Adding ROS Bridge (#515)

* update to newest metadrive * rename package * update * update rviz * update readme * update package name * update package name * reformat use indent=4space * update readme * fix dependency and install instruction * update readme * test is successful with ros humble * add test * fix test * remove source * remove source line * add python dependency * clean the code * clean the code; run isort and yapf * add python dependency * remove container * debug * remove pip install -e .for test * use container * use container * install gym outside the pip * stop using container * remove init * fix init * no update and init * source * source * use sudo rosdep * disable plugin * fix bug server * restore vision plugins * remove line * use default python * test! * bypass doc string check when merging to main --------- Co-authored-by: QuanyiLi <quanyili0057@gmail.com>
metadriverse · Oct 20, 2023 · 486f190 · 486f190
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diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -24,6 +24,7 @@ jobs:
           bash format.sh --test
 
   code_docstring:
+    if: github.event_name != 'pull_request' || github.head_ref != 'main'
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v2
@@ -200,6 +201,47 @@ jobs:
           cp ./examples/Basic_MetaDrive_Usages.ipynb ./tests/test_ipynb/
           pytest --nbmake -n=auto ./tests/test_ipynb/
 
+  test_ros:
+    runs-on: ubuntu-22.04
+#    container:
+#      image: ubuntu:jammy
+    steps:
+      - name: Set up ROS2 humble
+        uses: ros-tooling/setup-ros@v0.7
+        with:
+          required-ros-distributions: humble
+      - name: checkout code
+        uses: actions/checkout@v2
+      - name: Blackbox tests
+        run: |
+          
+          ls -al
+          pwd
+          source /opt/ros/humble/setup.bash
+          
+          sudo rosdep update
+          
+          pwd
+          
+          pip install pyzmq
+          pip install gymnasium==0.28
+          ls -al
+          pip install -e .
+          python -m metadrive.pull_asset
+          
+          cd bridges/ros_bridge
+          ls -al
+          python _delete_rviz_line.py
+          sudo rosdep install --from-paths src --ignore-src -y --rosdistro humble
+          pwd
+          colcon build
+          source install/setup.bash
+          pip install pyzmq
+          nohup ros2 launch metadrive_example_bridge metadrive_example_bridge.launch.py > ros.txt 2>&1 &
+          python ros_socket_server.py --test
+
+#          python ros_socket_server.py --test
+
 #      - name: Upload coverage to Codecov
 #        uses: codecov/codecov-action@v1
 #        with:

diff --git a/.gitignore b/.gitignore
@@ -39,3 +39,8 @@
 **/test_read_copy_waymo
 /metadrive/tests/vis_functionality/*.png
 **/assets/
+
+/bridges/ros_bridge/build
+/bridges/ros_bridge/install
+/bridges/ros_bridge/log
+
diff --git a/bridges/ros_bridge/README.md b/bridges/ros_bridge/README.md
@@ -0,0 +1,43 @@
+# Connecting MetaDrive Simulator with ROS2
+
+We provide an example bridge for connecting MetaDrive and ROS2 using zmq sockets, which publishes messages for camera
+images, LiDAR point clouds, and object 3D bounding boxes.
+
+## Installation
+
+To install the bridge, first [install ROS2 **humble**](https://docs.ros.org/en/humble/Installation.html) and follow the scripts
+below:
+
+```bash
+cd bridges/ros_bridge
+
+# activate env, ${ROS_DISTRO} is something like foxy, iron, humble
+source /opt/ros/${ROS_DISTRO}/setup.bash
+# You may need to run init, if you are installing ros2 for the first time
+sudo rosdep init 
+# zmq should be installed with system python interpreter
+pip install pyzmq  
+rosdep update
+rosdep install --from-paths src --ignore-src -y
+
+# build
+colcon build
+source install/setup.bash
+```
+
+## Usage
+
+```bash
+# Terminal 1, launch ROS publishers
+ros2 launch metadrive_example_bridge metadrive_example_bridge.launch.py
+# Terminal 2, launch socket server
+python ros_socket_server.py 
+
+```
+
+[Demo Video](https://www.youtube.com/watch?v=WWwdnURnOBM&list=TLGGdRGbC4RGzhAxNzEwMjAyMw)
+
+
+## Known Issues
+If you are using the `conda`, it is very likely that the interpreter will not match the system interpreter 
+and will be incompatible with ROS 2 binaries. 
diff --git a/bridges/ros_bridge/_delete_rviz_line.py b/bridges/ros_bridge/_delete_rviz_line.py
@@ -0,0 +1,28 @@
+"""
+Only for github CI using! The visualization tool is not available on github server, remove it.
+"""
+import os
+
+
+def delete_line_from_file(file_name, line_number):
+    # Check if the line number is valid
+    if line_number < 1:
+        return
+
+    lines = []
+    with open(file_name, 'r') as f:
+        lines = f.readlines()
+
+    # Check if the line number is beyond the file's length
+    if line_number > len(lines):
+        return
+
+    with open(file_name, 'w') as f:
+        for idx, line in enumerate(lines):
+            if idx + 1 != line_number:
+                f.write(line)
+
+
+# Usage
+if __name__ == '__main__':
+    delete_line_from_file(os.path.join(os.path.dirname(__file__), 'src', "metadrive_example_bridge", 'package.xml'), 10)
diff --git a/bridges/ros_bridge/ros_socket_server.py b/bridges/ros_bridge/ros_socket_server.py
@@ -0,0 +1,169 @@
+# launch sockets to send sensor readings to ROS
+import argparse
+import struct
+
+import numpy as np
+import zmq
+
+from metadrive.constants import HELP_MESSAGE
+from metadrive.engine.asset_loader import AssetLoader
+from metadrive.envs.scenario_env import ScenarioEnv
+from metadrive.policy.replay_policy import ReplayEgoCarPolicy
+
+
+class RosSocketServer():
+
+    def __init__(self):
+        self.context = zmq.Context().instance()
+        self.context.setsockopt(zmq.IO_THREADS, 2)
+        self.img_socket = self.context.socket(zmq.PUSH)
+        self.img_socket.setsockopt(zmq.SNDBUF, 4194304)
+        self.img_socket.bind("ipc:///tmp/rgb_camera")
+        self.img_socket.set_hwm(5)
+        self.lidar_socket = self.context.socket(zmq.PUSH)
+        self.lidar_socket.setsockopt(zmq.SNDBUF, 4194304)
+        self.lidar_socket.bind("ipc:///tmp/lidar")
+        self.lidar_socket.set_hwm(5)
+        self.obj_socket = self.context.socket(zmq.PUSH)
+        self.obj_socket.setsockopt(zmq.SNDBUF, 4194304)
+        self.obj_socket.bind("ipc:///tmp/obj")
+        self.obj_socket.set_hwm(5)
+
+    def run(self, test=False):
+        config = dict(
+            use_render=True if not test else False,  # need this on to get the camera
+            num_scenarios=1,
+            horizon=1000,
+            image_observation=True if not test else False,
+            manual_control=False,
+            agent_policy=ReplayEgoCarPolicy,
+            rgb_clip=False,
+            show_logo=False,
+            show_fps=False,
+            show_interface=False,
+            physics_world_step_size=0.02,
+            vehicle_config=dict(
+                image_source="main_camera",
+                show_navi_mark=False,
+            ),
+            data_directory=AssetLoader.file_path("nuscenes", return_raw_style=False),
+        )
+
+        env = ScenarioEnv(config)
+
+        try:
+
+            env.reset()
+            print(HELP_MESSAGE)
+            env.vehicle.expert_takeover = False
+            while True:
+                o = env.step([0, 0])
+                if test:
+                    image_data = np.zeros((512, 512, 3))  # fake data for testing
+                    image_data[::16, :, :] = 255
+                else:
+                    image_data = o[0]['image'][..., -1]
+                # send via socket
+                image_data = image_data.astype(np.uint8)
+                dim_data = struct.pack('ii', image_data.shape[1], image_data.shape[0])
+                image_data = bytearray(image_data)
+                # concatenate the dimensions and image data into a single byte array
+                image_data = dim_data + image_data
+                try:
+                    self.img_socket.send(image_data, zmq.NOBLOCK)
+                except zmq.error.Again:
+                    msg = "ros_socket_server: error sending image"
+                    if test:
+                        raise ValueError(msg)
+                    else:
+                        print(msg)
+                del image_data  # explicit delete to free memory
+
+                lidar_data, objs = env.vehicle.lidar.perceive(
+                    env.vehicle,
+                    env.engine.physics_world.dynamic_world,
+                    env.vehicle.config["lidar"]["num_lasers"],
+                    env.vehicle.config["lidar"]["distance"],
+                    height=1.0,
+                )
+
+                ego_x = env.vehicle.position[0]
+                ego_y = env.vehicle.position[1]
+                ego_theta = np.arctan2(env.vehicle.heading[1], env.vehicle.heading[0])
+
+                num_data = struct.pack('i', len(objs))
+                obj_data = []
+                for obj in objs:
+                    obj_x = obj.position[0]
+                    obj_y = obj.position[1]
+                    obj_theta = np.arctan2(obj.heading[1], obj.heading[0])
+
+                    obj_x = obj_x - ego_x
+                    obj_y = obj_y - ego_y
+                    obj_x_new = np.cos(-ego_theta) * obj_x - np.sin(-ego_theta) * obj_y
+                    obj_y_new = np.sin(-ego_theta) * obj_x + np.cos(-ego_theta) * obj_y
+
+                    obj_data.append(obj_x_new)
+                    obj_data.append(obj_y_new)
+                    obj_data.append(obj_theta - ego_theta)
+                    obj_data.append(obj.LENGTH)
+                    obj_data.append(obj.WIDTH)
+                    obj_data.append(obj.HEIGHT)
+                obj_data = np.array(obj_data, dtype=np.float32)
+                obj_data = bytearray(obj_data)
+                obj_data = num_data + obj_data
+                try:
+                    self.obj_socket.send(obj_data, zmq.NOBLOCK)
+                except zmq.error.Again:
+                    msg = "ros_socket_server: error sending objs"
+                    if test:
+                        raise ValueError(msg)
+                    else:
+                        print(msg)
+                del obj_data  # explicit delete to free memory
+
+                # convert lidar data to xyz
+                lidar_data = np.array(lidar_data) * env.vehicle.config["lidar"]["distance"]
+                lidar_range = env.vehicle.lidar._get_lidar_range(
+                    env.vehicle.config["lidar"]["num_lasers"], env.vehicle.lidar.start_phase_offset
+                )
+                point_x = lidar_data * np.cos(lidar_range)
+                point_y = lidar_data * np.sin(lidar_range)
+                point_z = np.ones(lidar_data.shape)  # assume height = 1.0
+                lidar_data = np.stack([point_x, point_y, point_z], axis=-1).astype(np.float32)
+                dim_data = struct.pack('i', len(lidar_data))
+                lidar_data = bytearray(lidar_data)
+                # concatenate the dimensions and lidar data into a single byte array
+                lidar_data = dim_data + lidar_data
+                try:
+                    self.lidar_socket.send(lidar_data, zmq.NOBLOCK)
+                except zmq.error.Again:
+                    msg = "ros_socket_server: error sending lidar"
+                    if test:
+                        raise ValueError(msg)
+                    else:
+                        print(msg)
+                del lidar_data  # explicit delete to free memory
+
+                if o[2]:  # done
+                    break
+
+        except Exception as e:
+            import traceback
+            traceback.print_exc()
+            raise e
+
+        finally:
+            env.close()
+
+
+def main(test=False):
+    server = RosSocketServer()
+    server.run(test)
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--test", action="store_true")
+    args = parser.parse_args()
+    main(args.test)
diff --git a/bridges/ros_bridge/src/metadrive_example_bridge/launch/metadrive_example_bridge.launch.py b/bridges/ros_bridge/src/metadrive_example_bridge/launch/metadrive_example_bridge.launch.py
@@ -0,0 +1,26 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    ld = LaunchDescription()
+    camera_node = Node(package="metadrive_example_bridge", executable="camera_bridge", name='camera_bridge')
+    ld.add_action(camera_node)
+    lidar_node = Node(package="metadrive_example_bridge", executable="lidar_bridge", name='lidar_bridge')
+    ld.add_action(lidar_node)
+    obj_node = Node(package="metadrive_example_bridge", executable="obj_bridge", name='obj_bridge')
+    ld.add_action(obj_node)
+
+    pkg_dir = get_package_share_directory('metadrive_example_bridge')
+    rviz_node = Node(
+        package='rviz2', executable='rviz2', name='rviz2', arguments=['-d', [os.path.join(pkg_dir, 'default.rviz')]]
+    )
+    ld.add_action(rviz_node)
+    return ld
+
+
+if __name__ == '__main__':
+    generate_launch_description()
diff --git a/bridges/ros_bridge/src/metadrive_example_bridge/metadrive_example_bridge/__init__.py b/bridges/ros_bridge/src/metadrive_example_bridge/metadrive_example_bridge/__init__.py