diff --git a/.github/workflows/actions/cleanup_runner/action.yaml b/.github/workflows/actions/cleanup_runner/action.yaml new file mode 100644 index 000000000..708ff3be0 --- /dev/null +++ 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 index efb592a4d..5517bd5ff 100644 --- a/.github/workflows/ansible.yaml +++ b/.github/workflows/ansible.yaml @@ -12,8 +12,8 @@ on: jobs: setup_dev_environment: name: setup_dev_environment - runs-on: ubuntu-20.04 - container: ubuntu:20.04 + runs-on: ubuntu-22.04 + container: ubuntu:22.04 steps: - name: Get current date id: date @@ -26,14 +26,14 @@ jobs: run: | ansible-playbook --version - uses: actions/checkout@v2-beta - - name: add password file + - name: make robotx_ws run: | - echo ${{ secrets.VAULT_PASSWORD }} > password.txt + mkdir robotx_ws - uses: actions/cache@v2 if: ${{ github.event.label.name != 'clean_build' }} with: - path: robotx_ws - key: robotx_ws-${{ steps.date.outputs.date }} + path: robotx_ws/ccache + key: ccache-${{ steps.date.outputs.date }} - name: ansible run: | ansible-playbook -i ansible/hosts/localhost.ini ansible/setup_dev_environment.yml --connection local --become -e ansible_user=ubuntu @@ -51,59 +51,9 @@ jobs: env: GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} SLACK_WEBHOOK_URL: ${{ secrets.SLACK_WEBHOOK }} - setup_docker_testbench: - name: setup_docker_testbench - runs-on: ubuntu-20.04 - steps: - - name: Get current date - id: date - run: echo "::set-output name=date::$(date +'%Y-%m-%d')" - - uses: actions/checkout@v2-beta - - uses: actions/cache@v2 - if: ${{ github.event.label.name != 'clean_build' }} - with: - path: docker/docker_testbench/mount_point/ - key: sd-card-image-${{ steps.date.outputs.date }} - - name: basic install - run: | - sudo apt install make ansible - - name: ansible version - run: | - ansible-playbook --version - - name: run ansible and install docker - run: | - ansible-playbook -i ansible/hosts/localhost.ini ansible/setup_docker_testbench.yml --connection local --become -e ansible_user=ubuntu - - name: Notify Slack - uses: 8398a7/action-slack@v2 - if: failure() - with: - status: ${{ job.status }} - env: - GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} - SLACK_WEBHOOK_URL: ${{ secrets.SLACK_WEBHOOK }} - setup_ml_pipeline: - name: setup_ml_pipeline - runs-on: ubuntu-20.04 - steps: - - uses: actions/checkout@v2-beta - - name: basic install - run: | - sudo apt install ansible - - name: run ansible and install docker - run: | - ansible-galaxy install -fr ansible/roles/requirements.yml - ansible-playbook -i ansible/hosts/localhost.ini ansible/setup_ml_pipeline.yml --connection local --become -e ansible_user=ubuntu - - name: Notify Slack - uses: 8398a7/action-slack@v2 - if: failure() - with: - status: ${{ job.status }} - env: - GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} - 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 @@ -111,7 +61,6 @@ jobs: sudo apt install ansible - name: run ansible and install docker run: | - ansible-galaxy install -fr ansible/roles/requirements.yml ansible-playbook -i ansible/hosts/localhost.ini ansible/setup_mbed_workspace.yml --connection local --become -e ansible_user=ubuntu - name: Notify Slack uses: 8398a7/action-slack@v2 @@ -123,7 +72,7 @@ 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 index be7fae610..bc30ae320 100644 --- 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 index 135bcbefe..8098b9d99 100644 --- 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 @@ -22,23 +22,24 @@ 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 matrix: package_name: [ boost_geometry_util, color_names, - copto_ros, data_buffer, + detic_onnx_ros2, dynamixel_hardware_interface, geographic_conversion, geographic_info, - geometry_msgs_data_buffer, hermite_path_planner, hungarian_solver, image_processing_utils, joy_to_twist, + lidar_camera_fusion, lua_vendor, message_synchronizer, miniv_control, @@ -56,7 +57,6 @@ jobs: perception_server, playstation_controller_drivers, quaternion_operation, - realsense_hardware_interface, robotx_behavior_tree, robotx_communication, robotx_costmap_calculator, @@ -66,7 +66,6 @@ jobs: scan_segmentation, sol_vendor, tcp_sender, - unisim_ros2_control, usv_controller, wamv_control, wamv_description, @@ -85,7 +84,7 @@ jobs: with: template: /home/runner/templates/BuildTest.yaml project_path: ./ - parameters: "{ \"rosdistro\" : \"galactic\" }" + parameters: "{}" - name: Deploy release workflow uses: OUXT-Polaris/setup-workflow-action@0.0.1 with: @@ -98,6 +97,12 @@ jobs: template: /home/runner/templates/UpdateWorkflowStatus.yaml project_path: ./ parameters: "{}" + - name: Deploy code review workflow + uses: OUXT-Polaris/setup-workflow-action@0.0.1 + with: + template: /home/runner/templates/Review.yaml + project_path: ./ + parameters: "{}" - name: Check branch exist id: check_branch run: | @@ -111,9 +116,16 @@ jobs: id: check_default_branch run: | echo "::set-output name=default_branch::$(git remote show origin | sed -n '/HEAD branch/s/.*: //p')" + - name: Delete old branch + if: steps.check_branch.outputs.exist == 1 + run: | + git push origin --delete workflow/sync; exit 0 + - name: Print deleted branch + if: steps.check_branch.outputs.exist == 1 + run: "echo 'Deleted branches: ${{ steps.delete_stuff.outputs.deleted_branches }}'" - uses: peter-evans/create-pull-request@v3 id: create_pull_request - if: steps.check_branch.outputs.exist == 0 && steps.changes.outputs.count > 0 + if: steps.changes.outputs.count > 0 with: token: ${{ secrets.WAMV_TAN_BOT_SECRET }} commit-message: Setup workflow @@ -134,14 +146,5 @@ jobs: assignees: wam-v-tan reviewers: wam-v-tan team-reviewers: | - owners - maintainers + bot draft: false - - name: Enable Pull Request Automerge - if: steps.create_pull_request.outputs.pull-request-operation == 'created' - uses: peter-evans/enable-pull-request-automerge@v1 - with: - token: ${{ secrets.WAMV_TAN_BOT_SECRET }} - pull-request-number: ${{ steps.create_pull_request.outputs.pull-request-number }} - merge-method: squash - repository: OUXT-Polaris/${{ matrix.package_name }} diff --git a/.github/workflows/docker/ci_base/Dockerfile.foxy b/.github/workflows/docker/ci_base/Dockerfile.foxy deleted file mode 100644 index 3fd36ff6e..000000000 --- a/.github/workflows/docker/ci_base/Dockerfile.foxy +++ /dev/null @@ -1,41 +0,0 @@ -FROM ros:foxy -ARG distro=foxy - -ENV CCACHE_DIR=/tmp/.ccache -ENV USE_CCACHE=1 -ENV DEBIAN_FRONTEND=noninteractive - -# fetch -WORKDIR /_build_ws/src -RUN git clone https://github.com/ANYbotics/grid_map.git --single-branch -b foxy-devel && \ - cd ./grid_map && git checkout 869c5d56 - -# deps -WORKDIR /_build_ws -RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ - apt update && apt install ccache -y && \ - rosdep install -i -y --from-paths ./src - -# build - -############################### -# Fix a wrong dependency -# See https://github.com/ANYbotics/grid_map/pull/341 -RUN sed -i -e 's/libpcl-all/libpcl-all-dev/g' src/grid_map/grid_map_pcl/package.xml && rosdep install -i -y --from-paths ./src -############################### - -ARG build_options -RUN --mount=type=cache,target=/tmp/.ccache \ - . /opt/ros/${distro}/setup.sh && \ - colcon build --cmake-args --mixin ccache --merge-install --install-base /preinstalled ${build_options} --continue-on-error -RUN . /opt/ros/${distro}/setup.sh && colcon test --merge-install --install-base /preinstalled && rm -r ./* - -# cleanup -RUN apt clean - -WORKDIR / -COPY enable-preinstalled.sh / -RUN chmod +x enable-preinstalled.sh -ENTRYPOINT ["/enable-preinstalled.sh"] -CMD ["bash"] - diff --git a/.github/workflows/docker/ci_base/Dockerfile.galactic b/.github/workflows/docker/ci_base/Dockerfile.galactic deleted file mode 100644 index 131e64c8f..000000000 --- a/.github/workflows/docker/ci_base/Dockerfile.galactic +++ /dev/null @@ -1,34 +0,0 @@ -FROM ros:galactic -ARG distro=galactic - -ENV CCACHE_DIR=/tmp/.ccache -ENV USE_CCACHE=1 -ENV DEBIAN_FRONTEND=noninteractive - -# fetch -WORKDIR /_build_ws/src -RUN git clone https://github.com/ANYbotics/grid_map.git --single-branch -b ros2 && \ - cd ./grid_map && git checkout 7afca6 - -# deps -WORKDIR /_build_ws -RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ - apt update && apt install ccache -y && \ - rosdep install -i -y --from-paths ./src - -# build -ARG build_options -RUN --mount=type=cache,target=/tmp/.ccache \ - . /opt/ros/${distro}/setup.sh && \ - colcon build --cmake-args --mixin ccache --merge-install --install-base /preinstalled ${build_options} --continue-on-error -RUN . /opt/ros/${distro}/setup.sh && colcon test --merge-install --install-base /preinstalled && rm -r ./* - -# cleanup -RUN apt clean - -WORKDIR / -COPY enable-preinstalled.sh / -RUN chmod +x enable-preinstalled.sh -ENTRYPOINT ["/enable-preinstalled.sh"] -CMD ["bash"] - diff --git a/.github/workflows/docker/ci_base/Dockerfile.humble b/.github/workflows/docker/ci_base/Dockerfile.humble deleted file mode 100644 index 705ce9f9f..000000000 --- a/.github/workflows/docker/ci_base/Dockerfile.humble +++ /dev/null @@ -1,32 +0,0 @@ -FROM ros:humble -ARG distro=humble - -ENV CCACHE_DIR=/tmp/.ccache -ENV USE_CCACHE=1 -ENV DEBIAN_FRONTEND=noninteractive - -# fetch -WORKDIR /_build_ws/src -RUN git clone https://github.com/ANYbotics/grid_map.git --single-branch -b ros2 - -# deps -WORKDIR /_build_ws -RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ - apt update && apt install ccache -y && \ - rosdep install -i -y --from-paths ./src - -# build -ARG build_options -RUN --mount=type=cache,target=/tmp/.ccache \ - . /opt/ros/${distro}/setup.sh && \ - colcon build --cmake-args --mixin ccache --merge-install --install-base /preinstalled ${build_options} --continue-on-error -RUN . /opt/ros/${distro}/setup.sh && colcon test --merge-install --install-base /preinstalled && rm -r ./* - -# cleanup -RUN apt clean - -WORKDIR / -COPY enable-preinstalled.sh / -RUN chmod +x enable-preinstalled.sh -ENTRYPOINT ["/enable-preinstalled.sh"] -CMD ["bash"] diff --git a/.github/workflows/docker/ci_base/README.md b/.github/workflows/docker/ci_base/README.md deleted file mode 100644 index 6d3410482..000000000 --- a/.github/workflows/docker/ci_base/README.md +++ /dev/null @@ -1,6 +0,0 @@ -# ROS2 CI Base by OUXT-Polaris - -## Currently works with -- foxy -- galactic -- humble \ No newline at end of file diff --git a/.github/workflows/docker/ci_base/enable-preinstalled.sh b/.github/workflows/docker/ci_base/enable-preinstalled.sh deleted file mode 100644 index 97f0a3089..000000000 --- a/.github/workflows/docker/ci_base/enable-preinstalled.sh +++ /dev/null @@ -1,5 +0,0 @@ -#!/bin/bash -# Read in the file of environment settings -. /preinstalled/setup.bash -# Then run the CMD -exec "$@" diff --git a/.github/workflows/docker/debian_package_builder/Dockerfile b/.github/workflows/docker/debian_package_builder/Dockerfile deleted file mode 100644 index 33466a548..000000000 --- a/.github/workflows/docker/debian_package_builder/Dockerfile +++ /dev/null @@ -1,11 +0,0 @@ -ARG ROS_DISTRO=galactic -FROM ros:$ROS_DISTRO - -RUN apt-get update && \ - apt-get install -y --no-install-recommends \ - python3-bloom \ - fakeroot \ - dpkg-dev \ - debhelper \ - && rm -rf /var/lib/apt/lists/* \ - && apt-get clean \ No newline at end of file diff --git a/.github/workflows/docker/dev_container/Dockerfile b/.github/workflows/docker/dev_container/Dockerfile new file mode 100644 index 000000000..921452820 --- /dev/null +++ b/.github/workflows/docker/dev_container/Dockerfile @@ -0,0 +1,18 @@ +ARG BASE_IMAGE +FROM $BASE_IMAGE + +RUN apt-get update && \ + apt-get install -y git python3 python3-pip && \ + apt-get -y clean && \ + rm -rf /var/lib/apt/lists/* +RUN pip3 install ansible\==2.9.8 +WORKDIR /home +COPY tmp/ouxt_automation /home/ouxt_automation +WORKDIR /home/ouxt_automation +RUN ansible-playbook -i ansible/hosts/localhost.ini ansible/setup_dev_environment.yml --connection local --ask-become-pass -e ansible_user=root + +WORKDIR / +ARG ENTRYPOINT_SH +COPY ${ENTRYPOINT_SH} /entrypoint.sh +RUN chmod +x /entrypoint.sh +ENTRYPOINT ["/entrypoint.sh"] diff --git a/.github/workflows/docker/dev_container/README.md b/.github/workflows/docker/dev_container/README.md new file mode 100644 index 000000000..b6b548c64 --- /dev/null +++ b/.github/workflows/docker/dev_container/README.md @@ -0,0 +1,21 @@ +# dev_container + +## How to use + +### nogui +```bash +docker run -it --rm wamvtan/dev_container /bin/bash +``` + +### with vnc + +```bash +docker run -p 6080:80 --shm-size=512m wamvtan/dev_container_vnc +``` + +open [http://127.0.0.1:6080/](http://127.0.0.1:6080/) on the browser. + +## Recomended usage + +Install vscode and devcontainers plugin. +Official documetnation of this plugin is [here.](https://code.visualstudio.com/docs/remote/containers) diff --git a/.github/workflows/docker/dev_container/action.yaml b/.github/workflows/docker/dev_container/action.yaml new file mode 100644 index 000000000..ef430f2b7 --- /dev/null +++ b/.github/workflows/docker/dev_container/action.yaml @@ -0,0 +1,79 @@ +name: "Build dev-container image Action" +description: "Build dev-container docker images" + +inputs: + docker_username: + description: "Username for Dockerhub" + required: true + docker_password: + description: "Password for Dockerhub" + required: true + base_image: + description: "Base image" + required: true + image_name: + description: "Docker image name" + required: true + entrypoint: + description: "Name of the entrypoint.sh" + required: true + +runs: + using: "composite" + steps: + - uses: actions/checkout@v2 + - uses: actions/checkout@v2 + with: + path: ./.github/workflows/docker/dev_container/tmp/ouxt_automation + clean: false + - name: Set up Docker Buildx + uses: docker/setup-buildx-action@v2 + - name: Login to Docker Hub + uses: docker/login-action@v1 + with: + username: ${{ inputs.docker_username }} + password: ${{ inputs.docker_password }} + - name: Build and Push Docker Image + if: ${{ github.event_name != 'pull_request'}} + uses: docker/build-push-action@v2 + env: + DOCKER_BUILDKIT: 1 + with: + username: ${{ inputs.docker_username }} + password: ${{ inputs.docker_password }} + context: ./.github/workflows/docker/dev_container + file: ./.github/workflows/docker/dev_container/Dockerfile + tags: ${{ inputs.image_name }}:latest + build-args: | + BASE_IMAGE=${{ inputs.base_image }} + ENTRYPOINT_SH=${{ inputs.entrypoint }} + no-cache: true + # cache-from: type=registry,ref=wamvtan/dev_container:buildcache + # cache-to: type=registry,ref=wamvtan/dev_container:buildcache,mode=max + push: true + - name: Build Docker Image + if: ${{ github.event_name == 'pull_request'}} + uses: docker/build-push-action@v2 + env: + DOCKER_BUILDKIT: 1 + with: + username: ${{ inputs.docker_username }} + password: ${{ inputs.docker_password }} + context: ./.github/workflows/docker/dev_container + file: ./.github/workflows/docker/dev_container/Dockerfile + tags: ${{ inputs.image_name }}:latest + build-args: | + BASE_IMAGE=${{ inputs.base_image }} + ENTRYPOINT_SH=${{ inputs.entrypoint }} + no-cache: true + # cache-from: type=registry,ref=wamvtan/dev_container:buildcache + push: false + # - uses: peter-evans/dockerhub-description@v3 + # if: ${{ github.event_name != 'pull_request'}} + # with: + # username: ${{ inputs.docker_username }} + # password: ${{ inputs.docker_password }} + # repository: ${{ inputs.image_name }}:latest + # short-description: "Docker Image for Robot Development" + # readme-filepath: ./.github/workflows/docker/dev_container/README.md + # enable-url-completion: true diff --git a/.github/workflows/docker/dev_container/entrypoint.sh b/.github/workflows/docker/dev_container/entrypoint.sh new file mode 100644 index 000000000..4cd9818c5 --- /dev/null +++ b/.github/workflows/docker/dev_container/entrypoint.sh @@ -0,0 +1,4 @@ +#!/bin/bash +source /opt/ros/humble/setup.bash +source /home/ouxt_automation/robotx_ws/install/local_setup.bash +exec "$@" diff --git a/.github/workflows/docker/dev_container/entrypoint_vnc.sh b/.github/workflows/docker/dev_container/entrypoint_vnc.sh new file mode 100644 index 000000000..6e8e3378e --- /dev/null +++ b/.github/workflows/docker/dev_container/entrypoint_vnc.sh @@ -0,0 +1,4 @@ +#!/bin/bash +source /opt/ros/humble/setup.bash +source /home/ouxt_automation/robotx_ws/install/local_setup.bash +sh /startup.sh diff --git a/.github/workflows/docker/dev_container/tmp/.gitignore b/.github/workflows/docker/dev_container/tmp/.gitignore new file mode 100644 index 000000000..8e60fd69b --- /dev/null +++ b/.github/workflows/docker/dev_container/tmp/.gitignore @@ -0,0 +1 @@ +ouxt_automation \ No newline at end of file diff --git a/.github/workflows/docker/l4t_opencv/action.yaml b/.github/workflows/docker/l4t_opencv/action.yaml new file mode 100644 index 000000000..70f145024 --- /dev/null +++ b/.github/workflows/docker/l4t_opencv/action.yaml @@ -0,0 +1,62 @@ +name: "Build L4T OpenCV image Action" +description: "Build L4T OpenCV docker images" + +inputs: + docker_username: + description: "Username for Dockerhub" + required: true + docker_password: + description: "Password for Dockerhub" + required: true + opencv_version: + description: "Version of opencv you want to use" + required: true + +runs: + using: "composite" + steps: + - uses: actions/checkout@v2 + - name: Set up Docker Buildx + uses: docker/setup-buildx-action@v2 + - name: Setup QEMU user-mode emulation + uses: docker/setup-qemu-action@v1 + - name: Login to Docker Hub + uses: docker/login-action@v1 + with: + username: ${{ inputs.docker_username }} + password: ${{ inputs.docker_password }} + - name: Build and Push Docker Image + if: ${{ github.event_name != 'pull_request'}} + uses: docker/build-push-action@v2 + env: + DOCKER_BUILDKIT: 1 + with: + username: ${{ inputs.docker_username }} + password: ${{ inputs.docker_password }} + context: ./.github/workflows/docker/l4t_opencv + file: ./.github/workflows/docker/l4t_opencv/Dockerfile + tags: wamvtan/l4t_opencv:${{ inputs.opencv_version }} + build-args: | + OPENCV_VERSION=${{ inputs.opencv_version }} + platforms: linux/arm64/v8 + no-cache: false + cache-from: type=registry,ref=wamvtan/l4t_opencv:${{ inputs.opencv_version }}-buildcache + cache-to: type=registry,ref=wamvtan/l4t_opencv:${{ inputs.opencv_version }}-buildcache,mode=max + push: true + - name: Build Docker Image + if: ${{ github.event_name == 'pull_request'}} + uses: docker/build-push-action@v2 + env: + DOCKER_BUILDKIT: 1 + with: + username: ${{ inputs.docker_username }} + password: ${{ inputs.docker_password }} + context: ./.github/workflows/docker/l4t_opencv + file: ./.github/workflows/docker/l4t_opencv/Dockerfile + tags: wamvtan/l4t_opencv:${{ inputs.opencv_version }} + build-args: | + OPENCV_VERSION=${{ inputs.opencv_version }} + platforms: linux/arm64/v8 + no-cache: false + cache-from: type=registry,ref=wamvtan/l4t_opencv:${{ inputs.opencv_version }}-buildcache + push: false \ No newline at end of file diff --git a/.github/workflows/docker/vrx/DockerFile.copy b/.github/workflows/docker/vrx/DockerFile.copy new file mode 100644 index 000000000..9a796ad15 --- /dev/null +++ b/.github/workflows/docker/vrx/DockerFile.copy @@ -0,0 +1,28 @@ +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 $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null +RUN apt-get update && apt-get install -y \ + python3-sdformat13 \ + gz-garden \ + && rm -rf /var/lib/apt/lists/* +RUN mkdir -p /home/vrx_ws/src +WORKDIR /home/vrx_ws/src +ADD https://api.github.com/repos/osrf/vrx/git/refs/heads/main vrx_version.json +RUN git clone https://github.com/osrf/vrx.git +ADD https://api.github.com/repos/gazebosim/ros_gz/git/refs/heads/humble ros_gz_version.json +RUN git clone https://github.com/gazebosim/ros_gz.git -b humble +ENV GZ_VERSION garden +WORKDIR /home/vrx_ws +RUN ["/bin/bash", "-c", "source /opt/ros/humble/setup.sh && apt-get update && rosdep update && rosdep install -iry --from-paths src && rm -rf /var/lib/apt/lists/*"] +RUN ["/bin/bash", "-c", "source /opt/ros/humble/setup.sh && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release"] +ADD fuel.gazebosim.org /root/.gz/fuel/fuel.gazebosim.org +COPY config /home/config +ENV GZ_SIM_RESOURCE_PATH /home/vrx_ws/src/vrx/vrx_urdf:${GZ_SIM_RESOURCE_PATH} +RUN ["/bin/bash", "-c", "source /opt/ros/humble/setup.bash && source /home/vrx_ws/install/local_setup.bash && ros2 launch vrx_gazebo generate_wamv.launch.py component_yaml:=/home/config/component_config.yaml thruster_yaml:=/home/config/thruster_config.yaml wamv_target:=/home/config/wamv_target.urdf wamv_locked:=False"] +ENTRYPOINT ["/bin/bash", "-c", "source /opt/ros/humble/setup.bash && source /home/vrx_ws/install/local_setup.bash && ros2 launch vrx_gz competition.launch.py world:=sydney_regatta headless:=true urdf:=/home/config/wamv_target.urdf"] \ No newline at end of file diff --git a/.github/workflows/docker/vrx/Dockerfile b/.github/workflows/docker/vrx/Dockerfile new file mode 100644 index 000000000..374e6a8db --- /dev/null +++ b/.github/workflows/docker/vrx/Dockerfile @@ -0,0 +1,52 @@ +# reference : https://github.com/osrf/vrx-docker/blob/master/vrx_server/vrx-server/Dockerfile + +ARG BASEIMG=npslearninglab/watery_robots:vrx_base +FROM $BASEIMG + +# Set ROS distribution +ARG ROSDIST=humble + +# Create workspace +RUN mkdir -p ~/vrx_ws/src + +# TODO: restore version tag +RUN git clone --depth 1 -b 2.3.1 https://github.com/osrf/vrx.git \ +&& mv ./vrx ~/vrx_ws/src + +# Compile the VRX project. +RUN /bin/bash -c ". /opt/ros/${ROSDIST}/setup.bash && cd ~/vrx_ws && colcon build --merge-install" + +# Source all the needed environment files. +RUN /bin/sh -c 'echo ". /opt/ros/${ROSDIST}/setup.bash" >> ~/.bashrc' \ + && /bin/sh -c 'echo ". ~/vrx_ws/install/setup.sh" >> ~/.bashrc' +## END OF SECTION BASED ON vrx/docker/Dockerfile + +# Cache fuel resources +# RUN /bin/bash -c 'gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta \ +# && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/post \ +# && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station \ +# && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/antenna \ +# && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_red \ +# && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_black \ +# && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_green \ +# && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_white \ +# && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_orange \ +# && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black \ +# && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/platypus \ +# && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/crocodile \ +# && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/turtle \ +# && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/wam-v' +ADD fuel.gazebosim.org /root/.gz/fuel/fuel.gazebosim.org + +# read wam-v sensors and thruster config +COPY config /home/config + +# Expose port used to communiate with gzserver +EXPOSE 11345 + +# setup entrypoint +COPY ./vrx_entrypoint.sh / + +COPY ./run_vrx_gazebo.bash / + +ENTRYPOINT ["/vrx_entrypoint.sh"] \ No newline at end of file diff --git a/.github/workflows/docker/vrx/README.md b/.github/workflows/docker/vrx/README.md new file mode 100644 index 000000000..2978411e2 --- /dev/null +++ b/.github/workflows/docker/vrx/README.md @@ -0,0 +1,45 @@ +# Docker Image for Virtual RobotX + +## How to use + +```bash +docker run wamvtan/vrx +``` + +In default setting, you can publish/subscribe these topics. + +```bash +/clock +/parameter_events +/rosout +/tf +/tf_static +/vrx/contacts +/vrx/task/info +/wamv/pingers/pinger/range_bearing +/wamv/pingers/pinger/set_pinger_position +/wamv/pose +/wamv/pose_static +/wamv/sensors/cameras/front_left_camera_sensor/camera_info +/wamv/sensors/cameras/front_left_camera_sensor/image_raw +/wamv/sensors/cameras/front_left_camera_sensor/optical/camera_info +/wamv/sensors/cameras/front_left_camera_sensor/optical/image_raw +/wamv/sensors/cameras/front_right_camera_sensor/camera_info +/wamv/sensors/cameras/front_right_camera_sensor/image_raw +/wamv/sensors/cameras/front_right_camera_sensor/optical/camera_info +/wamv/sensors/cameras/front_right_camera_sensor/optical/image_raw +/wamv/sensors/cameras/middle_right_camera_sensor/camera_info +/wamv/sensors/cameras/middle_right_camera_sensor/image_raw +/wamv/sensors/cameras/middle_right_camera_sensor/optical/camera_info +/wamv/sensors/cameras/middle_right_camera_sensor/optical/image_raw +/wamv/sensors/gps/gps/fix +/wamv/sensors/imu/imu/data +/wamv/sensors/lidars/lidar_wamv_sensor/points +/wamv/sensors/lidars/lidar_wamv_sensor/scan +/wamv/thrusters/left/pos +/wamv/thrusters/left/thrust +/wamv/thrusters/right/pos +/wamv/thrusters/right/thrust +``` + +Using rviz, you can check lidar / camera data comes from docker container.　　 diff --git a/.github/workflows/docker/vrx/action.yaml b/.github/workflows/docker/vrx/action.yaml new file mode 100644 index 000000000..d1a560b69 --- /dev/null +++ b/.github/workflows/docker/vrx/action.yaml @@ -0,0 +1,60 @@ +name: "Build VRX image Action" +description: "Build Virtual RobotX docker images" + +inputs: + docker_username: + description: "Username for Dockerhub" + required: true + docker_password: + description: "Password for Dockerhub" + required: true + +runs: + using: "composite" + steps: + - uses: actions/checkout@v2 + - name: Set up Docker Buildx + uses: docker/setup-buildx-action@v2 + - name: Login to Docker Hub + uses: docker/login-action@v1 + with: + username: ${{ inputs.docker_username }} + password: ${{ inputs.docker_password }} + - name: Build and Push Docker Image + if: ${{ github.event_name != 'pull_request'}} + uses: docker/build-push-action@v2 + env: + DOCKER_BUILDKIT: 1 + with: + username: ${{ inputs.docker_username }} + password: ${{ inputs.docker_password }} + context: ./.github/workflows/docker/vrx + file: ./.github/workflows/docker/vrx/Dockerfile + tags: wamvtan/vrx:latest + no-cache: false + cache-from: type=registry,ref=wamvtan/vrx:buildcache + cache-to: type=registry,ref=wamvtan/vrx:buildcache,mode=max + push: true + - name: Build Docker Image + if: ${{ github.event_name == 'pull_request'}} + uses: docker/build-push-action@v2 + env: + DOCKER_BUILDKIT: 1 + with: + username: ${{ inputs.docker_username }} + password: ${{ inputs.docker_password }} + context: ./.github/workflows/docker/vrx + file: ./.github/workflows/docker/vrx/Dockerfile + tags: wamvtan/vrx:latest + no-cache: false + cache-from: type=registry,ref=wamvtan/vrx:buildcache + push: false + - uses: peter-evans/dockerhub-description@v3 + if: ${{ github.event_name == 'pull_request'}} + with: + username: ${{ inputs.docker_username }} + password: ${{ inputs.docker_password }} + repository: wamvtan/vrx + short-description: "Docker Image for Virtual RobotX Challenge" + readme-filepath: ./.github/workflows/docker/vrx/README.md + enable-url-completion: true diff --git a/.github/workflows/docker/vrx/config/component_config.yaml b/.github/workflows/docker/vrx/config/component_config.yaml new file mode 100644 index 000000000..2501c6ab0 --- /dev/null +++ b/.github/workflows/docker/vrx/config/component_config.yaml @@ -0,0 +1,64 @@ +wamv_camera: + - name: front_left_camera + visualize: False + x: 0.75 + y: 0.5 + z: 1.5 + R: 0.0 + P: ${radians(15)} + Y: 0.0 + post_Y: 0.0 + - name: front_right_camera + visualize: False + x: 0.75 + y: -0.5 + z: 1.5 + R: 0.0 + P: ${radians(15)} + Y: 0.0 + post_Y: 0.0 + - name: ball_shooter_camera + visualize: False + x: 0.55 + y: -0.3 + z: 1.5 + R: 0.0 + P: ${radians(-20)} + Y: 0.0 + post_Y: 0.0 +wamv_gps: + - name: gps_wamv + x: -0.85 + y: 0.0 + z: 1.3 + R: 0.0 + P: 0.0 + Y: 0.0 +wamv_imu: + - name: imu_wamv + x: 0.3 + y: -0.2 + z: 1.3 + R: 0.0 + P: 0.0 + Y: 0.0 +lidar: + - name: lidar_wamv + type: 16_beam + x: 0.7 + y: 0.0 + z: 1.8 + R: 0.0 + P: ${radians(8)} + Y: 0.0 + post_Y: 0.0 +wamv_ball_shooter: + - name: ball_shooter + x: 0.55 + y: -0.3 + z: 1.3 + pitch: ${radians(-20)} + yaw: 0.0 +wamv_pinger: + - sensor_name: reciever + position: 1.0 0 -1.0 diff --git a/.github/workflows/docker/vrx/config/thruster_config.yaml b/.github/workflows/docker/vrx/config/thruster_config.yaml new file mode 100644 index 000000000..2fafc151e --- /dev/null +++ b/.github/workflows/docker/vrx/config/thruster_config.yaml @@ -0,0 +1,7 @@ +engine: + - prefix: "left" + position: "-2.373776 1.027135 0.318237" + orientation: "0.0 0.0 0.0" + - prefix: "right" + position: "-2.373776 -1.027135 0.318237" + orientation: "0.0 0.0 0.0" \ No newline at end of file diff --git a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/antenna/2/meshes/antenna.dae b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/antenna/2/meshes/antenna.dae new file mode 100644 index 000000000..580d45305 --- /dev/null +++ b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/antenna/2/meshes/antenna.dae @@ -0,0 +1,13361 @@ + + + FBX COLLADA exporter2018-10-25T21:23:17Z2018-10-25T21:23:17ZZ_UP + + antenna.png + + + + + + + + + + + + + 0.000000 0.000000 0.000000 1.000000 + + + 1.000000 1.000000 1.000000 1.000000 + + + + + + TRUE + TRUE + ADD + + + + + + 0.261000 0.261000 0.261000 1.000000 + + + 2.000000 + + + 0.000000 0.000000 0.000000 1.000000 + + + 1.000000 + + + 1.000000 1.000000 1.000000 1.000000 + + + 0.000000 + + + + + + + + + + + +1.191727 2.064155 161.363510 +-0.000001 2.383476 161.363510 +-1.191728 2.064154 161.363510 +1.191727 2.064154 164.548981 +-0.000001 2.383475 164.548981 +-1.191728 2.064153 164.548981 +-1.409586 2.441494 161.363510 +-0.000001 2.819192 161.363510 +1.409585 2.441495 161.363510 +-1.409586 2.441493 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b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/foldable_table/2/model.config @@ -0,0 +1,15 @@ + + + foldable_table + 1.0 + model.sdf + + + Rumman Waqar + rumman.waqar05@gmail.com + + + + A foldable table + + diff --git a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/foldable_table/2/model.sdf b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/foldable_table/2/model.sdf new file mode 100644 index 000000000..93acf5ad3 --- /dev/null +++ b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/foldable_table/2/model.sdf @@ -0,0 +1,23 @@ + + + + true + + + + + mesh/foldable_table.dae + + + + + 0 0 0.35 0 0 0 + + + 1.82 0.74 0.67 + + + + + + diff --git a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/foldable_table/2/thumbnails/1.png b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/foldable_table/2/thumbnails/1.png new file mode 100644 index 000000000..d422d6391 Binary files 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+ table_b + 1.0 -0.5 0.0 0.0 0.0 1.57 + https://fuel.gazebosim.org/1.0/openrobotics/models/foldable_table + + + chair_a + 0.2 0 0 0 0 1.57 + https://fuel.gazebosim.org/1.0/openrobotics/models/foldable_chair + + + chair_b + 0.2 -0.8 0 0 0 1.57 + https://fuel.gazebosim.org/1.0/openrobotics/models/foldable_chair + + + chair_c + -0.6 0.8 0 0 0 1.57 + https://fuel.gazebosim.org/1.0/openrobotics/models/foldable_chair + + + diff --git a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/ground_station/5/thumbnails/1.png b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/ground_station/5/thumbnails/1.png new file mode 100644 index 000000000..a6f8d55ce Binary files /dev/null and b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/ground_station/5/thumbnails/1.png differ diff --git a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/ground_station/5/thumbnails/2.png 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caguero@openrobotics.org + + + + Rafi Abdullah + rafi@openrobotics.org + + + + A marker buoy for the RobotX 2022 competition. + Reference: https://marinebuoysaustralia.com/products/ + + diff --git a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_black/5/model.sdf b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_black/5/model.sdf new file mode 100644 index 000000000..0fd642a2e --- /dev/null +++ b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_black/5/model.sdf @@ -0,0 +1,55 @@ + + + + + + 0 0 -0.3 0 0 0 + 20 + + 2.316 + 0 + 0 + 2.316 + 0 + 0.225 + + + + 0 -0.02 0.02 0 0 0 + + + 0.15 + 1.15 + + + + + 0 0 -0.3 0 0 0 + + + 0.325 + 0.1 + + + + + 0 0 0 1.57079 0 0 + + + https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_red/tip/files/meshes/mb_marker_buoy.dae + + + + 0 0 0 + 0 0 0 + 0 0 0 1 + + + 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236 1241 251 220 1242 249 236 1243 251 229 1244 252 229 1245 252 236 1246 251 237 1247 255 237 1248 255 227 1249 256 229 1250 252 209 1251 400 225 1252 398 210 1253 399 225 1254 398 209 1255 400 224 1256 397 231 1257 126 226 1258 124 232 1259 129 231 1260 126 232 1261 129 233 1262 130 234 1263 131 221 1264 125 233 1265 130 221 1266 125 231 1267 126 233 1268 130 234 1269 131 224 1270 128 221 1271 125 209 1272 400 223 1273 402 224 1274 397 223 1275 402 209 1276 400 208 1277 401 208 1278 254 235 1279 248 223 1280 250 235 1281 248 208 1282 254 205 1283 253 205 1284 253 236 1285 251 235 1286 248 236 1287 251 205 1288 253 214 1289 257 214 1290 257 237 1291 255 236 1292 251 237 1293 255 214 1294 257 212 1295 258</p> + </triangles> + </mesh> + </geometry> + </library_geometries> + <library_visual_scenes> + <visual_scene id="Marker Buoy" name="Marker Buoy"> + <node name="BuoyModelFBXASC058BuoyModelFBXASC058polySurface4" id="BuoyModelFBXASC058BuoyModelFBXASC058polySurface4" layer="BuoyModelFBXASC058BuoyModelFBXASC058layer1" sid="BuoyModelFBXASC058BuoyModelFBXASC058polySurface4"> + <matrix sid="matrix">0.032808 0.000000 0.000000 0.000000 0.000000 0.000000 0.032808 0.000000 0.000000 -0.032808 0.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix> + <instance_geometry url="#BuoyModelFBXASC058BuoyModelFBXASC058polySurface4-lib"> + <bind_material> + <technique_common> + <instance_material symbol="BuoyModelFBXASC058lambert3" target="#BuoyModelFBXASC058lambert3"/> + </technique_common> + </bind_material> + </instance_geometry> + <extra> + <technique profile="FCOLLADA"> + <visibility>1.000000</visibility> + </technique> + </extra> + </node> + <extra> + <technique profile="MAX3D"> + <frame_rate>24.000000</frame_rate> + </technique> + <technique profile="FCOLLADA"> + <start_time>0.041667</start_time> + <end_time>8.333333</end_time> + </technique> + </extra> + </visual_scene> + </library_visual_scenes> + <scene> + <instance_visual_scene url="#Marker Buoy"/> + </scene> +</COLLADA> diff --git a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_red/3/model.config b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_red/3/model.config new file mode 100644 index 000000000..bff5df37e --- /dev/null +++ b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_red/3/model.config @@ -0,0 +1,21 @@ +<?xml version="1.0"?> +<model> + <name>mb_marker_buoy_red</name> + <version>1.0</version> + <sdf version="1.6">model.sdf</sdf> + + <author> + <name>Carlos Agüero</name> + <email>caguero@openrobotics.org</email> + </author> + + <author> + <name>Rafi Abdullah</name> + <email>rafi@openrobotics.org</email> + </author> + + <description> + A marker buoy for the RobotX 2022 competition. + Reference: https://marinebuoysaustralia.com/products/ + </description> +</model> diff --git a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_red/3/model.sdf b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_red/3/model.sdf new file mode 100644 index 000000000..4cc25f537 --- /dev/null +++ b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_red/3/model.sdf @@ -0,0 +1,55 @@ +<?xml version="1.0" ?> +<sdf version="1.6"> + <model name="mb_marker_buoy_red"> + <link name="link"> + <inertial> + <pose>0 0 -0.3 0 0 0</pose> + <mass>20</mass> + <inertia> + <ixx>2.316</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>2.316</iyy> + <iyz>0</iyz> + <izz>0.225</izz> + </inertia> + </inertial> + <collision name="collision_inner"> + <pose>0 -0.02 0.02 0 0 0</pose> + <geometry> + <cylinder> + <radius>0.15</radius> + <length>1.15</length> + </cylinder> + </geometry> + </collision> + <collision name="collision_outer"> + <pose>0 0 -0.3 0 0 0</pose> + <geometry> + <cylinder> + <radius>0.325</radius> + <length>0.1</length> + </cylinder> + </geometry> + </collision> + <visual name="visual"> + <pose>0 0 0 1.57079 0 0</pose> + <geometry> + <mesh> + <uri>meshes/mb_marker_buoy.dae</uri> + </mesh> + </geometry> + <material> + <ambient>0.7921 0.0039 0.0274</ambient> + <diffuse>0.7921 0.0039 0.0274</diffuse> + <specular>0.7921 0.0039 0.0274 1</specular> + <pbr> + <metal> + <roughness_map>materials/textures/MarkerBuoy_Roughness.png</roughness_map> + </metal> + </pbr> + </material> + </visual> + </link> + </model> +</sdf> diff --git a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_red/3/thumbnails/1.png b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_red/3/thumbnails/1.png new file mode 100644 index 000000000..d167053a0 Binary files /dev/null and b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_red/3/thumbnails/1.png differ diff --git a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_red/3/thumbnails/2.png b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_red/3/thumbnails/2.png new file mode 100644 index 000000000..8d9c83903 Binary files /dev/null and b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_red/3/thumbnails/2.png differ diff --git a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_red/3/thumbnails/3.png b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_red/3/thumbnails/3.png new file mode 100644 index 000000000..71237aa74 Binary files /dev/null and b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_red/3/thumbnails/3.png differ diff --git a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_red/3/thumbnails/4.png b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_red/3/thumbnails/4.png new file mode 100644 index 000000000..9a6f27a42 Binary files /dev/null and b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_red/3/thumbnails/4.png differ diff --git a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_red/3/thumbnails/5.png b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_red/3/thumbnails/5.png new file mode 100644 index 000000000..a7a80a4cf Binary files /dev/null and b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_red/3/thumbnails/5.png differ diff --git a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_white/2/model.config b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_white/2/model.config new file mode 100644 index 000000000..b12da6edc --- /dev/null +++ b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_white/2/model.config @@ -0,0 +1,21 @@ +<?xml version="1.0"?> +<model> + <name>mb_marker_buoy_white</name> + <version>1.0</version> + <sdf version="1.6">model.sdf</sdf> + + <author> + <name>Carlos Agüero</name> + <email>caguero@openrobotics.org</email> + </author> + + <author> + <name>Rafi Abdullah</name> + <email>rafi@openrobotics.org</email> + </author> + + <description> + A marker buoy for the RobotX 2022 competition. + Reference: https://marinebuoysaustralia.com/products/ + </description> +</model> diff --git a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_white/2/model.sdf b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_white/2/model.sdf new file mode 100644 index 000000000..e209a886d --- /dev/null +++ b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_white/2/model.sdf @@ -0,0 +1,55 @@ +<?xml version="1.0" ?> +<sdf version="1.6"> + <model name="mb_marker_buoy_white"> + <link name="link"> + <inertial> + <pose>0 0 -0.3 0 0 0</pose> + <mass>20</mass> + <inertia> + <ixx>2.316</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>2.316</iyy> + <iyz>0</iyz> + <izz>0.225</izz> + </inertia> + </inertial> + <collision name="collision_inner"> + <pose>0 -0.02 0.02 0 0 0</pose> + <geometry> + <cylinder> + <radius>0.15</radius> + <length>1.15</length> + </cylinder> + </geometry> + </collision> + <collision name="collision_outer"> + <pose>0 0 -0.3 0 0 0</pose> + <geometry> + <cylinder> + <radius>0.325</radius> + <length>0.1</length> + </cylinder> + </geometry> + </collision> + <visual name="visual"> + <pose>0 0 0 1.57079 0 0</pose> + <geometry> + <mesh> + <uri>https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_red/tip/files/meshes/mb_marker_buoy.dae</uri> + </mesh> + </geometry> + <material> + <ambient>1 1 1</ambient> + <diffuse>1 1 1</diffuse> + <specular>1 1 1 1</specular> + <pbr> + <metal> + <roughness_map>https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_red/tip/files/materials/textures/MarkerBuoy_Roughness.png</roughness_map> + </metal> + </pbr> + </material> + </visual> + </link> + </model> +</sdf> diff --git a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_white/2/thumbnails/1.png b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_white/2/thumbnails/1.png new file mode 100644 index 000000000..d167053a0 Binary files /dev/null and b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_white/2/thumbnails/1.png differ diff --git a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_white/2/thumbnails/2.png b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_white/2/thumbnails/2.png new file mode 100644 index 000000000..8d9c83903 Binary files /dev/null and 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2233 594 364 2234 596 364 2235 596 395 2236 595 394 2237 593 395 2238 595 364 2239 596 365 2240 598 365 2241 598 396 2242 597 395 2243 595 396 2244 597 365 2245 598 366 2246 600 366 2247 600 397 2248 599 396 2249 597 397 2250 599 366 2251 600 367 2252 602 367 2253 602 398 2254 601 397 2255 599 398 2256 601 367 2257 602 368 2258 604 368 2259 604 399 2260 603 398 2261 601 399 2262 603 368 2263 604 353 2264 606 353 2265 606 400 2266 605 399 2267 603 400 2268 605 353 2269 606 354 2270 576 354 2271 576 386 2272 573 400 2273 605</p> + </triangles> + </mesh> + </geometry> + </library_geometries> + <library_visual_scenes> + <visual_scene id="Post" name="Post"> + <node name="Post" id="Post" layer="LP" sid="Post"> + <matrix sid="matrix">1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix> + <instance_geometry url="#Post-lib"> + <bind_material> + <technique_common> + <instance_material symbol="Post_ncl1_1" target="#Post_ncl1_1"/> + </technique_common> + </bind_material> + </instance_geometry> + <extra> + <technique profile="FCOLLADA"> + <visibility>1.000000</visibility> + </technique> + </extra> + </node> + <extra> + <technique profile="MAX3D"> + <frame_rate>30.000000</frame_rate> + </technique> + <technique profile="FCOLLADA"> + <start_time>0.000000</start_time> + <end_time>3.333333</end_time> + </technique> + </extra> + </visual_scene> + </library_visual_scenes> + <scene> + <instance_visual_scene url="#Post"/> + </scene> +</COLLADA> diff --git a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/post/2/model.config b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/post/2/model.config new file mode 100644 index 000000000..5a4737145 --- /dev/null +++ b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/post/2/model.config @@ -0,0 +1,15 @@ +<?xml version="1.0"?> +<model> + <name>post</name> + <version>1.0</version> + <sdf version="1.6">model.sdf</sdf> + + <author> + <name>Carlos Agüero</name> + <email>caguero@openrobotics.org</email> + </author> + + <description> + The post to tie the WAM-V to the shore. + </description> +</model> diff --git a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/post/2/model.sdf b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/post/2/model.sdf new file mode 100644 index 000000000..daeb0a790 --- /dev/null +++ b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/post/2/model.sdf @@ -0,0 +1,25 @@ +<?xml version="1.0"?> +<sdf version="1.6"> + <model name="post"> + <static>true</static> + <pose>0 0 0 0 0 0</pose> + <link name="base_link"> + <visual name="visual"> + <geometry> + <mesh> + <uri>meshes/post.dae</uri> + </mesh> + </geometry> + </visual> + <collision name="collision"> + <pose>0 0 0.5 0 0 0</pose> + <geometry> + <cylinder> + <radius>0.3</radius> + <length>1</length> + </cylinder> + </geometry> + 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1098 1104 2714 1104 1098 2715 1098 1097 2716 1097 1104 2717 1104 1107 2718 1107 1098 2719 1098 1106 2720 1106 1098 2721 1098 1107 2722 1107 1099 2723 1099 1105 2724 1105 1099 2725 1099 1107 2726 1107 1099 2727 1099 1105 2728 1105 1096 2729 1096 1105 2730 1105 1089 2731 1089 1090 2732 1090 1090 2733 1090 1104 2734 1104 1105 2735 1105 1104 2736 1104 1090 2737 1090 1092 2738 1092 1092 2739 1092 1106 2740 1106 1104 2741 1104 1107 2742 1107 1092 2743 1092 1094 2744 1094 1092 2745 1092 1107 2746 1107 1106 2747 1106 1105 2748 1105 1094 2749 1094 1089 2750 1089 1094 2751 1094 1105 2752 1105 1107 2753 1107 1108 2754 1108 1110 2755 1110 1109 2756 1109 1110 2757 1110 1108 2758 1108 1111 2759 1111 1114 2760 1114 1113 2761 1113 1112 2762 1112 1112 2763 1112 1115 2764 1115 1114 2765 1114 1118 2766 1118 1117 2767 1117 1116 2768 1116 1116 2769 1116 1119 2770 1119 1118 2771 1118 1122 2772 1122 1121 2773 1121 1120 2774 1120 1120 2775 1120 1123 2776 1123 1122 2777 1122 1126 2778 1126 1125 2779 1125 1124 2780 1124 1124 2781 1124 1127 2782 1127 1126 2783 1126 1130 2784 1130 1129 2785 1129 1128 2786 1128 1128 2787 1128 1131 2788 1131 1130 2789 1130 1134 2790 1134 1133 2791 1133 1132 2792 1132 1132 2793 1132 1135 2794 1135 1134 2795 1134 1138 2796 1138 1137 2797 1137 1136 2798 1136 1136 2799 1136 1139 2800 1139 1138 2801 1138 1143 2802 1143 1142 2803 1142 1140 2804 1140 1140 2805 1140 1142 2806 1142 1141 2807 1141 1147 2808 1147 1146 2809 1146 1144 2810 1144 1144 2811 1144 1146 2812 1146 1145 2813 1145 1151 2814 1151 1150 2815 1150 1148 2816 1148 1148 2817 1148 1150 2818 1150 1149 2819 1149 1155 2820 1155 1154 2821 1154 1152 2822 1152 1152 2823 1152 1154 2824 1154 1153 2825 1153 1159 2826 1159 1158 2827 1158 1156 2828 1156 1156 2829 1156 1158 2830 1158 1157 2831 1157 1163 2832 1163 1162 2833 1162 1160 2834 1160 1160 2835 1160 1162 2836 1162 1161 2837 1161 1167 2838 1167 1166 2839 1166 1164 2840 1164 1164 2841 1164 1166 2842 1166 1165 2843 1165 1169 2844 1169 1170 2845 1170 1168 2846 1168 1168 2847 1168 1170 2848 1170 1171 2849 1171 1174 2850 1174 1175 2851 1175 1172 2852 1172 1172 2853 1172 1173 2854 1173 1174 2855 1174 1193 2856 1178 1177 2857 1179 1192 2858 1177 1192 2859 1177 1177 2860 1179 1176 2861 1176 1194 2862 1180 1178 2863 1181 1193 2864 1178 1193 2865 1178 1178 2866 1181 1177 2867 1179 1195 2868 1182 1178 2869 1181 1194 2870 1180 1178 2871 1181 1195 2872 1182 1179 2873 1183 1192 2874 1177 1179 2875 1183 1195 2876 1182 1179 2877 1183 1192 2878 1177 1176 2879 1176 1265 2880 1265 1189 2881 1185 1188 2882 1184 1265 2883 1265 1188 2884 1184 1264 2885 1264 1190 2886 1186 1265 2887 1265 1266 2888 1266 1265 2889 1265 1190 2890 1186 1189 2891 1185 1266 2892 1266 1191 2893 1187 1190 2894 1186 1191 2895 1187 1266 2896 1266 1267 2897 1267 1179 2898 1183 1177 2899 1179 1178 2900 1181 1177 2901 1179 1179 2902 1183 1176 2903 1176 1268 2904 1268 1187 2905 1191 1271 2906 1271 1187 2907 1191 1268 2908 1268 1184 2909 1188 1185 2910 1189 1187 2911 1191 1184 2912 1188 1187 2913 1191 1185 2914 1189 1186 2915 1190 1180 2916 1193 1189 2917 1185 1181 2918 1192 1189 2919 1185 1180 2920 1193 1188 2921 1184 1181 2922 1192 1190 2923 1186 1182 2924 1194 1190 2925 1186 1181 2926 1192 1189 2927 1185 1182 2928 1194 1190 2929 1186 1183 2930 1195 1183 2931 1195 1190 2932 1186 1191 2933 1187 1183 2934 1195 1191 2935 1187 1180 2936 1193 1180 2937 1193 1191 2938 1187 1188 2939 1184 1181 2940 1192 1193 2941 1178 1180 2942 1193 1192 2943 1177 1180 2944 1193 1193 2945 1178 1182 2946 1194 1194 2947 1180 1181 2948 1192 1193 2949 1178 1181 2950 1192 1194 2951 1180 1183 2952 1195 1195 2953 1182 1194 2954 1180 1194 2955 1180 1182 2956 1194 1183 2957 1195 1180 2958 1193 1192 2959 1177 1195 2960 1182 1195 2961 1182 1183 2962 1195 1180 2963 1193 1198 2964 1196 1196 2965 1197 1199 2966 1199 1199 2967 1199 1196 2968 1197 1197 2969 1198 1202 2970 1201 1201 2971 1202 1203 2972 1200 1203 2973 1200 1201 2974 1202 1200 2975 1203 1206 2976 1205 1205 2977 1206 1207 2978 1204 1207 2979 1204 1205 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1334 3247 1334 1332 3248 1332 1332 3249 1332 1334 3250 1334 1333 3251 1333 1337 3252 1337 1338 3253 1338 1336 3254 1336 1336 3255 1336 1338 3256 1338 1339 3257 1339 1342 3258 1342 1343 3259 1343 1340 3260 1340 1340 3261 1340 1341 3262 1341 1342 3263 1342 1361 3264 1346 1345 3265 1347 1360 3266 1345 1360 3267 1345 1345 3268 1347 1344 3269 1344 1362 3270 1348 1346 3271 1349 1361 3272 1346 1361 3273 1346 1346 3274 1349 1345 3275 1347 1363 3276 1350 1346 3277 1349 1362 3278 1348 1346 3279 1349 1363 3280 1350 1347 3281 1351 1360 3282 1345 1347 3283 1351 1363 3284 1350 1347 3285 1351 1360 3286 1345 1344 3287 1344 1433 3288 1433 1357 3289 1353 1356 3290 1352 1433 3291 1433 1356 3292 1352 1432 3293 1432 1358 3294 1354 1433 3295 1433 1434 3296 1434 1433 3297 1433 1358 3298 1354 1357 3299 1353 1434 3300 1434 1359 3301 1355 1358 3302 1354 1359 3303 1355 1434 3304 1434 1435 3305 1435 1347 3306 1351 1345 3307 1347 1346 3308 1349 1345 3309 1347 1347 3310 1351 1344 3311 1344 1436 3312 1436 1355 3313 1359 1439 3314 1439 1355 3315 1359 1436 3316 1436 1352 3317 1356 1353 3318 1357 1355 3319 1359 1352 3320 1356 1355 3321 1359 1353 3322 1357 1354 3323 1358 1348 3324 1361 1357 3325 1353 1349 3326 1360 1357 3327 1353 1348 3328 1361 1356 3329 1352 1349 3330 1360 1358 3331 1354 1350 3332 1362 1358 3333 1354 1349 3334 1360 1357 3335 1353 1350 3336 1362 1358 3337 1354 1351 3338 1363 1351 3339 1363 1358 3340 1354 1359 3341 1355 1351 3342 1363 1359 3343 1355 1348 3344 1361 1348 3345 1361 1359 3346 1355 1356 3347 1352 1349 3348 1360 1361 3349 1346 1348 3350 1361 1360 3351 1345 1348 3352 1361 1361 3353 1346 1350 3354 1362 1362 3355 1348 1349 3356 1360 1361 3357 1346 1349 3358 1360 1362 3359 1348 1351 3360 1363 1363 3361 1350 1362 3362 1348 1362 3363 1348 1350 3364 1362 1351 3365 1363 1348 3366 1361 1360 3367 1345 1363 3368 1350 1363 3369 1350 1351 3370 1363 1348 3371 1361 1366 3372 1364 1364 3373 1365 1367 3374 1367 1367 3375 1367 1364 3376 1365 1365 3377 1366 1370 3378 1369 1369 3379 1370 1371 3380 1368 1371 3381 1368 1369 3382 1370 1368 3383 1371 1374 3384 1373 1373 3385 1374 1375 3386 1372 1375 3387 1372 1373 3388 1374 1372 3389 1375 1378 3390 1377 1377 3391 1378 1379 3392 1376 1379 3393 1376 1377 3394 1378 1376 3395 1379 1382 3396 1381 1381 3397 1382 1383 3398 1380 1383 3399 1380 1381 3400 1382 1380 3401 1383 1386 3402 1385 1385 3403 1386 1387 3404 1384 1387 3405 1384 1385 3406 1386 1384 3407 1387 1390 3408 1389 1389 3409 1390 1391 3410 1388 1391 3411 1388 1389 3412 1390 1388 3413 1391 1394 3414 1393 1393 3415 1394 1395 3416 1392 1395 3417 1392 1393 3418 1394 1392 3419 1395 1397 3420 1398 1398 3421 1399 1399 3422 1396 1399 3423 1396 1396 3424 1397 1397 3425 1398 1401 3426 1402 1402 3427 1403 1403 3428 1400 1403 3429 1400 1400 3430 1401 1401 3431 1402 1405 3432 1406 1406 3433 1407 1407 3434 1404 1407 3435 1404 1404 3436 1405 1405 3437 1406 1409 3438 1410 1410 3439 1411 1411 3440 1408 1411 3441 1408 1408 3442 1409 1409 3443 1410 1413 3444 1414 1414 3445 1415 1415 3446 1412 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1359 1438 3514 1438 1439 3515 1439 1439 3516 1439 1437 3517 1437 1436 3518 1436 1437 3519 1437 1439 3520 1439 1438 3521 1438 1440 3522 1440 1433 3523 1433 1441 3524 1441 1433 3525 1433 1432 3526 1432 1441 3527 1441 1442 3528 1442 1434 3529 1434 1440 3530 1440 1434 3531 1434 1433 3532 1433 1440 3533 1440 1443 3534 1443 1434 3535 1434 1442 3536 1442 1434 3537 1434 1443 3538 1443 1435 3539 1435 1441 3540 1441 1435 3541 1435 1443 3542 1443 1435 3543 1435 1441 3544 1441 1432 3545 1432 1441 3546 1441 1425 3547 1425 1426 3548 1426 1426 3549 1426 1440 3550 1440 1441 3551 1441 1440 3552 1440 1426 3553 1426 1428 3554 1428 1428 3555 1428 1442 3556 1442 1440 3557 1440 1443 3558 1443 1428 3559 1428 1430 3560 1430 1428 3561 1428 1443 3562 1443 1442 3563 1442 1441 3564 1441 1430 3565 1430 1425 3566 1425 1430 3567 1430 1441 3568 1441 1443 3569 1443 1444 3570 1444 1446 3571 1446 1445 3572 1445 1446 3573 1446 1444 3574 1444 1447 3575 1447 1450 3576 1450 1449 3577 1449 1448 3578 1448 1448 3579 1448 1451 3580 1451 1450 3581 1450 1454 3582 1454 1453 3583 1453 1452 3584 1452 1452 3585 1452 1455 3586 1455 1454 3587 1454 1458 3588 1458 1457 3589 1457 1456 3590 1456 1456 3591 1456 1459 3592 1459 1458 3593 1458 1462 3594 1462 1461 3595 1461 1460 3596 1460 1460 3597 1460 1463 3598 1463 1462 3599 1462 1466 3600 1466 1465 3601 1465 1464 3602 1464 1464 3603 1464 1467 3604 1467 1466 3605 1466 1470 3606 1470 1469 3607 1469 1468 3608 1468 1468 3609 1468 1471 3610 1471 1470 3611 1470 1474 3612 1474 1473 3613 1473 1472 3614 1472 1472 3615 1472 1475 3616 1475 1474 3617 1474 1479 3618 1479 1478 3619 1478 1476 3620 1476 1476 3621 1476 1478 3622 1478 1477 3623 1477 1483 3624 1483 1482 3625 1482 1480 3626 1480 1480 3627 1480 1482 3628 1482 1481 3629 1481 1487 3630 1487 1486 3631 1486 1484 3632 1484 1484 3633 1484 1486 3634 1486 1485 3635 1485 1491 3636 1491 1490 3637 1490 1488 3638 1488 1488 3639 1488 1490 3640 1490 1489 3641 1489 1495 3642 1495 1494 3643 1494 1492 3644 1492 1492 3645 1492 1494 3646 1494 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 + + + + + + 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.0000001.000000 + 30.0000000.0000003.333333 + + + + + + diff --git a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/tent/2/mesh/tent.png b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/tent/2/mesh/tent.png new file mode 100644 index 000000000..f5221b124 Binary files /dev/null and b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/tent/2/mesh/tent.png differ diff --git a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/tent/2/model.config b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/tent/2/model.config new file mode 100644 index 000000000..3c6d80f86 --- /dev/null +++ b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/tent/2/model.config @@ -0,0 +1,15 @@ + + + tent + 1.0 + model.sdf + + + Rumman Waqar + rumman.waqar05@gmail.com + + + + Ground station tent on the beach + + diff --git a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/tent/2/model.sdf b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/tent/2/model.sdf new file mode 100644 index 000000000..57db3c973 --- /dev/null +++ b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/tent/2/model.sdf @@ -0,0 +1,23 @@ + + + + true + + + + + mesh/tent.dae + + + + + 0 0 1.5 0 0 0 + + + 3.0 3.0 3.0 + + + + + + diff --git a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/tent/2/thumbnails/1.png b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/tent/2/thumbnails/1.png new file mode 100644 index 000000000..2f7af4ec5 Binary files /dev/null and b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/tent/2/thumbnails/1.png differ diff --git a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/tent/2/thumbnails/2.png b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/tent/2/thumbnails/2.png new file mode 100644 index 000000000..a3e0438dc Binary files /dev/null and b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/tent/2/thumbnails/2.png differ diff --git a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/tent/2/thumbnails/3.png b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/tent/2/thumbnails/3.png new file mode 100644 index 000000000..e454ee84b Binary files /dev/null and b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/tent/2/thumbnails/3.png differ diff --git a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/tent/2/thumbnails/4.png b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/tent/2/thumbnails/4.png new file mode 100644 index 000000000..f42c626a6 Binary files /dev/null and b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/tent/2/thumbnails/4.png differ diff --git a/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/tent/2/thumbnails/5.png b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/tent/2/thumbnails/5.png new file mode 100644 index 000000000..298547de4 Binary files /dev/null and b/.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/tent/2/thumbnails/5.png differ diff --git a/.github/workflows/docker/vrx/run_vrx_gazebo.bash b/.github/workflows/docker/vrx/run_vrx_gazebo.bash new file mode 100755 index 000000000..071b8f3ce --- /dev/null +++ b/.github/workflows/docker/vrx/run_vrx_gazebo.bash @@ -0,0 +1,5 @@ +# generate wamv_target.urdf +ros2 launch vrx_gazebo generate_wamv.launch.py component_yaml:=/home/config/component_config.yaml thruster_yaml:=/home/config/thruster_config.yaml wamv_target:=/home/config/wamv_target.urdf wamv_locked:=False + +# launch vrx gazebo +ros2 launch vrx_gz competition.launch.py world:=sydney_regatta headless:=true urdf:=/home/config/wamv_target.urdf \ No newline at end of file diff --git a/.github/workflows/docker/vrx/rviz.png b/.github/workflows/docker/vrx/rviz.png new file mode 100644 index 000000000..18d985986 Binary files /dev/null and b/.github/workflows/docker/vrx/rviz.png differ diff --git a/.github/workflows/docker/vrx/vrx_entrypoint.sh b/.github/workflows/docker/vrx/vrx_entrypoint.sh new file mode 100755 index 000000000..31eb1cf8e --- /dev/null +++ b/.github/workflows/docker/vrx/vrx_entrypoint.sh @@ -0,0 +1,16 @@ +#!/bin/bash +set -e + +# setup ros environment. +source "/opt/ros/humble/setup.bash" > /dev/null + +# setup vrx environment +source ~/vrx_ws/install/setup.sh +echo "vrx entrypoint executed" + +# TODO: optionally disable this so a gzclient can be run on the host for development. +export GAZEBO_IP=127.0.0.1 +export GAZEBO_IP_WHITE_LIST=127.0.0.1 + +/run_vrx_gazebo.bash +exec "$@" \ No newline at end of file diff --git a/.github/workflows/docker/yolox/Dockerfile b/.github/workflows/docker/yolox/Dockerfile index cc429775a..ccbf551e5 100644 --- a/.github/workflows/docker/yolox/Dockerfile +++ b/.github/workflows/docker/yolox/Dockerfile @@ -1,4 +1,4 @@ -FROM nvidia/cuda:11.4.0-cudnn8-devel-ubuntu20.04 +FROM nvidia/cuda:11.4.3-cudnn8-devel-ubuntu20.04 ENV DEBIAN_FRONTEND noninteractive #RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/3bf863cc.pub RUN apt-get update && \ @@ -19,6 +19,7 @@ WORKDIR / WORKDIR / RUN git clone https://github.com/Megvii-BaseDetection/YOLOX.git WORKDIR /YOLOX +COPY requirements.txt . RUN python3 -m pip install -r requirements.txt &&\ python3 setup.py develop ENV PATH="${PATH}:/opt/hpcx/ompi/bin" diff --git a/.github/workflows/docker/yolox/action.yaml b/.github/workflows/docker/yolox/action.yaml new file mode 100644 index 000000000..bf0bd9207 --- /dev/null +++ b/.github/workflows/docker/yolox/action.yaml @@ -0,0 +1,51 @@ +name: "Build YOLOX image Action" +description: "Build YOLOX docker images" + +inputs: + docker_username: + description: "Username for Dockerhub" + required: true + docker_password: + description: "Password for Dockerhub" + required: true + +runs: + using: "composite" + steps: + - uses: actions/checkout@v2 + - name: Set up Docker Buildx + uses: docker/setup-buildx-action@v2 + - name: Login to Docker Hub + uses: docker/login-action@v1 + with: + username: ${{ inputs.docker_username }} + password: ${{ inputs.docker_password }} + - name: Build and Push Docker Image + if: ${{ github.event_name != 'pull_request'}} + uses: docker/build-push-action@v2 + env: + DOCKER_BUILDKIT: 1 + with: + username: ${{ inputs.docker_username }} + password: ${{ inputs.docker_password }} + context: ./.github/workflows/docker/yolox + file: ./.github/workflows/docker/yolox/Dockerfile + tags: wamvtan/yolox:latest + no-cache: false + cache-from: type=registry,ref=wamvtan/yolox:buildcache + cache-to: type=registry,ref=wamvtan/yolox:buildcache,mode=max + push: true + - name: Build Docker Image + if: ${{ github.event_name == 'pull_request'}} + uses: docker/build-push-action@v2 + env: + DOCKER_BUILDKIT: 1 + with: + username: ${{ inputs.docker_username }} + password: ${{ inputs.docker_password }} + context: ./.github/workflows/docker/yolox + file: ./.github/workflows/docker/yolox/Dockerfile + tags: wamvtan/yolox:latest + no-cache: false + cache-from: type=registry,ref=wamvtan/yolox:buildcache + push: false diff --git a/.github/workflows/docker/yolox/requirements.txt b/.github/workflows/docker/yolox/requirements.txt new file mode 100644 index 000000000..92f394a35 --- /dev/null +++ b/.github/workflows/docker/yolox/requirements.txt @@ -0,0 +1,19 @@ +# TODO: Update with exact module version +numpy +torch>=1.7 +opencv_python +loguru +tqdm +torchvision +thop +ninja +tabulate +psutil +tensorboard +urllib3<2.0 + +# verified versions +# pycocotools corresponds to https://github.com/ppwwyyxx/cocoapi +pycocotools>=2.0.2 +onnx>=1.13.0 +onnx-simplifier==0.4.10 \ No newline at end of file diff --git a/.github/workflows/docker/yolox_trainer/action.yaml b/.github/workflows/docker/yolox_trainer/action.yaml new file mode 100644 index 000000000..12af53b69 --- /dev/null +++ b/.github/workflows/docker/yolox_trainer/action.yaml @@ -0,0 +1,63 @@ +name: "Build YOLOX tainer image Action" +description: "Build YOLOX trainer docker images" + +inputs: + docker_username: + description: "Username for Dockerhub" + required: true + docker_password: + description: "Password for Dockerhub" + required: true + github_actions_runner_version: + description: "Versions of github actions self-hosted runner" + required: true + os_version: + description: "OS version" + required: true + +runs: + using: "composite" + steps: + - uses: actions/checkout@v2 + - name: Set up Docker Buildx + uses: docker/setup-buildx-action@v2 + - name: Login to Docker Hub + uses: docker/login-action@v1 + with: + username: ${{ inputs.docker_username }} + password: ${{ inputs.docker_password }} + - name: Build and Push Docker Image + if: ${{ github.event_name != 'pull_request'}} + uses: docker/build-push-action@v2 + env: + DOCKER_BUILDKIT: 1 + with: + username: ${{ inputs.docker_username }} + password: ${{ inputs.docker_password }} + context: ./.github/workflows/docker/yolox_trainer + file: ./.github/workflows/docker/yolox_trainer/Dockerfile + tags: wamvtan/yolox_trainer:latest + build-args: | + "os=${{ inputs.os_version }}" + "runner_version=${{ inputs.github_actions_runner_version }}" + no-cache: false + cache-from: type=registry,ref=wamvtan/yolox_trainer:buildcache + cache-to: type=registry,ref=wamvtan/yolox_trainer:buildcache,mode=max + push: true + - name: Build Docker Image + if: ${{ github.event_name == 'pull_request'}} + uses: docker/build-push-action@v2 + env: + DOCKER_BUILDKIT: 1 + with: + username: ${{ inputs.docker_username }} + password: ${{ inputs.docker_password }} + context: ./.github/workflows/docker/yolox_trainer + file: ./.github/workflows/docker/yolox_trainer/Dockerfile + tags: wamvtan/yolox_trainer:latest + build-args: | + "os=${{ inputs.os_version }}" + "runner_version=${{ inputs.github_actions_runner_version }}" + no-cache: false + cache-from: type=registry,ref=wamvtan/yolox_trainer:buildcache + push: false diff --git a/.github/workflows/docker_push.yaml b/.github/workflows/docker_push.yaml index 2489ae677..c18bc3302 100644 --- a/.github/workflows/docker_push.yaml +++ b/.github/workflows/docker_push.yaml @@ -8,111 +8,66 @@ on: branches: - master pull_request: - paths: - - "docker/**" - - ".github/workflows/docker/**" - - ".github/workflows/docker_push.yaml" 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 - - name: Set up Docker Buildx - uses: docker/setup-buildx-action@v2 - - name: Setup QEMU user-mode emulation - uses: docker/setup-qemu-action@v1 - - name: Login to Docker Hub - uses: docker/login-action@v1 + - uses: ./.github/workflows/actions/cleanup_runner + - uses: ./.github/workflows/docker/l4t_opencv with: - username: ${{ secrets.DOCKER_USERNAME }} - password: ${{ secrets.DOCKER_PASSWORD }} - - name: Build and Push Docker Image - if: ${{ github.event_name != 'pull_request'}} - uses: docker/build-push-action@v2 - env: - DOCKER_BUILDKIT: 1 - with: - username: ${{ secrets.DOCKER_USERNAME }} - password: ${{ secrets.DOCKER_PASSWORD }} - context: ./.github/workflows/docker/l4t_opencv - file: ./.github/workflows/docker/l4t_opencv/Dockerfile - tags: wamvtan/l4t_opencv:${{ matrix.opencv_version }} - build-args: | - OPENCV_VERSION=${{ matrix.OPENCV_VERSION }} - platforms: linux/arm64/v8 - no-cache: false - cache-from: type=registry,ref=wamvtan/l4t_opencv:${{ matrix.opencv_version }}-buildcache - cache-to: type=registry,ref=wamvtan/l4t_opencv:${{ matrix.opencv_version }}-buildcache,mode=max - push: true - - name: Build Docker Image - if: ${{ github.event_name == 'pull_request'}} - uses: docker/build-push-action@v2 - env: - DOCKER_BUILDKIT: 1 + 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-22.04 + timeout-minutes: 120 + strategy: + fail-fast: false + max-parallel: 8 + matrix: + gui: [novnc, vnc] + include: + - docker_image: wamvtan/dev_container + base_image: ubuntu:22.04 + gui: novnc + entrypoint: entrypoint.sh + - docker_image: wamvtan/dev_container_vnc + base_image: tiryoh/ros2-desktop-vnc:humble-amd64-20230115T1406 + gui: vnc + entrypoint: entrypoint_vnc.sh + steps: + - uses: actions/checkout@v2 + - uses: ./.github/workflows/actions/cleanup_runner + - uses: ./.github/workflows/docker/dev_container with: - username: ${{ secrets.DOCKER_USERNAME }} - password: ${{ secrets.DOCKER_PASSWORD }} - context: ./.github/workflows/docker/l4t_opencv - file: ./.github/workflows/docker/l4t_opencv/Dockerfile - tags: wamvtan/l4t_opencv:${{ matrix.opencv_version }} - build-args: | - OPENCV_VERSION=${{ matrix.OPENCV_VERSION }} - platforms: linux/arm64/v8 - no-cache: false - cache-from: type=registry,ref=wamvtan/l4t_opencv:${{ matrix.opencv_version }}-buildcache - push: false + docker_username: ${{ secrets.DOCKER_USERNAME }} + docker_password: ${{ secrets.DOCKER_PASSWORD }} + image_name: ${{ matrix.docker_image }} + base_image: ${{ matrix.base_image }} + 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 - - name: Set up Docker Buildx - uses: docker/setup-buildx-action@v2 - - name: Login to Docker Hub - uses: docker/login-action@v1 - with: - username: ${{ secrets.DOCKER_USERNAME }} - password: ${{ secrets.DOCKER_PASSWORD }} - - name: Build and Push Docker Image - if: ${{ github.event_name != 'pull_request'}} - uses: docker/build-push-action@v2 - env: - DOCKER_BUILDKIT: 1 + - uses: ./.github/workflows/actions/cleanup_runner + - uses: ./.github/workflows/docker/yolox with: - username: ${{ secrets.DOCKER_USERNAME }} - password: ${{ secrets.DOCKER_PASSWORD }} - context: ./.github/workflows/docker/yolox - file: ./.github/workflows/docker/yolox/Dockerfile - tags: wamvtan/yolox:latest - no-cache: false - cache-from: type=registry,ref=wamvtan/yolox:buildcache - cache-to: type=registry,ref=wamvtan/yolox:buildcache,mode=max - push: true - - name: Build Docker Image - if: ${{ github.event_name == 'pull_request'}} - uses: docker/build-push-action@v2 - env: - DOCKER_BUILDKIT: 1 - with: - username: ${{ secrets.DOCKER_USERNAME }} - password: ${{ secrets.DOCKER_PASSWORD }} - context: ./.github/workflows/docker/yolox - file: ./.github/workflows/docker/yolox/Dockerfile - tags: wamvtan/yolox:latest - no-cache: false - cache-from: type=registry,ref=wamvtan/yolox:buildcache - push: false + 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: @@ -121,170 +76,21 @@ jobs: runner_version: [2.295.0] steps: - uses: actions/checkout@v2 - - name: Set up Docker Buildx - uses: docker/setup-buildx-action@v2 - - name: Login to Docker Hub - uses: docker/login-action@v1 - with: - username: ${{ secrets.DOCKER_USERNAME }} - password: ${{ secrets.DOCKER_PASSWORD }} - - name: Build and Push Docker Image - if: ${{ github.event_name != 'pull_request'}} - uses: docker/build-push-action@v2 - env: - DOCKER_BUILDKIT: 1 - with: - username: ${{ secrets.DOCKER_USERNAME }} - password: ${{ secrets.DOCKER_PASSWORD }} - context: ./.github/workflows/docker/yolox_trainer - file: ./.github/workflows/docker/yolox_trainer/Dockerfile - tags: wamvtan/yolox_trainer:latest - build-args: | - "os=${{ matrix.os }}" - "runner_version=${{ matrix.runner_version }}" - no-cache: false - cache-from: type=registry,ref=wamvtan/yolox_trainer:buildcache - cache-to: type=registry,ref=wamvtan/yolox_trainer:buildcache,mode=max - push: true - - name: Build Docker Image - if: ${{ github.event_name == 'pull_request'}} - uses: docker/build-push-action@v2 - env: - DOCKER_BUILDKIT: 1 + - uses: ./.github/workflows/actions/cleanup_runner + - uses: ./.github/workflows/docker/yolox_trainer with: - username: ${{ secrets.DOCKER_USERNAME }} - password: ${{ secrets.DOCKER_PASSWORD }} - context: ./.github/workflows/docker/yolox_trainer - file: ./.github/workflows/docker/yolox_trainer/Dockerfile - tags: wamvtan/yolox_trainer:latest - build-args: | - "os=${{ matrix.os }}" - "runner_version=${{ matrix.runner_version }}" - no-cache: false - cache-from: type=registry,ref=wamvtan/yolox_trainer:buildcache - push: false - debian_package_builder: - name: build and push wamvtan/debian_package_builder image - runs-on: ubuntu-20.04 - timeout-minutes: 10 - strategy: - matrix: - rosdistro: [foxy, galactic, humble] - steps: - - uses: actions/checkout@v2 - - name: Set up Docker Buildx - uses: docker/setup-buildx-action@v2 - - name: Login to Docker Hub - uses: docker/login-action@v1 - with: - username: ${{ secrets.DOCKER_USERNAME }} - password: ${{ secrets.DOCKER_PASSWORD }} - - name: Build and Push Docker Image - if: ${{ github.event_name != 'pull_request'}} - uses: docker/build-push-action@v2 - env: - DOCKER_BUILDKIT: 1 - with: - username: ${{ secrets.DOCKER_USERNAME }} - password: ${{ secrets.DOCKER_PASSWORD }} - context: ./.github/workflows/docker/debian_package_builder - file: ./.github/workflows/docker/debian_package_builder/Dockerfile - tags: wamvtan/debian_package_builder:${{ matrix.rosdistro }} - build-args: | - ROS_DISTRO=${{ matrix.rosdistro }} - no-cache: false - cache-from: type=registry,ref=wamvtan/debian_package_builder:${{ matrix.rosdistro }}-buildcache - cache-to: type=registry,ref=wamvtan/debian_package_builder:${{ matrix.rosdistro }}-buildcache,mode=max - push: true - - name: Build Docker Image - if: ${{ github.event_name == 'pull_request'}} - uses: docker/build-push-action@v2 - env: - DOCKER_BUILDKIT: 1 - with: - username: ${{ secrets.DOCKER_USERNAME }} - password: ${{ secrets.DOCKER_PASSWORD }} - context: ./.github/workflows/docker/debian_package_builder - file: ./.github/workflows/docker/debian_package_builder/Dockerfile - tags: wamvtan/debian_package_builder:${{ matrix.rosdistro }} - build-args: | - ROS_DISTRO=${{ matrix.rosdistro }} - no-cache: false - cache-from: type=registry,ref=wamvtan/debian_package_builder:${{ matrix.rosdistro }}-buildcache - push: false - ci_base: - name: build and push wamvtan/ros2-ci_base image - runs-on: ubuntu-20.04 - timeout-minutes: 40 - strategy: - matrix: - rosdistro: [foxy, galactic, humble] + docker_username: ${{ secrets.DOCKER_USERNAME }} + docker_password: ${{ secrets.DOCKER_PASSWORD }} + github_actions_runner_version: ${{ matrix.runner_version }} + os_version: ${{ matrix.os }} + vrx: + name: build and push wamvtan/vrx + runs-on: ubuntu-22.04 + timeout-minutes: 30 steps: - uses: actions/checkout@v2 - - name: Set up Docker Buildx - uses: docker/setup-buildx-action@v2 - - name: Login to Docker Hub - uses: docker/login-action@v1 - with: - username: ${{ secrets.DOCKER_USERNAME }} - password: ${{ secrets.DOCKER_PASSWORD }} - - name: Build and Push Docker Image - if: ${{ github.event_name != 'pull_request'}} - uses: docker/build-push-action@v2 - env: - DOCKER_BUILDKIT: 1 - with: - username: ${{ secrets.DOCKER_USERNAME }} - password: ${{ secrets.DOCKER_PASSWORD }} - context: ./.github/workflows/docker/ci_base - file: ./.github/workflows/docker/ci_base/Dockerfile.${{ matrix.rosdistro }} - tags: wamvtan/ros2_ci_base:${{ matrix.rosdistro }} - no-cache: false - cache-from: type=registry,ref=wamvtan/ros2_ci_base:${{ matrix.rosdistro }}-buildcache - cache-to: type=registry,ref=wamvtan/ros2_ci_base:${{ matrix.rosdistro }}-buildcache,mode=max - push: true - - name: Build Docker Image - if: ${{ github.event_name == 'pull_request'}} - uses: docker/build-push-action@v2 - env: - DOCKER_BUILDKIT: 1 + - uses: ./.github/workflows/actions/cleanup_runner + - uses: ./.github/workflows/docker/vrx with: - username: ${{ secrets.DOCKER_USERNAME }} - password: ${{ secrets.DOCKER_PASSWORD }} - context: ./.github/workflows/docker/ci_base - file: ./.github/workflows/docker/ci_base/Dockerfile.${{ matrix.rosdistro }} - tags: wamvtan/ros2_ci_base:${{ matrix.rosdistro }} - no-cache: false - cache-from: type=registry,ref=wamvtan/ros2_ci_base:${{ matrix.rosdistro }}-buildcache - push: false -# perception-jetson: -# name: build and push wamvtan/ros image -# runs-on: ubuntu-20.04 -# timeout-minutes: 40 -# strategy: -# matrix: -# dockerfile: [[Dockerfile, galactic-ros-base-l4t-r32.6], [Dockerfile.trt801, galactic-ros-base-l4t-r32.6-trt]] -# steps: -# - uses: actions/checkout@v2 -# - name: Setup QEMU user-mode emulation -# uses: docker/setup-qemu-action@v1 -# - name: Login to Docker Hub -# if: success() && github.event_name != 'pull_request' -# uses: docker/login-action@v1 -# with: -# username: ${{ secrets.DOCKER_USERNAME }} -# password: ${{ secrets.DOCKER_PASSWORD }} -# - name: Build and Push Docker Image -# if: ${{ github.event_name != 'pull_request'}} -# uses: docker/build-push-action@v2 -# env: -# DOCKER_BUILDKIT: 1 -# with: -# username: ${{ secrets.DOCKER_USERNAME }} -# password: ${{ secrets.DOCKER_PASSWORD }} -# context: ./docker/l4t_ros2_base -# file: ./docker/l4t_ros2_base/${{ matrix.dockerfile[0] }} -# tags: wamvtan/ros:${{ matrix.dockerfile[1] }} -# platforms: linux/arm64/v8 -# no-cache: true -# push: true + docker_username: ${{ secrets.DOCKER_USERNAME }} + docker_password: ${{ secrets.DOCKER_PASSWORD }} diff --git a/.github/workflows/document.yaml b/.github/workflows/document.yaml index de2add6a5..e26c259b2 100644 --- a/.github/workflows/document.yaml +++ b/.github/workflows/document.yaml @@ -12,15 +12,15 @@ on: jobs: document: name: build document - runs-on: ubuntu-20.04 + runs-on: ubuntu-22.04 steps: - uses: actions/checkout@v2-beta - name: Set up Python uses: actions/setup-python@v1 with: - python-version: "3.6.15" + python-version: "3.10.13" - name: Install - run: pip3 install mkdocs mkdocs-material fontawesome_markdown mkdocs-mermaid2-plugin pymdown-extensions plantuml-markdown python-markdown-math python-github-api mkdocs-github-dashboard pandas + run: pip3 install mkdocs mkdocs-material fontawesome_markdown mkdocs-mermaid2-plugin pymdown-extensions plantuml-markdown python-markdown-math python-github-api mkdocs-github-dashboard pandas markdown==3.3.0 - name: Set env run: echo "GITHUB_TOKEN=${{ secrets.WAMV_TAN_BOT_SECRET }}" >> $GITHUB_ENV - name: Generate documentation diff --git a/.github/workflows/generate_rosdep_yaml.yaml b/.github/workflows/generate_rosdep_yaml.yaml index 844546cd4..0f49359b0 100644 --- 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: | @@ -18,10 +18,10 @@ jobs: - name: ansible version run: | ansible-playbook --version - - name: Setup ROS2 galactic environment + - name: Setup ROS2 humble environment uses: ros-tooling/setup-ros@v0.2 with: - required-ros-distributions: galactic + required-ros-distributions: humble - uses: actions/checkout@v2-beta - name: run ansible 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 index 804bb3b84..b6fec3a49 100644 --- a/.gitignore +++ b/.gitignore @@ -7,9 +7,8 @@ mbed_ws robotx_tools log private.yml -docker/scenario_test/packages.repos -docker/scenario_test_runtime/packages.repos scripts/packages.repos scripts/rosdep_base.yaml scripts/rosdep.yaml -dataset \ No newline at end of file +dataset +poetry.lock \ No newline at end of file diff --git a/ansible/group_vars/docker/vars.yml b/ansible/group_vars/docker/vars.yml index df9d4642a..7b4f2a6d5 100644 --- a/ansible/group_vars/docker/vars.yml +++ b/ansible/group_vars/docker/vars.yml @@ -1,4 +1,4 @@ -ros_package_name: ros-galactic-desktop +ros_package_name: ros-humble-desktop-full workspace_path: "{{ansible_env.PWD}}/../robotx_ws" python_workspace_path: "{{ansible_env.PWD}}/../python_ws" actions_workspace_path: "{{ansible_env.PWD}}/../actions_ws" @@ -6,4 +6,4 @@ mbed_workspace_path: "{{ansible_env.PWD}}/../mbed_ws" dataset_path: "{{ansible_env.PWD}}/../dataset" ansible_python_interpreter : "/usr/bin/python3" ntp_server: true -ansible_distribution_release: focal \ No newline at end of file +ansible_distribution_release: jammy \ No newline at end of file diff --git a/ansible/group_vars/localhost/vars.yml b/ansible/group_vars/localhost/vars.yml index 30284d719..b8953fe2a 100644 --- a/ansible/group_vars/localhost/vars.yml +++ b/ansible/group_vars/localhost/vars.yml @@ -1,9 +1,9 @@ --- -ros_package_name: ros-galactic-desktop +ros_package_name: ros-humble-desktop workspace_path: "{{ansible_env.PWD}}/../robotx_ws" python_workspace_path: "{{ansible_env.PWD}}/../python_ws" actions_workspace_path: "{{ansible_env.PWD}}/../actions_ws" mbed_workspace_path: "{{ansible_env.PWD}}/../mbed_ws" dataset_path: "{{ansible_env.PWD}}/../dataset" ansible_python_interpreter : "/usr/bin/python3" -ntp_server: true \ No newline at end of file +ntp_server: true diff --git a/ansible/group_vars/uav/vars.yml b/ansible/group_vars/uav/vars.yml new file mode 100644 index 000000000..6bf2f17ca --- /dev/null +++ b/ansible/group_vars/uav/vars.yml @@ -0,0 +1,8 @@ +--- +ros_package_name: ros-humble-ros-base +workspace_path: "{{ansible_env.PWD}}/../robotx_ws" +python_workspace_path: "{{ansible_env.PWD}}/../python_ws" +ansible_python_interpreter : "/usr/bin/python3" +ansible_connection: uav +ansible_user : root +ntp_server: false \ No newline at end of file diff --git a/ansible/hosts/docker.ini b/ansible/hosts/docker.ini index 9546e0376..43eae6e12 100644 --- a/ansible/hosts/docker.ini +++ b/ansible/hosts/docker.ini @@ -1,9 +1,9 @@ [docker] localhost [docker:vars] -ros_package_name = ros-galactic-desktop +ros_package_name = ros-humble-desktop ansible_ssh_user = root ansible_port = 2022 ansible_ssh_pass = root ansible_become_pass = root -ansible_python_interpreter = /usr/bin/python3 \ No newline at end of file +ansible_python_interpreter = /usr/bin/python3 diff --git a/ansible/hosts/localhost.ini b/ansible/hosts/localhost.ini index 39b9eec41..805ec9d8a 100644 --- a/ansible/hosts/localhost.ini +++ b/ansible/hosts/localhost.ini @@ -1,5 +1,5 @@ [localhost] 0.0.0.0 [localhost:vars] -ros_package_name=ros-foxy-desktop -ansible_connection=local \ No newline at end of file +ros_package_name=ros-humble-desktop +ansible_connection=local diff --git a/ansible/hosts/uav.ini b/ansible/hosts/uav.ini new file mode 100644 index 000000000..baaf77bff --- /dev/null +++ b/ansible/hosts/uav.ini @@ -0,0 +1,10 @@ +[uav] +192.168.0.0 +[uav:vars] +ros_package_name=ros-humble-ros-base +ansible_connection=local +ansible_ssh_user = root +ansible_port = 2022 +ansible_ssh_pass = root +ansible_become_pass = root +ansible_python_interpreter = /usr/bin/python3 \ No newline at end of file diff --git a/ansible/roles/build/tasks/main.yml b/ansible/roles/build/tasks/main.yml index 57b5bc32d..408dd83b1 100644 --- a/ansible/roles/build/tasks/main.yml +++ b/ansible/roles/build/tasks/main.yml @@ -1,4 +1,26 @@ --- +- name: install ccache via apt + become: yes + apt: + name: "{{ packages }}" + cache_valid_time: 3600 + update_cache: yes + vars: + packages: + - ccache + +- name: add env variables to .bashrc + blockinfile: + dest: /home/{{ ansible_user }}/.bashrc + insertafter: '^# Set path for ccache' + content: | + export CC="/usr/lib/ccache/gcc" + export CXX="/usr/lib/ccache/g++" + export CCACHE_DIR={{ workspace_path }}/ccache/ + +- name: create ccache directory + file: path={{ workspace_path }}/ccache/ state=directory + - name: check older list stat: path: /etc/ros/rosdep/sources.list.d/20-default.list @@ -20,14 +42,17 @@ ignore_errors: true - name: install depends - command: rosdep install -y -r -i --from-paths {{ workspace_path }}/src --ignore-src --rosdistro galactic + command: rosdep install -y -r -i --from-paths {{ workspace_path }}/src --ignore-src --rosdistro humble become: yes - name: load env variable & build shell: |- cd {{ workspace_path }} - source /opt/ros/galactic/setup.bash - colcon build + source /opt/ros/humble/setup.bash + colcon build --metas defaults.yaml --mixin ccache args: executable: /bin/bash - + environment: + CC: /usr/lib/ccache/gcc + CXX: /usr/lib/ccache/g++ + CCACHE_DIR: "{{ workspace_path }}/ccache/" diff --git a/ansible/roles/clone_packages/tasks/main.yml b/ansible/roles/clone_packages/tasks/main.yml index 8a271ddd8..8cd82544a 100644 --- a/ansible/roles/clone_packages/tasks/main.yml +++ b/ansible/roles/clone_packages/tasks/main.yml @@ -62,6 +62,13 @@ version: tier4/main accept_hostkey: yes tags: [perception] +- name: clone lidar_camera_fusion + git: + repo: https://github.com/OUXT-Polaris/lidar_camera_fusion.git + dest: "{{workspace_path}}/src/perception/lidar_camera_fusion" + version: master + accept_hostkey: yes + tags: [perception] # Planning Packages - name : clone hermite_path_planner @@ -94,13 +101,6 @@ version: ros2 accept_hostkey: yes tags: [utility] -- name: clone geometry_msgs_data_buffer - git: - repo: https://github.com/OUXT-Polaris/geometry_msgs_data_buffer.git - dest: "{{workspace_path}}/src/utils/geometry_msgs_data_buffer" - version: ros2 - accept_hostkey: yes - tags: [utility] - name: clone message_synchronizer git: repo: https://github.com/OUXT-Polaris/message_synchronizer.git @@ -108,34 +108,6 @@ version: master accept_hostkey: yes tags: [utility] -- name: clone rospy2 - git: - repo: https://github.com/OUXT-Polaris/rospy2.git - dest: "{{workspace_path}}/src/utils/rospy2" - version: main - accept_hostkey: yes - tags: [utility] -- name: clone rosboard - git: - repo: https://github.com/OUXT-Polaris/rosboard.git - dest: "{{workspace_path}}/src/utils/rosboard" - version: main - accept_hostkey: yes - tags: [utility] -- name: clone grid_map - git: - repo: https://github.com/ANYbotics/grid_map.git - dest: "{{workspace_path}}/src/utils/grid_map" - version: 7afca6c8314bd3016dc974541aecca3ed39ccab0 - accept_hostkey: yes - tags: [utility] -- name: clone groot - git: - repo: https://github.com/BehaviorTree/Groot.git - dest: "{{workspace_path}}/src/utils/groot" - version: master - accept_hostkey: yes - tags: [utility] - name: clone hungarian_solver git: repo: https://github.com/OUXT-Polaris/hungarian_solver.git @@ -157,6 +129,13 @@ version: master accept_hostkey: yes tags: [utility] +- name: clone lua_vendor + git: + repo: https://github.com/OUXT-Polaris/lua_vendor.git + dest: "{{workspace_path}}/src/utils/lua_vendor" + version: main + accept_hostkey: yes + tags: [utility] # Description Packages - name: clone wamv_description @@ -253,13 +232,6 @@ version: master accept_hostkey: yes tags: [driver] -- name: clone realsense_hardware_interface - git: - repo: https://github.com/OUXT-Polaris/realsense_hardware_interface.git - dest: "{{workspace_path}}/src/drivers/realsense_hardware_interface" - version: master - accept_hostkey: yes - tags: [driver] - name: clone nmea_hardware_interface git: repo: https://github.com/OUXT-Polaris/nmea_hardware_interface.git @@ -267,20 +239,6 @@ version: master accept_hostkey: yes tags: [driver] -- name: clone perception_camera_driver - git: - repo: https://github.com/OUXT-Polaris/perception_camera_driver.git - dest: "{{workspace_path}}/src/drivers/perception_camera_driver" - version: master - accept_hostkey: yes - tags: [driver] -- name: clone copto_ros - git: - repo: https://github.com/OUXT-Polaris/copto_ros.git - dest: "{{workspace_path}}/src/drivers/copto_ros" - version: master - accept_hostkey: yes - tags: [driver] - name: clone ros_kvh1750 package git: repo: https://github.com/OUXT-Polaris/ros_kvh1750.git @@ -313,10 +271,3 @@ version: master accept_hostkey: yes tags: [simulation] -- name: clone unisim_ros2_control - git: - repo: https://github.com/OUXT-Polaris/unisim_ros2_control.git - dest: "{{workspace_path}}/src/simulation/unisim_ros2_control" - version: master - accept_hostkey: yes - tags: [simulation] diff --git a/ansible/roles/create_workspace/tasks/main.yml b/ansible/roles/create_workspace/tasks/main.yml index 994121d78..0aaa0138b 100644 --- a/ansible/roles/create_workspace/tasks/main.yml +++ b/ansible/roles/create_workspace/tasks/main.yml @@ -12,7 +12,7 @@ - name: add setup.bash to .bashrc lineinfile: dest: /home/{{ ansible_user }}/.bashrc - line: "source /opt/ros/galactic/setup.bash" + line: "source /opt/ros/humble/setup.bash" create: yes tags: [create_workspace] @@ -21,4 +21,4 @@ dest: /home/{{ ansible_user }}/.bashrc line: "source {{ workspace_path }}/install/local_setup.bash" create: yes - tags: [create_workspace] \ No newline at end of file + tags: [create_workspace] diff --git a/ansible/roles/docker/tasks/main.yml b/ansible/roles/docker/tasks/main.yml index 112473eee..4babcf1ca 100644 --- a/ansible/roles/docker/tasks/main.yml +++ b/ansible/roles/docker/tasks/main.yml @@ -50,9 +50,14 @@ become: yes ignore_errors: yes -- name: Install docker-compose +- name: test directory created + file: + path: "/usr/local/lib/docker/cli-plugins" + state: directory + +- name: Install docker compose v2 get_url: - url: "https://github.com/docker/compose/releases/download/1.24.0/docker-compose-{{ ansible_system }}-{{ ansible_architecture }}" - dest: /usr/local/bin/docker-compose - mode: +x + url: "https://github.com/docker/compose/releases/download/v2.5.0/docker-compose-{{ ansible_system }}-{{ ansible_architecture }}" + dest: /usr/local/lib/docker/cli-plugins/docker-compose + mode: a+x become: yes \ No newline at end of file diff --git a/ansible/roles/jetson/tasks/main.yml b/ansible/roles/jetson/tasks/main.yml index 771eb7b57..5ff13470e 100644 --- a/ansible/roles/jetson/tasks/main.yml +++ b/ansible/roles/jetson/tasks/main.yml @@ -95,6 +95,13 @@ version: master accept_hostkey: yes +- name: clone detic_onnx_ros2 + git: + repo: https://github.com/OUXT-Polaris/detic_onnx_ros2.git + dest: "{{workspace_path}}/src/perception/detic_onnx_ros2" + version: master + accept_hostkey: yes + - name: remove old rosdep list file: path: /etc/ros/rosdep/sources.list.d/20-default.list diff --git a/ansible/roles/ml_pipeline/tasks/main.yml b/ansible/roles/ml_pipeline/tasks/main.yml deleted file mode 100644 index 5745af742..000000000 --- a/ansible/roles/ml_pipeline/tasks/main.yml +++ /dev/null @@ -1,64 +0,0 @@ ---- -- name: install required packages - apt: - name: "{{ packages }}" - state: latest - update_cache: yes - vars: - packages: - - curl - - tar - - apt-transport-https - - awscli - become: true - -- name: download kubectl binary - become: yes - get_url: - url: https://storage.googleapis.com/kubernetes-release/release/v1.24.0/bin/linux/amd64/kubectl - checksum: sha256:94d686bb6772f6fb59e3a32beff908ab406b79acdfb2427abdc4ac3ce1bb98d7 - dest: /usr/local/bin/kubectl - mode: +x - -- name: download argo workflow binary - become: yes - get_url: - url: https://github.com/argoproj/argo/releases/download/v2.9.2/argo-linux-amd64 - checksum: sha256:88a95a00741455e22970517d9b6ca714307189814c74424408b956cdd36d8450 - dest: /usr/local/bin/argo - mode: +x - -- name: download helm binary - become: yes - get_url: - url: https://get.helm.sh/helm-v3.9.0-linux-amd64.tar.gz - checksum: sha256:1484ffb0c7a608d8069470f48b88d729e88c41a1b6602f145231e8ea7b43b50a - dest: /tmp - -- name: untar helm binary - unarchive: - src: /tmp/helm-v3.9.0-linux-amd64.tar.gz - dest: /tmp - -- name: install binady - become: yes - copy: - src: /tmp/linux-amd64/helm - dest: /usr/local/bin/helm - mode: +x - -#- name: Install minio client -# get_url: -# url: https://dl.min.io/client/mc/release/linux-amd64/mc -# dest: /usr/local/bin/mc -# checksum: sha256:55140582f715d0eb174096207d9983d86369b634166fe8e7f74a9dfae0175943 -# mode: +x -# become: yes - -- name: Install kompose - get_url: - url: https://github.com/kubernetes/kompose/releases/download/v1.26.1/kompose-linux-amd64 - dest: /usr/local/bin/kompose - checksum: sha256:cd85b8c205dc63985e9bde4911b15c8556029e09671599919ed81bff8453a36f - mode: +x - become: yes \ No newline at end of file diff --git a/ansible/roles/nodejs/tasks/main.yml b/ansible/roles/nodejs/tasks/main.yml index da4ab4084..5e2e34096 100644 --- a/ansible/roles/nodejs/tasks/main.yml +++ b/ansible/roles/nodejs/tasks/main.yml @@ -8,35 +8,25 @@ apt: name: "{{ packages }}" state: latest - update_cache: yes vars: packages: - - apt-transport-https - - ca-certificates - - curl - when: chk_nodejs.stat.exists == false - become: true + - gnupg -- name: fetch nodejs setup script - uri: - url: https://deb.nodesource.com/setup_10.x - return_content: yes - register: nodejs_installer +- name: add nodejs apt key + apt_key: + url: https://deb.nodesource.com/gpgkey/nodesource.gpg.key + state: present + become: true -- name: setup nodejs - shell: - cmd: bash - stdin: "{{ nodejs_installer.content }}" +- name: add nodejs repository + apt_repository: + repo: deb https://deb.nodesource.com/node_18.x {{ ansible_lsb.codename }} main + state: present + update_cache: yes become: true - name: install nodejs apt: - name: "{{ packages }}" - state: latest - update_cache: yes - vars: - packages: - - nodejs - - build-essential - when: chk_nodejs.stat.exists == false + name: nodejs + state: present become: true diff --git a/ansible/roles/python/tasks/main.yml b/ansible/roles/python/tasks/main.yml deleted file mode 100644 index e9188de58..000000000 --- a/ansible/roles/python/tasks/main.yml +++ /dev/null @@ -1,67 +0,0 @@ ---- -- name: install required packages - apt: - name: "{{ packages }}" - state: latest - update_cache: yes - vars: - packages: - - git - - python3-pip - become: true - -- name: upgrade pip - pip: - name: pip - executable: pip3 - state: latest - -- name: make workspace - file: - path: "{{python_workspace_path}}" - state: directory - -- name : clone python_github - git: - repo: https://github.com/OUXT-Polaris/python_github.git - dest: "{{python_workspace_path}}/python_github" - version: master - accept_hostkey: yes - -- name : clone python_github - git: - repo: https://github.com/OUXT-Polaris/python_github.git - dest: "{{python_workspace_path}}/python_github" - version: master - accept_hostkey: yes - -- name: install python_github - pip: - name: file://{{python_workspace_path}}/python_github - executable: pip3 - extra_args: -e - -- name: clone mkdocs_github_dashboard - git: - repo: https://github.com/OUXT-Polaris/mkdocs_github_dashboard.git - dest: "{{python_workspace_path}}/mkdocs_github_dashboard" - version: master - accept_hostkey: yes - -- name: install python_github - pip: - name: file://{{python_workspace_path}}/mkdocs_github_dashboard - executable: pip3 - extra_args: -e - -- name: install depends of document generation - pip: - name: - - mkdocs-material - - fontawesome_markdown - - mkdocs-mermaid2-plugin - - pymdown-extensions - - plantuml-markdown - - python-markdown-math - - pandas>=1.0.0 - executable: pip3 diff --git a/ansible/roles/requirements.yml b/ansible/roles/requirements.yml deleted file mode 100644 index b6b623fc1..000000000 --- a/ansible/roles/requirements.yml +++ /dev/null @@ -1,4 +0,0 @@ ---- -- name: gantsign.minikube - src: https://github.com/gantsign/ansible_role_minikube.git - version: master \ No newline at end of file diff --git a/ansible/roles/ros2/tasks/main.yml b/ansible/roles/ros2/tasks/main.yml index 7c7b0c425..c2c36c2f4 100644 --- a/ansible/roles/ros2/tasks/main.yml +++ b/ansible/roles/ros2/tasks/main.yml @@ -56,7 +56,11 @@ ignore_errors: true tags: [setup_ros2] -- name: install ros2 galactic/colcon/vcs +# - name: fix errors +# shell: apt-get -y update && apt-get -y upgrade && apt-get --with-new-pkgs -y upgrade && aptitude -y full-upgrade && apt-get -y update && apt-get -y upgrade +# become: yes + +- name: install ros2 humble/colcon/vcs become: yes apt: name: "{{ packages }}" @@ -73,6 +77,6 @@ - python3-rosdep - python3-argcomplete - python3-pip - - ros-galactic-ament-cmake + - ros-humble-ament-cmake - ca-certificates - tags: [setup_ros2] \ No newline at end of file + tags: [setup_ros2] diff --git a/ansible/roles/start_dev_container/tasks/main.yml b/ansible/roles/start_dev_container/tasks/main.yml deleted file mode 100644 index b3459aaf9..000000000 --- a/ansible/roles/start_dev_container/tasks/main.yml +++ /dev/null @@ -1,6 +0,0 @@ ---- -- name : start dev-container - become: yes - shell : docker-compose up -d - args: - chdir: ../docker/build_test/ \ No newline at end of file diff --git a/ansible/roles/uav/tasks/main.yml b/ansible/roles/uav/tasks/main.yml new file mode 100644 index 000000000..1b04d833a --- /dev/null +++ b/ansible/roles/uav/tasks/main.yml @@ -0,0 +1,39 @@ +--- +- name: install mavros via apt + become: yes + apt: + name: "{{ packages }}" + cache_valid_time: 3600 + update_cache: yes + vars: + packages: + - ros-humble-mavros + tags: [setup_mavros] + +- name: install GeographicLib datasets + shell: ros2 run mavros install_geographiclib_datasets.sh + tags: [setup_mavros] + +- name: make workspace + file: path={{workspace_path}} + state=directory + tags: [create_uav_workspace] + +- name: make src dir from workspace_path + file: path={{workspace_path}}/src + state=directory + tags: [create_uav_workspace] + +- name: add setup.bash to .bashrc + lineinfile: + dest: /home/{{ ansible_user }}/.bashrc + line: "source /opt/ros/humble/setup.bash" + create: yes + tags: [create_uav_workspace] + +- name: add local_setup.bash to .bashrc + lineinfile: + dest: /home/{{ ansible_user }}/.bashrc + line: "source {{ workspace_path }}/install/local_setup.bash" + create: yes + tags: [create_uav_workspace] \ No newline at end of file diff --git a/ansible/setup_dev_environment.yml b/ansible/setup_dev_environment.yml index 3033b964a..6c7368b2a 100644 --- a/ansible/setup_dev_environment.yml +++ b/ansible/setup_dev_environment.yml @@ -7,4 +7,4 @@ - ros2 - create_workspace - clone_packages - - build + - build \ No newline at end of file diff --git a/ansible/setup_ml_pipeline.yml b/ansible/setup_ml_pipeline.yml deleted file mode 100644 index 57cabc2be..000000000 --- a/ansible/setup_ml_pipeline.yml +++ /dev/null @@ -1,7 +0,0 @@ ---- -- name: Setup ml pipeline - hosts: all - roles: - - docker - - gantsign.minikube - - ml_pipeline \ No newline at end of file diff --git a/ansible/setup_uav.yml b/ansible/setup_uav.yml new file mode 100644 index 000000000..534af001a --- /dev/null +++ b/ansible/setup_uav.yml @@ -0,0 +1,7 @@ +--- +- name: Setup uav + hosts: uav + roles: + - ros2 + - uav + - build \ No newline at end of file diff --git a/ansible/start_dev_container.yml b/ansible/start_dev_container.yml deleted file mode 100644 index 8f43ce102..000000000 --- a/ansible/start_dev_container.yml +++ /dev/null @@ -1,6 +0,0 @@ ---- -- name: Setup and start container - hosts: all - roles: - - docker - - start_dev_container \ No newline at end of file diff --git a/docker/build_test/Dockerfile b/docker/build_test/Dockerfile deleted file mode 100644 index 7e6118901..000000000 --- a/docker/build_test/Dockerfile +++ /dev/null @@ -1,15 +0,0 @@ -FROM ubuntu:20.04 - -RUN apt-get update -RUN apt-get install -y openssh-server locales -RUN mkdir /var/run/sshd -RUN echo 'root:root' | chpasswd -RUN sed -ri 's/^#?PermitRootLogin\s+.*/PermitRootLogin yes/' /etc/ssh/sshd_config - -# SSH login fix. Otherwise user is kicked off after login -RUN sed 's@session\s*required\s*pam_loginuid.so@session optional pam_loginuid.so@g' -i /etc/pam.d/sshd - -ENV NOTVISIBLE "in users profile" -RUN echo "export VISIBLE=now" >> /etc/profile -EXPOSE 22 -CMD ["/usr/sbin/sshd", "-D"] \ No newline at end of file diff --git a/docker/build_test/run.sh b/docker/build_test/run.sh deleted file mode 100755 index e7e019af7..000000000 --- a/docker/build_test/run.sh +++ /dev/null @@ -1,6 +0,0 @@ -# sudo docker stop $(sudo docker ps -q) -# sudo docker rmi $(sudo docker images -q) -f -SCRIPT_DIR=$(cd $(dirname $0); pwd) -cd $SCRIPT_DIR/.. -# docker-compose build -docker-compose up -d diff --git a/docker/scenario_test/Dockerfile b/docker/scenario_test/Dockerfile deleted file mode 100644 index 37d82eb54..000000000 --- a/docker/scenario_test/Dockerfile +++ /dev/null @@ -1,15 +0,0 @@ -FROM ros:galactic -ARG FLAGS - -SHELL ["/bin/bash", "-c"] -ENV DEBIAN_FRONTEND=noninteractive -ENV DEBCONF_NOWARNINGS=yes - -RUN sudo apt-get update && sudo apt-get -y install python3-pip python3-rospkg python3-rosdep -RUN mkdir -p /colcon_ws/src - -WORKDIR /colcon_ws -COPY packages.repos /colcon_ws -RUN vcs import src < packages.repos -RUN source /opt/ros/galactic/setup.bash && rosdep install -iry --from-paths src --rosdistro galactic -RUN source /opt/ros/galactic/setup.bash && colcon build $FLAGS \ No newline at end of file diff --git a/docs/docs/index.md b/docs/docs/index.md index af5dd0016..2f4ef1480 100755 --- a/docs/docs/index.md +++ b/docs/docs/index.md @@ -4,7 +4,7 @@ ![ansible](https://github.com/OUXT-Polaris/ouxt_automation/workflows/ansible/badge.svg) #### Automation -![documentat](https://github.com/OUXT-Polaris/ouxt_automation/workflows/documentat/badge.svg) +[![document](https://github.com/OUXT-Polaris/ouxt_automation/actions/workflows/document.yaml/badge.svg)](https://github.com/OUXT-Polaris/ouxt_automation/actions/workflows/document.yaml) [![deploy_workflow](https://github.com/OUXT-Polaris/ouxt_automation/actions/workflows/deploy_workflow.yaml/badge.svg)](https://github.com/OUXT-Polaris/ouxt_automation/actions/workflows/deploy_workflow.yaml) [![check_workflow_deployment](https://github.com/OUXT-Polaris/ouxt_automation/actions/workflows/check_workflow.yaml/badge.svg)](https://github.com/OUXT-Polaris/ouxt_automation/actions/workflows/check_workflow.yaml) diff --git a/docs/docs/packages.md b/docs/docs/packages.md index e014cd44a..f714ff022 100644 --- a/docs/docs/packages.md +++ b/docs/docs/packages.md @@ -2,4 +2,4 @@ ## dashboard -@github_dashboard(OUXT-Polaris/color_names,OUXT-Polaris/data_buffer,OUXT-Polaris/dynamixel_hardware_interface,OUXT-Polaris/geographic_conversion,OUXT-Polaris/geographic_info,OUXT-Polaris/geometry_msgs_data_buffer,OUXT-Polaris/hermite_path_planner,OUXT-Polaris/image_processing_utils,OUXT-Polaris/joy_to_twist,OUXT-Polaris/lua_vendor,OUXT-Polaris/message_synchronizer,OUXT-Polaris/miniv_control,OUXT-Polaris/miniv_description,OUXT-Polaris/navi_sim,OUXT-Polaris/nmea_gps_driver,OUXT-Polaris/nmea_hardware_interface,OUXT-Polaris/nmea_to_geopose,OUXT-Polaris/odom_frame_publisher,OUXT-Polaris/ouxt_common,OUXT-Polaris/pcl_apps,OUXT-Polaris/perception_bringup,OUXT-Polaris/playstation_controller_drivers,OUXT-Polaris/quaternion_operation,OUXT-Polaris/realsense_hardware_interface,OUXT-Polaris/robotx_behavior_tree,OUXT-Polaris/robotx_communication,OUXT-Polaris/robotx_costmap_calculator,OUXT-Polaris/robotx_ekf,OUXT-Polaris/scan_segmentation,OUXT-Polaris/sol_vendor,OUXT-Polaris/tcp_sender,OUXT-Polaris/unisim_ros2_control,OUXT-Polaris/usv_controller) \ No newline at end of file +@github_dashboard(OUXT-Polaris/color_names,OUXT-Polaris/data_buffer,OUXT-Polaris/dynamixel_hardware_interface,OUXT-Polaris/geographic_conversion,OUXT-Polaris/geographic_info,OUXT-Polaris/hermite_path_planner,OUXT-Polaris/image_processing_utils,OUXT-Polaris/joy_to_twist,OUXT-Polaris/lua_vendor,OUXT-Polaris/message_synchronizer,OUXT-Polaris/miniv_control,OUXT-Polaris/miniv_description,OUXT-Polaris/navi_sim,OUXT-Polaris/nmea_gps_driver,OUXT-Polaris/nmea_hardware_interface,OUXT-Polaris/nmea_to_geopose,OUXT-Polaris/odom_frame_publisher,OUXT-Polaris/ouxt_common,OUXT-Polaris/pcl_apps,OUXT-Polaris/perception_bringup,OUXT-Polaris/playstation_controller_drivers,OUXT-Polaris/quaternion_operation,OUXT-Polaris/robotx_behavior_tree,OUXT-Polaris/robotx_communication,OUXT-Polaris/robotx_costmap_calculator,OUXT-Polaris/robotx_ekf,OUXT-Polaris/scan_segmentation,OUXT-Polaris/sol_vendor,OUXT-Polaris/tcp_sender,OUXT-Polaris/usv_controller,OUXT-Polaris/detic_onnx_ros2) \ No newline at end of file diff --git a/docs/docs/tools/docker_images.md b/docs/docs/tools/docker_images.md new file mode 100644 index 000000000..fd702a662 --- /dev/null +++ b/docs/docs/tools/docker_images.md @@ -0,0 +1,13 @@ +# Docker Images + +Some docker images are distributed on dockerhub. +Please check the README on Dockerhub for detailed usage instructions. +Click on the name of the Docker Image to jump to the Dockerhub details page. + +| Image Name | Dockerfile | Description | +|-------------------------------------------------------------------------|-----------------------------------------------------------------------------------------------------------------------------|-----------------------------------------------------------------------------| +| [wamvtan/vrx](https://hub.docker.com/r/wamvtan/vrx) | [Dockerfile](https://github.com/OUXT-Polaris/ouxt_automation/blob/master/.github/workflows/docker/vrx/Dockerfile) | Docker Images for [virtual RobotX](https://github.com/osrf/vrx) | +| [wamvtan/dev_container](https://hub.docker.com/r/wamvtan/dev_container) | [Dockerfile](https://github.com/OUXT-Polaris/ouxt_automation/blob/master/.github/workflows/docker/dev_container/Dockerfile) | Docker Image containing software development environment and ROS2 packages. | +| [wamvtan/l4t_opencv](https://hub.docker.com/r/wamvtan/l4t_opencv) | [Dockerfile](https://github.com/OUXT-Polaris/ouxt_automation/blob/master/.github/workflows/docker/l4t_opencv/Dockerfile) | Docker Image for building opencv for Linux 4 Tegra | +| [wamvtan/yolox](https://hub.docker.com/r/wamvtan/yolox) | [Dockerfile](https://github.com/OUXT-Polaris/ouxt_automation/blob/master/.github/workflows/docker/yolox/Dockerfile) | Docker Images for inferencing yolox. | +| [wamvtan/yolox_trainer](https://hub.docker.com/r/wamvtan/yolox_trainer) | [Dockerfile](https://github.com/OUXT-Polaris/ouxt_automation/blob/master/.github/workflows/docker/yolox_trainer/Dockerfile) | Docker Images for training yolox model. | diff --git a/docs/docs/tools/images/chatgpt_review.png b/docs/docs/tools/images/chatgpt_review.png new file mode 100644 index 000000000..b73239a5a Binary files /dev/null and b/docs/docs/tools/images/chatgpt_review.png differ diff --git a/docs/docs/tools/tools.md b/docs/docs/tools/tools.md index 6a60498d5..e9eef0a92 100644 --- a/docs/docs/tools/tools.md +++ b/docs/docs/tools/tools.md @@ -196,4 +196,15 @@ torch2trt_torch2trt_1 exited with code 0 you can download dataset via [google drive](https://drive.google.com/file/d/1FMCPw5fD9Sl-0eTXhb6FS6YBDkaSIyTB/view?usp=sharing) by running this command. ``` ansible-playbook -i ansible/hosts/localhost.ini ansible/setup_dataset.yml --connection local --ask-become-pass -``` \ No newline at end of file +``` + +## Code review bot by ChatGPT + +We developed a code review bot using ChatGPT. +When you request a review to the bot user named wam-v-tan, it analyzes the PR differences and automatically performs the code review. + +The implementation of action can be found [here](https://github.com/OUXT-Polaris/chatgpt-github-actions). + +Example of the code review can be seen [here.](https://github.com/OUXT-Polaris/perception_bringup/pull/52/) + +![bot](./images/chatgpt_review.png) diff --git a/docs/docs/tutorials/build_instraction.md b/docs/docs/tutorials/build_instraction.md index e8cb52d96..a6e422609 100755 --- a/docs/docs/tutorials/build_instraction.md +++ b/docs/docs/tutorials/build_instraction.md @@ -16,17 +16,17 @@ not first time (skip installing ros2) sh update.sh ``` -## setup develop container +### Troubleshooting +> Failed to connect to the host via ssh +Please execute command below to delete fingerprint of localhost:2022 +```bash +ssh-keygen -f "${HOME}/.ssh/known_hosts" -R "[localhost]:2022" ``` -docker-compose build -docker-compose up -d -ansible-playbook -i ansible/hosts/docker.ini ansible/setup_dev_environment.yml -``` - ## setup real robot -``_NOTE_ : setting up real robot is fully automated via github actions, so using this setup-robot playbook manually is not recommended. +!!! note + setting up real robot is fully automated via github actions, so using this setup-robot playbook manually is not recommended. These operations should be run in robot. @@ -49,4 +49,4 @@ This playbook includes three steps. ``` ansible-playbook -i ansible/hosts/localhost.ini ansible/setup_mbed_workspace.yml --connection local --ask-become-pass -``` \ No newline at end of file +``` diff --git a/docs/docs/tutorials/ml_pipeline.md b/docs/docs/tutorials/ml_pipeline.md deleted file mode 100644 index 58e4ef8b4..000000000 --- a/docs/docs/tutorials/ml_pipeline.md +++ /dev/null @@ -1,10 +0,0 @@ -# ML Pipeline -## What we can do? -We can train / convert yolox model automatically. - -## Install - -``` -ansible-galaxy install -fr ansible/roles/requirements.yml -ansible-playbook -i ansible/hosts/localhost.ini ansible/setup_ml_pipeline.yml --connection local --ask-become-pass -``` \ No newline at end of file diff --git a/docs/docs/tutorials/navigation_demo.md b/docs/docs/tutorials/navigation_demo.md index 7d7fed091..0696253a9 100755 --- a/docs/docs/tutorials/navigation_demo.md +++ b/docs/docs/tutorials/navigation_demo.md @@ -9,7 +9,7 @@ Please see also, [this page](build_instraction.md). ### run simulator and planner ``` -ros2 launch navi_sim with_planner.launch.py +ros2 launch navi_sim with_planner.launch.py behavior_config_filepath:=config/loop_demo.yaml ``` ### set goal diff --git a/docs/docs/tutorials/supported_platforms.md b/docs/docs/tutorials/supported_platforms.md index df1309a75..9fa71fa74 100755 --- a/docs/docs/tutorials/supported_platforms.md +++ b/docs/docs/tutorials/supported_platforms.md @@ -1,6 +1,6 @@ # Supported Platform -## ubuntu 20.04 -If your ubuntu version is older than 20.04, you can use docker environment. +## ubuntu 22.04 +If your ubuntu version is older than 22.04, you can use docker environment. ansible task install ROS2 foxy, so you do not necessary to setup ROS2 diff --git a/docs/mkdocs.yml b/docs/mkdocs.yml index eeaf71a82..b96c7b1ca 100755 --- a/docs/mkdocs.yml +++ b/docs/mkdocs.yml @@ -87,16 +87,18 @@ markdown_extensions: - toc: permalink: ⚓︎ toc_depth: 3 + - admonition nav: - Home: index.md - Tutorials: - tutorials/build_instraction.md - - tutorials/ml_pipeline.md - tutorials/navigation_demo.md - tutorials/supported_platforms.md - Software Packages: packages.md - - Tools: tools/tools.md + - Tools: + - tools/tools.md + - tools/docker_images.md - Hardware Documentation: https://ouxt-polaris.github.io/robotx-hardware-documentation/ - Automation Pipeline: automation_pipeline.md - LICENSE: license.md diff --git a/ml_pipeline/manifests/minio/minio-deployment.yaml b/ml_pipeline/manifests/minio/minio-deployment.yaml deleted file mode 100644 index 3d14e69f5..000000000 --- a/ml_pipeline/manifests/minio/minio-deployment.yaml +++ /dev/null @@ -1,44 +0,0 @@ -apiVersion: apps/v1 -kind: Deployment -metadata: - annotations: - kompose.cmd: kompose convert -f docker-compose.yaml - kompose.version: 1.26.1 (a9d05d509) - creationTimestamp: null - labels: - io.kompose.service: minio - name: minio -spec: - replicas: 1 - selector: - matchLabels: - io.kompose.service: minio - strategy: {} - template: - metadata: - annotations: - kompose.cmd: kompose convert -f docker-compose.yaml - kompose.version: 1.26.1 (a9d05d509) - creationTimestamp: null - labels: - io.kompose.service: minio - spec: - containers: - - args: - - server - - --console-address - - :9001 - - /data - env: - - name: MINIO_ROOT_PASSWORD - value: minio123 - - name: MINIO_ROOT_USER - value: minio - image: minio/minio:latest - name: minio - ports: - - containerPort: 9000 - - containerPort: 9001 - resources: {} - restartPolicy: Always -status: {} diff --git a/ml_pipeline/manifests/minio/minio-service.yaml b/ml_pipeline/manifests/minio/minio-service.yaml deleted file mode 100644 index c7fa960bf..000000000 --- a/ml_pipeline/manifests/minio/minio-service.yaml +++ /dev/null @@ -1,22 +0,0 @@ -apiVersion: v1 -kind: Service -metadata: - annotations: - kompose.cmd: kompose convert -f docker-compose.yaml - kompose.version: 1.26.1 (a9d05d509) - creationTimestamp: null - labels: - io.kompose.service: minio - name: minio -spec: - ports: - - name: "9000" - port: 9000 - targetPort: 9000 - - name: "9001" - port: 9001 - targetPort: 9001 - selector: - io.kompose.service: minio -status: - loadBalancer: {} diff --git a/ml_pipeline/port_forward.sh b/ml_pipeline/port_forward.sh deleted file mode 100644 index 59493cde1..000000000 --- a/ml_pipeline/port_forward.sh +++ /dev/null @@ -1 +0,0 @@ -kubectl port-forward svc/minio 9001:9001 \ No newline at end of file diff --git a/ml_pipeline/start_with_minikube.sh b/ml_pipeline/start_with_minikube.sh deleted file mode 100644 index f27d53183..000000000 --- a/ml_pipeline/start_with_minikube.sh +++ /dev/null @@ -1,6 +0,0 @@ -minikube start -kubectl create ns argo -kubectl apply -n argo -f https://raw.githubusercontent.com/argoproj/argo/stable/manifests/quick-start-postgres.yaml -kubectl create ns minio -kubectl apply -f manifests/minio/minio-development -n minio -kubectl apply -f manifests/minio/minio-service -n minio \ No newline at end of file diff --git a/scripts/check_workflow_deployment.py b/scripts/check_workflow_deployment.py index c3a6c606a..8068e4ec4 100644 --- a/scripts/check_workflow_deployment.py +++ b/scripts/check_workflow_deployment.py @@ -5,9 +5,7 @@ # Our repos which don't have actions named BuildTest or Release # Specify Actions by {repository_name_in_rosdep_yaml}:{name_of_actions} -ignore_list = ["description/wamv_description:BuildTest", "description/wamv_description:Release", - "utils/rosboard:Release", - "utils/rospy2:BuildTest", "utils/rospy2:Release"] +ignore_list = ["description/wamv_description:BuildTest", "description/wamv_description:Release"] def check_workflow_deployment(repos_filepath, workflow_name): with open(repos_filepath) as file: diff --git a/setup.sh b/setup.sh old mode 100644 new mode 100755 index 9571236ff..cbd87d590 --- a/setup.sh +++ b/setup.sh @@ -1,5 +1,4 @@ cd ansible sh setup_ansible.sh cd ../ -ansible-galaxy install -fr ansible/roles/requirements.yml -ansible-playbook -i ansible/hosts/localhost.ini ansible/setup_dev_environment.yml --connection local --ask-become-pass \ No newline at end of file +ansible-playbook -i ansible/hosts/localhost.ini ansible/setup_dev_environment.yml --connection local --ask-become-pass -e ansible_user=${USER} diff --git a/setup_uav.sh b/setup_uav.sh new file mode 100644 index 000000000..4ec54f4d9 --- /dev/null +++ b/setup_uav.sh @@ -0,0 +1,4 @@ +cd ansible +sh setup_ansible.sh +cd ../ +ansible-playbook -i ansible/hosts/uav.ini ansible/setup_uav.yml --connection ssh --ask-become-pass \ No newline at end of file diff --git a/update.sh b/update.sh old mode 100644 new mode 100755 index 6be6431a8..2e741733e --- a/update.sh +++ b/update.sh @@ -1 +1 @@ -ansible-playbook -i ansible/hosts/localhost.ini ansible/setup_dev_environment.yml --connection local --ask-become-pass --skip-tags create_workspace --skip-tags setup_ros2 \ No newline at end of file +ansible-playbook -i ansible/hosts/localhost.ini ansible/setup_dev_environment.yml --connection local --ask-become-pass --skip-tags create_workspace --skip-tags setup_ros2 -e ansible_user=${USER} diff --git a/workflow_templates/BuildTest.yaml b/workflow_templates/BuildTest.yaml index c61f35524..527114ab2 100644 --- a/workflow_templates/BuildTest.yaml +++ b/workflow_templates/BuildTest.yaml @@ -7,15 +7,56 @@ on: workflow_dispatch: jobs: - build_and_test: - name: Build - runs-on: ubuntu-20.04 + build: + name: build + runs-on: ubuntu-22.04 + timeout-minutes: 180 strategy: fail-fast: false + max-parallel: 8 matrix: - rosdistro : [$parameter.rosdistro] + rosdistro: [humble] + include: + # Galactic Geochelone (May 2021 - November 2022) + # - docker_image: rostooling/setup-ros-docker:ubuntu-focal-ros-galactic-ros-base-latest + # rosdistro: galactic + # Humble Hawksbill (May 2022 - May 2027) + - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest + rosdistro: humble + # Rolling Ridley + # - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-rolling-ros-base-latest + # rosdistro: rolling + env: + ROS_DISTRO: ${{ matrix.rosdistro }} + container: + image: ${{ matrix.docker_image }} steps: - - uses: actions/checkout@v2-beta + - uses: actions/checkout@v3 + with: + fetch-depth: 0 + - name: workaround for jammy + if: ${{ matrix.rosdistro == 'humble' }} + run: | + apt remove libunwind-14-dev -y + apt install python3-nose -y + pip uninstall nose -y + - name: install ccache + run: | + apt install -y ccache + - name: Make ccache dir + run: | + mkdir -p /tmp/ccache + - uses: actions/cache@v3 + with: + path: /tmp/ccache + key: ccache-${{ matrix.rosdistro }} + - name: Search packages in this repository + id: list_packages + run: | + echo ::set-output name=package_list::$(colcon list --names-only | sed -e ':loop; N; $!b loop; s/\n/ /g') + - name: Show target packages + run: | + echo "Target packages: ${{ steps.list_packages.outputs.package_list }}" - name: Check dependency-${{ matrix.rosdistro }}.repos existence id: check_rosdistro_repos_files uses: andstor/file-existence-action@v1 @@ -28,23 +69,35 @@ jobs: with: files: dependency.repos allow_failure: false - - name: Run OUXT-Polaris/ros2-ci@master with dependency-${{ matrix.rosdistro }}.repos - uses: OUXT-Polaris/ros2-ci@master + - name: Run build test with dependency-${{ matrix.rosdistro }}.repos + uses: ros-tooling/action-ros-ci@v0.3 if: steps.check_rosdistro_repos_files.outputs.files_exists == 'true' with: - ros2-distro: ${{ matrix.rosdistro }} - repos-filepath: dependency-${{ matrix.rosdistro }}.repos - - name: Run OUXT-Polaris/ros2-ci@master with dependency.repos - uses: OUXT-Polaris/ros2-ci@master + package-name: ${{ steps.list_packages.outputs.package_list }} + target-ros2-distro: ${{ matrix.rosdistro }} + vcs-repo-file-url: dependency-${{ matrix.rosdistro }}.repos + extra-cmake-args: -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache + env: + CCACHE_DIR: /tmp/ccache + - name: Run build test with dependency.repos + uses: ros-tooling/action-ros-ci@v0.3 if: steps.check_rosdistro_repos_files.outputs.files_exists == 'false' && steps.check_repos_files.outputs.files_exists == 'true' with: - ros2-distro: ${{ matrix.rosdistro }} - repos-filepath: dependency.repos - - name: Run OUXT-Polaris/ros2-ci@master without repos - uses: OUXT-Polaris/ros2-ci@master + package-name: ${{ steps.list_packages.outputs.package_list }} + target-ros2-distro: ${{ matrix.rosdistro }} + vcs-repo-file-url: dependency.repos + extra-cmake-args: -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache + env: + CCACHE_DIR: /tmp/ccache + - name: Run build test without .repos file + uses: ros-tooling/action-ros-ci@v0.3 if: steps.check_rosdistro_repos_files.outputs.files_exists == 'false' && steps.check_repos_files.outputs.files_exists == 'false' with: - ros2-distro: ${{ matrix.rosdistro }} + package-name: ${{ steps.list_packages.outputs.package_list }} + target-ros2-distro: ${{ matrix.rosdistro }} + extra-cmake-args: -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache + env: + CCACHE_DIR: /tmp/ccache - name: Notify Slack uses: 8398a7/action-slack@v2 if: failure() @@ -52,4 +105,15 @@ jobs: status: ${{ job.status }} env: GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} - SLACK_WEBHOOK_URL: ${{ secrets.SLACK_WEBHOOK }} \ No newline at end of file + SLACK_WEBHOOK_URL: ${{ secrets.SLACK_WEBHOOK }} + merge: + name: merge + runs-on: ubuntu-22.04 + timeout-minutes: 180 + needs: build + steps: + - name: merge PR + if : ${{ (github.event_name == 'pull_request') && (github.actor == 'wam-v-tan') }} + env: + GH_TOKEN: ${{ secrets.GITHUB_TOKEN }} + run: gh pr merge ${{ github.event.pull_request.html_url }} --merge diff --git a/workflow_templates/Release.yaml b/workflow_templates/Release.yaml index 39b4218b3..fb0623280 100644 --- a/workflow_templates/Release.yaml +++ b/workflow_templates/Release.yaml @@ -65,4 +65,4 @@ jobs: status: ${{ job.status }} env: GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} - SLACK_WEBHOOK_URL: ${{ secrets.SLACK_WEBHOOK }} \ No newline at end of file + SLACK_WEBHOOK_URL: ${{ secrets.SLACK_WEBHOOK }} diff --git a/workflow_templates/Review.yaml b/workflow_templates/Review.yaml new file mode 100644 index 000000000..60a558421 --- /dev/null +++ b/workflow_templates/Review.yaml @@ -0,0 +1,24 @@ +name: CodeReview + +permissions: + contents: read + pull-requests: write + +on: + pull_request: + types: [review_requested] + +jobs: + review: + runs-on: ubuntu-latest + if: ${{ github.event.requested_reviewer.login == 'wam-v-tan' }} + steps: + - uses: OUXT-Polaris/chatgpt-github-actions@main + with: + openai_api_key: ${{ secrets.OPENAI_API_KEY }} + github_token: ${{ secrets.WAMV_TAN_BOT_SECRET }} + github_pr_id: ${{ github.event.number }} + openai_engine: "gpt-3.5-turbo" #optional + openai_temperature: 0.5 #optional + openai_max_tokens: 2048 #optional + mode: review diff --git a/workflow_templates/UpdateWorkflowStatus.yaml b/workflow_templates/UpdateWorkflowStatus.yaml index 68115b27e..b8d821bad 100644 --- a/workflow_templates/UpdateWorkflowStatus.yaml +++ b/workflow_templates/UpdateWorkflowStatus.yaml @@ -3,6 +3,9 @@ on: pull_request: paths-ignore: - ".github/workflows/UpdateWorkflowStatus.yaml" + - ".github/workflows/BuildTest.yaml" + - ".github/workflows/Release.yaml" + - ".github/workflows/Review.yaml" workflow_dispatch: jobs: @@ -16,4 +19,4 @@ jobs: token: ${{ secrets.WAMV_TAN_BOT_SECRET }} repo: OUXT-Polaris/ouxt_automation workflow: document - ref: master \ No newline at end of file + ref: master