Pull Request #2: Updated with working Docker containers and CLI appli…

…cation
SaxionMechatronics · Jun 4, 2024 · 2709500 · 2709500
2 parents 4b0ab8b + dca903f
commit 2709500
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diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
@@ -0,0 +1,91 @@
+name: Setup and build packages
+
+# To manually run the workflow on GH, use the workflow_dispatch event trigger
+# on: workflow_dispatch
+
+# To automatically run on every push to GH, use the push and pull_request event trigger
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+    branches:
+      - main
+
+env:
+  USER: github.actor
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container:
+      image: px4io/px4-dev-ros-noetic:latest
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    steps:
+
+    - name: Check environment
+      run: |
+        export
+        ulimit -a
+
+    - name: Update ROS dependencies
+      run: |
+        . /opt/ros/$ROS_DISTRO/setup.sh
+        rosdep update
+
+    - name: Create dependency workspace
+      run: |
+        mkdir -p ~/dependencies
+        cd ~/dependencies
+    
+    - name: Install PX4 Dependencies
+      run: |
+        mkdir -p ~/dependencies
+        cd ~/dependencies
+        wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/setup/ubuntu.sh
+        wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/setup/requirements.txt
+        chmod +x ~/dependencies/ubuntu.sh && . ~/dependencies/ubuntu.sh
+
+    - name: Install MAVROS using binaries
+      run: |
+        mkdir -p ~/dependencies
+        cd ~/dependencies
+        sudo apt-get install ros-$ROS_DISTRO-mavros ros-$ROS_DISTRO-mavros-extras
+
+    - name: Install ROS building dependencies
+      run: |
+        sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential -y
+        sudo apt install python3-catkin-tools python3-rosinstall-generator python3-osrf-pycommon -y
+        sudo apt-get install ros-$ROS_DISTRO-rqt ros-$ROS_DISTRO-rqt-common-plugins -y
+        pip install scipy
+
+    - name: Create new workspace
+      run: |
+        cd ~
+        mkdir -p sarax_ws/src
+
+    - name: Initialise catkin workspace
+      run: |
+        cd ~/sarax_ws/
+        . /opt/ros/$ROS_DISTRO/setup.sh
+        catkin init
+        wstool init src
+    
+    - name: Clone Sarax project
+      run: |
+        cd ~/sarax_ws/src
+        git clone ${{ github.server_url }}/${{ github.repository }}.git
+        ls -l
+
+    - name: Get dependencies using rosdep
+      run: |
+        cd ~/sarax_ws/
+        . /opt/ros/$ROS_DISTRO/setup.sh
+        rosdep install --from-paths src --ignore-src -r -y --skip-keys="python-scipy"
+
+    - name: Build workspace
+      if: always()
+      run: |
+        cd ~/sarax_ws/
+        . /opt/ros/$ROS_DISTRO/setup.sh
+        catkin build
diff --git a/.github/workflows/publish_docker_package.yaml b/.github/workflows/publish_docker_package.yaml
@@ -0,0 +1,53 @@
+name: Publish docker image as package
+
+# To manually run the workflow on GH, use the workflow_dispatch event trigger
+# on: workflow_dispatch
+
+# To test workflow using act, use the push event
+# on:
+#   push:
+#     branches:
+#       - main
+
+# To automatically run depending on the status of the build.yaml workflow, use workflow_run event trigger
+on:
+  workflow_run:
+    workflows: [Setup and build packages]
+    types: [completed]
+
+jobs:
+  on-success:
+    runs-on: ubuntu-latest
+    if: ${{ github.event.workflow_run.conclusion == 'success' }}
+    steps:
+      - run: echo 'The build workflows have passed'
+
+  on-failure:
+    runs-on: ubuntu-latest
+    if: ${{ github.event.workflow_run.conclusion == 'failure' }}
+    steps:
+      - run: echo 'The build workflows have failed'
+
+  publish_package:
+    needs: on-success             # Uncomment when on default branch (main)
+    runs-on: ubuntu-latest
+    steps:
+
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Login to GH container registry
+        run: |
+          docker login --username ${{ github.actor }} --password ${{ secrets.GH_PAT }} ghcr.io
+
+      - name: Cleanup system
+        run: |
+          docker image prune
+
+      - name: Build Docker image
+        run: |
+          docker build --no-cache . -t ghcr.io/arief-ak/sarax-framework:latest
+
+      - name: Publish image
+        run: |
+          docker push ghcr.io/arief-ak/sarax-framework:latest
diff --git a/.github/workflows/sitl_build.yaml b/.github/workflows/sitl_build.yaml
@@ -0,0 +1,44 @@
+name: Sarax PX4 SITL
+
+# To manually run the workflow on GH, use the workflow_dispatch event trigger
+# on: workflow_dispatch
+
+# To test workflow using act, use the push event
+# on:
+#   push:
+#     branches:
+#       - main
+
+# To automatically run depending on the status of the build.yaml workflow, use workflow_run event trigger
+on:
+  workflow_run:
+    workflows: [Publish docker image as package]
+    types: [completed]
+
+jobs:
+  on-success:
+    runs-on: ubuntu-latest
+    if: ${{ github.event.workflow_run.conclusion == 'success' }}
+    steps:
+      - run: echo 'The Setup and build packages workflow passed'
+
+  on-failure:
+    runs-on: ubuntu-latest
+    if: ${{ github.event.workflow_run.conclusion == 'failure' }}
+    steps:
+      - run: echo 'The Setup and build packages workflow failed'
+
+  build:
+    needs: on-success             # Uncomment when on default branch (main)
+    runs-on: ubuntu-latest
+    container:
+      image: ghcr.io/arief-ak/sarax-framework:latest
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    steps:
+
+    - name: Run sarax SITL
+      run: |
+        . /home/user/.bashrc
+        cd /home/user/sarax_ws && ls -l
+        cd /home/user/sarax_ws/PX4-Autopilot/
+        ./sarax_plus_sitl.bash
diff --git a/.gitignore b/.gitignore
@@ -0,0 +1 @@
+.vscode/
diff --git a/Dockerfile b/Dockerfile
@@ -0,0 +1,84 @@
+# Pull px4-ros-noetic image
+FROM px4io/px4-dev-ros-noetic
+
+# Update the linux environment
+RUN echo "Updating environment" \
+    && sudo apt install nano -y \
+    && sudo apt install figlet -y \
+    && sudo apt update -y \
+    && sudo apt upgrade -y
+
+# Check environment
+RUN echo "Checking environment" \
+    && export \
+    && ulimit -a
+
+# Perform rosdep
+RUN echo "Use rosdep to update dependencies" \
+    && . /opt/ros/$ROS_DISTRO/setup.sh \
+    && rosdep update
+
+# Create a dependency workspace
+RUN mkdir -p ~/dependencies \
+    && cd ~/dependencies
+
+# Install PX4 Dependencies
+RUN cd ~/dependencies \
+    && wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/setup/ubuntu.sh \
+    && wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/setup/requirements.txt \
+    && chmod +x ~/dependencies/ubuntu.sh && . ~/dependencies/ubuntu.sh
+
+# Install MAVROS using binaries
+RUN cd ~/dependencies \
+    && sudo apt-get install ros-$ROS_DISTRO-mavros ros-$ROS_DISTRO-mavros-extras -y \
+    && wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh \
+    && chmod +x install_geographiclib_datasets.sh && ./install_geographiclib_datasets.sh
+
+# Install ROS build dependencies
+RUN sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential -y \
+    && sudo apt install python3-catkin-tools python3-rosinstall-generator python3-osrf-pycommon -y \
+    && sudo apt-get install ros-$ROS_DISTRO-rqt ros-$ROS_DISTRO-rqt-common-plugins -y \
+    && pip install scipy
+
+# Create a workspace
+RUN echo "Creating sarax workspace" \
+    && cd /home \
+    && mkdir -p user/sarax_ws/src/sarax
+
+# Clone the sarax branch from the PX4-Autopilot repository
+RUN cd /home/user/sarax_ws/ \
+    && git clone --recursive -b v1.13.2-sarax-sim https://github.com/SaxionMechatronics/PX4-Autopilot.git
+
+# Initialise catkin workspace
+RUN cd /home/user/sarax_ws/ \
+    && . /opt/ros/$ROS_DISTRO/setup.sh \
+    && catkin init \
+    && wstool init src
+
+# Copy the source into workspace source directory
+COPY . /home/user/sarax_ws/src/sarax/
+
+# Install dependencies using rosdep
+RUN cd /home/user/sarax_ws/ \
+    && . /opt/ros/$ROS_DISTRO/setup.sh \
+    && rosdep install --from-paths src --ignore-src -r -y --skip-keys="python-scipy"
+
+# Build the workspace
+RUN cd /home/user/sarax_ws/ \
+    && . /opt/ros/$ROS_DISTRO/setup.sh \
+    && catkin build
+
+# Export graphic libraries
+RUN echo "# If running on WSL2, uncomment the following lines" >> ~/.bashrc \
+    && echo "# export LD_LIBRARY_PATH=/usr/lib/wsl/lib" >> ~/.bashrc \
+    && echo "# export LIBVA_DRIVER_NAME=d3d12" >> ~/.bashrc
+
+# Export worskpace and update sourcing
+RUN cd /home/user/sarax_ws/ \
+    && echo "export SARAX_WS=$PWD" >> ~/.bashrc \
+    && echo "source \$SARAX_WS/devel/setup.bash" >> ~/.bashrc \
+    && echo "source \$SARAX_WS/src/sarax/scripts/container/docker_entrypoint.sh" >> ~/.bashrc
+
+# Build the simulator to speed up running within the container
+RUN cd /home/user/sarax_ws/PX4-Autopilot \
+    && ./sarax_plus_sitl.bash