MWLCDev · Ahelsamahy · Jan 4, 2024 · Jan 29, 2024 · Jan 30, 2024 · Feb 1, 2024
diff --git a/.DS_Store b/.DS_Store
diff --git a/archived/.DS_Store b/archived/.DS_Store
diff --git a/common/.DS_Store b/common/.DS_Store
diff --git a/docker-compose.yml b/docker-compose.yml
@@ -22,20 +22,6 @@ services:
       - CAP_SYS_RAWIO
     volumes:
       - volume_zerotier_config:/var/lib/zerotier-one:rw
-  wireguard:
-    cpuset: '0'
-    image: masipcat/wireguard-go
-    container_name: wireguard
-    restart: always
-    network_mode: host
-    devices:
-      - '/dev/net/tun'
-    cap_add:
-      - SYS_ADMIN
-      - NET_ADMIN
-      - CAP_SYS_RAWIO
-    volumes:
-      - volume_wireguard_config:/etc/wireguard:rw
   httpd:
     cpuset: '0'
     build:
@@ -61,18 +47,6 @@ services:
     volumes:
       - volume_ftpd_config:/etc/pureftpd:rw
       - volume_byodr_sessions:/home/ftpuser:rw
-  rosnode:
-    cpuset: '0'
-    build:
-      context: .
-      dockerfile: rosnode/Dockerfile
-    restart: always
-    command: ['python3', 'app.py', '--name', 'rosnode']
-    network_mode: host
-    stop_signal: SIGKILL
-    volumes:
-      - volume_byodr_sockets:/byodr:rw
-      - volume_byodr_config:/config:ro
   mongodb:
     cpuset: '0'
     build:
@@ -116,7 +90,7 @@ services:
       - volume_byodr_sockets:/byodr:rw
       - volume_byodr_config:/config:rw
   pilot:
-    cpuset: '2'
+    cpuset: '1'
     build:
       context: .
       dockerfile: pilot/Dockerfile
@@ -145,3 +119,15 @@ services:
     volumes:
       - volume_byodr_sockets:/byodr:rw
       - volume_byodr_config:/config:ro
+  following:
+    cpuset: '3,2'
+    build:
+      context: .
+      dockerfile: following/Dockerfile
+    restart: always
+    privileged: true
+    network_mode: host
+    stop_signal: SIGKILL
+    volumes:
+      - volume_byodr_sockets:/byodr:rw
+      - volume_byodr_config:/config:rw
diff --git a/docker/bionic-torch1.10-py36-cuda10.2.dockerfile b/docker/bionic-torch1.10-py36-cuda10.2.dockerfile
@@ -0,0 +1,71 @@
+# This pytorch version is strictly built with cp36. I did try to have a cp310 version
+#    [torch-1.10.0-cp39-cp39-manylinux2014_aarch64.whl](https://files.pythonhosted.org/packages/03/f6/67e0ef29a03fd1cf585bdec03eb3aaf9f00498474f5c7b59f83d9779a7f1/torch-1.10.0-cp39-cp39-manylinux2014_aarch64.whl) but it didn't work with CUDA. 
+
+# Some links I used while making this image 
+# find supported versions between pytorch and torchvision => https://catalog.ngc.nvidia.com/orgs/nvidia/containers/l4t-pytorch
+# https://forums.developer.nvidia.com/t/pytorch-for-jetson/72048
+# https://developer.nvidia.com/embedded/jetson-linux-archive
+# Supported OS to run CUDA => https://developer.nvidia.com/cuda-10.2-download-archive?target_os=Linux&target_arch=x86_64&target_distro=Ubuntu (most of the other OS do not have optimized version with Balena os)
+# Download wheel version for pytorch (in case of updating) => https://download.pytorch.org/whl/torch/
+# find optimized builds made for Nano on Balena => Nvidia Jetson Nano SD-CARD in https://docs.balena.io/reference/base-images/base-images-ref/
+# numpy build https://gitlab.com/pdboef/tensorrt-balena/-/blob/master/Dockerfile.tensorrt and https://github.com/zrzka/python-wheel-aarch64/releases
+# for tensorflow https://gitlab.com/pdboef/tensorrt-balena/-/tree/master from https://forums.balena.io/t/jetson-nano-image-with-tensorrt-for-python-projects/19272
+# main optimized blena docker image => https://github.com/balena-io-library/base-images/blob/master/balena-base-images/device-base/jetson-nano/ubuntu/bionic/run/Dockerfile
+# the python optimized image =>https://github.com/balena-io-library/base-images/blob/master/balena-base-images/python/jetson-nano/ubuntu/bionic/3.9.16/run/Dockerfile
+
+#Images to switch between
+# FROM balenalib/jetson-nano-ubuntu-python:bionic 
+# FROM balenalib/jetson-nano-ubuntu-python:3.6-bionic-run 
+
+# Image name : jetson-nano-torch1.10-py36-cuda10.2
+# FROM balenalib/jetson-nano-ubuntu:bionic
+FROM balenalib/jetson-nano-ubuntu:bionic
+
+# Combine ENV statements and don't prompt with any configuration questions
+ENV DEBIAN_FRONTEND=noninteractive \
+  CUDA_HOME=/usr/local/cuda-10.2 \
+  UDEV=1
+
+# Update to 32.7 repository, add Universe repository, and install required packages
+RUN sed -i 's/r32.6 main/r32.7 main/g' /etc/apt/sources.list.d/nvidia.list && \
+  apt-get update -qq && \
+  apt-get install -y --no-install-recommends software-properties-common && \
+  add-apt-repository universe && \
+  apt-get install -y --no-install-recommends lbzip2 git wget unzip jq xorg tar python3 libegl1 binutils \
+  python3-gi python3-dev python3-gst-1.0 python3-pip \
+  nvidia-l4t-cuda nvidia-cuda libopenmpi-dev cuda-toolkit-10-2 \
+  cuda-samples-10-2 libcudnn8 libopenblas-base libomp-dev python3-zmq
+
+# Clean up in a separate RUN command to enforce your requirement
+RUN apt-get clean && \
+  rm -rf /var/lib/apt/lists/* /usr/local/cuda-10.2/doc
+
+RUN pip3 install --upgrade pip --quiet
+
+# Install BSP binaries for L4T 32.7.2 if they don't exist and perform cleanup
+RUN if [ ! -f jetson-210_linux_r32.7.2_aarch64.tbz2 ]; then \
+  wget -q https://developer.nvidia.com/embedded/l4t/r32_release_v7.2/t210/jetson-210_linux_r32.7.2_aarch64.tbz2; \
+  fi && \
+  if [ -f jetson-210_linux_r32.7.2_aarch64.tbz2 ]; then \
+  tar xf jetson-210_linux_r32.7.2_aarch64.tbz2 && \
+  cd Linux_for_Tegra && \
+  sed -i 's/config.tbz2\"/config.tbz2\" --exclude=etc\/hosts --exclude=etc\/hostname/g' apply_binaries.sh && \
+  sed -i 's/install --owner=root --group=root \"${QEMU_BIN}\" \"${L4T_ROOTFS_DIR}\/usr\/bin\/\"/#install --owner=root --group=root \"${QEMU_BIN}\" \"${L4T_ROOTFS_DIR}\/usr\/bin\/\"/g' nv_tegra/nv-apply-debs.sh && \
+  sed -i 's/chroot . \//  /g' nv_tegra/nv-apply-debs.sh && \
+  ./apply_binaries.sh -r / --target-overlay && cd .. && \
+  rm -rf jetson-210_linux_r32.7.2_aarch64.tbz2 Linux_for_Tegra; \
+  fi && \
+  echo "/usr/lib/aarch64-linux-gnu/tegra" > /etc/ld.so.conf.d/nvidia-tegra.conf && ldconfig
+
+# PyTorch installation with quiet flag to suppress progress output
+ARG PYTORCH_URL=https://nvidia.box.com/shared/static/fjtbno0vpo676a25cgvuqc1wty0fkkg6.whl
+ARG PYTORCH_WHL=torch-1.10.0-cp36-cp36m-linux_aarch64.whl
+RUN wget -q --no-check-certificate ${PYTORCH_URL} -O ${PYTORCH_WHL} && \
+  pip3 install ${PYTORCH_WHL} --quiet && \
+  rm ${PYTORCH_WHL}
+
+# Numpy installation with quiet flag
+ARG WHL_URL_PREFIX=https://github.com/zrzka/python-wheel-aarch64/releases/download/jetson-nano-1.1
+RUN curl -LO ${WHL_URL_PREFIX}/numpy-1.16.4-cp36-cp36m-linux_aarch64.whl && \
+  python3 -m pip install numpy-1.16.4-cp36-cp36m-linux_aarch64.whl --quiet && \
+  rm numpy-1.16.4-cp36-cp36m-linux_aarch64.whl
diff --git a/docker/bionic-torch1.11-cp38-cuda10.2.Dockerfile b/docker/bionic-torch1.11-cp38-cuda10.2.Dockerfile
@@ -0,0 +1,49 @@
+# Files inside yolo config directory will be referred to as /workspace/ultralytics/ultralytics/cfg/models/v8/ 
+# building command ==> docker buildx build --platform linux/arm64,linux/amd64 -t mwlvdev/jetson-nano-ubuntu:bionic-torch1.10-cp38-cuda10.2 . --push
+# Start from the base image
+FROM balenalib/jetson-nano-ubuntu:bionic
+
+# Environment variables for non-interactive installation and path configuration
+ENV DEBIAN_FRONTEND noninteractive
+ENV PATH="/workspace/ultralytics/venv/bin:$PATH"
+
+# Add Kitware GPG key to avoid errors on apt-get update
+RUN apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 1A127079A92F09ED
+
+# Add Kitware GPG key, update sources list for Nvidia, and install dependencies
+RUN apt-get update && \
+  # Update to 32.7 repository in case the base image is using 32.6
+  sed -i 's/r32.6 main/r32.7 main/g' /etc/apt/sources.list.d/nvidia.list && \
+  apt-get install -y --no-install-recommends cuda-toolkit-10-2 cuda-samples-10-2 libcudnn8 lbzip2 xorg wget tar libegl1 git \
+  python3.8 python3.8-venv python3.8-dev python3-pip \
+  libopenmpi-dev libomp-dev libopenblas-dev libblas-dev libeigen3-dev libcublas-dev && \
+  # Clean up
+  apt-get clean && \
+  rm -rf /var/lib/apt/lists/*
+
+# Download and install BSP binaries for L4T 32.7.2, and perform configurations
+RUN wget https://developer.nvidia.com/embedded/l4t/r32_release_v7.2/t210/jetson-210_linux_r32.7.2_aarch64.tbz2 && \
+  tar xf jetson-210_linux_r32.7.2_aarch64.tbz2 && \
+  cd Linux_for_Tegra && \
+  sed -i 's/config.tbz2\"/config.tbz2\" --exclude=etc\/hosts --exclude=etc\/hostname/g' apply_binaries.sh && \
+  sed -i 's/install --owner=root --group=root \"${QEMU_BIN}\" \"${L4T_ROOTFS_DIR}\/usr\/bin\/\"/#install --owner=root --group=root \"${QEMU_BIN}\" \"${L4T_ROOTFS_DIR}\/usr\/bin\/\"/g' nv_tegra/nv-apply-debs.sh && \
+  sed -i 's/chroot . \//  /g' nv_tegra/nv-apply-debs.sh && \
+  ./apply_binaries.sh -r / --target-overlay && cd .. && \
+  rm -rf jetson-210_linux_r32.7.2_aarch64.tbz2 Linux_for_Tegra && \
+  echo "/usr/lib/aarch64-linux-gnu/tegra" > /etc/ld.so.conf.d/nvidia-tegra.conf && ldconfig
+
+# Setup the working environment
+WORKDIR /workspace
+
+# Clone the YOLOv8 repository and setup Python environment
+RUN git clone https://github.com/ultralytics/ultralytics.git && \
+  cd ultralytics && \
+  python3.8 -m venv venv && \
+  pip install -U pip wheel gdown && \
+  # Download pre-built PyTorch and TorchVision packages and install
+  gdown https://drive.google.com/uc?id=1hs9HM0XJ2LPFghcn7ZMOs5qu5HexPXwM && \
+  gdown https://drive.google.com/uc?id=1m0d8ruUY8RvCP9eVjZw4Nc8LAwM8yuGV && \
+  pip install torch-*.whl torchvision-*.whl && \
+  rm torch-*.whl torchvision-*.whl && \
+  # Install the Python package for YOLOv8
+  pip install .
diff --git a/docs/img/autopilot/ambiguous_corridor.png b/docs/img/autopilot/ambiguous_corridor.png
diff --git a/docs/img/autopilot/blocked_passage.png b/docs/img/autopilot/blocked_passage.png
diff --git a/docs/img/autopilot/browser_navigationpoint_recognised1.jpg b/docs/img/autopilot/browser_navigationpoint_recognised1.jpg
diff --git a/docs/img/autopilot/browser_route_pause.jpg b/docs/img/autopilot/browser_route_pause.jpg
diff --git a/docs/img/autopilot/browser_route_selector1.jpg b/docs/img/autopilot/browser_route_selector1.jpg
diff --git a/docs/img/autopilot/browser_route_start.jpg b/docs/img/autopilot/browser_route_start.jpg
diff --git a/docs/img/autopilot/corridor_average.png b/docs/img/autopilot/corridor_average.png
diff --git a/docs/img/autopilot/corridor_crossing.png b/docs/img/autopilot/corridor_crossing.png
diff --git a/docs/img/autopilot/corridor_merge.png b/docs/img/autopilot/corridor_merge.png
diff --git a/docs/img/autopilot/double_crossing.png b/docs/img/autopilot/double_crossing.png
diff --git a/docs/img/autopilot/filezilla_navigationpointfolder.jpg b/docs/img/autopilot/filezilla_navigationpointfolder.jpg
diff --git a/docs/img/autopilot/filezilla_newroutes.jpg b/docs/img/autopilot/filezilla_newroutes.jpg
diff --git a/docs/img/autopilot/filezilla_robot_side.jpg b/docs/img/autopilot/filezilla_robot_side.jpg
diff --git a/docs/img/autopilot/json_30_startrampup.jpg b/docs/img/autopilot/json_30_startrampup.jpg
diff --git a/docs/img/autopilot/json_50_endrampup.jpg b/docs/img/autopilot/json_50_endrampup.jpg
diff --git a/docs/img/autopilot/json_80_stopbeforedown.jpg b/docs/img/autopilot/json_80_stopbeforedown.jpg
diff --git a/docs/img/autopilot/labyrinth.png b/docs/img/autopilot/labyrinth.png
diff --git a/docs/img/autopilot/labyrinth2.png b/docs/img/autopilot/labyrinth2.png
diff --git a/docs/img/autopilot/max_speed_zero.jpg b/docs/img/autopilot/max_speed_zero.jpg
diff --git a/docs/img/autopilot/navigationpoint_choice.jpg b/docs/img/autopilot/navigationpoint_choice.jpg
diff --git a/docs/img/autopilot/navigationpointpictures.jpg b/docs/img/autopilot/navigationpointpictures.jpg
diff --git a/docs/img/autopilot/ros2_node_name_setting.jpg b/docs/img/autopilot/ros2_node_name_setting.jpg
diff --git a/docs/img/autopilot/rover_front.jpg b/docs/img/autopilot/rover_front.jpg
diff --git a/docs/img/autopilot/rover_frontOud.jpg b/docs/img/autopilot/rover_frontOud.jpg
diff --git a/docs/img/autopilot/two_junctions.png b/docs/img/autopilot/two_junctions.png
diff --git a/docs/img/autopilot/uncertain.png b/docs/img/autopilot/uncertain.png
diff --git a/docs/img/controller/cert_20lockiconclicked.jpg b/docs/img/controller/cert_20lockiconclicked.jpg
diff --git a/docs/img/controller/cert_25connectionnotsecureddetailsclicked.jpg b/docs/img/controller/cert_25connectionnotsecureddetailsclicked.jpg
diff --git a/docs/img/controller/cert_30moreinformationclicked.jpg b/docs/img/controller/cert_30moreinformationclicked.jpg
diff --git a/docs/img/controller/cert_35viewcertificateclicked.jpg b/docs/img/controller/cert_35viewcertificateclicked.jpg
diff --git a/docs/img/controller/cert_40downloadcertificateclicked.jpg b/docs/img/controller/cert_40downloadcertificateclicked.jpg
diff --git a/docs/img/controller/cert_50certificateopeninkeychain.jpg b/docs/img/controller/cert_50certificateopeninkeychain.jpg
diff --git a/docs/img/controller/cert_55trustopen.jpg b/docs/img/controller/cert_55trustopen.jpg
diff --git a/docs/img/controller/dash_center_autopilot.png b/docs/img/controller/dash_center_autopilot.png
diff --git a/docs/img/controller/dash_center_black.png b/docs/img/controller/dash_center_black.png
diff --git a/docs/img/controller/dash_center_blue.png b/docs/img/controller/dash_center_blue.png
diff --git a/docs/img/controller/dash_center_red.png b/docs/img/controller/dash_center_red.png
diff --git a/docs/img/controller/dash_center_teleop.png b/docs/img/controller/dash_center_teleop.png
diff --git a/docs/img/controller/msg_another_user_in_control.png b/docs/img/controller/msg_another_user_in_control.png
diff --git a/docs/img/controller/msg_connection_lost.png b/docs/img/controller/msg_connection_lost.png
diff --git a/docs/img/controller/msg_controller_not_detected.png b/docs/img/controller/msg_controller_not_detected.png
diff --git a/docs/img/controller/ps4_autopilot.jpg b/docs/img/controller/ps4_autopilot.jpg
diff --git a/docs/img/controller/ps4_autopilot_overrule.jpg b/docs/img/controller/ps4_autopilot_overrule.jpg
diff --git a/docs/img/controller/ps4_camera.jpg b/docs/img/controller/ps4_camera.jpg
diff --git a/docs/img/controller/ps4_cameraOud.jpg b/docs/img/controller/ps4_cameraOud.jpg
diff --git a/docs/img/controller/ps4_forward_backward.jpg b/docs/img/controller/ps4_forward_backward.jpg
diff --git a/docs/img/controller/ps4_forward_backwardOud.jpg b/docs/img/controller/ps4_forward_backwardOud.jpg
diff --git a/docs/img/controller/ps4_overview.jpg b/docs/img/controller/ps4_overview.jpg
diff --git a/docs/img/controller/ps4_reverse_gear.jpg b/docs/img/controller/ps4_reverse_gear.jpg
diff --git a/docs/img/controller/ps4_teleop.jpg b/docs/img/controller/ps4_teleop.jpg
diff --git a/docs/img/controller/teleop_feedback.jpg b/docs/img/controller/teleop_feedback.jpg
diff --git a/docs/img/controller/turn_left.png b/docs/img/controller/turn_left.png
diff --git a/docs/img/controller/turn_right.png b/docs/img/controller/turn_right.png
diff --git a/docs/img/controller/turn_straight.png b/docs/img/controller/turn_straight.png
diff --git a/docs/img/controller/ui_menu_options.png b/docs/img/controller/ui_menu_options.png
diff --git a/docs/img/controller/ui_overview.jpg b/docs/img/controller/ui_overview.jpg
diff --git a/docs/img/controller/ui_overviewOud.jpg b/docs/img/controller/ui_overviewOud.jpg
diff --git a/docs/img/controller/wheel_black.png b/docs/img/controller/wheel_black.png
diff --git a/docs/img/controller/wheel_blue_speed.png b/docs/img/controller/wheel_blue_speed.png
diff --git a/docs/img/controller/wheel_red.png b/docs/img/controller/wheel_red.png
diff --git a/docs/img/controller/wheel_red_speed.png b/docs/img/controller/wheel_red_speed.png
diff --git a/docs/img/controller/xbox_white.png b/docs/img/controller/xbox_white.png
diff --git a/docs/img/drawings/ZZ_Archief/img204400v09.jpg b/docs/img/drawings/ZZ_Archief/img204400v09.jpg
diff --git a/docs/img/drawings/ZZ_Archief/img206000P1v018.jpg b/docs/img/drawings/ZZ_Archief/img206000P1v018.jpg
diff --git a/docs/img/drawings/ZZ_Archief/img206000P1v019.jpg b/docs/img/drawings/ZZ_Archief/img206000P1v019.jpg
diff --git a/docs/img/drawings/ZZ_Archief/img206000P2v018.jpg b/docs/img/drawings/ZZ_Archief/img206000P2v018.jpg
diff --git a/docs/img/drawings/ZZ_Archief/img206000P2v019.jpg b/docs/img/drawings/ZZ_Archief/img206000P2v019.jpg
diff --git a/docs/img/drawings/img204400v011.jpg b/docs/img/drawings/img204400v011.jpg
diff --git a/docs/img/drawings/img206012v021.jpg b/docs/img/drawings/img206012v021.jpg
diff --git a/docs/img/drawings/img206020v022.jpg b/docs/img/drawings/img206020v022.jpg
diff --git a/docs/img/drawings/img208000v07.jpg b/docs/img/drawings/img208000v07.jpg
diff --git a/docs/img/index/rover_garden.jpg b/docs/img/index/rover_garden.jpg
diff --git a/docs/img/instructions/img204110.jpg b/docs/img/instructions/img204110.jpg
diff --git a/docs/img/instructions/img204120.jpg b/docs/img/instructions/img204120.jpg
diff --git a/docs/img/instructions/img204215.jpg b/docs/img/instructions/img204215.jpg
diff --git a/docs/img/instructions/img204405.jpg b/docs/img/instructions/img204405.jpg
diff --git a/docs/img/instructions/img204415.jpg b/docs/img/instructions/img204415.jpg
diff --git a/docs/img/instructions/img204425.jpg b/docs/img/instructions/img204425.jpg
diff --git a/docs/img/instructions/img206120.jpg b/docs/img/instructions/img206120.jpg
diff --git a/docs/img/instructions/img206230.jpg b/docs/img/instructions/img206230.jpg
diff --git a/docs/img/instructions/img206235.jpg b/docs/img/instructions/img206235.jpg
diff --git a/docs/img/instructions/img206245.jpg b/docs/img/instructions/img206245.jpg
diff --git a/docs/img/instructions/img206275.jpg b/docs/img/instructions/img206275.jpg
diff --git a/docs/img/instructions/img206310.jpg b/docs/img/instructions/img206310.jpg
diff --git a/docs/img/instructions/img206315.jpg b/docs/img/instructions/img206315.jpg
diff --git a/docs/img/instructions/img206510.jpg b/docs/img/instructions/img206510.jpg
diff --git a/docs/img/readme/hover_vid.jpg b/docs/img/readme/hover_vid.jpg
diff --git a/docs/img/readme/rover_front_small.jpg b/docs/img/readme/rover_front_small.jpg
diff --git a/docs/img/startup/managed_ip.png b/docs/img/startup/managed_ip.png
diff --git a/docs/img/zerotier/client_application_menu.png b/docs/img/zerotier/client_application_menu.png
diff --git a/docs/img/zerotier/enter_network_id.png b/docs/img/zerotier/enter_network_id.png
diff --git a/docs/img/zerotier/hub_menu.png b/docs/img/zerotier/hub_menu.png
diff --git a/docs/img/zerotier/hub_network_members.png b/docs/img/zerotier/hub_network_members.png
diff --git a/docs/img/zerotier/hub_overview_small.png b/docs/img/zerotier/hub_overview_small.png
diff --git a/docs/img/zerotier/login_email_password.png b/docs/img/zerotier/login_email_password.png
diff --git a/docs/img/zerotier/login_to_zerotier.png b/docs/img/zerotier/login_to_zerotier.png
diff --git a/docs/img/zerotier/manually_add_member.png b/docs/img/zerotier/manually_add_member.png
diff --git a/docs/img/zerotier/network_id_and_name.png b/docs/img/zerotier/network_id_and_name.png
diff --git a/docs/img/zerotier/your_networks.png b/docs/img/zerotier/your_networks.png