Updated the manifest to support GPU

flowstate/services/Dockerfile.service

@@ -6,10 +6,14 @@ FROM ${BASE_IMAGE}
 # Copy the zenoh config file.
 # TODO(Yadunund): Switch to ZENOH_CONFIG_OVERRIDE after the next jazzy sync.
 COPY zenoh_config.json5 /opt/zenoh_config.json5
+# For one-shot solutions - need to have the 3d_models directory in the folder 
+# containing the 3d models used by the solution
+ADD 3d_models /opt/ros/underlay/install/3d_models
 
 # Set environment variables
 ENV ZENOH_SESSION_CONFIG_URI=/opt/zenoh_config.json5
 ENV ZENOH_ROUTER_CHECK_ATTEMPTS=5
+ENV LD_LIBRARY_PATH="/usr/local/nvidia/lib64:/usr/local/nvidia/bin:${LD_LIBRARY_PATH:-}"
 # (Optional) If you need to override the entrypoint or command, do it here.
 # For example:
 # ENTRYPOINT ["/your/new/entrypoint.sh"]

flowstate/services/README.md

@@ -29,15 +29,15 @@ cd ~/
 git clone https://github.com/intrinsic-ai/sdk.git
 cd sdk
 bazel run //intrinsic/tools/inbuild -- service bundle \
-  --manifest ~/bpc_ws/src/bpc/services/flowstate/bpc_pose_estimator.manifest.textproto \
-  --oci_image ~/bpc_ws/src/bpc/services/flowstate/bpc_pose_estimator.tar \
-  --output ~/bpc_ws/src/bpc/services/flowstate/bpc_pose_estimator.bundle.tar
+  --manifest ~/bpc_ws/src/bpc/flowstate/services/bpc_pose_estimator.manifest.textproto \
+  --oci_image ~/bpc_ws/src/bpc/flowstate/services/bpc_pose_estimator.tar \
+  --output ~/bpc_ws/src/bpc/flowstate/services/bpc_pose_estimator.bundle.tar
 ```
 
 Finally install the Service in a running solution.
 
 ```bash
-bazel run //intrinsic/tools/inctl -- service install ~/bpc_ws/src/bpc/services/flowstate/bpc_pose_estimator.bundle.tar \
+bazel run //intrinsic/tools/inctl -- service install ~/bpc_ws/src/bpc/flowstate/services/bpc_pose_estimator.bundle.tar \
   --cluster CLUSTER_ID \
   --org ORG \
   --registry REGISTRY \

flowstate/services/bpc_pose_estimator.manifest.textproto

@@ -15,11 +15,22 @@ service_def {
   real_spec {
     image {
       archive_filename: "bpc_pose_estimator.tar"
+      settings {
+        resource_requirements {
+          limits: { key: "nvidia.com/gpu" value: "1" }
+        }
+        requires_rtpc_node: true
+      }
     }
   }
   sim_spec {
     image {
       archive_filename: "bpc_pose_estimator.tar"
+      settings {
+        resource_requirements {
+          limits: { key: "nvidia.com/gpu" value: "1" }
+        }
+      }
     }
   }
 }