Fix/vrx base image (#314)

* update dockerfile * add ENV DEBIAN_FRONTEND noninteractive * update trigger * update trigger * add rosdep update step * update dockerfile * remove unused lines * add pyproject.toml Signed-off-by: Masaya Kataoka <[email protected]> * update pyproject.toml * update dockerfile Signed-off-by: Masaya Kataoka <[email protected]> * add cleanup action Signed-off-by: Masaya Kataoka <[email protected]> * add cleanup step Signed-off-by: Masaya Kataoka <[email protected]> * update python version Signed-off-by: Masaya Kataoka <[email protected]> * update python version Signed-off-by: Masaya Kataoka <[email protected]> * fix workflow Signed-off-by: Masaya Kataoka <[email protected]> * change workflow order Signed-off-by: Masaya Kataoka <[email protected]> * add shell Signed-off-by: Masaya Kataoka <[email protected]> --------- Signed-off-by: Masaya Kataoka <[email protected]>
OUXT-Polaris · Jun 24, 2023 · 97a54ce · 97a54ce
1 parent ac53e5e
commit 97a54ce
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Showing 10 changed files with 79 additions and 30 deletions.
diff --git a/.github/workflows/actions/cleanup_runner/action.yaml b/.github/workflows/actions/cleanup_runner/action.yaml
@@ -0,0 +1,46 @@
+name: "Cleanup Runner Image"
+description: "Clean up runner"
+
+runs:
+  using: "composite"
+  steps:
+  - name: cleanup
+    run: |
+      docker images
+      sudo rm -rf "/opt/ghc" || true
+      sudo rm -rf "/usr/share/dotnet" || true
+      sudo rm -rf "$AGENT_TOOLSDIRECTORY" || true
+      sudo rm -rf "/usr/local/lib/android" || true
+      sudo rm -rf "/usr/local/share/boost" || true
+      docker rmi $(docker image ls -q --filter "reference=node*")
+      docker rmi $(docker image ls -q --filter "reference=debian*")
+      docker rmi $(docker image ls -q --filter "reference=alpine*")
+      docker rmi $(docker image ls -q --filter "reference=ubuntu:18.04")
+      docker rmi $(docker image ls -q --filter "reference=ubuntu:20.04")
+      sudo apt purge \
+        ansible \
+        aria2 \
+        azure-cli \
+        bazel \
+        cabal* \
+        clang* \
+        dotnet-sdk* \
+        ghc* \
+        google-chrome-stable \
+        google-cloud-sdk \
+        heroku \
+        kubectl \
+        mysql* \
+        node* \
+        npm* \
+        php* \
+        powershell \
+        rpm \
+        ruby* \
+        subversion \
+        yarn \
+        -yq >/dev/null 2>&1 || true
+      sudo apt-get autoremove -y >/dev/null 2>&1 || true
+      sudo apt-get autoclean -y >/dev/null 2>&1 || true
+      df -h
+    shell: bash
diff --git a/.github/workflows/ansible.yaml b/.github/workflows/ansible.yaml
@@ -53,7 +53,7 @@ jobs:
         SLACK_WEBHOOK_URL: ${{ secrets.SLACK_WEBHOOK }}
   # setup_docker_testbench:
   #   name: setup_docker_testbench
-  #   runs-on: ubuntu-20.04
+  #   runs-on: ubuntu-22.04
   #   steps:
   #   - name: Get current date
   #     id: date
@@ -83,7 +83,7 @@ jobs:
   #       SLACK_WEBHOOK_URL: ${{ secrets.SLACK_WEBHOOK }}
   setup_ml_pipeline:
     name: setup_ml_pipeline
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     steps:
     - uses: actions/checkout@v2-beta
     - name: basic install
@@ -103,7 +103,7 @@ jobs:
         SLACK_WEBHOOK_URL: ${{ secrets.SLACK_WEBHOOK }}
   setup_firmware:
     name: setup_firmware
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     steps:
     - uses: actions/checkout@v2-beta
     - name: basic install
@@ -123,7 +123,7 @@ jobs:
         SLACK_WEBHOOK_URL: ${{ secrets.SLACK_WEBHOOK }}
   setup_dataset:
     name: setup_dataset
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     steps:
     - uses: actions/checkout@v2-beta
     - name: basic install

diff --git a/.github/workflows/check_workflow.yaml b/.github/workflows/check_workflow.yaml
@@ -7,7 +7,7 @@ on:
 
 jobs:
   check_workflow_deployment:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     strategy:
       matrix:
         workflow_name:

diff --git a/.github/workflows/deploy_workflow.yaml b/.github/workflows/deploy_workflow.yaml
@@ -13,7 +13,7 @@ on:
 
 jobs:
   get_template:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     steps:  
       - uses: actions/checkout@v2-beta
       - uses: actions/upload-artifact@v2
@@ -22,7 +22,7 @@ jobs:
           path: ./workflow_templates/*.yaml
   deploy_workflow:
     needs: get_template
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     strategy:
       max-parallel: 2
       fail-fast: false

diff --git a/.github/workflows/docker/vrx/Dockerfile b/.github/workflows/docker/vrx/Dockerfile
@@ -1,10 +1,10 @@
-FROM ros:humble-ros-base
-RUN apt-get update && apt-get install -y \
-    git \
-    python3-vcstool \
-    python3-colcon-common-extensions \
-    wget \
-    && rm -rf /var/lib/apt/lists/*
+FROM npslearninglab/watery_robots:humble_current
+
+ENV DEBIAN_FRONTEND noninteractive
+RUN apt-get update && \
+    apt-get install -y git wget && \
+    rm -rf /var/lib/apt/lists/*
+
 RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
 RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
 RUN apt-get update && apt-get install -y \
@@ -17,10 +17,9 @@ ADD https://api.github.com/repos/osrf/vrx/git/refs/heads/main vrx_version.json
 RUN git clone https://github.com/osrf/vrx.git
 ADD https://api.github.com/repos/gazebosim/ros_gz/git/refs/heads/humble ros_gz_version.json
 RUN git clone https://github.com/gazebosim/ros_gz.git -b humble
-RUN apt-get update
-RUN rosdep install -iry --from-paths .
 ENV GZ_VERSION garden
 WORKDIR /home/vrx_ws
+RUN ["/bin/bash", "-c", "source /opt/ros/humble/setup.sh && apt-get update && rosdep update && rosdep install -iry --from-paths src && rm -rf /var/lib/apt/lists/*"]
 RUN ["/bin/bash", "-c", "source /opt/ros/humble/setup.sh && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release"]
 ADD fuel.gazebosim.org /root/.gz/fuel/fuel.gazebosim.org
 COPY config /home/config

diff --git a/.github/workflows/docker_push.yaml b/.github/workflows/docker_push.yaml
@@ -8,28 +8,27 @@ on:
     branches:
       - master
   pull_request:
-    paths:
-    - ./.github/workflows/docker/**
   release:
     types: [published]
 jobs:
   l4t_opencv:
     name: build and push wamvtan/l4t_opencv
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     timeout-minutes: 360
     strategy:
       matrix:
         opencv_version: ["4.4.0", "4.5.0"]
     steps:
       - uses: actions/checkout@v2
+      - uses: ./.github/workflows/actions/cleanup_runner
       - uses: ./.github/workflows/docker/l4t_opencv
         with:
           docker_username: ${{ secrets.DOCKER_USERNAME }}
           docker_password: ${{ secrets.DOCKER_PASSWORD }}
           opencv_version: ${{ matrix.opencv_version }}
   dev_container:
     name: build and push wamvtan/dev_container and wamvtan/dev_container_vnc
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     timeout-minutes: 60
     strategy:
       fail-fast: false
@@ -47,6 +46,7 @@ jobs:
             entrypoint: entrypoint_vnc.sh
     steps:
       - uses: actions/checkout@v2
+      - uses: ./.github/workflows/actions/cleanup_runner
       - uses: ./.github/workflows/docker/dev_container
         with:
           docker_username: ${{ secrets.DOCKER_USERNAME }}
@@ -56,17 +56,18 @@ jobs:
           entrypoint: ${{ matrix.entrypoint }}
   yolox:
     name: build and push wamvtan/yolox
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     timeout-minutes: 30
     steps:
       - uses: actions/checkout@v2
+      - uses: ./.github/workflows/actions/cleanup_runner
       - uses: ./.github/workflows/docker/yolox
         with:
           docker_username: ${{ secrets.DOCKER_USERNAME }}
           docker_password: ${{ secrets.DOCKER_PASSWORD }}
   yolox_trainer:
     name: build and push wamvtan/yolox_trainer
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     timeout-minutes: 30
     needs: yolox
     strategy:
@@ -75,6 +76,7 @@ jobs:
         runner_version: [2.295.0]
     steps:
       - uses: actions/checkout@v2
+      - uses: ./.github/workflows/actions/cleanup_runner
       - uses: ./.github/workflows/docker/yolox_trainer
         with:
           docker_username: ${{ secrets.DOCKER_USERNAME }}
@@ -83,10 +85,11 @@ jobs:
           os_version: ${{ matrix.os }}
   vrx:
     name: build and push wamvtan/vrx
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     timeout-minutes: 30
     steps:
       - uses: actions/checkout@v2
+      - uses: ./.github/workflows/actions/cleanup_runner
       - uses: ./.github/workflows/docker/vrx
         with:
           docker_username: ${{ secrets.DOCKER_USERNAME }}

diff --git a/.github/workflows/document.yaml b/.github/workflows/document.yaml
@@ -12,13 +12,13 @@ on:
 jobs:
   document:
     name: build document
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v2-beta
       - name: Set up Python
         uses: actions/setup-python@v1
         with:
-          python-version: "3.6.15"
+          python-version: "3.10.12"
       - name: Install
         run: pip3 install mkdocs mkdocs-material fontawesome_markdown mkdocs-mermaid2-plugin pymdown-extensions plantuml-markdown python-markdown-math python-github-api mkdocs-github-dashboard pandas
       - name: Set env

diff --git a/.github/workflows/generate_rosdep_yaml.yaml b/.github/workflows/generate_rosdep_yaml.yaml
@@ -10,7 +10,7 @@ on:
 jobs:
   generate_rosdep_yaml:
     name: generate_rosdep_yaml
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     steps:
     - name: basic install
       run: |
@@ -40,7 +40,7 @@ jobs:
         path: ansible/packages.repos
   deploy_to_ouxt_distro:
     name: deploy_to_ouxt_distro
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     needs: generate_rosdep_yaml
     steps:
       - uses: actions/checkout@v2

diff --git a/.gitignore b/.gitignore
@@ -10,4 +10,5 @@ private.yml
 scripts/packages.repos
 scripts/rosdep_base.yaml
 scripts/rosdep.yaml
-dataset
+dataset
+poetry.lock
diff --git a/workflow_templates/BuildTest.yaml b/workflow_templates/BuildTest.yaml
@@ -9,7 +9,7 @@ on:
 jobs:
   build:
     name: build
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     timeout-minutes: 180
     strategy:
       fail-fast: false
@@ -108,7 +108,7 @@ jobs:
           SLACK_WEBHOOK_URL: ${{ secrets.SLACK_WEBHOOK }}
   merge:
     name: merge
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     timeout-minutes: 180
     needs: build
     steps: