rosRepositories.csv +++ b/scripts/rosRepositories.csv @@ -1,4 +1,4 @@ -jmscslgroup, can_to_ros, b6d316c2ffb5bb52b2231eb2046a8d61319fd197 +jmscslgroup, can_to_ros, 49ac6cdc283ca52f9e3aa316184e88c050b2219b jmscslgroup, setpointreader, bf9116d7e7a8284527e1d94537de1228c2b3abb8 jmscslgroup, live_tracker, a974d92748f4137b2bf1d083cebf6ac974b5bf49 CIRCLES-consortium, algos-stack, f95d26f78ffed06cd21fa73fcf414d5d5e5042a2 From f94081d171dd0e9e285dc3f6ca1218d7a4c8670b Mon Sep 17 00:00:00 2001 From: Kathy Jang Date: Sat, 12 Nov 2022 10:27:49 -0600 Subject: [PATCH 4/8] Missed this comment oops --- update_rl_accel.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/update_rl_accel.sh b/update_rl_accel.sh index 73ffd81..53a8103 100755 --- a/update_rl_accel.sh +++ b/update_rl_accel.sh @@ -39,7 +39,7 @@ cd scripts echo "Executing installMVTRosPackages..." ./installMVTRosPackages.sh -echo "Executing install_rl_cruise_hybrid_planner..." +echo "Executing install_rl_cruise_accel_planner..." ./install_rl_cruise_accel_planner.sh # Do the following at the end of installs to ensure all other processes completed From 43176c8fcc311dd8acc3c747ab296ba6500cf8ab Mon Sep 17 00:00:00 2001 From: Kathy Jang Date: Sat, 12 Nov 2022 10:51:39 -0600 Subject: [PATCH 5/8] Correct algos-stack --- scripts/rosRepositories.csv | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/scripts/rosRepositories.csv b/scripts/rosRepositories.csv index 9436052..dbfeb8d 100644 --- a/scripts/rosRepositories.csv +++ b/scripts/rosRepositories.csv @@ -1,4 +1,4 @@ jmscslgroup, can_to_ros, 49ac6cdc283ca52f9e3aa316184e88c050b2219b jmscslgroup, setpointreader, bf9116d7e7a8284527e1d94537de1228c2b3abb8 jmscslgroup, live_tracker, a974d92748f4137b2bf1d083cebf6ac974b5bf49 -CIRCLES-consortium, algos-stack, f95d26f78ffed06cd21fa73fcf414d5d5e5042a2 +CIRCLES-consortium, algos-stack, f7d4d00ea81a92c19c68bf8decd32b240545671a From c0494e9c2824199c9ab1f79de25216b5b9287c51 Mon Sep 17 00:00:00 2001 From: Kathy Jang Date: Sat, 12 Nov 2022 10:56:44 -0600 Subject: [PATCH 6/8] Fixed algos-stack --- scripts/rosRepositories.csv | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/scripts/rosRepositories.csv b/scripts/rosRepositories.csv index dbfeb8d..5bc555c 100644 --- a/scripts/rosRepositories.csv +++ b/scripts/rosRepositories.csv @@ -1,4 +1,4 @@ jmscslgroup, can_to_ros, 49ac6cdc283ca52f9e3aa316184e88c050b2219b jmscslgroup, setpointreader, bf9116d7e7a8284527e1d94537de1228c2b3abb8 jmscslgroup, live_tracker, a974d92748f4137b2bf1d083cebf6ac974b5bf49 -CIRCLES-consortium, algos-stack, f7d4d00ea81a92c19c68bf8decd32b240545671a +CIRCLES-consortium, algos-stack, bdf4c4ac8970921afe9b9486257b9542aeee8aa9 From b619e5e00f6121846d780f6158714ca07a577cf0 Mon Sep 17 00:00:00 2001 From: Kathy Jang Date: Sat, 12 Nov 2022 12:02:01 -0600 Subject: [PATCH 7/8] New algos-stack hash --- scripts/rosRepositories.csv | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/scripts/rosRepositories.csv b/scripts/rosRepositories.csv index 5bc555c..9983144 100644 --- a/scripts/rosRepositories.csv +++ b/scripts/rosRepositories.csv @@ -1,4 +1,4 @@ jmscslgroup, can_to_ros, 49ac6cdc283ca52f9e3aa316184e88c050b2219b jmscslgroup, setpointreader, bf9116d7e7a8284527e1d94537de1228c2b3abb8 jmscslgroup, live_tracker, a974d92748f4137b2bf1d083cebf6ac974b5bf49 -CIRCLES-consortium, algos-stack, bdf4c4ac8970921afe9b9486257b9542aeee8aa9 +CIRCLES-consortium, algos-stack, 26a532a9941b122f89f02074f5e85ae02865445f From 73629f2cafbd41fd342268e01f2afe707874c791 Mon Sep 17 00:00:00 2001 From: Kathy Jang Date: Sat, 12 Nov 2022 12:12:59 -0600 Subject: [PATCH 8/8] Updated can2ros --- scripts/rosRepositories.csv | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/scripts/rosRepositories.csv b/scripts/rosRepositories.csv index 9983144..802a524 100644 --- a/scripts/rosRepositories.csv +++ b/scripts/rosRepositories.csv @@ -1,4 +1,4 @@ -jmscslgroup, can_to_ros, 49ac6cdc283ca52f9e3aa316184e88c050b2219b +jmscslgroup, can_to_ros, eee44a39432ed128e06b4f9978f1d74e25646eee jmscslgroup, setpointreader, bf9116d7e7a8284527e1d94537de1228c2b3abb8 jmscslgroup, live_tracker, a974d92748f4137b2bf1d083cebf6ac974b5bf49 CIRCLES-consortium, algos-stack, 26a532a9941b122f89f02074f5e85ae02865445f