Temporarily disable macvo

Author: andrewjong

robot/docker/Dockerfile.robot

@@ -165,39 +165,40 @@ RUN if [ "$REAL_ROBOT"  = "true" ]; then \
   echo "REAL_ROBOT is false"; \
   fi
 
-# Downloading model weights for MACVO
-WORKDIR /model_weights
-RUN wget -r "https://github.com/MAC-VO/MAC-VO/releases/download/model/MACVO_FrontendCov.pth" && \ 
-  wget -r "https://github.com/MAC-VO/MAC-VO/releases/download/model/MACVO_posenet.pkl" && \
-  wget -r "https://github.com/castacks/MAC-VO-ROS2/releases/download/dsta-efficient-v0/dsta_efficient.ckpt" && \ 
-  mv /model_weights/github.com/MAC-VO/MAC-VO/releases/download/model/MACVO_FrontendCov.pth /model_weights/MACVO_FrontendCov.pth && \
-  mv /model_weights/github.com/MAC-VO/MAC-VO/releases/download/model/MACVO_posenet.pkl /model_weights/MACVO_posenet.pkl && \
-  mv /model_weights/github.com/castacks/MAC-VO-ROS2/releases/download/dsta-efficient-v0/dsta_efficient.ckpt /model_weights/dsta_efficient.ckpt && \
-  rm -rf /model_weights/github.com
-
 # Install colcon, seems to be getting removed
 RUN pip install -U colcon-common-extensions
 
-# Fixes for MACVO Integration
-RUN pip install huggingface_hub
-RUN pip uninstall matplotlib -y
-
-# Temporary fix for UFM
-WORKDIR /model_weights
-RUN wget -r "https://github.com/castacks/MAC-VO-ROS2/releases/download/dsta-efficient-v0/UFM_Env2.zip" && \
-  apt update && apt install -y unzip && \
-  mv /model_weights/github.com/castacks/MAC-VO-ROS2/releases/download/dsta-efficient-v0/UFM_Env2.zip /model_weights/UFM_Env2.zip && \
-  unzip UFM_Env2.zip && \
-  rm UFM_Env2.zip
-
-WORKDIR /model_weights/UFM
-RUN pip install -e .
-
-WORKDIR /model_weights/UFM/UniCeption
-RUN pip install -e .
-
-WORKDIR /model_weights/UFM/benchmarks
-RUN pip install -e .
+# # Downloading model weights for MACVO
+# WORKDIR /model_weights
+# RUN wget -r "https://github.com/MAC-VO/MAC-VO/releases/download/model/MACVO_FrontendCov.pth" && \ 
+#   wget -r "https://github.com/MAC-VO/MAC-VO/releases/download/model/MACVO_posenet.pkl" && \
+#   wget -r "https://github.com/castacks/MAC-VO-ROS2/releases/download/dsta-efficient-v0/dsta_efficient.ckpt" && \ 
+#   mv /model_weights/github.com/MAC-VO/MAC-VO/releases/download/model/MACVO_FrontendCov.pth /model_weights/MACVO_FrontendCov.pth && \
+#   mv /model_weights/github.com/MAC-VO/MAC-VO/releases/download/model/MACVO_posenet.pkl /model_weights/MACVO_posenet.pkl && \
+#   mv /model_weights/github.com/castacks/MAC-VO-ROS2/releases/download/dsta-efficient-v0/dsta_efficient.ckpt /model_weights/dsta_efficient.ckpt && \
+#   rm -rf /model_weights/github.com
+
+
+# # Fixes for MACVO Integration
+# RUN pip install huggingface_hub
+# RUN pip uninstall matplotlib -y
+
+# # Temporary fix for UFM
+# WORKDIR /model_weights
+# RUN wget -r "https://github.com/castacks/MAC-VO-ROS2/releases/download/dsta-efficient-v0/UFM_Env2.zip" && \
+#   apt update && apt install -y unzip && \
+#   mv /model_weights/github.com/castacks/MAC-VO-ROS2/releases/download/dsta-efficient-v0/UFM_Env2.zip /model_weights/UFM_Env2.zip && \
+#   unzip UFM_Env2.zip && \
+#   rm UFM_Env2.zip
+
+# WORKDIR /model_weights/UFM
+# RUN pip install -e .
+
+# WORKDIR /model_weights/UFM/UniCeption
+# RUN pip install -e .
+
+# WORKDIR /model_weights/UFM/benchmarks
+# RUN pip install -e .
 
 # TMux config
 RUN git clone https://github.com/tmux-plugins/tpm /home/robot/.tmux/plugins/tpm

robot/ros_ws/src/autonomy/2_perception/perception_bringup/launch/perception.launch.xml

@@ -11,16 +11,15 @@
         name="static_transform_publisher"
         args="--x 0 --y 0 --z 0 --yaw 1.5708 --pitch -1.5708 --roll 3.14159 --frame-id CameraLeft --child-frame-id macvo_ned" />
 
-    <node pkg="macvo" exec="macvo" namespace="macvo">
+    <!-- <node pkg="macvo" exec="macvo" namespace="macvo">
         <param name="camera_config" value="$(find-pkg-share macvo)/config/model_config.yaml" />
-        <!-- override -->
         <param from="$(find-pkg-share macvo)/config/interface_config.yaml" />
         <remap from="left/image_rect"
             to="/$(env ROBOT_NAME)/sensors/front_stereo/left/image_rect" />
         <remap from="right/image_rect"
             to="/$(env ROBOT_NAME)/sensors/front_stereo/right/image_rect" />
         <remap from="sensors/get_camera_params"
             to="/$(env ROBOT_NAME)/sensors/get_camera_params" />
-    </node>
+    </node> -->
 
 </launch>