feat: add source code and GitHub Actions CI

.dockerignore

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+.devcontainer/
+.git/
+.github/
+.idea/
+.vscode/
+scripts/
+.dockerignore
+.gitignore
+.gitmodules
+Dockerfile
+LICENSE
+README.md

.github/workflows/docker_publish_ghcr.yaml

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+# This YAML file is refered to
+# https://youtu.be/RgZyX-e6W9E?si=iISxsuXEZKma4SVv
+# https://youtu.be/Tx1UElRhELg?si=MrbyhgWCwlGVtgyD
+
+name: Docker Image CI for GitHub Container Registry (GHCR)
+
+on:
+  push:
+    tags:
+      - '*'  # Triggered on new tag
+
+env:
+  # Use docker.io for Docker Hub if empty
+  # Here we use GitHub Container Registry (GHCR) to store our images
+  REGISTRY: ghcr.io
+
+jobs:
+  build_and_publish:
+    runs-on: ubuntu-latest
+    name: Build and Push Docker Image
+
+    steps:
+      # This is going to pull our code from the repository
+      # into the actions runner in order to build the image
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      # Add support for more platforms with QEMU (optional)
+      # https://github.com/docker/setup-qemu-action
+      - name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
+
+      # Set up BuildKit Docker container builder to be able to build
+      # multi-platform images and export cache
+      # https://github.com/docker/setup-buildx-action
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      # Login against a Docker registry except on PR
+      # https://github.com/docker/login-action
+      - name: Log into registry ${{ env.REGISTRY }}
+        if: github.event_name != 'pull_request'
+        # Choose one method
+        # 1. Use login-action
+        uses: docker/login-action@v3
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+        # 2. Use command line
+        # run: |
+        #   docker login ${{ env.REGISTRY }} --username ${{ github.actor }} --password ${{ secrets.DOCKER_PAT }}
+
+      # Set image name to lowercase repository name
+      - name: Set image name
+        run: |
+          IMAGE_NAME=$(echo ${{ github.repository }} | tr '[:upper:]' '[:lower:]')
+          echo "IMAGE_NAME=$IMAGE_NAME" >> $GITHUB_ENV
+      
+      # Extract metadata (tags, labels) for Docker
+      # https://github.com/docker/metadata-action
+      - name: Extract Docker metadata
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+
+      # Build and push Docker image with Buildx (don't push on PR)
+      # https://github.com/docker/build-push-action
+      - name: Build and push Docker image
+        id: build-and-push
+        # Choose one method
+        # 1. Use build-push-action
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          file: ./Dockerfile
+          push: ${{ github.event_name != 'pull_request' }}
+          tags: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:${{ github.ref_name }} , ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:latest
+          cache-from: type=gha
+          cache-to: type=gha,mode=max
+          # TODO: Improve pipeline with https://docs.docker.com/build/ci/github-actions/multi-platform/
+          platforms: linux/arm64,linux/amd64  # ,linux/arm/v7
+        # 2. Use command lines
+        # run: docker buildx build --platform linux/amd64,linux/arm64 -t ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:${{ env.TAG }} -f ./Dockerfile --push .

.gitignore

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+devel/
+logs/
+build/
+bin/
+msg_gen/
+srv_gen/
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+build_isolated/
+devel_isolated/
+
+# Generated by dynamic reconfigure
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+# Ignore generated docs
+*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+/planning/cfg
+/planning/docs
+/planning/src
+
+*~
+
+# Emacs
+.#*
+
+# Catkin custom files
+CATKIN_IGNORE

Dockerfile

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+FROM ghcr.io/otischung/pros_ai_image:1.3.6
+ENV ROS2_WS=/workspaces
+ENV ROS_DOMAIN_ID=1
+ENV ROS_DISTRO=humble
+ARG THREADS=4
+ARG TARGETPLATFORM
+
+##### Copy Source Code #####
+COPY . /tmp
+
+##### Environment Settings #####
+WORKDIR ${ROS2_WS}
+
+##### colcon Installation #####
+# Copy source code
+RUN mv /tmp/src/yolov8 ${ROS2_WS}/src/yolov8 && \
+### YOLOv8 Installation ###
+    pip3 install --no-cache-dir torch --index-url https://download.pytorch.org/whl/cpu && \    
+    pip3 install --no-cache-dir ncnn ultralytics typing-extensions opencv-python && \    
+    source /opt/ros/humble/setup.bash && \
+    colcon build --packages-select yolov8_msgs --symlink-install && \
+    colcon build --packages-select yolov8_ros --symlink-install && \
+    colcon build --packages-select yolov8_bringup --symlink-install && \
+##### Post-Settings #####
+# Clear tmp and cache
+    rm -rf /tmp/* && \
+    rm -rf /temp/* && \
+    rm -rf /var/lib/apt/lists/*
+
+ENTRYPOINT ["/ros_entrypoint.bash"]
+CMD ["bash", "-l"]

scripts/local_build.sh

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+#!/bin/bash
+
+export set=false
+export IMG_NAME="pros_jetson_driver_image"
+export ECR_URL="ghcr.io/screamlab"
+export TODAY=$(date +%Y%m%d)
+export DOCKER_CLI_EXPERIMENTAL=enabled
+
+# Function to display a usage message
+usage() {
+    echo "Usage: $0 -j <threads>"
+    exit 0
+}
+
+# Parse command-line options
+while [ "$#" -gt 0 ]; do
+    case "$1" in
+        -j)
+            threads="$2"
+            set=true
+            shift 2
+            ;;
+        -h)
+            usage
+            shift
+            exit 0
+            ;;
+        --help)
+            usage
+            exit 0
+            ;;
+        *)
+            usage
+            ;;
+    esac
+done
+
+# The regular expression matches digits only
+# Ref: https://www.cyberciti.biz/faq/bash-see-check-input-number-integer-in-linux-script/
+if ! [[ "$threads" =~ ^[0-9]+$ ]] && ! [[ "$threads" =~ ^[-][0-9]+$ ]]; then
+    echo "$0 - $threads is NOT an integer. Ignoring."
+    set=false
+fi
+
+if [ "$set" = true ]; then
+    docker build \
+        --tag $ECR_URL/$IMG_NAME:latest \
+        --tag $ECR_URL/$IMG_NAME:$TODAY \
+        --build-arg THREADS=$threads \
+        -f ./Dockerfile .
+else
+    docker build \
+        --tag $ECR_URL/$IMG_NAME:latest \
+        --tag $ECR_URL/$IMG_NAME:$TODAY \
+        -f ./Dockerfile .
+fi

scripts/local_buildx_push.sh

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+#!/bin/bash
+
+export IMG_NAME="pros_jetson_driver_image"
+export ECR_URL="ghcr.io/screamlab"
+export TAG=$(date +%Y%m%d)
+export DOCKER_CLI_EXPERIMENTAL=enabled
+
+# Function to display a usage message
+usage() {
+    echo "Usage: $0 -t <tag>"
+    exit 0
+}
+
+# Parse command-line options
+while [ "$#" -gt 0 ]; do
+    case "$1" in
+        -t)
+            TAG="$2"
+            shift 2
+            ;;
+        -h)
+            usage
+            shift
+            exit 0
+            ;;
+        --help)
+            usage
+            exit 0
+            ;;
+        *)
+            usage
+            ;;
+    esac
+done
+
+echo "Using tag: $TAG"
+docker run --rm --privileged tonistiigi/binfmt:latest
+docker run --privileged --rm tonistiigi/binfmt --uninstall qemu-*
+docker run --privileged --rm tonistiigi/binfmt --install all
+docker buildx create --use --platform=linux/arm64,linux/amd64 --name multi-platform-builder
+docker buildx inspect --bootstrap
+docker buildx build --no-cache --platform=linux/arm64,linux/amd64 --push \
+    --tag $ECR_URL/$IMG_NAME:$TAG \
+    -f ./Dockerfile .

src/yolov8/models/yolov8n_ncnn_model/metadata.yaml

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+description: Ultralytics YOLOv8n model trained on coco.yaml
+author: Ultralytics
+date: '2024-08-28T01:15:03.558971'
+version: 8.2.82
+license: AGPL-3.0 License (https://ultralytics.com/license)
+docs: https://docs.ultralytics.com
+stride: 32
+task: detect
+batch: 1
+imgsz:
+- 640
+- 640
+names:
+  0: person
+  1: bicycle
+  2: car
+  3: motorcycle
+  4: airplane
+  5: bus
+  6: train
+  7: truck
+  8: boat
+  9: traffic light
+  10: fire hydrant
+  11: stop sign
+  12: parking meter
+  13: bench
+  14: bird
+  15: cat
+  16: dog
+  17: horse
+  18: sheep
+  19: cow
+  20: elephant
+  21: bear
+  22: zebra
+  23: giraffe
+  24: backpack
+  25: umbrella
+  26: handbag
+  27: tie
+  28: suitcase
+  29: frisbee
+  30: skis
+  31: snowboard
+  32: sports ball
+  33: kite
+  34: baseball bat
+  35: baseball glove
+  36: skateboard
+  37: surfboard
+  38: tennis racket
+  39: bottle
+  40: wine glass
+  41: cup
+  42: fork
+  43: knife
+  44: spoon
+  45: bowl
+  46: banana
+  47: apple
+  48: sandwich
+  49: orange
+  50: broccoli
+  51: carrot
+  52: hot dog
+  53: pizza
+  54: donut
+  55: cake
+  56: chair
+  57: couch
+  58: potted plant
+  59: bed
+  60: dining table
+  61: toilet
+  62: tv
+  63: laptop
+  64: mouse
+  65: remote
+  66: keyboard
+  67: cell phone
+  68: microwave
+  69: oven
+  70: toaster
+  71: sink
+  72: refrigerator
+  73: book
+  74: clock
+  75: vase
+  76: scissors
+  77: teddy bear
+  78: hair drier
+  79: toothbrush