Merge pull request #690 from umrover/embedded

Embedded code 😳

CMakeLists.txt

@@ -143,42 +143,40 @@ target_link_libraries(lie PUBLIC MANIF::manif)
 
 ## ESW
 
-if (NOT APPLE)
-    mrover_add_vendor_header_only_library(moteus deps/mjbots)
-    mrover_add_header_only_library(can_device src/esw/can_device)
-    mrover_add_library(motor_library src/esw/motor_library/*.cpp src/esw/motor_library)
-    target_link_libraries(motor_library PUBLIC can_device moteus)
-
-    if (NetLink_FOUND AND NetLinkRoute_FOUND)
-        mrover_add_nodelet(can_driver src/esw/can_driver/*.cpp src/esw/can_driver src/esw/can_driver/pch.hpp)
-        mrover_nodelet_link_libraries(can_driver ${NetLink_LIBRARIES} ${NetLinkRoute_LIBRARIES})
-        mrover_nodelet_include_directories(can_driver ${NetLink_INCLUDE_DIRS} ${NetLinkRoute_INCLUDE_DIRS})
-    endif ()
-
-    macro(mrover_add_esw_bridge_node name sources)
-        mrover_add_node(${name} ${sources})
-        target_link_libraries(${name} PRIVATE can_device motor_library)
-    endmacro()
-
-    mrover_add_esw_bridge_node(arm_hw_bridge src/esw/arm_hw_bridge/*.cpp)
-    mrover_add_esw_bridge_node(arm_translator_bridge src/esw/arm_translator_bridge/*.cpp src/esw/arm_translator_bridge/*.hpp)
-    mrover_add_esw_bridge_node(cache_bridge src/esw/cache_bridge/*.cpp)
-    mrover_add_esw_bridge_node(drive_bridge src/esw/drive_bridge/*.cpp)
-    mrover_add_esw_bridge_node(led_hw_bridge src/esw/led_hw_bridge/*.cpp)
-    mrover_add_esw_bridge_node(led src/esw/led/*.cpp)
-    mrover_add_esw_bridge_node(mast_gimbal_bridge src/esw/mast_gimbal_bridge/*.cpp)
-    mrover_add_esw_bridge_node(pdb_bridge src/esw/pdb_bridge/*.cpp)
-    mrover_add_esw_bridge_node(sa_hw_bridge src/esw/sa_hw_bridge/*.cpp)
-    mrover_add_esw_bridge_node(sa_translator_bridge src/esw/sa_translator_bridge/*.cpp)
-    mrover_add_esw_bridge_node(science_bridge src/esw/science_bridge/*.cpp)
-    mrover_add_esw_bridge_node(brushless_test_bridge src/esw/brushless_test_bridge/*.cpp motor_library)
-    mrover_add_esw_bridge_node(brushed_test_bridge src/esw/brushed_test_bridge/*.cpp)
-    mrover_add_esw_bridge_node(test_arm_bridge src/esw/test_arm_bridge/*.cpp)
-    mrover_add_esw_bridge_node(pdb_test_bridge src/esw/pdb_test_bridge/*.cpp)
-    mrover_add_esw_bridge_node(arm_position_test_bridge src/esw/arm_position_test_bridge/*.cpp)
-    #    mrover_add_esw_bridge_node(sa_sensor src/esw/fw/dirt_sensor/dirt_sensor_ros/dirt_sensor_ros.ino)
+mrover_add_vendor_header_only_library(moteus deps/mjbots)
+mrover_add_header_only_library(can_device src/esw/can_device)
+mrover_add_library(motor_library src/esw/motor_library/*.cpp src/esw/motor_library)
+target_link_libraries(motor_library PUBLIC can_device moteus)
+
+if (NetLink_FOUND AND NetLinkRoute_FOUND)
+    mrover_add_nodelet(can_driver src/esw/can_driver/*.cpp src/esw/can_driver src/esw/can_driver/pch.hpp)
+    mrover_nodelet_link_libraries(can_driver ${NetLink_LIBRARIES} ${NetLinkRoute_LIBRARIES})
+    mrover_nodelet_include_directories(can_driver ${NetLink_INCLUDE_DIRS} ${NetLinkRoute_INCLUDE_DIRS})
 endif ()
 
+macro(mrover_add_esw_bridge_node name sources)
+    mrover_add_node(${name} ${sources})
+    target_link_libraries(${name} PRIVATE can_device motor_library)
+endmacro()
+
+mrover_add_esw_bridge_node(arm_hw_bridge src/esw/arm_hw_bridge/*.cpp)
+mrover_add_esw_bridge_node(arm_translator_bridge src/esw/arm_translator_bridge/*.cpp src/esw/arm_translator_bridge/*.hpp)
+mrover_add_esw_bridge_node(cache_bridge src/esw/cache_bridge/*.cpp)
+mrover_add_esw_bridge_node(drive_bridge src/esw/drive_bridge/*.cpp)
+mrover_add_esw_bridge_node(led_hw_bridge src/esw/led_hw_bridge/*.cpp)
+mrover_add_esw_bridge_node(led src/esw/led/*.cpp)
+mrover_add_esw_bridge_node(mast_gimbal_bridge src/esw/mast_gimbal_bridge/*.cpp)
+mrover_add_esw_bridge_node(pdb_bridge src/esw/pdb_bridge/*.cpp)
+mrover_add_esw_bridge_node(sa_bridge src/esw/sa_bridge/*.cpp)
+mrover_add_esw_bridge_node(science_bridge src/esw/science_bridge/*.cpp)
+mrover_add_esw_bridge_node(brushless_test_bridge src/esw/brushless_test_bridge/*.cpp)
+mrover_add_esw_bridge_node(brushed_test_bridge src/esw/brushed_test_bridge/*.cpp)
+mrover_add_esw_bridge_node(science_test_bridge src/esw/science_test_bridge/*.cpp)
+mrover_add_esw_bridge_node(test_arm_bridge src/esw/test_arm_bridge/*.cpp)
+mrover_add_esw_bridge_node(pdb_test_bridge src/esw/pdb_test_bridge/*.cpp)
+# mrover_add_esw_bridge_node(arm_position_test_bridge src/esw/arm_position_test_bridge/*.cpp)
+# mrover_add_esw_bridge_node(sa_sensor src/esw/fw/dirt_sensor/dirt_sensor_ros/dirt_sensor_ros.ino)
+
 ## Perception
 
 mrover_add_library(websocket_server src/esw/websocket_server/*.cpp src/esw/websocket_server)

ansible/roles/jetson_build/tasks/main.yml

@@ -23,17 +23,17 @@
     state: latest
     name:
       - zstd # Required to unpack ZED installer
-      - cuda
+      - cuda-12-3
       - nvidia-jetpack
 
 - name: ZED SDK Download
   get_url:
-    url: https://download.stereolabs.com/zedsdk/4.0/l4t35.4/jetsons
-    dest: /tmp/ZED_SDK_Tegra_L4T35.4_v4.0.7.zstd.run
+    url: https://download.stereolabs.com/zedsdk/4.1/l4t35.4/jetsons
+    dest: /tmp/ZED_SDK_Tegra_L4T35.4_v4.1.zstd.run
     mode: 0755
 
 - name: ZED SDK Install
   # Silent mode prevents any user input prompting
-  command: /tmp/Downloads/ZED_SDK_Tegra_L4T35.4_v4.0.7.zstd.run -- silent
+  command: /tmp/Downloads/ZED_SDK_Tegra_L4T35.4_v4.1.zstd.run -- silent
   args:
     creates: /usr/local/zed