feat(perception): stage GSeg3D qualification
This commit is contained in:
DCCONSTRUCTIONS
@@ -61,6 +61,7 @@ This T0 check does not reopen or alter that evidence.
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| Order | Candidate | Exact revision | Admission role |
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| ---: | --- | --- | --- |
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| 1 | DFKI GSeg3D core | `116f510485ea5b4707e2b476958d34a5a067f647` | Pinned core dependency |
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| 1 | DFKI GSeg3D | `5c5ba6f5ca0d682db2d59b2ad2f6a317ee938b95` | Primary terrain-relative ground/non-ground provider |
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| 1 | DFKI Nav2 Ground Consistency | `41cec620efba6c370dccfc59a6ec1134775ff48a` | Primary temporal costmap evidence layer |
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| 2 | TRAVEL | `95dc2fbd66a343efd9060c45a5711b6307a950a4` | Class-free challenger |
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@@ -86,6 +87,28 @@ Candidate A may start only when all of the following are true:
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4. canonical Mission Core Triton is healthy and is not stopped or replaced;
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5. the candidate uses a new `ndc-` isolated build/runtime contour.
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## Resource incident localized before T1
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The apparent continued Worker pressure was not caused by an active GAUSS job.
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A PowerShell process from an earlier Mission Core diagnostic had been orphaned
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after loading and recursively serializing the complete nested M4.8R3
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`result.json`. At discovery it held approximately `74,912.6 MiB` working set
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and `193,275.8 MiB` private memory. The pressure killed
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`ndc-mission-core-triton` with exit code `137`.
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The orphaned diagnostic process was terminated at
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`2026-08-26T15:17:39Z`. Free physical memory subsequently recovered to
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`83,374,248 KiB`. The existing canonical Triton container was started without
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replacement or rebuild and returned to `healthy` at
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`2026-08-26T15:18:10Z`.
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Future Worker inspection must not pass a complete nested replay result through
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PowerShell `ConvertFrom-Json` followed by deep `ConvertTo-Json`. Diagnostics
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must select bounded scalar fields before serialization and must have a wall
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timeout plus process cleanup. A separate compute-runtime change is required to
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give canonical Triton a declared restart policy; this report does not mutate
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the Worker Compose source.
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## Next command boundary
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The next authorized action is T1 Candidate A upstream qualification: build the
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@@ -0,0 +1,116 @@
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[CmdletBinding()]
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param(
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[Parameter(Mandatory = $true)]
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[string]$BuildContext,
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[Parameter(Mandatory = $true)]
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[ValidatePattern("^[A-Za-z0-9._-]{1,96}$")]
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[string]$RunId,
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[string]$OutputRoot = "D:\NDC_MISSIONCORE\runtime\results\m49-t1-gseg3d"
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)
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$ErrorActionPreference = "Stop"
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$ProgressPreference = "SilentlyContinue"
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function Assert-LastExitCode([string]$Operation) {
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if ($LASTEXITCODE -ne 0) { throw "$Operation failed with exit code $LASTEXITCODE" }
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}
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function Resolve-DDirectory([string]$Path, [string]$Label, [bool]$Create) {
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if ($Create -and -not (Test-Path -LiteralPath $Path)) {
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$null = New-Item -ItemType Directory -Path $Path
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}
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$item = Get-Item -LiteralPath (Resolve-Path -LiteralPath $Path).Path -Force
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if (
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-not $item.PSIsContainer -or
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($item.Attributes -band [IO.FileAttributes]::ReparsePoint) -or
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[IO.Path]::GetPathRoot($item.FullName).TrimEnd("\") -ine "D:"
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) {
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throw "$Label must be a real D: directory"
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}
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return $item.FullName
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}
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function Get-Container([string]$Name) {
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$rows = @((& docker inspect $Name) | ConvertFrom-Json)
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Assert-LastExitCode "Docker inspection for $Name"
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if ($rows.Count -ne 1) { throw "Container identity for $Name is not unique" }
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return $rows[0]
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}
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if ($env:COMPUTERNAME -cne "DESKTOP-OPJ8J04") {
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throw "M49 T1 is pinned to Worker 006"
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}
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$context = Resolve-DDirectory $BuildContext "M49 T1 build context" $false
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$output = Resolve-DDirectory $OutputRoot "M49 T1 output root" $true
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$runOutput = Join-Path $output $RunId
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if (Test-Path -LiteralPath $runOutput) { throw "M49 T1 output already exists" }
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$null = New-Item -ItemType Directory -Path $runOutput
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$runOutput = Resolve-DDirectory $runOutput "M49 T1 run output" $false
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$os = Get-CimInstance Win32_OperatingSystem
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$freeMemoryGiB = [double]$os.FreePhysicalMemory / 1MB
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if ($freeMemoryGiB -lt 16.0) {
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throw ("M49 T1 requires 16 GiB free memory; observed {0:N2} GiB" -f $freeMemoryGiB)
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}
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$canonicalTriton = Get-Container "ndc-mission-core-triton"
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if (-not $canonicalTriton.State.Running -or $canonicalTriton.State.Health.Status -cne "healthy") {
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throw "Canonical Mission Core Triton must remain healthy during M49 T1"
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}
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$containerName = "ndc-mission-core-m49-t1-gseg3d-$RunId"
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if (& docker ps -a --format "{{.Names}}" --filter "name=^/$containerName$") {
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throw "M49 T1 container name already exists"
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}
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$imageTag = "ndc/mission-core-m49-t1-gseg3d:20260826"
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$buildStarted = [DateTimeOffset]::UtcNow
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& docker build --pull=false --tag $imageTag $context
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Assert-LastExitCode "M49 T1 image build"
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$buildCompleted = [DateTimeOffset]::UtcNow
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$runStarted = [DateTimeOffset]::UtcNow
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try {
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& docker run --rm --name $containerName --cpus 16 --memory 24g `
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--volume ((($runOutput -replace "\\", "/")) + ":/evidence") `
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$imageTag
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Assert-LastExitCode "M49 T1 upstream qualification"
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} finally {
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if (& docker ps -a --format "{{.Names}}" --filter "name=^/$containerName$") {
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& docker rm --force $containerName *> $null
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}
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}
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$runCompleted = [DateTimeOffset]::UtcNow
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$image = @((& docker image inspect $imageTag) | ConvertFrom-Json)[0]
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Assert-LastExitCode "M49 T1 image inspection"
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$resultPath = Join-Path $runOutput "result.json"
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if (-not (Test-Path -LiteralPath $resultPath -PathType Leaf)) {
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throw "M49 T1 result.json is missing"
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}
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$result = Get-Content -LiteralPath $resultPath -Raw | ConvertFrom-Json
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if ($result.status -cne "passed") { throw "M49 T1 qualification did not pass" }
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$summary = [ordered]@{
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schema_version = "missioncore.m49-t1-worker-summary/v1"
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worker_id = "worker-006"
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run_id = $RunId
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image_tag = $imageTag
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image_id = [string]$image.Id
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image_size_bytes = [long]$image.Size
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build_started_utc = $buildStarted.ToString("o")
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build_wall_seconds = [math]::Round(($buildCompleted - $buildStarted).TotalSeconds, 6)
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qualification_wall_seconds = [math]::Round(($runCompleted - $runStarted).TotalSeconds, 6)
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free_memory_gib_before = [math]::Round($freeMemoryGiB, 6)
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canonical_triton_id = [string]$canonicalTriton.Id
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canonical_triton_health = [string]$canonicalTriton.State.Health.Status
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candidate_accepted = $true
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ravnoves00_quality_accepted = $false
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realtime_accepted = $false
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navigation_or_actuation_allowed = $false
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}
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$summary | ConvertTo-Json -Depth 3 | Set-Content -LiteralPath (
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Join-Path $runOutput "worker-summary.json"
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) -Encoding utf8
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$summary | ConvertTo-Json -Depth 3
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@@ -0,0 +1,65 @@
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FROM ros:jazzy-ros-base@sha256:2589a8fba5257307857890173c069852c2abf913a0be7970f172478baecb09e4
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ARG GSEG3D_CORE_REVISION=116f510485ea5b4707e2b476958d34a5a067f647
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ARG GSEG3D_ROS2_REVISION=5c5ba6f5ca0d682db2d59b2ad2f6a317ee938b95
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ARG GROUND_CONSISTENCY_REVISION=41cec620efba6c370dccfc59a6ec1134775ff48a
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ARG BUILD_JOBS=12
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ENV DEBIAN_FRONTEND=noninteractive
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SHELL ["/bin/bash", "-o", "pipefail", "-c"]
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RUN apt-get update \
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&& apt-get install --yes --no-install-recommends \
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build-essential \
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cmake \
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git \
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jq \
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libeigen3-dev \
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libgtest-dev \
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libnanoflann-dev \
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libpcl-dev \
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ninja-build \
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ros-jazzy-message-filters \
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ros-jazzy-nav2-costmap-2d \
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ros-jazzy-pcl-conversions \
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ros-jazzy-rclcpp-lifecycle \
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ros-jazzy-tf2-eigen \
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ros-jazzy-tf2-geometry-msgs \
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time \
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&& rm -rf /var/lib/apt/lists/*
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WORKDIR /opt/m49/src
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RUN git clone --filter=blob:none https://github.com/dfki-ric/ground_segmentation.git \
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&& git -C ground_segmentation checkout --detach "${GSEG3D_CORE_REVISION}" \
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&& git clone --filter=blob:none https://github.com/dfki-ric/ground_segmentation_ros2.git \
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&& git -C ground_segmentation_ros2 checkout --detach "${GSEG3D_ROS2_REVISION}" \
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&& git clone --filter=blob:none https://github.com/dfki-ric/nav2_ground_consistency_costmap_plugin.git \
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&& git -C nav2_ground_consistency_costmap_plugin checkout --detach "${GROUND_CONSISTENCY_REVISION}"
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RUN cmake -S /opt/m49/src/ground_segmentation \
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-B /opt/m49/core-build \
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-G Ninja \
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-DCMAKE_BUILD_TYPE=Release \
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-DCMAKE_INSTALL_PREFIX=/opt/m49/core-install \
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&& cmake --build /opt/m49/core-build --parallel "${BUILD_JOBS}" \
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&& ctest --test-dir /opt/m49/core-build --output-on-failure \
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&& cmake --install /opt/m49/core-build
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RUN source /opt/ros/jazzy/setup.bash \
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&& export CMAKE_PREFIX_PATH="/opt/m49/core-install:${CMAKE_PREFIX_PATH:-}" \
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&& colcon build \
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--base-paths \
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/opt/m49/src/ground_segmentation_ros2 \
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/opt/m49/src/nav2_ground_consistency_costmap_plugin \
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--build-base /opt/m49/ros-build \
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--install-base /opt/m49/ros-install \
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--merge-install \
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--cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=ON \
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--executor sequential \
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--event-handlers console_direct+
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COPY qualify.sh /usr/local/bin/m49-gseg3d-qualify
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RUN chmod 0755 /usr/local/bin/m49-gseg3d-qualify
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ENTRYPOINT ["/usr/local/bin/m49-gseg3d-qualify"]
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@@ -0,0 +1,94 @@
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#!/usr/bin/env bash
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set -euo pipefail
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readonly EVIDENCE_ROOT=/evidence
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readonly RESULT_PATH="${EVIDENCE_ROOT}/result.json"
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readonly LOG_PATH="${EVIDENCE_ROOT}/qualification.log"
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readonly RESOURCE_PATH="${EVIDENCE_ROOT}/resource.txt"
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readonly STARTED_UTC="$(date -u +%Y-%m-%dT%H:%M:%SZ)"
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readonly STARTED_NS="$(date +%s%N)"
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mkdir -p "${EVIDENCE_ROOT}"
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if [[ -e "${RESULT_PATH}" || -e "${LOG_PATH}" || -e "${RESOURCE_PATH}" ]]; then
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echo "evidence output already exists" >&2
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exit 2
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fi
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status=failed
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failure_stage=bootstrap
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finalize() {
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local exit_code=$?
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local completed_ns
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local elapsed_ms
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completed_ns="$(date +%s%N)"
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elapsed_ms="$(( (completed_ns - STARTED_NS) / 1000000 ))"
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python3 - "${RESULT_PATH}" "${status}" "${failure_stage}" "${exit_code}" \
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"${STARTED_UTC}" "${elapsed_ms}" <<'PY'
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import json
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import pathlib
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import sys
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target, status, stage, exit_code, started_utc, elapsed_ms = sys.argv[1:]
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document = {
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"schema_version": "missioncore.m49-t1-gseg3d-upstream-qualification/v1",
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"status": status,
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"failure_stage": None if status == "passed" else stage,
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"exit_code": int(exit_code),
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"started_utc": started_utc,
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"elapsed_ms": int(elapsed_ms),
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"authority": {
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"candidate_build_qualified": status == "passed",
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"ravnoves00_quality_accepted": False,
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"realtime_accepted": False,
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"navigation_or_actuation_allowed": False,
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},
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"revisions": {
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"ground_segmentation": "116f510485ea5b4707e2b476958d34a5a067f647",
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"ground_segmentation_ros2": "5c5ba6f5ca0d682db2d59b2ad2f6a317ee938b95",
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"ground_consistency": "41cec620efba6c370dccfc59a6ec1134775ff48a",
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},
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}
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pathlib.Path(target).write_text(
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json.dumps(document, indent=2, sort_keys=True) + "\n", encoding="utf-8"
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)
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PY
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}
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trap finalize EXIT
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exec > >(tee "${LOG_PATH}") 2>&1
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failure_stage=source-integrity
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test "$(git -C /opt/m49/src/ground_segmentation rev-parse HEAD)" = \
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"116f510485ea5b4707e2b476958d34a5a067f647"
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test "$(git -C /opt/m49/src/ground_segmentation_ros2 rev-parse HEAD)" = \
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"5c5ba6f5ca0d682db2d59b2ad2f6a317ee938b95"
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test "$(git -C /opt/m49/src/nav2_ground_consistency_costmap_plugin rev-parse HEAD)" = \
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"41cec620efba6c370dccfc59a6ec1134775ff48a"
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test -z "$(git -C /opt/m49/src/ground_segmentation status --porcelain)"
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test -z "$(git -C /opt/m49/src/ground_segmentation_ros2 status --porcelain)"
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test -z "$(git -C /opt/m49/src/nav2_ground_consistency_costmap_plugin status --porcelain)"
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failure_stage=core-upstream-tests
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/usr/bin/time -v -o "${RESOURCE_PATH}" \
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ctest --test-dir /opt/m49/core-build --output-on-failure
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failure_stage=ros2-plugin-tests
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source /opt/ros/jazzy/setup.bash
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source /opt/m49/ros-install/setup.bash
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colcon test \
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--build-base /opt/m49/ros-build \
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--install-base /opt/m49/ros-install \
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--test-result-base /opt/m49/test-results \
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--packages-select nav2_ground_consistency_costmap_plugin \
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--event-handlers console_direct+
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colcon test-result --test-result-base /opt/m49/test-results --verbose
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failure_stage=ros2-discovery
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ros2 pkg prefix ground_segmentation_ros2
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ros2 pkg prefix nav2_ground_consistency_costmap_plugin
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ros2 pkg executables ground_segmentation_ros2 | \
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grep -F "ground_segmentation_ros2_node"
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failure_stage=complete
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status=passed
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Reference in New Issue
Block a user