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Added version check for nanosaur
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@rbonghi
rbonghi committed Feb 5, 2025
1 parent 42fcf89 commit 5c9dc22
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Showing 4 changed files with 91 additions and 42 deletions.
18 changes: 15 additions & 3 deletions src/nanosaur/main.py
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Original file line number Diff line number Diff line change
Expand Up @@ -48,7 +48,9 @@
create_developer_workspace,
create_maintainer_workspace,
get_workspaces_path,
ROS_DISTRO,
requirements_info,
NANOSAUR_DISTRO_MAP,
NANOSAUR_CURRENT_DISTRO,
)


Expand Down Expand Up @@ -93,6 +95,9 @@ def info(platform, params: Params, args):
device_type = "robot" if platform['Machine'] == 'aarch64' else "desktop"
# Print version information
package_info(params, args.verbose)
# Requirements information
print()
requirements_info(params, args.verbose)
# Print mode if it exists in params
if 'mode' in params:
mode = params['mode']
Expand Down Expand Up @@ -209,8 +214,15 @@ def robot_control(params, subparsers):
def main():
# Load the parameters
params = Params.load(DEFAULT_PARAMS)
# Get current nanosaur version
nanosaur_version = params.get('nanosaur_version', NANOSAUR_CURRENT_DISTRO)
if nanosaur_version not in NANOSAUR_DISTRO_MAP:
print(TerminalFormatter.color_text(f"Error: {nanosaur_version} is not a valid Nanosaur version", color='red'))
sys.exit(1)
# Get the ROS distro
ros_distro = NANOSAUR_DISTRO_MAP[nanosaur_version]['ros']
# Get the ROS 2 installation path if available
ros2_installed = get_ros2_path(ROS_DISTRO)
ros2_installed = get_ros2_path(ros_distro)

# Extract device information with jtop
try:
Expand Down Expand Up @@ -271,7 +283,7 @@ def main():
# Subcommand: workspace (with a sub-menu for workspace operations)
if get_workspaces_path(params):
# Add workspace subcommand
parser_workspace = parser_workspace_menu(subparsers)
parser_workspace = parser_workspace_menu(subparsers, params)

# Subcommand: simulation (with a sub-menu for simulation types)
if device_type == 'desktop' and 'mode' in params:
Expand Down
5 changes: 4 additions & 1 deletion src/nanosaur/simulation.py
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Original file line number Diff line number Diff line change
Expand Up @@ -257,13 +257,16 @@ def simulation_start_debug(simulation_ws_path, simulation_tool, headless, isaac_


def simulation_start(platform, params: Params, args):
# Get the Nanosaur version
nanosaur_version = params['nanosaur_version']
ros_distro = workspace.NANOSAUR_DISTRO_MAP[nanosaur_version]['ros']
# Check if debug mode is enabled
debug_mode = None
if 'ws_debug' in params:
debug_mode = params['ws_debug']
print(TerminalFormatter.color_text(f"Default debug mode: {debug_mode}", color='yellow'))
# Get the ROS 2 installation path if available
ros2_installed = get_ros2_path(workspace.ROS_DISTRO)
ros2_installed = get_ros2_path(ros_distro)
debug_mode = 'docker' if ros2_installed is None else debug_mode
# Check which simulation tool is selected
if 'simulation_tool' not in params:
Expand Down
6 changes: 0 additions & 6 deletions src/nanosaur/utilities.py
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,6 @@
import getpass
import requests
import logging
from nanosaur import __version__
from nanosaur.prompt_colors import TerminalFormatter

# Set up the logger
Expand Down Expand Up @@ -58,7 +57,6 @@
NANOSAUR_GITHUB_ORG_URL = 'https://github.com/rnanosaur'
NANOSAUR_INSTAGRAM_URL = 'robo.panther'
NANOSAUR_MAIN_GITHUB_URL = 'https://github.com/rnanosaur/nanosaur.git'
NANOSAUR_MAIN_BRANCH = 'nanosaur2'

NANOSAUR_DOCKER_USER = 'nanosaur'

Expand Down Expand Up @@ -370,11 +368,7 @@ def print_verbose_info(params):
print(f"{TerminalFormatter.color_text(' 🐳 Docker Hub:', bold=True)} {nanosaur_docker_home}")
config_file_path = TerminalFormatter.clickable_link(Params.get_params_file())
print(f"{TerminalFormatter.color_text('Nanosaur config file:', bold=True)} {config_file_path}")
nanosaur_branch = params.get('nanosaur_branch', NANOSAUR_MAIN_BRANCH)
print(f"{TerminalFormatter.color_text('Nanosaur version (branch):', bold=True)} {nanosaur_branch}")
print(f"{TerminalFormatter.color_text('Nanosaur package:', bold=True)} {__version__}")
if verbose:
print()
print_verbose_info(params)


Expand Down
104 changes: 72 additions & 32 deletions src/nanosaur/workspace.py
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,7 @@
import yaml
import argparse
import logging
from nanosaur import __version__
from nanosaur.prompt_colors import TerminalFormatter
from nanosaur import ros
from nanosaur.docker import docker_service_run_command
Expand All @@ -47,9 +48,17 @@
}
}

ROS_DISTRO = "humble"
ISAAC_ROS_RELEASE = "release-3.2"
ISAAC_ROS_DISTRO_SUFFIX = "ros2_humble"
NANOSAUR_DISTRO_MAP = {
'2.0.0': {
'nanosaur_branch': 'nanosaur2',
'ros': 'humble',
'isaac_ros_release': 'release-3.2',
'isaac_ros_distro': 'ros2_humble',
'isaac_sim': '4.5.0',
},
}
NANOSAUR_CURRENT_DISTRO = '2.0.0'

ISAAC_ROS_DOCKER_CAMERA_LIST = ["realsense", "zed"]
NANOSAUR_DOCKERFILE_SUFFIX = "nanosaur"

Expand Down Expand Up @@ -78,12 +87,17 @@

def get_starting_location(params: utilities.Params) -> str:
"""Prompt the user to select the location to run the command."""
# Get the nanosaur version
nanosaur_version = params['nanosaur_version']
# Get the ROS distro name
ros_distro_name = NANOSAUR_DISTRO_MAP[nanosaur_version]['ros']

debug_mode = None
if 'ws_debug' in params:
debug_mode = params['ws_debug']
print(TerminalFormatter.color_text(f"Default debug mode: {debug_mode}", color='yellow'))
# Get the ROS 2 installation path if available
ros2_installed = ros.get_ros2_path(ROS_DISTRO)
ros2_installed = ros.get_ros2_path(ros_distro_name)
debug_mode = 'docker' if ros2_installed is None else debug_mode
# Ask the user to select the location
questions = [
Expand All @@ -100,21 +114,32 @@ def get_starting_location(params: utilities.Params) -> str:
return answers['location'] if debug_mode is None else debug_mode


def workspaces_info(params: utilities.Params, verbose: bool):
"""Print information about the workspaces."""
def requirements_info(params: utilities.Params, verbose: bool):
# Get the nanosaur version
nanosaur_version = params.get('nanosaur_version', NANOSAUR_CURRENT_DISTRO)
nanosaur_version_string = TerminalFormatter.color_text("Nanosaur Version:", bold=True)
if nanosaur_version != NANOSAUR_CURRENT_DISTRO:
print(TerminalFormatter.color_text(f"{nanosaur_version_string} {nanosaur_version}", color='yellow'))
else:
print(TerminalFormatter.color_text(f"{nanosaur_version_string} {nanosaur_version}"))

for key, default in NANOSAUR_DISTRO_MAP[nanosaur_version].items():
value = params.get(key, default)
if value != default or verbose:
if key == 'ros':
ros2_path = ros.get_ros2_path(value)
ros2_version_color = TerminalFormatter.color_text(value.capitalize(), color='yellow' if value != default else 'blue', bold=True)
version = TerminalFormatter.clickable_link(ros2_path) if ros2_path else TerminalFormatter.color_text('Not installed', color='red')
print(TerminalFormatter.color_text(f" ROS 2 {ros2_version_color}: {version}", bold=True))
else:
color = 'yellow' if value != default else None
key_display = key.replace('_', ' ').title().replace('Ros', 'ROS')
key_string = TerminalFormatter.color_text(f"{key_display}:", bold=True)
print(TerminalFormatter.color_text(f" {key_string} {value}", color=color))

def ros_info(params):
# Print ROS 2 installation path
ros2_path = ros.get_ros2_path(ROS_DISTRO)
ros2_version_color = TerminalFormatter.color_text(ROS_DISTRO.capitalize(), color='blue', bold=True)
ros2_string = TerminalFormatter.color_text(f"ROS 2 {ros2_version_color}:", bold=True)
version = TerminalFormatter.clickable_link(ros2_path) if ros2_path else TerminalFormatter.color_text('Not installed', color='red')
print(f"{ros2_string} {version}")
# Print Isaac ROS installation path
isaac_ros_version = params.get('isaac_ros_branch', ISAAC_ROS_RELEASE)
isaac_ros_string = TerminalFormatter.color_text("Isaac ROS:", bold=True)
print(f"{isaac_ros_string} {isaac_ros_version}")

def workspaces_info(params: utilities.Params, verbose: bool):
"""Print information about the workspaces."""
# Print installed workspaces
workspaces = get_workspaces_path(params)
print()
Expand All @@ -125,15 +150,15 @@ def ros_info(params):
print(f" {TerminalFormatter.color_text(ws_name, bold=True)}: {TerminalFormatter.clickable_link(ws_path)}")
elif verbose:
print(TerminalFormatter.color_text("No workspaces installed", bold=True))
# Print ROS 2 and Isaac ROS information
if verbose:
print()
ros_info(params)


def parser_workspace_menu(subparsers: argparse._SubParsersAction) -> argparse.ArgumentParser:
def parser_workspace_menu(subparsers: argparse._SubParsersAction, params: utilities.Params) -> argparse.ArgumentParser:
# Get the nanosaur version
nanosaur_version = params['nanosaur_version']
# Get the ROS distro name
ros_distro_name = NANOSAUR_DISTRO_MAP[nanosaur_version]['ros']
# Check if ROS 2 is installed
ros2_installed = ros.get_ros2_path(ROS_DISTRO)
ros2_installed = ros.get_ros2_path(ros_distro_name)
# Add workspace subcommand
parser_workspace = subparsers.add_parser(
'workspace', aliases=["ws"], help="Manage the Nanosaur workspace")
Expand Down Expand Up @@ -288,13 +313,17 @@ def update_workspace(params, workspace_type, workspace_name_key, force, skip_ros
@utilities.require_sudo_password
def build(platform, params: utilities.Params, args, password=None):
""" Build the workspace """
# Get the nanosaur version
nanosaur_version = params['nanosaur_version']
# Get the ROS distro name
ros_distro_name = NANOSAUR_DISTRO_MAP[nanosaur_version]['ros']
# Get the build action
def get_build_action(workspace_name_key):
workspace_path = get_workspace_path(params, workspace_name_key)
if not workspace_path:
return False
print(TerminalFormatter.color_text(f"- Install all dependencies on workspace {workspace_path}", bold=True))
ros2_path = ros.get_ros2_path(ROS_DISTRO)
ros2_path = ros.get_ros2_path(ros_distro_name)
if not ros.run_rosdep(ros2_path, workspace_path, password):
print(TerminalFormatter.color_text("Failed to install dependencies", color='red'))
return False
Expand Down Expand Up @@ -331,8 +360,12 @@ def debug(platform, params: utilities.Params, args):
if 'ws_debug' in params:
debug_mode = params['ws_debug']
print(TerminalFormatter.color_text(f"Default debug mode: {debug_mode}", color='yellow'))
# Get the nanosaur version
nanosaur_version = params['nanosaur_version']
# Get the ROS distro name
ros_distro_name = NANOSAUR_DISTRO_MAP[nanosaur_version]['ros']
# Get the ROS 2 installation path if available
ros2_installed = ros.get_ros2_path(ROS_DISTRO)
ros2_installed = ros.get_ros2_path(ros_distro_name)
debug_mode = 'docker' if ros2_installed is None else debug_mode

def debug_simulation(params: utilities.Params, args):
Expand Down Expand Up @@ -409,8 +442,11 @@ def deploy(platform, params: utilities.Params, args):
""" Deploy the workspace """
# Get the Nanosaur docker user
nanosaur_docker_user = utilities.get_nanosaur_docker_user(params)
# Get the Nanosaur version
nanosaur_version = params['nanosaur_version']
# Get the Isaac ROS distro name
isaac_ros_distro_name = params.get('isaac_ros_distro', ISAAC_ROS_DISTRO_SUFFIX)
isaac_ros_distro = NANOSAUR_DISTRO_MAP[nanosaur_version]['isaac_ros_distro']
isaac_ros_distro_name = params.get('isaac_ros_distro', isaac_ros_distro)

def deploy_simulation(image_name):
""" Deploy the simulation workspace """
Expand Down Expand Up @@ -605,7 +641,7 @@ def create_simple(platform, params: utilities.Params, args) -> bool:
# Create the Nanosaur home folder
nanosaur_home_path = utilities.create_nanosaur_home()
# Store nanosaur distro and Isaac ROS distro
params['nanosaur_branch'] = params.get('nanosaur_branch', utilities.NANOSAUR_MAIN_BRANCH)
params['nanosaur_version'] = params.get('nanosaur_version', NANOSAUR_CURRENT_DISTRO)
# Determine the device type
workspace_type = "robot" if platform['Machine'] == 'aarch64' else "simulation"
docker_compose = f"docker-compose.{workspace_type}.yml"
Expand All @@ -621,8 +657,6 @@ def create_developer_workspace(platform, params: utilities.Params, args, passwor
create_simple(platform, params, args)
# Create the Nanosaur home folder
nanosaur_home_path = utilities.create_nanosaur_home()
# Store nanosaur distro and Isaac ROS distro
params['isaac_ros_branch'] = params.get('isaac_ros_branch', ISAAC_ROS_RELEASE)
# Create the shared source folder
create_shared_workspace()
# Create developer workspace
Expand All @@ -637,15 +671,21 @@ def create_developer_workspace(platform, params: utilities.Params, args, passwor


def create_maintainer_workspace(platform, params: utilities.Params, args, password=None) -> bool:
# Get the nanosaur version
nanosaur_version = params.get('nanosaur_version', NANOSAUR_CURRENT_DISTRO)
# Get the ROS distro name
ros_distro_name = NANOSAUR_DISTRO_MAP[nanosaur_version]['ros']
# Check if ROS 2 is installed
ros2_installed = ros.get_ros2_path(ROS_DISTRO)
ros2_installed = ros.get_ros2_path(ros_distro_name)
# determine the device type
device_type = "robot" if platform['Machine'] == 'aarch64' else "desktop"
# Create the Nanosaur home folder
nanosaur_home_path = utilities.create_nanosaur_home()
# Store nanosaur distro and Isaac ROS distro
params['nanosaur_branch'] = params.get('nanosaur_branch', utilities.NANOSAUR_MAIN_BRANCH)
params['isaac_ros_branch'] = params.get('isaac_ros_branch', ISAAC_ROS_RELEASE)
nanosaur_branch = NANOSAUR_DISTRO_MAP[nanosaur_version]['nanosaur_branch']
params['nanosaur_branch'] = params.get('nanosaur_branch', nanosaur_branch)
isaac_ros_branch = NANOSAUR_DISTRO_MAP[nanosaur_version]['isaac_ros']
params['isaac_ros_branch'] = params.get('isaac_ros_branch', isaac_ros_branch)
# Create the shared source folder
create_shared_workspace()
if device_type == "robot" or args.all:
Expand Down

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