git clone https://github.com/ZJU-FAST-Lab/ego-planner-swarm.git
sudo apt install ros-humble-rmw-cyclonedds-cpp
echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> ~/.bashrc
source ~/.bashrc #后续任务记得改回默认fast_dds
ros2 launch ego_planner rviz.launch.py 
ros2 launch ego_planner single_run_in_sim.launch.py 

# If automatic detection fails, you can delete above (cuda_select_nvcc_arch_flags(ARCH_FLAGS) ... endif()) and manually set the architecture flags here
# Examples (NVIDIA 5060 GPU):
set(ARCH_FLAGS "-gencode arch=compute_120,code=sm_120")

#!/bin/bash
# YOPO 一键启动（顺序启动各节点，每个节点独立 tmux 窗口）

# 检查是否在容器内
if [ ! -d /workspace ]; then
    echo "Error: This script must be run inside the YOPO Docker container."
    exit 1
fi

# 创建 tmux 会话，第一个窗口为 roscore
tmux new-session -d -s yopo -n roscore
tmux send-keys -t yopo:roscore "source /opt/ros/noetic/setup.bash && roscore" C-m

echo "Waiting for roscore to start (5s)..."
sleep 5

# 启动 Controller（窗口名：controller）
tmux new-window -t yopo -n controller
tmux send-keys -t yopo:controller \
    "cd /workspace/Controller && \
     source /opt/ros/noetic/setup.bash && \
     source devel/setup.bash && \
     roslaunch so3_quadrotor_simulator simulator_attitude_control.launch" C-m

sleep 3

# 启动 Simulator（窗口名：simulator）
tmux new-window -t yopo -n simulator
tmux send-keys -t yopo:simulator \
    "cd /workspace/Simulator && \
     source /opt/ros/noetic/setup.bash && \
     source devel/setup.bash && \
     rosrun sensor_simulator sensor_simulator_cuda" C-m

sleep 3

# 启动 YOPO 规划器（窗口名：yopo）
tmux new-window -t yopo -n yopo
tmux send-keys -t yopo:yopo \
    "cd /workspace/YOPO && \
     source /opt/conda/etc/profile.d/conda.sh && \
     conda activate yopo && \
     python test_yopo_ros.py --trial=1 --epoch=50" C-m

sleep 3

# 启动 rviz（窗口名：rviz）
tmux new-window -t yopo -n rviz
tmux send-keys -t yopo:rviz \
    "cd /workspace/YOPO && rviz -d yopo.rviz" C-m

# 附加到 tmux 会话（默认显示第一个窗口 roscore）
tmux attach -t yopo

FROM nvidia/cuda:12.8.2-devel-ubuntu20.04

# 避免交互式提示
ENV DEBIAN_FRONTEND=noninteractive
ENV TZ=UTC
RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone

RUN apt-get update && apt-get install -y curl gnupg lsb-release build-essential git tmux

RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key | apt-key add - && \
    echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list && \
    apt-get update && apt-get install -y ros-noetic-desktop-full python3-catkin-tools python3-rosdep && \
    rosdep init && rosdep update

RUN curl -sSL https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -o /tmp/miniconda.sh && \
    bash /tmp/miniconda.sh -b -p /opt/conda && rm /tmp/miniconda.sh
ENV PATH="/opt/conda/bin:$PATH"
# 接受 Anaconda 服务条款
RUN conda tos accept --override-channels --channel https://repo.anaconda.com/pkgs/main && \
    conda tos accept --override-channels --channel https://repo.anaconda.com/pkgs/r
RUN conda create -n yopo python=3.10 -y

WORKDIR /workspace
COPY . /workspace

RUN /opt/conda/envs/yopo/bin/pip install -r YOPO/requirements.txt
RUN /opt/conda/envs/yopo/bin/pip install --upgrade torch torchvision --index-url https://download.pytorch.org/whl/cu128

# 安装系统 empy
RUN apt-get install -y python3-empy
ENV PYTHON_EXECUTABLE=/usr/bin/python3
ENV LD_LIBRARY_PATH=/usr/lib/x86_64-linux-gnu:/lib/x86_64-linux-gnu:$LD_LIBRARY_PATH

# 修改 Simulator 的 CUDA 架构
RUN sed -i 's/-gencode;arch=compute_30,code=sm_30;-gencode;arch=compute_35,code=sm_35;//g' /workspace/Simulator/src/CMakeLists.txt
RUN sed -i 's/-gencode;arch=compute_50,code=sm_50;-gencode;arch=compute_52,code=sm_52;//g' /workspace/Simulator/src/CMakeLists.txt
RUN sed -i 's/^set(CUDA_ARCH_BIN.*/set(CUDA_ARCH_BIN "75 80 86 90")/' /workspace/Simulator/src/CMakeLists.txt

SHELL ["/bin/bash", "-c"]
# 编译 Controller
RUN source /opt/ros/noetic/setup.bash && \
    export PATH=/usr/bin:$PATH && \
    export PYTHON_EXECUTABLE=/usr/bin/python3 && \
    export PYTHONPATH=/usr/lib/python3/dist-packages:$PYTHONPATH && \
    cd /workspace/Controller && \
    rosdep install --from-paths src --ignore-src -r -y && \
    export VERBOSE=1 && catkin_make -j1

# 编译 Simulator
RUN source /opt/ros/noetic/setup.bash && \
    export PATH=/usr/bin:$PATH && \
    export PYTHON_EXECUTABLE=/usr/bin/python3 && \
    export PYTHONPATH=/usr/lib/python3/dist-packages:$PYTHONPATH && \
    cd /workspace/Simulator && \
    rosdep install --from-paths src --ignore-src -r -y && \
    export VERBOSE=1 && catkin_make -j1

# 写入 .bashrc（自动 source ROS 和 conda）
RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc && \
    echo "source /opt/conda/etc/profile.d/conda.sh" >> ~/.bashrc && \
    echo "conda activate yopo" >> ~/.bashrc

RUN chmod +x /workspace/start.sh

CMD ["/bin/bash"]

DOCKER_BUILDKIT=1 docker build -t yopo:latest . --progress=plain 2>&1 | tee build.log

xhost + 
docker run --gpus all -it --rm -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix --network host --name yopo_container yopo:latest /workspace/start.sh