Merge pull request #241 from usnistgov/release_1.2_staging

Release 1.4

automated_evaluation/build_container.sh

@@ -0,0 +1,28 @@
+#!/bin/bash
+
+if [[ ! $1 ]] ; then
+    echo "Team configuration argument not passed" 
+    exit 1
+fi
+
+teamName=$(python3 get_team_name.py $1)
+
+if [[ ! $teamName ]] ; then
+    echo "Team name not found" 
+    exit 1
+fi
+
+# Start the container
+docker run -d --name $teamName -p 6080:80 --shm-size=512m jfernandez37/ariac:ariac_latest
+
+# Copy scripts directory and yaml file
+docker cp ./scripts/ $teamName:/home/ubuntu
+docker cp ./competitor_build_scripts/ $teamName:/home/ubuntu
+docker cp ./trials/ $teamName:/home/ubuntu
+docker cp ./$1.yaml $teamName:/home/ubuntu/scripts
+
+
+# Run build script
+docker exec -it $teamName bash -c ". /home/ubuntu/scripts/build_environment.sh $1"
+
+

automated_evaluation/competitor_build_scripts/readme.md

@@ -0,0 +1,3 @@
+# Competitor Build Scripts
+
+This folder is for any custom build scripts that competitors would like to be run when the docker container is created. Any scripts must be included by name in the yaml file. These script(s) will be run before the workspace is built. 

automated_evaluation/get_team_name.py

@@ -0,0 +1,30 @@
+#!/usr/bin/env python3
+
+import sys
+import yaml
+
+def main():
+    # Get yaml file name
+    if len(sys.argv) <= 1:
+        exit()
+
+    yaml_file = sys.argv[1] + '.yaml'
+
+    # Parse yaml file
+    with open(yaml_file, "r") as stream:
+        try:
+            data = yaml.safe_load(stream)
+        except yaml.YAMLError:
+            exit()
+
+    try:
+        team_name = data["team_name"]
+    except KeyError:
+        exit()
+
+    print(team_name)
+
+
+if __name__=="__main__":
+    main()
+

automated_evaluation/nist_competitor.yaml

@@ -1,12 +1,17 @@
 # team configuration for automated evaluation
 
-team_name: ""
+team_name: "nist_competitor"
 
 github:
-  repo_link: "" # remove https
-  public_access_token: ""
+  repository: "github.com/jaybrecht/nist_competitor.git"
+  personal_access_token: "****"
+
+build:
+  debian_packages: []
+  pip_packages: []
+  extra_build_scripts: []
 
 competition:
-  package_name: ""
-  sensor_file: ""
-  launch_file: ""
+  package_name: "nist_competitor"
+  launch_file: "competitor.launch.py"
+

automated_evaluation/run_trial.sh

@@ -0,0 +1,21 @@
+#!/bin/bash
+
+if [[ ! $1 ]] ; then
+    echo "Team configuration argument not passed" 
+    exit 1
+fi
+
+if [[ ! $2 ]] ; then
+    echo "Trial name not specified" 
+    exit 1
+fi
+
+
+teamName=$(python3 get_team_name.py $1)
+
+if [[ ! $teamName ]] ; then
+    echo "Team name not found" 
+    exit 1
+fi
+
+docker exec -it $teamName bash -c ". /home/ubuntu/scripts/run_trial.sh $1 $2"

automated_evaluation/scripts/build_competitor_code.py

@@ -0,0 +1,87 @@
+#!/usr/bin/env python3
+
+import os
+import sys
+import subprocess
+import yaml
+
+
+def main():
+    # Get yaml file name
+    if len(sys.argv) <= 1:
+        print("Please include an argument for the yaml file to run")
+        exit()
+
+    yaml_file = sys.argv[1] + '.yaml'
+    print(f'Running {yaml_file}')
+
+    if not os.path.isfile(yaml_file):
+        print(f'{yaml_file} not found')
+        exit()
+
+    # Parse yaml file
+    with open(yaml_file, "r") as stream:
+        try:
+            data = yaml.safe_load(stream)
+        except yaml.YAMLError:
+            print("Unable to parse yaml file")
+            exit()
+
+    # Store data from yaml filyaml_path
+    try:
+        repository = data["github"]["repository"]
+    except KeyError:
+        print("Unable to find repository link")
+        exit()
+
+    try:
+        token = data["github"]["personal_access_token"]
+    except KeyError:
+        print("Unable to find personal_access_token")
+        exit()
+
+    try:
+        package_name = data["competition"]["package_name"]
+    except KeyError:
+        print("Unable to find package_name")
+        exit()
+
+    try:
+        launch_file = data["competition"]["launch_file"]
+    except KeyError:
+        print("Unable to find launch_file")
+        exit()
+
+    # Clone the repository
+    clone_cmd = f"git clone https://{token}@{repository} ~/ariac_ws/src/{package_name}"
+    subprocess.run(clone_cmd, shell=True)
+
+    # Install extra packages
+    for package in data["build"]["debian_packages"]:
+        install_cmd = f"apt-get install {package} -y"
+        subprocess.run(install_cmd, shell=True)
+
+    if data["build"]["pip_packages"]:
+        subprocess.run('apt install python3-pip -y' ,shell=True)
+
+    for package in data["build"]["pip_packages"]:
+        pip_command=f"yes | pip3 install {package}"
+        subprocess.run(pip_command,shell=True)
+
+    # Run custom build scripts
+    os.chdir('/home/ubuntu/competitor_build_scripts') 
+    for script in data["build"]["extra_build_scripts"]:
+        subprocess.run(f"chmod +x {script}", shell=True)
+        subprocess.run(f"./{script}", shell=True)
+
+    # Install rosdep packages
+    os.chdir('/home/ubuntu/ariac_ws') 
+    rosdep_cmd = "rosdep install --from-paths src -y --ignore-src"
+    subprocess.run(rosdep_cmd, shell=True)
+
+    # Build the workspace
+    subprocess.run("colcon build", shell=True)
+
+
+if __name__=="__main__":
+    main()

automated_evaluation/scripts/build_environment.sh

@@ -0,0 +1,11 @@
+#!/bin/bash
+
+cd ../home/ubuntu/scripts/
+
+chmod +x build_competitor_code.py
+
+rm -r /home/ubuntu/ariac_ws/src/ariac/ariac_gazebo/config/trials
+mv /home/ubuntu/trials /home/ubuntu/ariac_ws/src/ariac/ariac_gazebo/config/
+
+source /opt/ros/galactic/setup.bash
+python3 build_competitor_code.py $1

automated_evaluation/scripts/run_trial.py

@@ -0,0 +1,49 @@
+#!/usr/bin/env python3
+
+import os
+import sys
+import subprocess
+import yaml
+
+
+def main():
+    # Get yaml file name
+    if len(sys.argv) <= 1:
+        print("Please include an argument for the yaml file to run")
+        exit()
+
+    yaml_file = sys.argv[1] + '.yaml'
+    print(f'Running {yaml_file}')
+
+    if not os.path.isfile(yaml_file):
+        print(f'{yaml_file} not found')
+        exit()
+
+    # Parse yaml file
+    with open(yaml_file, "r") as stream:
+        try:
+            data = yaml.safe_load(stream)
+        except yaml.YAMLError:
+            print("Unable to parse yaml file")
+            exit()
+
+    # Store data from yaml filyaml_path
+    try:
+        package_name = data["competition"]["package_name"]
+    except KeyError:
+        print("Unable to find package_name")
+        exit()
+
+    try:
+        launch_file = data["competition"]["launch_file"]
+    except KeyError:
+        print("Unable to find launch_file")
+        exit()
+
+    # Run 
+    launch_cmd = f"ros2 launch {package_name} {launch_file} trial_name:={sys.argv[2]}"
+    subprocess.run(launch_cmd, shell=True, env=dict(os.environ, DISPLAY=":1.0"))
+
+
+if __name__=="__main__":
+    main()

automated_evaluation/scripts/run_trial.sh

@@ -0,0 +1,10 @@
+#!/bin/bash
+
+cd ../home/ubuntu/scripts/
+
+chmod +x run_trial.py
+
+source /opt/ros/galactic/setup.bash
+source /home/ubuntu/ariac_ws/install/setup.bash
+
+python3 run_trial.py $1 $2

automated_evaluation/trials/kitting.yaml

@@ -0,0 +1,39 @@
+# Trial Name: qc.yaml
+# ARIAC2023
+
+# ENVIRONMENT SETUP
+
+time_limit: -1 # options: -1 (no time limit) or number of seconds (max 500)
+
+kitting_trays: # Which kitting trays will be spawn
+  tray_ids: [3, 8] 
+  slots: [1, 4]
+
+parts:
+  bins: # bin params - 8 total bins each bin has nine total slots (1-9)
+    bin2:
+      - type: 'pump'
+        color: 'purple'
+        slots: [1, 3, 7, 9]
+    bin6:
+      - type: 'battery'
+        color: 'blue'
+        slots: [1, 3, 7, 9]
+
+orders:
+  - id: 'MMB30H56'
+    type: 'kitting'
+    announcement:
+      time_condition: 0
+    priority: false
+    kitting_task:
+      agv_number: 4
+      tray_id: 3
+      destination: 'warehouse'
+      products:
+        - type: 'battery'
+          color: 'blue'
+          quadrant: 3
+        - type: 'pump'
+          color: 'purple'
+          quadrant: 1