Merge pull request #13 from lucasw/robot_state_publisher

Robot state publisher, rtabmap, plotjuggler updates

.github/workflows/ubuntu_22_04.yml

@@ -4,8 +4,17 @@ on:
   push:
   workflow_dispatch:
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   ubuntu2204:
+    strategy:
+      fail-fast: false
+      matrix:
+        build_type: [install, devel]
+
     runs-on: ubuntu-22.04
     # env:
     steps:
@@ -55,6 +64,7 @@ jobs:
           sudo apt-get install -yqq libyaml-cpp-dev
           sudo apt-get install -yqq cython3
           sudo apt-get install -yqq libapriltag-dev
+          sudo apt-get install -yqq libfmt-dev
           sudo apt-get install -yqq libzmq3-dev
 
       - name: apt sdl installs
@@ -146,133 +156,119 @@ jobs:
           which catkin
           catkin --version
 
-      ### BASE DEVEL BUILD ###
       - name: setup base_catkin_ws
         run: |
-          mkdir -p base_catkin_ws/src
-          cd base_catkin_ws/src
+          mkdir -p ${{ matrix.build_type }}_base_catkin_ws/src
+          cd ${{ matrix.build_type }}_base_catkin_ws/src
           ln -s ../../other/src/ros_from_src/ubuntu_2204/base_repos.yaml
           # need https instead of git@github
           sed -i 's/[email protected]:/https:\/\/github.com\//' base_repos.yaml
+          ls -l
           vcs import --shallow < base_repos.yaml
           # ignore repos that aren't yet building in 22.04
           ../../other/src/ros_from_src/ubuntu_2204/ignore.sh
 
-          cd ..
-          catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release -Wno-deprecated
-
-      - name: build joint_trajectory_controller
-        run: |
-          cd base_catkin_ws
-          catkin build --no-status joint_trajectory_controller
-          source devel/setup.bash
-
-      - name: test joint_trajectory_controller
+      - name: devel setup
+        if: ${{ matrix.build_type == 'devel' }}
         run: |
-          cd base_catkin_ws
-          source devel/setup.bash
-          catkin build joint_trajectory_controller --no-status --no-deps --catkin-make-args tests
-          rostest joint_trajectory_controller joint_trajectory_controller.test
-          # catkin test --no-status joint_trajectory_controller
-
-      - name: build plotjuggler
-        run: |
-          cd base_catkin_ws
-          source devel/setup.bash
-          # Does building plotjuggler before plotjuggler_ros mess up in install?
-          # catkin build --no-status plotjuggler
-          catkin build --no-status plotjuggler_ros
-          source devel/setup.bash
+          cd ${{ matrix.build_type }}_base_catkin_ws
+          catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release -Wno-deprecated
 
-      - name: build rviz
+      - name: install setup
+        if: ${{ matrix.build_type == 'install' }}
         run: |
-          cd base_catkin_ws
-          source devel/setup.bash
-          catkin build --no-status rviz
-          source devel/setup.bash
+          cd ${{ matrix.build_type }}_base_catkin_ws
+          catkin config --install --cmake-args -DCMAKE_BUILD_TYPE=Release -Wno-deprecated
 
-      - name: build jsk_rviz_plugins
+      # back to devel build
+      - name: build fiducials
         run: |
-          cd base_catkin_ws
-          source devel/setup.bash
-          catkin build --no-status jsk_rviz_plugins
+          cd ${{ matrix.build_type }}_base_catkin_ws
+          catkin build --no-status fiducials
+          source ${{ matrix.build_type }}/setup.bash
 
-      - name: build fuse
+      - name: build grid_map
         run: |
-          cd base_catkin_ws
-          source devel/setup.bash
-          catkin build --no-status fuse_models fuse_optimizers
+          cd ${{ matrix.build_type }}_base_catkin_ws
+          source ${{ matrix.build_type }}/setup.bash
+          catkin build --no-status grid_map*
 
-      - name: build rest of base_catkin_ws
+      - name: build qt_gui_core
         run: |
-          cd base_catkin_ws
-          source devel/setup.bash
-          catkin build --no-status
+          cd ${{ matrix.build_type }}_base_catkin_ws
+          source ${{ matrix.build_type }}/setup.bash
+          catkin build --no-status qt_gui_core
 
-      ### BASE INSTALL BUILD ###
-      - name: setup base_catkin_ws
+      - name: build rtabmap_ros
         run: |
-          mkdir install_base_catkin_ws
-          cd install_base_catkin_ws
-          ln -s ../base_catkin_ws/src
-          catkin config --install --cmake-args -DCMAKE_BUILD_TYPE=Release -Wno-deprecated
+          cd ${{ matrix.build_type }}_base_catkin_ws
+          source ${{ matrix.build_type }}/setup.bash
+          catkin build --no-status rtabmap_ros
 
       - name: build joint_trajectory_controller
         run: |
-          cd install_base_catkin_ws
+          cd ${{ matrix.build_type }}_base_catkin_ws
+          source ${{ matrix.build_type }}/setup.bash
           catkin build --no-status joint_trajectory_controller
-          source install/setup.bash
 
       - name: test joint_trajectory_controller
+        if: ${{ matrix.build_type == 'devel' }}
         run: |
-          cd install_base_catkin_ws
-          source install/setup.bash
+          cd ${{ matrix.build_type }}_base_catkin_ws
+          source ${{ matrix.build_type }}/setup.bash
+          catkin build joint_trajectory_controller --no-status --no-deps --catkin-make-args tests
+          rostest joint_trajectory_controller joint_trajectory_controller.test
+          # catkin test --no-status joint_trajectory_controller
+
+      - name: test install joint_trajectory_controller
+        if: ${{ matrix.build_type == 'install' }}
+        run: |
+          cd ${{ matrix.build_type }}_base_catkin_ws
+          source ${{ matrix.build_type }}/setup.bash
           catkin test --no-status joint_trajectory_controller
 
       - name: build plotjuggler
         run: |
-          cd install_base_catkin_ws
-          source install/setup.bash
-          catkin build --no-status plotjuggler
-          source install/setup.bash
+          cd ${{ matrix.build_type }}_base_catkin_ws
+          source ${{ matrix.build_type }}/setup.bash
+          # Does building plotjuggler before plotjuggler_ros mess up in install?
+          # catkin build --no-status plotjuggler
           catkin build --no-status plotjuggler_ros
-
-      - name: build jsk_common_msgs
-        run: |
-          cd install_base_catkin_ws
-          source install/setup.bash
-          catkin build --no-status jsk_common_msgs
+          source ${{ matrix.build_type }}/setup.bash
 
       - name: build rviz
         run: |
-          cd install_base_catkin_ws
-          source install/setup.bash
+          cd ${{ matrix.build_type }}_base_catkin_ws
+          source ${{ matrix.build_type }}/setup.bash
           catkin build --no-status rviz
+          source ${{ matrix.build_type }}/setup.bash
 
-      - name: build jsk_rviz_plugins
+      - name: build jsk
         run: |
-          cd install_base_catkin_ws
-          source install/setup.bash
-          catkin build --no-status jsk_rviz_plugins
+          cd ${{ matrix.build_type }}_base_catkin_ws
+          source ${{ matrix.build_type }}/setup.bash
+          catkin build --no-status jsk*
 
       - name: build fuse
         run: |
-          cd install_base_catkin_ws
-          source install/setup.bash
+          cd ${{ matrix.build_type }}_base_catkin_ws
+          source ${{ matrix.build_type }}/setup.bash
           catkin build --no-status fuse_models fuse_optimizers
 
-      - name: build rest of base packages
+      - name: build rest of ${{ matrix.build_type }}_base_catkin_ws
         run: |
-          cd install_base_catkin_ws
-          source install/setup.bash
+          cd ${{ matrix.build_type }}_base_catkin_ws
+          source ${{ matrix.build_type }}/setup.bash
           catkin build --no-status
 
       - name: tar up install_catkin_ws
+        if: ${{ matrix.build_type == 'install' }}
         run: |
-          tar cvzf install_catkin_ws_2204.tgz install_base_catkin_ws/install
+          tar cvzf install_catkin_ws_2204.tgz ${{ matrix.build_type }}_base_catkin_ws/install
           ls -l
 
       - name: update install_catkin_ws_2204.tgz
+        if: ${{ matrix.build_type == 'install' }}
         uses: actions/upload-artifact@v2
         with:
           name: install_catkin_ws_2204

Dockerfile

@@ -12,28 +12,9 @@ RUN apt-get update
 RUN apt-get install -y apt-utils
 
 # apt installs
-RUN apt-get install -y build-essential
-RUN apt-get install -y bzip2 libbz2-dev
-RUN apt-get install -y cmake
-RUN apt-get install -y git
-RUN apt-get install -y libboost-dev
-RUN apt-get install -y libboost-filesystem-dev
-RUN apt-get install -y libboost-program-options-dev
-RUN apt-get install -y libboost-regex-dev
-RUN apt-get install -y libboost-thread-dev
-RUN apt-get install -y libgpgme-dev
-RUN apt-get install -y libgtest-dev
-RUN apt-get install -y liblog4cxx-dev
-RUN apt-get install -y liblz4-dev lz4
-RUN apt-get install -y libpoco-dev
-RUN apt-get install -y libtinyxml2-dev
-RUN apt-get install -y mawk coreutils
-RUN apt-get install -y python-is-python3
-RUN apt-get install -y python3
-RUN apt-get install -y python3-dev
-RUN apt-get install -y python3-empy
-RUN apt-get install -y python3-setuptools
-RUN apt-get install -y python3-yaml
+# TODO(lucasw) used to do these on separate layers but github actions has a layer limit?
+# it was failing later with 'ERROR: failed to solve: failed to prepare...max depth exceeded'
+RUN apt-get install -y build-essential bzip2 libbz2-dev cmake git libboost-dev libboost-filesystem-dev libboost-program-options-dev libboost-regex-dev libboost-thread-dev libfmt-dev libgpgme-dev libgtest-dev liblog4cxx-dev liblz4-dev lz4 libpoco-dev libtinyxml2-dev mawk coreutils python-is-python3 python3 python3-dev python3-empy python3-setuptools python3-yaml
 
 ENV SRC=/src
 RUN mkdir $SRC -p
@@ -44,24 +25,18 @@ RUN mkdir $WS -p
 
 ENV DEST=/opt/ros/noetic
 
+# TODO(lucasw) this doesn't work in 20.04 because of log
+# --build-args ROSCONSOLE=https://github.com/ros-o/rosconsole
+ARG ROSCONSOLE=https://github.com/ros-o/rosconsole
+# ENV ROSCONSOLE=$ROSCONSOLE
+RUN echo $ROSCONSOLE
+
 # packages that need to be cmake installed, and are ros packages in a catkin workspace
-WORKDIR $WS
-RUN git clone https://github.com/ros/catkin
-RUN git clone https://github.com/ros/console_bridge
-RUN git clone https://github.com/ros/cmake_modules
-RUN git clone https://github.com/ros-o/class_loader
-RUN git clone https://github.com/ros/rospack
-RUN git clone https://github.com/ros/genmsg
-RUN git clone https://github.com/ros/ros
-
-# pure python
-WORKDIR $SRC
-RUN git clone https://github.com/ros-infrastructure/catkin_pkg
-RUN git clone https://github.com/osrf/osrf_pycommon
-RUN git clone https://github.com/catkin/catkin_tools
-
-# cmake installs
-RUN git clone https://github.com/ros-o/ros_environment
+RUN mkdir $SRC/ros_from_src -p
+WORKDIR /
+COPY git_clone.sh $SRC/ros_from_src
+# WORKDIR $SRC/ros_from_src
+RUN ROS_CONSOLE=$ROSCONSOLE $SRC/ros_from_src/git_clone.sh
 
 # python installs
 
@@ -80,6 +55,7 @@ RUN echo $PYTHONPATH
 
 # catkin_pkg
 WORKDIR $SRC/catkin_pkg
+RUN pwd
 RUN python3 setup.py install --prefix=$DEST --record install_manifest.txt --single-version-externally-managed
 RUN ls -l $OPT_PYTHONPATH
 RUN ls -l $OPT_PYTHONPATH/catkin_pkg
@@ -179,41 +155,17 @@ RUN apt-get install -y python3-distro
 
 # ros packages, regular catkin build only for these
 WORKDIR $WS
-RUN git clone https://github.com/ros/ros_comm
-RUN git clone https://github.com/ros/roscpp_core
-RUN git clone https://github.com/ros/ros_comm_msgs
-RUN git clone https://github.com/ros/message_generation
-RUN git clone https://github.com/ros/gencpp
-RUN git clone https://github.com/jsk-ros-pkg/geneus
-RUN git clone https://github.com/RethinkRobotics-opensource/gennodejs
-RUN git clone https://github.com/ros/genlisp
-RUN git clone https://github.com/ros/genpy
-RUN git clone https://github.com/ros/std_msgs
-RUN git clone https://github.com/ros/message_runtime
-RUN git clone https://github.com/ros-o/pluginlib
 
-# TODO(lucasw) this doesn't work in 20.04 because of log
-# --build-args ROSCONSOLE=https://github.com/ros-o/rosconsole
-ARG ROSCONSOLE=https://github.com/ros-o/rosconsole
-# ENV ROSCONSOLE=$ROSCONSOLE
-RUN echo $ROSCONSOLE
-RUN git clone $ROSCONSOLE
 
 # runtime dependencies
 # rosbuild
-WORKDIR $SRC
-RUN git clone https://github.com/ros/rospkg
 WORKDIR $SRC/rospkg
 RUN python3 setup.py install --prefix=$DEST --record install_manifest.txt --single-version-externally-managed
 
-WORKDIR $SRC
-RUN git clone https://github.com/ros-infrastructure/rosdistro
 WORKDIR $SRC/rosdistro
 RUN python3 setup.py install --prefix=$DEST --record install_manifest.txt --single-version-externally-managed
 
-WORKDIR $SRC
 # can be sudo in docker, but otherwise want git clone https://github.com/lucasw/rosdep --branch disable_root_etc_ros
-RUN git clone https://github.com/ros-infrastructure/rosdep
 WORKDIR $SRC/rosdep
 RUN python3 setup.py install --prefix=$DEST --record install_manifest.txt --single-version-externally-managed
 RUN rosdep init
@@ -241,7 +193,7 @@ RUN catkin build
 # rospack list won't work by itself
 RUN source devel/setup.bash && rospack list
 
-RUN apt install python3-netifaces
+RUN apt-get install python3-netifaces
 
 WORKDIR $WS/..
 # TODO(lucasw) run tests

dependencies.sh

@@ -12,6 +12,7 @@ apt-get install -y libboost-filesystem-dev
 apt-get install -y libboost-program-options-dev
 apt-get install -y libboost-regex-dev
 apt-get install -y libboost-thread-dev
+apt-get install -y libfmt-dev
 apt-get install -y libgpgme-dev
 apt-get install -y libgtest-dev
 apt-get install -y liblog4cxx-dev

git_clone.sh

@@ -8,6 +8,7 @@ WS=`pwd`/catkin_ws/src
 echo $WS
 mkdir $WS -p
 
+# TODO(lucasw) replace these git clones with vcs
 # packages that need to be cmake installed, and are ros packages in a catkin workspace
 cd $WS
 git clone https://github.com/ros/catkin

ubuntu_2204/Dockerfile

@@ -15,13 +15,7 @@ RUN apt-get install -y apt-utils
 # apt installs
 RUN apt install -y git
 RUN apt install -y ros-*
-RUN apt install -y catkin-lint cython3 libapriltag-dev libceres-dev libfrei0r-ocaml-dev
-RUN apt install -y libgeographic-dev libgmock-dev libgoogle-glog-dev libgst-dev
-RUN apt install -y libgstreamer-plugins-base1.0-dev libgstreamer1.0-dev
-RUN apt install -y libimage-view-dev liborocos-bfl-dev libpcl-ros-dev libqt5svg5-dev libqt5websockets5-dev
-RUN apt install -y libqt5x11extras5-dev libqwt-qt5-dev libsdl-image1.2-dev
-RUN apt install -y libspnav-dev liburdfdom-dev libuvc-dev libv4l-dev libyaml-cpp-dev
-RUN apt install -y python-is-python3 python3-tf2-geometry-msgs python3-venv vim curl jq
+RUN apt install -y catkin-lint cython3 libapriltag-dev libceres-dev libfmt-dev libfrei0r-ocaml-dev libgeographic-dev libgmock-dev libgoogle-glog-dev libgst-dev libgstreamer-plugins-base1.0-dev libgstreamer1.0-dev libimage-view-dev liborocos-bfl-dev libpcl-ros-dev libqt5svg5-dev libqt5websockets5-dev libqt5x11extras5-dev libqwt-qt5-dev libsdl-image1.2-dev libspnav-dev liburdfdom-dev libuvc-dev libv4l-dev libyaml-cpp-dev python-is-python3 python3-tf2-geometry-msgs python3-venv vim curl jq
 
 ENV DEST=/other/install
 RUN mkdir $DEST -p
@@ -84,7 +78,7 @@ WORKDIR $WS/..
 RUN catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release -Wno-deprecated
 # split these up so can take advantage of docker layers, otherwise one failure
 # means a huge rebuild
-RUN catkin build --no-status -j1 fuse_core
+# RUN catkin build --no-status -j1 fuse_core
 # disabling this because it is too slow to build
 # RUN catkin build --no-status -j1 rtabmap_ros
 RUN catkin build --no-status -j1 jsk_rviz_plugins
@@ -93,7 +87,7 @@ RUN catkin build --no-status -j1 plotjuggler
 RUN catkin build --no-status -j1 rqt
 RUN catkin build --no-status -j1 octomap_server
 RUN catkin build --no-status -j1 libuvc_camera
-RUN catkin build --no-status -j1 fuse_constraints
+# RUN catkin build --no-status -j1 fuse_constraints
 RUN catkin build --no-status -j1 people_tracking_filter
 RUN catkin build --no-status -j1 laser_assembler
 RUN catkin build --no-status -j1 catkin_virtualenv