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Getting Started

Terminology

  • Local Machine: Your personal machine
  • Host Machine: The machine that you will be developing on. We recommend you use our WATonomous servers. The host and local machine can be the same.

System Requirements

  • Docker-compose 1.29.2 or later
  • Docker 20.10.18 or later
  • Nvidia GPU(s)

Note: These are all available on WATonomous servers by default.

Prerequisites

  1. UW VPN: You only need the VPN to use GUI tools (e.g. Carla). You can either be on-campus connected to Eduroam or have the UW VPN installed on your local machine.
  2. Github SSH keys: You have a github ssh key.
  3. Github Token (classic): This is to get access to our container registry.
    • To setup a token, refer to here. IMPORTANT: add write:packages to your token.
  4. Authorized WATO user: You have registered a user for yourself on WATO's servers through the server status page. Members should consult with their manager, tech lead, or an infrastructure member about which server to use. Log in to a server VM using the commands available on the server status page (you can click the vm boxes, remember to use your watonomous.ca credentials).
    • For additional information on WATO's servers and detailed instructions on accessing the server, see the meeting notes from a previous Server Access Onboarding meeting.
  5. ROS2 Knowledge: You know how ROS2 works and how a ROS2 workspace is structured. Otherwise this guide may be confusing. See the ROS2 Tutorials for more information.
  6. Docker: You are familiar with Docker and Docker Compose and you have access to Docker on the host machine. Verify this by running $ docker info. You shouldn't see any errors.
  7. Nvidia GPU: The host machine has an Nvidia GPU. Preferably many to be able to run all the AI we have written. Verify this with nvidia-smi.

Running Your First Program in the Monorepo

These steps will let you run our sample nodes module. To run other modules, refer to our modules documentation.

  1. Clone this repo onto the host machine by using $ git clone --recurse-submodules [email protected]:WATonomous/wato_monorepo.git. The --recurse-submodules flag is needed to initialize submodules required by the repo - if you did not clone with this flag, run git submodule update --init --recursive inside the repo. We recommend you clone the repo into your home directory, ~
  2. Login to the our container registry by using docker login ghcr.io. Provide your GitHub Username and GitHub Token.
  3. Configure to only run our sample nodes by uncommenting and setting ACTIVE_MODULES="samples" in watod-config.sh
  4. Run $ ./watod pull to pull latest docker images from our container registry.
  5. Run $ ./watod up to run the Docker images, and watch for any errors. If succesful, this will create a variety of containers prefixed with ${USER}_. This command does not exit, and will continue to monitor the logs from your containers.
  6. In another terminal, enter $ ./watod ps to see a list of your open containers.
  7. When you're done, press ctrl-c in your original terminal to close the containers.

watod will be your the main way that you interact with your containers. watod is a wrapper for docker-compose that automates the setup of environment varaibles and has some additional functionality. Get more information about watod using $ watod -h, or see docs/dev/watod.md.

Developing in the Monorepo

WATonomous takes advantage of dev containers to do development. In a nutshell, the wato_monorepo contains individual, isolated environments of code. To code inside these environments, see how we vscode into a container.

Adding Monorepo to your $PATH

We recommend you add ~/wato_monorepo/ to your $PATH variable so that you can run watod from anywhere on your computer, not just in your ~/wato_monorepo directory and add watod-completion.bash to your bashrc to enable tab autocomplete:

echo "export PATH=\$PATH:\$HOME/wato_monorepo/" >> ~/.bashrc
echo "source ~/wato_monorepo/watod_scripts/watod-completion.bash" >> ~/.bashrc
source ~/.bashrc

It also has the added bonus of letting you type watod instead of ./watod :)

If it's your first time

Check out our Monorepo Samples source code! These nodes provide a comprehensive understanding of the Monorepo's infrastructure, and they are also a great reference when coding up your own nodes in the Monorepo.

You should also check out the rest of our documentation here.