Merge pull request #87 from hello-robot/feature/uv_funmap

Build venv for Stretch FUNMAP

Author: hello-binit

factory/22.04/stretch_create_ament_workspace.sh

@@ -46,6 +46,7 @@ if [[ -d $AMENT_WSDIR ]]; then
     prompt_yes_no
 fi
 
+export PATH=${PATH}:~/.local/bin
 . /etc/hello-robot/hello-robot.conf
 export HELLO_FLEET_ID HELLO_FLEET_ID
 export HELLO_FLEET_PATH=${HOME}/stretch_user
@@ -65,6 +66,7 @@ cd $AMENT_WSDIR/
 rosdep install --rosdistro=humble -iy --skip-keys="librealsense2 realsense2_camera" --from-paths src &>> $REDIRECT_LOGFILE
 sudo apt remove -y ros-humble-librealsense2 ros-humble-realsense2-camera ros-humble-realsense2-camera-msgs &>> $REDIRECT_LOGFILE
 pip3 cache purge &>> $REDIRECT_LOGFILE
+
 echo "Install web interface dependencies..."
 cd $AMENT_WSDIR/src/stretch_web_teleop
 pip3 install -r requirements.txt &>> $REDIRECT_LOGFILE
@@ -86,8 +88,17 @@ touch .env
 echo certfile=${HELLO_FLEET_ID}+6.pem >> .env
 echo keyfile=${HELLO_FLEET_ID}+6-key.pem >> .env
 cd $AMENT_WSDIR/
+
+echo "Install FUNMAP dependencies..."
+cd $AMENT_WSDIR/src/stretch_ros2/stretch_funmap
+uv venv --system-site-packages --allow-existing .venv &>> $REDIRECT_LOGFILE
+uv sync --frozen &>> $REDIRECT_LOGFILE
+echo "Compile cython modules..."
+uv run cythonize stretch_funmap/cython_min_cost_path.pyx -3 -i &>> $REDIRECT_LOGFILE
+cd $AMENT_WSDIR/
+
 echo "Compile the workspace (this might take a while)..."
-colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release &>> $REDIRECT_LOGFILE
+colcon build --symlink-install &>> $REDIRECT_LOGFILE
 echo "Source setup.bash file..."
 source $AMENT_WSDIR/install/setup.bash
 echo "Updating port privledges..."
@@ -102,4 +113,8 @@ echo "Setup uncalibrated robot URDF..."
 ros2 run stretch_calibration update_uncalibrated_urdf >> $REDIRECT_LOGFILE
 echo "Setup calibrated robot URDF..."
 ros2 run stretch_calibration update_with_most_recent_calibration >> $REDIRECT_LOGFILE
-colcon build &>> $REDIRECT_LOGFILE
+colcon build --symlink-install &>> $REDIRECT_LOGFILE
+
+echo "Amend FUNMAP executables to use venv..."
+REx_amend_venv_execs.py stretch_funmap &>> $REDIRECT_LOGFILE
+

factory/22.04/stretch_install_system.sh

@@ -49,8 +49,6 @@ install portaudio19-dev
 echo "Install lm-sensors & nvme-cli"
 install lm-sensors
 install nvme-cli
-echo "Install Cython for FUNMAP"
-install cython3
 echo "Install cheese for camera testing"
 install cheese
 echo "Install SSH Server"
@@ -67,6 +65,8 @@ echo "Install APT HTTPS"
 install apt-transport-https
 echo "Install Network Security Services libraries"
 install libnss3-tools
+echo "Install uv"
+curl -LsSf https://astral.sh/uv/install.sh | sh &>> $REDIRECT_LOGFILE
 echo ""
 
 # https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html
@@ -140,7 +140,7 @@ echo "INSTALLATION OF WEB INTERFACE"
 echo "###########################################"
 echo "Register the nodesource APT server's public key"
 function register_nodesource_apt_server {
-    curl -fsSL https://deb.nodesource.com/gpgkey/nodesource-repo.gpg.key | sudo gpg --dearmor -o /etc/apt/keyrings/nodesource.gpg
+    curl -fsSL https://deb.nodesource.com/gpgkey/nodesource-repo.gpg.key | sudo gpg --batch --yes --dearmor -o /etc/apt/keyrings/nodesource.gpg
 }
 register_nodesource_apt_server &>> $REDIRECT_LOGFILE
 echo "Add the nodesource APT server to the list of APT respositories"