Efc/ros1 (#161)

* Basic testing on docker image for tf works Signed-off-by: Aaron Chong <aaronchong@google.com> * Renaming types and starting conversions Signed-off-by: Aaron Chong <aaronchong@google.com> * Renaming and verifying regression tests Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * minimal-zenoh-bridge-ros1 to build bridge from source Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Clone bridge recursively for rosrust Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * nav1 tf integration tests Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fix nav1 robot testing namespace, lint Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fix imports, lint, new cmake and action argument to split nav1 or nav2 integration tests Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fix ros master race condition, basic conversion Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * TransformStamped ros1 type Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Build with updated images Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Reduce size of minimal zenoh bridge ros1 image, lint Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Setup for more testing scripts Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * move base handler Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * lint Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * free_fleet testing Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * move_base_handler integration testing Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Basic testing on the level of nav1 robot adapter Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Basic nav1 fleet adapter setup done Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * New image builds and new tests Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Refactor out the part of starting fleet adapters for future testing Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Turn off nightly on-push build Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Update documentation with nav1 simulation example Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * nav1 sim architecture Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Update CI branch, todos on readme Signed-off-by: Aaron Chong <aaronchongth@gmail.com> --------- Signed-off-by: Aaron Chong <aaronchong@google.com> Signed-off-by: Aaron Chong <aaronchongth@gmail.com>
open-rmf · Dec 31, 2024 · 26ff2b8 · 26ff2b8
1 parent 02cf5d3
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diff --git a/.github/actions/build-and-test/action.yaml b/.github/actions/build-and-test/action.yaml
@@ -7,7 +7,11 @@ inputs:
   zenoh-version:
     description: string, version of eclipse-zenoh to install from pip
     required: true
-  integration-testing:
+  nav1-integration-testing:
+    description: string, supports ON or OFF only
+    required: false
+    default: "OFF"
+  nav2-integration-testing:
     description: string, supports ON or OFF only
     required: false
     default: "OFF"
@@ -18,7 +22,7 @@ runs:
     - name: install dependencies
       run: |
         sudo apt update && sudo apt install python3-pip -y
-        pip3 install eclipse-zenoh==${{ inputs.zenoh-version }} pycdr2 --break-system-packages
+        pip3 install eclipse-zenoh==${{ inputs.zenoh-version }} pycdr2 rosbags --break-system-packages
       shell: bash
 
     - uses: ros-tooling/setup-ros@v0.7
@@ -34,7 +38,8 @@ runs:
           {
             "build": {
               "cmake-args": [
-                  "-DINTEGRATION_TESTING=${{ inputs.integration-testing }}"
+                  "-DNAV1_INTEGRATION_TESTING=${{ inputs.nav1-integration-testing }}",
+                  "-DNAV2_INTEGRATION_TESTING=${{ inputs.nav2-integration-testing }}"
               ],
               "mixin": ["coverage-pytest"]
             },

diff --git a/.github/docker/integration-tests/nav1-docker-compose.yaml b/.github/docker/integration-tests/nav1-docker-compose.yaml
@@ -0,0 +1,31 @@
+services:
+  minimal-ros1-sim:
+    image: ghcr.io/open-rmf/free_fleet/minimal-ros1-sim:noetic-latest
+    stop_signal: SIGINT
+    network_mode: host
+    privileged: true
+    stdin_open: true
+    tty: true
+
+  minimal-nav1-bringup:
+    image: ghcr.io/open-rmf/free_fleet/minimal-nav1-bringup:noetic-latest
+    stop_signal: SIGINT
+    network_mode: host
+    privileged: true
+    stdin_open: true
+    tty: true
+
+  minimal-zenoh-bridge-ros1:
+    image: ghcr.io/open-rmf/free_fleet/minimal-zenoh-bridge-ros1:noetic-latest
+    network_mode: host
+    stdin_open: true
+    tty: true
+
+  minimal-zenoh-router:
+    image: eclipse/zenoh
+    restart: unless-stopped
+    network_mode: host
+    stdin_open: true
+    tty: true
+    environment:
+      - RUST_LOG=debug
diff --git a/...ker/integration-tests/docker-compose.yaml → ...ntegration-tests/nav2-docker-compose.yaml b/...ker/integration-tests/docker-compose.yaml → ...ntegration-tests/nav2-docker-compose.yaml
@@ -1,5 +1,3 @@
-version: "3"
-
 services:
   minimal-nav2-bringup:
     image: ghcr.io/open-rmf/free_fleet/minimal-nav2-bringup:jazzy-latest
@@ -11,8 +9,8 @@ services:
     environment:
       - ROS_DOMAIN_ID=42
 
-  minimal-zenoh-bridge:
-    image: ghcr.io/open-rmf/free_fleet/minimal-zenoh-bridge:jazzy-latest
+  minimal-zenoh-bridge-ros2dds:
+    image: ghcr.io/open-rmf/free_fleet/minimal-zenoh-bridge-ros2dds:jazzy-latest
     network_mode: host
     stdin_open: true
     tty: true

diff --git a/.github/docker/minimal-nav1-bringup/Dockerfile b/.github/docker/minimal-nav1-bringup/Dockerfile
@@ -0,0 +1,21 @@
+ARG ROS_DISTRO=noetic
+FROM docker.io/ros:$ROS_DISTRO-ros-base
+
+RUN apt update && apt install -y curl ros-$ROS_DISTRO-turtlebot3-navigation ros-$ROS_DISTRO-dwa-local-planner
+
+RUN mkdir -p /tb3 && cd /tb3 \
+  && curl -sL https://github.com/ros-navigation/navigation2/archive/refs/heads/master.tar.gz -o navigation2.tar.gz \
+  && mkdir -p /tb3/navigation2 && tar zxf navigation2.tar.gz -C /tb3/navigation2 --strip-components=1 && rm navigation2.tar.gz
+
+ENV TURTLEBOT3_MODEL=burger
+
+# Modify existing launch file to add initial pose
+RUN cd /tb3 \
+  && curl --output turtlebot3_navigation.launch "https://raw.githubusercontent.com/ROBOTIS-GIT/turtlebot3/refs/heads/noetic-devel/turtlebot3_navigation/launch/turtlebot3_navigation.launch" \
+  && sed -z 's|amcl.launch"/>|amcl.launch"><arg name="initial_pose_x" value="-2.0"/><arg name="initial_pose_y" value="-0.5"/></include>|' turtlebot3_navigation.launch > turtlebot3_navigation_edited.launch
+
+RUN rm -rf \
+  /var/lib/apt/lists \
+  /dist
+
+ENTRYPOINT ["bash", "-c", ". /opt/ros/$ROS_DISTRO/setup.bash && roslaunch --wait /tb3/turtlebot3_navigation_edited.launch map_file:=/tb3/navigation2/nav2_bringup/maps/tb3_sandbox.yaml open_rviz:=false"]
diff --git a/.github/docker/minimal-nav2-bringup/Dockerfile b/.github/docker/minimal-nav2-bringup/Dockerfile
@@ -1,14 +1,14 @@
 ARG ROS_DISTRO=jazzy
 FROM docker.io/ros:$ROS_DISTRO-ros-base
 
-RUN apt update && apt install -y  curl ros-$ROS_DISTRO-nav2-bringup ros-$ROS_DISTRO-rmw-cyclonedds-cpp
+RUN apt update && apt install -y curl ros-$ROS_DISTRO-nav2-bringup ros-$ROS_DISTRO-rmw-cyclonedds-cpp
 
 RUN mkdir -p /tb3 && cd /tb3 \
   && curl -sL https://github.com/ROBOTIS-GIT/turtlebot3_simulations/archive/refs/heads/master.tar.gz -o turtlebot3_simulations.tar.gz \
   && mkdir -p /tb3/turtlebot3_simulations && tar zxf turtlebot3_simulations.tar.gz -C /tb3/turtlebot3_simulations --strip-components=1 && rm turtlebot3_simulations.tar.gz
 
-ENV RMW_IMPLEMENTATION rmw_cyclonedds_cpp
-ENV GAZEBO_MODEL_PATH "$GAZEBO_MODEL_PATH:/tb3/turtlebot3_simulations/turtlebot3_gazebo/models"
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+ENV GAZEBO_MODEL_PATH="$GAZEBO_MODEL_PATH:/tb3/turtlebot3_simulations/turtlebot3_gazebo/models"
 
 RUN rm -rf \
   /var/lib/apt/lists \

diff --git a/.github/docker/minimal-ros1-sim/Dockerfile b/.github/docker/minimal-ros1-sim/Dockerfile
@@ -0,0 +1,12 @@
+ARG ROS_DISTRO=noetic
+FROM docker.io/ros:$ROS_DISTRO-ros-base
+
+RUN apt update && apt install -y ros-$ROS_DISTRO-turtlebot3-gazebo ros-$ROS_DISTRO-gazebo-ros-pkgs
+
+ENV TURTLEBOT3_MODEL=burger
+
+RUN rm -rf \
+  /var/lib/apt/lists \
+  /dist
+
+ENTRYPOINT ["bash", "-c", ". /opt/ros/$ROS_DISTRO/setup.bash && roslaunch turtlebot3_gazebo turtlebot3_world.launch gui:=false"]
diff --git a/.github/docker/minimal-zenoh-bridge-ros1/Dockerfile b/.github/docker/minimal-zenoh-bridge-ros1/Dockerfile
@@ -0,0 +1,36 @@
+### Build bridge
+
+ARG ROS_DISTRO=noetic
+FROM docker.io/ros:$ROS_DISTRO-ros-base
+ARG ZENOH_BRIDGE_REPO=eclipse-zenoh/zenoh-plugin-ros1
+ARG ZENOH_BRIDGE_TAG=main
+ARG FREE_FLEET_BRANCH=main
+
+RUN apt update && apt install -y build-essential curl git unzip wget
+
+# Get Rust
+RUN curl https://sh.rustup.rs -sSf | bash -s -- -y
+
+ENV PATH="/root/.cargo/bin:${PATH}"
+
+RUN mkdir -p /zenoh-bridge && cd /zenoh-bridge \
+  && git clone --recursive https://github.com/$ZENOH_BRIDGE_REPO -b $ZENOH_BRIDGE_TAG zenoh-plugin-ros1 \
+  && cd /zenoh-bridge/zenoh-plugin-ros1 \
+  && cargo build --package zenoh-bridge-ros1 --bin zenoh-bridge-ros1 --release
+
+RUN cd /zenoh-bridge \
+  && wget -O turtlebot3_zenoh_bridge_ros1_client_config.json5 https://raw.githubusercontent.com/open-rmf/free_fleet/refs/heads/$FREE_FLEET_BRANCH/free_fleet_examples/config/zenoh/turtlebot3_zenoh_bridge_ros1_client_config.json5
+
+RUN rm -rf \
+  /var/lib/apt/lists \
+  /dist
+
+### Set up bare minimum zenoh-bridge-ros1 image
+
+FROM docker.io/ros:$ROS_DISTRO-ros-base
+
+COPY --from=0 /zenoh-bridge/turtlebot3_zenoh_bridge_ros1_client_config.json5 /zenoh-bridge/turtlebot3_zenoh_bridge_ros1_client_config.json5
+
+COPY --from=0 /zenoh-bridge/zenoh-plugin-ros1/target/release/zenoh-bridge-ros1 /zenoh-bridge/zenoh-bridge-ros1
+
+ENTRYPOINT ["bash", "-c", ". /opt/ros/$ROS_DISTRO/setup.bash && /zenoh-bridge/zenoh-bridge-ros1 -c /zenoh-bridge/turtlebot3_zenoh_bridge_ros1_client_config.json5"]
diff --git a/...ub/docker/minimal-zenoh-bridge/Dockerfile → ...r/minimal-zenoh-bridge-ros2dds/Dockerfile b/...ub/docker/minimal-zenoh-bridge/Dockerfile → ...r/minimal-zenoh-bridge-ros2dds/Dockerfile
@@ -1,22 +1,22 @@
 ARG ROS_DISTRO=jazzy
 FROM docker.io/ros:$ROS_DISTRO-ros-base
-ARG ZENOH_VERSION=1.0.1
+ARG ZENOH_VERSION=1.1.0
 ARG FREE_FLEET_BRANCH=main
 
-RUN apt update && apt install -y wget unzip ros-jazzy-rmw-cyclonedds-cpp
+RUN apt update && apt install -y wget unzip ros-$ROS_DISTRO-rmw-cyclonedds-cpp
 
 RUN mkdir -p /zenoh-bridge && cd /zenoh-bridge \
   && wget -O zenoh-plugin-ros2dds.zip https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds/releases/download/$ZENOH_VERSION/zenoh-plugin-ros2dds-$ZENOH_VERSION-x86_64-unknown-linux-gnu-standalone.zip \
   && unzip zenoh-plugin-ros2dds.zip \
   && rm zenoh-plugin-ros2dds.zip
 
 RUN cd /zenoh-bridge \
-  && wget -O turtlebot3_1_client_zenoh_config.json5 https://raw.githubusercontent.com/open-rmf/free_fleet/refs/heads/$FREE_FLEET_BRANCH/free_fleet_examples/config/zenoh/turtlebot3_1_client_zenoh_config.json5
+  && wget -O turtlebot3_1_zenoh_bridge_ros2dds_client_config.json5 https://raw.githubusercontent.com/open-rmf/free_fleet/refs/heads/$FREE_FLEET_BRANCH/free_fleet_examples/config/zenoh/turtlebot3_1_zenoh_bridge_ros2dds_client_config.json5
 
-ENV RMW_IMPLEMENTATION rmw_cyclonedds_cpp
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
 RUN rm -rf \
   /var/lib/apt/lists \
   /dist
 
-ENTRYPOINT ["bash", "-c", ". /opt/ros/$ROS_DISTRO/setup.bash && /zenoh-bridge/zenoh-bridge-ros2dds -c /zenoh-bridge/turtlebot3_1_client_zenoh_config.json5"]
+ENTRYPOINT ["bash", "-c", ". /opt/ros/$ROS_DISTRO/setup.bash && /zenoh-bridge/zenoh-bridge-ros2dds -c /zenoh-bridge/turtlebot3_1_zenoh_bridge_ros2dds_client_config.json5"]
diff --git a/.github/workflows/integration-tests.yaml → ...hub/workflows/nav1-integration-tests.yaml b/.github/workflows/integration-tests.yaml → ...hub/workflows/nav1-integration-tests.yaml
@@ -1,4 +1,4 @@
-name: integration-tests
+name: nav1-integration-tests
 
 on: push
 
@@ -22,18 +22,18 @@ jobs:
           sudo apt update && sudo apt install docker-compose -y
 
       - name: Start test fixture containers
-        run: docker-compose -f ".github/docker/integration-tests/docker-compose.yaml" up -d --build
+        run: docker-compose -f ".github/docker/integration-tests/nav1-docker-compose.yaml" up -d --build
 
       - name: build-and-test
         uses: ./.github/actions/build-and-test
         with:
           ros-distribution: ${{ matrix.ros_distribution }}
-          zenoh-version: 1.0.1
-          integration-testing: ON
+          zenoh-version: 1.1.0
+          nav1-integration-testing: ON
 
       - name: Stop test fixture containers
         if: always()
-        run: docker-compose -f ".github/docker/integration-tests/docker-compose.yaml" down
+        run: docker-compose -f ".github/docker/integration-tests/nav1-docker-compose.yaml" down
 
       - name: Upload coverage to Codecov
         uses: codecov/codecov-action@v4

diff --git a/.github/workflows/nav2-integration-tests.yaml b/.github/workflows/nav2-integration-tests.yaml
@@ -0,0 +1,45 @@
+name: nav2-integration-tests
+
+on: push
+
+jobs:
+  integration-tests:
+    timeout-minutes: 10
+    runs-on: ubuntu-latest
+    container:
+      image: osrf/ros:${{ matrix.ros_distribution }}-desktop-noble
+    strategy:
+      matrix:
+        ros_distribution:
+          - jazzy
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v1
+
+      - name: Install docker-compose
+        run: |
+          sudo apt update && sudo apt install docker-compose -y
+
+      - name: Start test fixture containers
+        run: docker-compose -f ".github/docker/integration-tests/nav2-docker-compose.yaml" up -d --build
+
+      - name: build-and-test
+        uses: ./.github/actions/build-and-test
+        with:
+          ros-distribution: ${{ matrix.ros_distribution }}
+          zenoh-version: 1.1.0
+          nav2-integration-testing: ON
+
+      - name: Stop test fixture containers
+        if: always()
+        run: docker-compose -f ".github/docker/integration-tests/nav2-docker-compose.yaml" down
+
+      - name: Upload coverage to Codecov
+        uses: codecov/codecov-action@v4
+        with:
+          files: ros_ws/coveragepy/.coverage
+          flags: tests
+          fail_ci_if_error: true
+        env:
+          CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}