Reduce size of minimal zenoh bridge ros1 image, lint

Signed-off-by: Aaron Chong <aaronchongth@gmail.com>
open-rmf · Dec 26, 2024 · 3b2e827 · 3b2e827
1 parent 0c4e2c8
commit 3b2e827
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Showing 3 changed files with 50 additions and 7 deletions.
diff --git a/.github/docker/minimal-zenoh-bridge-ros1/Dockerfile b/.github/docker/minimal-zenoh-bridge-ros1/Dockerfile
@@ -1,3 +1,5 @@
+### Build bridge
+
 ARG ROS_DISTRO=noetic
 FROM docker.io/ros:$ROS_DISTRO-ros-base
 ARG ZENOH_BRIDGE_REPO=eclipse-zenoh/zenoh-plugin-ros1
@@ -23,4 +25,12 @@ RUN rm -rf \
   /var/lib/apt/lists \
   /dist
 
-ENTRYPOINT ["bash", "-c", ". /opt/ros/$ROS_DISTRO/setup.bash && /zenoh-bridge/zenoh-plugin-ros1/target/release/zenoh-bridge-ros1 -c /zenoh-bridge/turtlebot3_zenoh_bridge_ros1_client_config.json5"]
+### Set up bare minimum zenoh-bridge-ros1 image
+
+FROM docker.io/ros:$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/$ROS_DISTRO/setup.bash && /zenoh-bridge/zenoh-bridge-ros1 -c /zenoh-bridge/turtlebot3_zenoh_bridge_ros1_client_config.json5"]
diff --git a/.github/workflows/nightly.yaml b/.github/workflows/nightly.yaml
@@ -96,6 +96,39 @@ jobs:
           tags: ghcr.io/${{ github.repository }}/minimal-zenoh-bridge-ros1:${{ matrix.ros_distribution }}-latest
           context: .github/docker/minimal-zenoh-bridge-ros1
 
+  nav1-integration-tests:
+    needs: build-minimal-nav1-docker-images
+    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/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: 1.1.0
+          nav1-integration-testing: ON
+
+      - name: Stop test fixture containers
+        if: always()
+        run: docker-compose -f ".github/docker/integration-tests/nav1-docker-compose.yaml" down
+
   nav2-integration-tests:
     needs: build-minimal-nav2-docker-images
     timeout-minutes: 10
@@ -122,8 +155,8 @@ jobs:
         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
+          nav2-integration-testing: ON
 
       - name: Stop test fixture containers
         if: always()

diff --git a/free_fleet/free_fleet/convert.py b/free_fleet/free_fleet/convert.py
@@ -17,12 +17,12 @@
 
 from builtin_interfaces.msg import Time as RclTimeMsg
 from free_fleet.ros1_types import (
-    TransformStamped as Ros1TransformStamped,
-    Time as Ros1Time
+    Time as Ros1Time,
+    TransformStamped as Ros1TransformStamped
 )
 from free_fleet.ros2_types import (
-    GeometryMsgs_TransformStamped as Ros2TransformStamped,
-    Time as Ros2Time
+    Time as Ros2Time,
+    GeometryMsgs_TransformStamped as Ros2TransformStamped
 )
 from geometry_msgs.msg import TransformStamped
 from rclpy import time as rclpyTime