draft distributed system

.devcontainer/devcontainer.json

@@ -7,7 +7,7 @@
   "workspaceFolder": "/ws",
   "containerEnv": {
     "ROS_DOMAIN_ID": "42",
-    "ROS_LOCALHOST_ONLY": "1",
+    "ROS_LOCALHOST_ONLY": "0",
     "CYCLONEDDS_URI": "file:///ws/docker/cyclonedds.xml"
   },
   "customizations": {

.gitignore

@@ -176,4 +176,6 @@ cython_debug/
 # Ros build ignored
 install
 log
+logs
+kart_logs
 build

compose/docker-compose.yml

@@ -11,7 +11,8 @@ services:
     environment:
       - ROS_DISTRO=humble
       - ROS_DOMAIN_ID=42
-      - ROS_LOCALHOST_ONLY=1
+      - ROS_LOCALHOST_ONLY=0
+      - TARGET_DEVICE=jetson # set target device for build (ex: jetson, rubik)
       - CYCLONEDDS_URI=file:///ws/docker/cyclonedds.xml
     ports:
       - "8000:8000"

docker/Dockerfile

@@ -20,6 +20,7 @@ RUN apt-get -o Acquire::http::Pipeline-Depth="0" \
       ros-${ROS_DISTRO}-rclpy ros-${ROS_DISTRO}-ros2bag \
       ros-${ROS_DISTRO}-tf2-tools ros-${ROS_DISTRO}-image-transport \
       ros-${ROS_DISTRO}-cv-bridge \
+      openssh-client \
       git curl nano \
       socat rtklib i2c-tools && \
     rm -rf /var/lib/apt/lists/*

scripts/start.bash

@@ -7,24 +7,25 @@ source /opt/ros/humble/setup.bash
 colcon build
 pkill -f master_api || true
 
-# Lat/long are approx west lafayette, not important to be highly accurate
 mkdir -p /ws/logs
-str2str -in ntrip://shayman1:shayman1@108.59.49.226:9000/MSM4_VRS -out tcpsvr://:9195 -b 1 -p 40.4376975222 -86.9444409756 200 >> /ws/logs/str2str.log 2>&1 &
-
-# Logs supervisor - crash tolerant
-(
-  while true; do
-    RUN_NAME="run_$(date -u +%Y%m%d_%H%M%S)"
-    ros2 bag record -a \
-      --storage mcap \
-      --storage-preset-profile zstd_fast \
-      --max-bag-duration 60 \
-      --exclude '/camera/.*' \
-      --output "/ws/logs/$RUN_NAME" \
-      >> /ws/logs/recorder.log 2>&1
-    echo "[$(date -u +%FT%TZ)] recorder exited, restarting in 1s" >> /ws/logs/recorder.log
-    sleep 1
-  done
-) &
 
+if [ "$TARGET_DEVICE" == "jetson" ]; then
+    # Lat/long are approx west lafayette, not important to be highly accurate
+    str2str -in ntrip://shayman1:shayman1@108.59.49.226:9000/MSM4_VRS -out tcpsvr://:9195 -b 1 -p 40.4376975222 -86.9444409756 200 >> /ws/logs/str2str.log 2>&1 &
+elif [ "$TARGET_DEVICE" == "rubik" ]; then
+    (
+    while true; do
+        RUN_NAME="run_$(date -u +%Y%m%d_%H%M%S)"
+        ros2 bag record -a \
+        --storage mcap \
+        --storage-preset-profile zstd_fast \
+        --max-bag-duration 60 \
+        --exclude '/camera/.*' \
+        --output "/ws/logs/$RUN_NAME" \
+        >> /ws/logs/recorder.log 2>&1
+        echo "[$(date -u +%FT%TZ)] recorder exited, restarting in 1s" >> /ws/logs/recorder.log
+        sleep 1
+    done
+    ) &
+fi
 sleep infinity

src/autonomous_kart/autonomous_kart/launch/bringup_jetson.launch.py

@@ -0,0 +1,80 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, GroupAction
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node, SetParameter, SetParametersFromFile
+from ament_index_python.packages import get_package_share_directory
+import os
+
+
+def generate_launch_description():
+    pkg_share = get_package_share_directory("autonomous_kart")
+
+    camera_yaml = os.path.join(pkg_share, "params", "camera.yaml")
+    gps_yaml = os.path.join(pkg_share, "params", "gps.yaml")
+    safety_yaml = os.path.join(pkg_share, "params", "safety.yaml")
+    system_yaml = os.path.join(pkg_share, "params", "system.yaml")
+    pathfinder_yaml = os.path.join(pkg_share, "params", "pathfinder.yaml")
+    localization_yaml = os.path.join(pkg_share, "params", "localization.yaml")
+    imu_yaml = os.path.join(pkg_share, "params", "imu.yaml")
+    e_comms_yaml = os.path.join(pkg_share, "params", "e_comms.yaml")
+
+    sim_mode = LaunchConfiguration("simulation_mode")
+
+    return LaunchDescription(
+        [
+            DeclareLaunchArgument("simulation_mode", default_value="false"),
+            GroupAction(
+                [
+                    SetParametersFromFile(system_yaml),
+                    SetParameter(name="simulation_mode", value=sim_mode),
+                    Node(
+                        package="autonomous_kart",
+                        executable="camera_node",
+                        name="camera_node",
+                        parameters=[camera_yaml],
+                    ),
+                    Node(
+                        package="autonomous_kart",
+                        executable="pathfinder_node",
+                        name="pathfinder_node",
+                        parameters=[pathfinder_yaml, safety_yaml],
+                    ),
+                    Node(
+                        package="autonomous_kart",
+                        executable="opencv_pathfinder_node",
+                        name="opencv_pathfinder_node",
+                        parameters=[gps_yaml],
+                    ),
+                    Node(
+                        package="autonomous_kart",
+                        executable="master_api",
+                        name="master_api",
+                    ),
+                    Node(
+                        package="autonomous_kart",
+                        executable="localization_node",
+                        name="localization_node",
+                        parameters=[pathfinder_yaml, localization_yaml],
+                    ),
+                    Node(
+                        package="autonomous_kart",
+                        executable="e_comms_node",
+                        name="e_comms_node",
+                        parameters=[e_comms_yaml],
+                    ),
+                    Node(
+                        package="autonomous_kart",
+                        executable="gps_node",
+                        name="gps_node",
+                        parameters=[gps_yaml],
+                    ),
+                    Node(
+                        package="autonomous_kart",
+                        executable="imu_node",
+                        name="imu_node",
+                        parameters=[imu_yaml],
+                    ),
+                ]
+            ),
+        ]
+    )

src/autonomous_kart/autonomous_kart/launch/bringup_rubik.launch.py

@@ -0,0 +1,37 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, GroupAction, ExecuteProcess
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node, SetParameter, SetParametersFromFile
+from ament_index_python.packages import get_package_share_directory
+from datetime import datetime
+import os
+
+
+def generate_launch_description():
+    pkg_share = get_package_share_directory("autonomous_kart")
+    system_yaml = os.path.join(pkg_share, "params", "system.yaml")
+    sim_mode = LaunchConfiguration("simulation_mode")
+
+    return LaunchDescription(
+        [
+            DeclareLaunchArgument("simulation_mode", default_value="false"),
+            GroupAction(
+                [
+                    SetParametersFromFile(system_yaml),
+                    SetParameter(name="simulation_mode", value=sim_mode),
+
+                    Node(
+                        package="autonomous_kart",
+                        executable="metrics_node",
+                        name="metrics_node",
+                    ),
+                    Node(
+                        package="autonomous_kart",
+                        executable="master_api",
+                        name="master_api",
+                        parameters=[system_yaml],
+                    ),
+                ]
+            ),
+        ]
+    )

src/autonomous_kart/autonomous_kart/nodes/master/master_api.py

@@ -191,6 +191,53 @@ def lines_endpoint():
         "static": static_xy,
         "dynamic": master_node.get_dynamic_line(),
     })
+
+@app.route("/jetson/hotswap", methods=["POST"])
+def jetson_hotswap():
+    if not master_node:
+        return jsonify({"error": "not initialized"}), 500
+
+    master_node.hotswap_jetson()
+
+    return jsonify({
+        "message": "jetson hotswap started"
+    })
+
+
+@app.route("/jetson/restart", methods=["POST"])
+def jetson_restart():
+    if not master_node:
+        return jsonify({"error": "not initialized"}), 500
+
+    master_node.restart_jetson()
+
+    return jsonify({
+        "message": "jetson restart started"
+    })
+
+
+@app.route("/jetson/update", methods=["POST"])
+def jetson_update():
+    if not master_node:
+        return jsonify({"error": "not initialized"}), 500
+
+    master_node.update_jetson()
+
+    return jsonify({
+        "message": "jetson update started"
+    })
+
+
+@app.route("/jetson/rebuild", methods=["POST"])
+def jetson_rebuild():
+    if not master_node:
+        return jsonify({"error": "not initialized"}), 500
+
+    master_node.rebuild_jetson()
+
+    return jsonify({
+        "message": "jetson rebuild started"
+    })
 
 
 def start(node: MasterNode) -> None:

src/autonomous_kart/autonomous_kart/nodes/master/master_node.py

@@ -1,6 +1,7 @@
 import json
 import threading
 import time
+import subprocess
 from enum import Enum
 
 import math
@@ -35,6 +36,8 @@ def __init__(self):
         self.yaw_cal_tick_dt = self.get_parameter("yaw_cal_tick_dt").value
         self.yaw_cal_accel_floor = self.get_parameter("yaw_cal_accel_floor").value
         self.yaw_cal_min_samples = self.get_parameter("yaw_cal_min_samples").value
+        self.jetson_ip = self.get_parameter("jetson_ip").value
+        self.jetson_user = self.get_parameter("jetson_username").value
 
         assert self.state in [s.value for s in STATES]
 
@@ -331,6 +334,52 @@ def get_gps_status(self):
         with self._lock:
             return dict(self.gps_status_data)
 
+    # Jetson remote management
+
+    def _ssh_fire(self, remote_command: str, log_msg: str):
+        """Shared helper: open a non-blocking SSH subprocess to the Jetson."""
+        ssh_command = [
+                "ssh", "-t",
+                "-o", "StrictHostKeyChecking=no",  
+                "-o", "UserKnownHostsFile=/dev/null",
+                f"{self.jetson_user}@{self.jetson_ip}",
+                remote_command,
+            ]
+
+        self.logger.info(log_msg)
+        subprocess.Popen(ssh_command)
+
+    def hotswap_jetson(self):
+        """Git-pull and rebuild inside the *running* container, then relaunch bringup_rubik.
+        The container is never stopped — fastest way to pick up new code mid-session."""
+        self._ssh_fire(
+            "bash ~/run_remote.sh --hotswap",
+            "Hotswapping: pulling latest code and relaunching inside running container...",
+        )
+
+    def restart_jetson(self):
+        """Stop the container, rebuild the ROS workspace, and relaunch bringup.
+        No git pull, no Docker image pull — fastest way to bounce the stack."""
+        self._ssh_fire(
+            "bash ~/run_remote.sh --restart",
+            "Restarting Jetson container (no code update)...",
+        )
+
+    def update_jetson(self):
+        """Git-pull the latest code, then restart.
+        Use this before a session to pick up new commits without a full image rebuild."""
+        self._ssh_fire(
+            "bash ~/run_remote.sh --update",
+            "Pulling latest code and restarting Jetson...",
+        )
+
+    def rebuild_jetson(self):
+        """Pull the latest Docker image, git-pull code, then restart.
+        Use this after a Docker image has been pushed (e.g. new deps or base OS change)."""
+        self._ssh_fire(
+            "bash ~/run_remote.sh --rebuild",
+            "Pulling latest Docker image + code and rebuilding Jetson...",
+        )
 
 def main(args=None):
     rclpy.init(args=args)

src/autonomous_kart/autonomous_kart/params/system.yaml

@@ -5,3 +5,5 @@
     system_state: "IDLE" # "STOPPED", "IDLE", "MANUAL", "AUTONOMOUS"
     system_frequency: 60 # Speed of hot loop (Hertz)
     line_path: "/ws/data/racing_line/line14.csv"
+    jetson_ip: "evc-jetson.tail73145c.ts.net"
+    jetson_username: "evc"