Status Update: 2022-10-25

[haixuanTao]

Status update 😸

[haixuanTao]

"dora-rover"

• Made ROS-based ndt work on rover
• Connect ROS to dora through Python API
• Test rover control through mavlink. Some issues persist with mavlink not exposing a steering API.
• Installed dora on rover Nvidia AGX Xavier.
• Need to recompile pytorch CUDA on AGX Xavier as it is ARM-based CUDA GPU which is very buggy in terms of dependencies.
  -> Anything that requires GPU on the rover will require to be recompiled for ARM CUDA.

Next step is going to be to port dora-drives into "dora-rover"

[haixuanTao]

Robotic Club Sponsoring

• Began discussion with CentraleSupelec Robotic club for a potential sponsoring. Agreed for a dora and dora-drives presentation.
• Potential pilot project for growing European community.

[phil-opp]

Command-line Interface

We merged the following updates to the dora CLI in the past two weeks:

• Assign each started dataflow a UUID
• Allow stopping running dataflows dora stop <UUID>
  • Sends a new stop message to all operators and nodes
  • Instructs the operators/nodes to stop immediately, without processing further input
  • See #105 for details
• The dora destroy command now stops all running dataflows before stopping the dora-coordinator
• Implement dora list command to list running dataflows (#107)

Our future plans for the CLI are tracked in #93. The following commands are planned for the v0.1 release:

• dora check without arguments to check if dora-coordinator and iceoryx daemon are running
• dora up for starting all required daemons that are not running yet
  • requires that all daemon executables are in the PATH
• dora add templates for Python and for dataflow.yml files

[haixuanTao]

Lifecycle:

dora up -> dora start -> dora stop -> dora destroy

[phil-opp]

Refer to operators/nodes through URL

In #108, we implement support for downloading compiled operators/nodes from remote locations. For example, the following dataflow uses a GitHub release artifact as a custom node:

nodes:
  - id: rust-node
    custom:
      source: https://github.com/dora-rs/dora/releases/download/v0.0.0-test.4/rust-dataflow-example-node
      inputs:
        tick: dora/timer/millis/300
      outputs:
        - random