254 lines
18 KiB
PL/PgSQL
254 lines
18 KiB
PL/PgSQL
-- Rebuild the shared base course as a two-week NAV2 curriculum.
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-- Target: courses.slug = 'futuredrive-autonomy-basic'
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BEGIN;
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CREATE TEMP TABLE target_course AS
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SELECT id
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FROM courses
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WHERE slug = 'futuredrive-autonomy-basic';
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DO $$
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BEGIN
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IF (SELECT count(*) FROM target_course) <> 1 THEN
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RAISE EXCEPTION 'Expected exactly one futuredrive-autonomy-basic course';
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END IF;
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END $$;
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-- Existing module IDs are replaced, so their student repository/score rows cascade.
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DELETE FROM course_student_week_progress
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WHERE course_id IN (SELECT id FROM target_course);
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DELETE FROM instructor_curriculum_week_overrides
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WHERE course_id IN (SELECT id FROM target_course);
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DELETE FROM course_environment_profiles
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WHERE course_id IN (SELECT id FROM target_course);
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DELETE FROM course_week_visualization_platforms
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WHERE course_id IN (SELECT id FROM target_course);
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DELETE FROM course_week_maps
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WHERE course_id IN (SELECT id FROM target_course);
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DELETE FROM course_week_modules
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WHERE week_id IN (SELECT id FROM course_weeks WHERE course_id IN (SELECT id FROM target_course));
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DELETE FROM course_week_topics
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WHERE week_id IN (SELECT id FROM course_weeks WHERE course_id IN (SELECT id FROM target_course));
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DELETE FROM course_week_practices
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WHERE week_id IN (SELECT id FROM course_weeks WHERE course_id IN (SELECT id FROM target_course));
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DELETE FROM course_week_references
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WHERE week_id IN (SELECT id FROM course_weeks WHERE course_id IN (SELECT id FROM target_course));
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DELETE FROM course_weeks
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WHERE course_id IN (SELECT id FROM target_course)
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AND week > 2;
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UPDATE courses
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SET
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title = 'NAV2 기반 자율주행 교육 과정',
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subtitle = 'ROS2, 시뮬레이션, SLAM부터 경로 계획과 제어까지',
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description = 'ROS2와 NAV2 기반 시뮬레이션 및 플랫폼 실습을 통해 자율주행 시스템의 핵심 흐름을 학습하고 팀 프로젝트로 검증합니다.'
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WHERE id IN (SELECT id FROM target_course);
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UPDATE course_weeks
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SET
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title = 'ROS2 & Simulation',
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tags = ARRAY['MK-mini', '진행중'],
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progress = 0,
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state = 'current',
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duration = '1주',
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github = 'https://github.com/ros-navigation/navigation2',
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overview = 'ROS2 통신 구조와 Gazebo 시뮬레이션 환경을 구성하고, LiDAR SLAM·위치추정·경로 계획·제어까지 NAV2 자율주행 파이프라인을 실습합니다.',
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deliverable = 'NAV2 모듈 소스 변경 내역, SLAM 결과 맵, 목표 지점 주행 검증 화면 및 실행 로그를 제출합니다.',
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requires_source_submission = true
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WHERE course_id IN (SELECT id FROM target_course) AND week = 1;
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UPDATE course_weeks
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SET
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title = 'Autonomy Studio 팀 프로젝트',
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tags = ARRAY['MK-mini', '진행예정'],
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progress = 0,
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state = 'locked',
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duration = '1주',
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github = 'https://github.com/ros-navigation/navigation2',
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overview = '3~4인 팀으로 자율주행 알고리즘이 필요한 문제 상황을 정의하고, 센서 구성과 NAV2 모듈을 조합해 시뮬레이션과 플랫폼에서 검증합니다.',
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deliverable = '팀 프로젝트 소스, 시스템 구성도, 시뮬레이션 및 플랫폼 주행 검증 결과, 발표 자료를 제출합니다.',
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requires_source_submission = true
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WHERE course_id IN (SELECT id FROM target_course) AND week = 2;
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INSERT INTO course_weeks (course_id, week, title, tags, progress, state, duration, github, overview, deliverable, requires_source_submission)
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SELECT id, 1, 'ROS2 & Simulation', ARRAY['MK-mini', '진행중'], 0, 'current', '1주',
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'https://github.com/ros-navigation/navigation2',
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'ROS2 통신 구조와 Gazebo 시뮬레이션 환경을 구성하고, LiDAR SLAM·위치추정·경로 계획·제어까지 NAV2 자율주행 파이프라인을 실습합니다.',
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'NAV2 모듈 소스 변경 내역, SLAM 결과 맵, 목표 지점 주행 검증 화면 및 실행 로그를 제출합니다.', true
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FROM target_course
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WHERE NOT EXISTS (SELECT 1 FROM course_weeks WHERE course_id = target_course.id AND week = 1);
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INSERT INTO course_weeks (course_id, week, title, tags, progress, state, duration, github, overview, deliverable, requires_source_submission)
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SELECT id, 2, 'Autonomy Studio 팀 프로젝트', ARRAY['MK-mini', '진행예정'], 0, 'locked', '1주',
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'https://github.com/ros-navigation/navigation2',
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'3~4인 팀으로 자율주행 알고리즘이 필요한 문제 상황을 정의하고, 센서 구성과 NAV2 모듈을 조합해 시뮬레이션과 플랫폼에서 검증합니다.',
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'팀 프로젝트 소스, 시스템 구성도, 시뮬레이션 및 플랫폼 주행 검증 결과, 발표 자료를 제출합니다.', true
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FROM target_course
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WHERE NOT EXISTS (SELECT 1 FROM course_weeks WHERE course_id = target_course.id AND week = 2);
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INSERT INTO course_week_topics (week_id, title, detail, sort_order)
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SELECT w.id, topic.title, topic.detail, topic.sort_order
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FROM course_weeks w
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CROSS JOIN (
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VALUES
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(1, 'ROS2 기초', 'ROS Topic, Service, Action 통신과 TF 정의, ROS2 패키지 및 tree 구조를 실습합니다.'),
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(2, 'Sensor Processing', 'LiDAR와 카메라 등 센서 데이터 처리 흐름과 Calibration 기초를 확인합니다.'),
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(3, 'Simulation 환경 구축 Part 1', 'Gazebo 월드, 로봇 모델, 센서 토픽을 구성해 시뮬레이션 실습 환경을 만듭니다.'),
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(4, 'Simulation 환경 구축 Part 2', '시뮬레이션에서 활용할 수 있는 모빌리티 플랫폼과 실행 모듈 구성을 점검합니다.'),
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(5, 'LiDAR SLAM', '센서 데이터와 SLAM 알고리즘을 활용해 자율주행용 2D Map을 구축합니다.'),
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(6, 'LiDAR Localization', '구축한 Map과 실시간 LiDAR 데이터를 이용해 현재 위치를 추정합니다.'),
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(7, 'Parameter Tuning', '모듈 파라미터를 변경하고 결과를 비교해 알고리즘을 튜닝합니다.'),
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(8, '[심화] Camera based SLAM', '카메라 기반 Map 구축과 위치인식의 입력·출력 구조를 분석합니다.'),
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(9, 'Occupancy Map', '장애물 인식을 위한 Occupancy Map과 costmap 반영 과정을 실습합니다.'),
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(10, 'Planning', '장애물 충돌 없이 목표 지점으로 이동하기 위한 전역·지역 경로 계획을 실습합니다.'),
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(11, 'Control', '생성한 경로를 추종하도록 속도 명령을 만들고 주행 결과를 검증합니다.'),
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(12, '[심화] 딥러닝 기반 객체 인식', '딥러닝 기반 객체 인식 결과를 자율주행 데이터 흐름에 반영하는 방법을 학습합니다.')
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) AS topic(sort_order, title, detail)
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WHERE w.course_id IN (SELECT id FROM target_course) AND w.week = 1;
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INSERT INTO course_week_topics (week_id, title, detail, sort_order)
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SELECT w.id, topic.title, topic.detail, topic.sort_order
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FROM course_weeks w
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CROSS JOIN (
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VALUES
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(1, '프로젝트 주제와 역할 분담', '팀별 자율주행 문제 상황과 목표, 역할, 검증 기준을 정의합니다.'),
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(2, '센서·모듈 구성 설계', '센서 입력과 NAV2 모듈 조합, ROS 토픽 및 실행 순서를 설계합니다.'),
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(3, '알고리즘 구현과 튜닝', 'SLAM, Localization, Planning, Control 파라미터를 수정하고 성능을 비교합니다.'),
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(4, '시뮬레이션·플랫폼 검증', 'Gazebo 시뮬레이션과 실제 플랫폼에서 주행 시나리오를 검증합니다.'),
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(5, '결과 제출과 발표', '소스, 실행 로그, 검증 결과를 정리해 팀 프로젝트 결과를 제출하고 발표합니다.')
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) AS topic(sort_order, title, detail)
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WHERE w.course_id IN (SELECT id FROM target_course) AND w.week = 2;
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INSERT INTO course_week_practices (week_id, title, description, sort_order)
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SELECT w.id, practice.title, practice.description, practice.sort_order
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FROM course_weeks w
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CROSS JOIN (
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VALUES
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(1, 'ROS2와 Gazebo 실행 환경', 'Topic, Service, Action, TF를 확인하고 TurtleBot3 Gazebo 환경을 실행합니다.'),
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(2, 'LiDAR SLAM과 Localization', '맵을 생성·저장하고 저장된 맵에서 AMCL 기반 위치추정을 검증합니다.'),
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(3, '경로 계획과 제어', '목표 지점을 설정하고 장애물 회피, 경로 계획, 제어 명령을 비교합니다.')
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) AS practice(sort_order, title, description)
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WHERE w.course_id IN (SELECT id FROM target_course) AND w.week = 1;
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INSERT INTO course_week_practices (week_id, title, description, sort_order)
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SELECT w.id, practice.title, practice.description, practice.sort_order
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FROM course_weeks w
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CROSS JOIN (
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VALUES
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(1, '팀 자율주행 시나리오 구현', '팀별 시나리오에 맞춰 NAV2 모듈을 구성하고 소스를 수정합니다.'),
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(2, '통합 주행 검증', '시뮬레이션과 플랫폼에서 재현 가능한 주행 결과를 확보합니다.')
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) AS practice(sort_order, title, description)
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WHERE w.course_id IN (SELECT id FROM target_course) AND w.week = 2;
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WITH module_definitions(category, name, folder_name, template_repository_url, prebuilt_artifacts, default_parameters, docker_image) AS (
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VALUES
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('Simulator', 'NAV2-Gazebo', '[lms-nav2-gazebo-simulator]nav2-simulator_v1.0.0_ws', 'http://localhost:3000/templates/lms-nav2-gazebo-simulator.git',
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jsonb_build_array(jsonb_build_object('url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/modules/lms-nav2-gazebo-simulator/1.0.0/prebuilt/latest/lms-nav2-gazebo-simulator-build-install.tar.zst', 'type', 'build-install', 'fileName', 'lms-nav2-gazebo-simulator-build-install.tar.zst', 'required', false, 'extractPath', '.')), jsonb_build_array('gui:=false'), 'future-nav2-gazebo:humble'),
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('Vehicle', 'NAV2-TurtleBot3Burger', '[lms-nav2-gazebo-vehicle]nav2-vehicle_v1.0.0_ws', 'http://localhost:3000/templates/lms-nav2-gazebo-vehicle.git',
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jsonb_build_array(jsonb_build_object('url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/modules/lms-nav2-gazebo-vehicle/1.0.0/prebuilt/latest/lms-nav2-gazebo-vehicle-build-install.tar.zst', 'type', 'build-install', 'fileName', 'lms-nav2-gazebo-vehicle-build-install.tar.zst', 'required', false, 'extractPath', '.')), jsonb_build_array('sim_mode:=true', 'platform:=turtlebot3', 'level:=2d'), 'future-nav2-gazebo:humble'),
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('Map', 'NAV2-Map', '[lms-nav2-gazebo-map]nav2-map_v1.0.0_ws', 'http://localhost:3000/templates/lms-nav2-gazebo-map.git',
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jsonb_build_array(jsonb_build_object('url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/modules/lms-nav2-gazebo-map/1.0.0/prebuilt/latest/lms-nav2-gazebo-map-build-install.tar.zst', 'type', 'build-install', 'fileName', 'lms-nav2-gazebo-map-build-install.tar.zst', 'required', false, 'extractPath', '.')), '[]'::jsonb, 'future-nav2-gazebo:humble'),
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('Localization', 'NAV2-SLAM', '[lms-nav2-gazebo-slam]nav2-slam_v1.0.0_ws', 'http://localhost:3000/templates/lms-nav2-gazebo-slam.git',
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jsonb_build_array(jsonb_build_object('url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/modules/lms-nav2-gazebo-slam/1.0.0/prebuilt/latest/lms-nav2-gazebo-slam-build-install.tar.zst', 'type', 'build-install', 'fileName', 'lms-nav2-gazebo-slam-build-install.tar.zst', 'required', false, 'extractPath', '.')), '[]'::jsonb, 'future-nav2-gazebo:humble'),
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('Localization', 'NAV2-Localization', '[lms-nav2-gazebo-localization]nav2-localization_v1.0.0_ws', 'http://localhost:3000/templates/lms-nav2-gazebo-localization.git',
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jsonb_build_array(jsonb_build_object('url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/modules/lms-nav2-gazebo-localization/1.0.0/prebuilt/latest/lms-nav2-gazebo-localization-build-install.tar.zst', 'type', 'build-install', 'fileName', 'lms-nav2-gazebo-localization-build-install.tar.zst', 'required', false, 'extractPath', '.')), jsonb_build_array('localization_mode:=slam'), 'future-nav2-gazebo:humble'),
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('Perception', 'NAV2-Perception', '[lms-nav2-gazebo-perception]nav2-perception_v1.0.0_ws', 'http://localhost:3000/templates/lms-nav2-gazebo-perception.git',
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jsonb_build_array(jsonb_build_object('url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/modules/lms-nav2-gazebo-perception/1.0.0/prebuilt/latest/lms-nav2-gazebo-perception-build-install.tar.zst', 'type', 'build-install', 'fileName', 'lms-nav2-gazebo-perception-build-install.tar.zst', 'required', false, 'extractPath', '.')), jsonb_build_array('sim_mode:=true'), 'future-nav2-gazebo:humble'),
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('Planning', 'NAV2-Planning', '[lms-nav2-gazebo-planning]nav2-planning_v1.0.0_ws', 'http://localhost:3000/templates/lms-nav2-gazebo-planning.git',
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jsonb_build_array(jsonb_build_object('url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/modules/lms-nav2-gazebo-planning/1.0.0/prebuilt/latest/lms-nav2-gazebo-planning-build-install.tar.zst', 'type', 'build-install', 'fileName', 'lms-nav2-gazebo-planning-build-install.tar.zst', 'required', false, 'extractPath', '.')), '[]'::jsonb, 'future-nav2-gazebo:humble'),
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('Control', 'NAV2-Control', '[lms-nav2-gazebo-control]nav2-control_v1.0.0_ws', 'http://localhost:3000/templates/lms-nav2-gazebo-control.git',
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jsonb_build_array(jsonb_build_object('url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/modules/lms-nav2-gazebo-control/1.0.0/prebuilt/latest/lms-nav2-gazebo-control-build-install.tar.zst', 'type', 'build-install', 'fileName', 'lms-nav2-gazebo-control-build-install.tar.zst', 'required', false, 'extractPath', '.')), jsonb_build_array('sim_mode:=true', 'robot:=turtlebot3', 'level:=2d'), 'future-nav2-gazebo:humble'),
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('Vehicle', 'NAV2-MKMini', '[lms-nav2-mkmini]nav2-mkmini_v1.0.0_ws', 'http://localhost:3000/templates/lms-nav2-mkmini.git',
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jsonb_build_array(jsonb_build_object('url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/modules/lms-nav2-mkmini/1.0.0/prebuilt/amd64/lms-nav2-mkmini-build-install-amd64.tar.zst', 'type', 'build-install', 'fileName', 'lms-nav2-mkmini-build-install-amd64.tar.zst', 'checksumSha256', '8b36d3fda6a81a49da140529d9874e99b734d05e01e12a49e719e2b26f8803d9', 'architecture', 'amd64', 'required', false, 'extractPath', '.')), jsonb_build_array('sim_mode:=false', 'platform:=mkmini', 'robot:=mkmini', 'level:=2d'), 'future-nav2:humble-jetson_orin')
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)
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INSERT INTO course_week_modules (week_id, sort_order, category, name, folder_name, template_repository_url, source_type, prebuilt_artifacts, default_parameters, docker_image)
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SELECT w.id, row_number() OVER (PARTITION BY w.id ORDER BY module_definitions.folder_name), category, name, folder_name, template_repository_url, 'GIT', prebuilt_artifacts, default_parameters, docker_image
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FROM course_weeks w
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CROSS JOIN module_definitions
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WHERE w.course_id IN (SELECT id FROM target_course) AND w.week IN (1, 2);
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INSERT INTO course_week_visualization_platforms (course_id, week, platform_key, enabled, created_at, updated_at)
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SELECT target_course.id, weeks.week, platform.platform_key, true, now(), now()
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FROM target_course
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CROSS JOIN (VALUES (1), (2)) AS weeks(week)
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JOIN visualization_platforms platform ON platform.platform_key IN ('NAV2', 'REAL_SLAM', 'REAL_NAVIGATION');
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INSERT INTO course_environment_profiles (course_id, week, platform_key, profile_type, name, config, enabled, created_at, updated_at)
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SELECT target_course.id, weeks.week, platform.platform_key, platform.type,
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CASE WHEN platform.platform_key = 'NAV2' THEN '로컬' ELSE platform.display_name END,
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platform.default_config, true, now(), now()
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FROM target_course
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CROSS JOIN (VALUES (1), (2)) AS weeks(week)
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JOIN visualization_platforms platform ON platform.platform_key IN ('NAV2', 'REAL_SLAM', 'REAL_NAVIGATION');
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-- Local simulation gets all Gazebo modules. Platform profiles only receive modules applicable to their workflow.
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UPDATE course_environment_profiles profile
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SET config = profile.config::jsonb || jsonb_build_object('moduleSet', jsonb_build_object(
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'target', CASE WHEN profile.platform_key = 'NAV2' THEN 'local' ELSE 'platform' END,
|
|
'includeUnlisted', false,
|
|
'modules', COALESCE((
|
|
SELECT jsonb_agg(jsonb_build_object('id', module.id) ORDER BY module.sort_order)
|
|
FROM course_weeks week
|
|
JOIN course_week_modules module ON module.week_id = week.id
|
|
WHERE week.course_id = profile.course_id
|
|
AND week.week = profile.week
|
|
AND (
|
|
(profile.platform_key = 'NAV2' AND module.folder_name LIKE '[lms-nav2-gazebo-%')
|
|
OR (profile.platform_key IN ('REAL_SLAM', 'REAL_NAVIGATION') AND module.folder_name IN (
|
|
'[lms-nav2-mkmini]nav2-mkmini_v1.0.0_ws',
|
|
'[lms-nav2-gazebo-map]nav2-map_v1.0.0_ws',
|
|
'[lms-nav2-gazebo-perception]nav2-perception_v1.0.0_ws',
|
|
'[lms-nav2-gazebo-localization]nav2-localization_v1.0.0_ws',
|
|
'[lms-nav2-gazebo-planning]nav2-planning_v1.0.0_ws',
|
|
'[lms-nav2-gazebo-control]nav2-control_v1.0.0_ws'
|
|
))
|
|
)
|
|
), '[]'::jsonb)
|
|
))
|
|
WHERE profile.course_id IN (SELECT id FROM target_course)
|
|
AND profile.platform_key IN ('NAV2', 'REAL_SLAM', 'REAL_NAVIGATION');
|
|
|
|
-- Control runs with TurtleBot3/Gazebo defaults locally, but uses MK-mini and the ARM64 image on a platform.
|
|
UPDATE course_environment_profiles profile
|
|
SET config = jsonb_set(profile.config::jsonb, '{moduleSet,modules}', (
|
|
SELECT jsonb_agg(
|
|
CASE WHEN item->>'id' = control_module.id::text THEN item || jsonb_build_object(
|
|
'defaultParameters', jsonb_build_array('sim_mode:=false', 'robot:=mkmini', 'level:=2d'),
|
|
'dockerImage', 'future-nav2:humble-jetson_orin'
|
|
) ELSE item END
|
|
)
|
|
FROM jsonb_array_elements(profile.config->'moduleSet'->'modules') AS item
|
|
CROSS JOIN LATERAL (
|
|
SELECT module.id
|
|
FROM course_weeks week
|
|
JOIN course_week_modules module ON module.week_id = week.id
|
|
WHERE week.course_id = profile.course_id
|
|
AND week.week = profile.week
|
|
AND module.name = 'NAV2-Control'
|
|
) AS control_module
|
|
), true)
|
|
WHERE profile.course_id IN (SELECT id FROM target_course)
|
|
AND profile.platform_key IN ('REAL_SLAM', 'REAL_NAVIGATION');
|
|
|
|
INSERT INTO course_week_maps (id, course_id, week, map_key, sort_order, created_at, updated_at)
|
|
SELECT gen_random_uuid(), target_course.id, weeks.week, map.map_key, map.sort_order, now(), now()
|
|
FROM target_course
|
|
CROSS JOIN (VALUES (1), (2)) AS weeks(week)
|
|
CROSS JOIN (VALUES ('nav2-turtlebot3-world', 1), ('nav2-turtlebot3-house', 2)) AS map(map_key, sort_order);
|
|
|
|
UPDATE instructor_curriculum_settings
|
|
SET active_week = 1, active_learning_step = 'ROS2 기초'
|
|
WHERE course_id IN (SELECT id FROM target_course);
|
|
|
|
COMMIT;
|