[Re-write] Free fleet adapter using easy-full-control fleet adapter and zenoh bridges

.github/actions/build-and-test/action.yaml

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+name: build-and-test
+
+inputs:
+  ros-distribution:
+    description: string, ROS distribution to setup
+    required: true
+  zenoh-version:
+    description: string, version of eclipse-zenoh to install from pip
+    required: true
+  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"
+
+runs:
+  using: composite
+  steps:
+    - name: install dependencies
+      run: |
+        sudo apt update && sudo apt install python3-pip -y
+        pip3 install eclipse-zenoh==${{ inputs.zenoh-version }} pycdr2 rosbags --break-system-packages
+      shell: bash
+
+    - uses: ros-tooling/setup-ros@v0.7
+      with:
+        required-ros-distributions: ${{ inputs.ros-distribution }}
+
+    - name: build and test
+      uses: ros-tooling/action-ros-ci@v0.3
+      with:
+        package-name: free_fleet free_fleet_adapter free_fleet_examples
+        target-ros2-distro: ${{ inputs.ros-distribution }}
+        colcon-defaults: |
+          {
+            "build": {
+              "cmake-args": [
+                  "-DNAV1_INTEGRATION_TESTING=${{ inputs.nav1-integration-testing }}",
+                  "-DNAV2_INTEGRATION_TESTING=${{ inputs.nav2-integration-testing }}"
+              ],
+              "mixin": ["coverage-pytest"]
+            },
+            "test": {
+              "mixin": ["coverage-pytest"]
+            }
+          }
+        colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml

.github/docker/integration-tests/nav1-docker-compose.yaml

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+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

.github/docker/integration-tests/nav2-docker-compose.yaml

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+services:
+  minimal-nav2-bringup:
+    image: ghcr.io/open-rmf/free_fleet/minimal-nav2-bringup:jazzy-latest
+    stop_signal: SIGINT
+    network_mode: host
+    privileged: true
+    stdin_open: true
+    tty: true
+    environment:
+      - ROS_DOMAIN_ID=42
+
+  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
+    environment:
+      - ROS_DOMAIN_ID=42
+
+  minimal-zenoh-router:
+    image: eclipse/zenoh
+    restart: unless-stopped
+    network_mode: host
+    stdin_open: true
+    tty: true
+    environment:
+      - RUST_LOG=debug

.github/docker/minimal-nav1-bringup/Dockerfile

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+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-$ROS_DISTRO-dwa-local-planner
+
+RUN mkdir -p /tb3 && cd /tb3 \
+  && curl -sL https://github.com/ros-navigation/navigation2/archive/refs/tags/1.3.4.tar.gz -o navigation2.tar.gz \
+  && mkdir -p /tb3/navigation2 && tar zxf navigation2.tar.gz -C /tb3/navigation2 --strip-components=1 && rm navigation2.tar.gz
+
+ENV TURTLEBOT3_MODEL=burger
+
+# Modify existing launch file to add initial pose
+RUN cd /tb3 \
+  && curl --output turtlebot3_navigation.launch "https://raw.githubusercontent.com/ROBOTIS-GIT/turtlebot3/refs/heads/noetic-devel/turtlebot3_navigation/launch/turtlebot3_navigation.launch" \
+  && sed -z 's|amcl.launch"/>|amcl.launch"><arg name="initial_pose_x" value="-2.0"/><arg name="initial_pose_y" value="-0.5"/></include>|' turtlebot3_navigation.launch > turtlebot3_navigation_edited.launch
+
+RUN rm -rf \
+  /var/lib/apt/lists \
+  /dist
+
+ENTRYPOINT ["bash", "-c", ". /opt/ros/$ROS_DISTRO/setup.bash && roslaunch --wait /tb3/turtlebot3_navigation_edited.launch map_file:=/tb3/navigation2/nav2_bringup/maps/tb3_sandbox.yaml open_rviz:=false"]

.github/docker/minimal-nav2-bringup/Dockerfile

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+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-$ROS_DISTRO-rmw-cyclonedds-cpp
+
+RUN mkdir -p /tb3 && cd /tb3 \
+  && curl -sL https://github.com/ROBOTIS-GIT/turtlebot3_simulations/archive/refs/heads/master.tar.gz -o turtlebot3_simulations.tar.gz \
+  && mkdir -p /tb3/turtlebot3_simulations && tar zxf turtlebot3_simulations.tar.gz -C /tb3/turtlebot3_simulations --strip-components=1 && rm turtlebot3_simulations.tar.gz
+
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+ENV GAZEBO_MODEL_PATH="$GAZEBO_MODEL_PATH:/tb3/turtlebot3_simulations/turtlebot3_gazebo/models"
+
+RUN rm -rf \
+  /var/lib/apt/lists \
+  /dist
+
+# Modify existing params file to add initial pose
+RUN mkdir -p /params && cd /params \
+  && cp /opt/ros/$ROS_DISTRO/share/nav2_bringup/params/nav2_params.yaml . \
+  && sed -z 's|amcl:\n  ros__parameters:\n|amcl:\n  ros__parameters:\n    set_initial_pose: true\n    initial_pose: {x: -2.0, y: -0.5, z: 0.0, yaw: 0.0}\n|' nav2_params.yaml > nav2_params_edited.yaml
+
+ENTRYPOINT ["bash", "-c", ". /opt/ros/$ROS_DISTRO/setup.bash && ros2 launch nav2_bringup tb3_simulation_launch.py params_file:=/params/nav2_params_edited.yaml use_rviz:=False"]

.github/docker/minimal-ros1-sim/Dockerfile

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+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"]

.github/docker/minimal-zenoh-bridge-ros1/Dockerfile

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+### 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 $ZENOH_BRIDGE_TAG zenoh-plugin-ros1 \
+  && cd /zenoh-bridge/zenoh-plugin-ros1 \
+  && cargo build --package zenoh-bridge-ros1 --bin zenoh-bridge-ros1 --release
+
+RUN cd /zenoh-bridge \
+  && wget -O nav1_tb3_zenoh_bridge_ros1_client_config.json5 https://raw.githubusercontent.com/open-rmf/free_fleet/refs/heads/$FREE_FLEET_BRANCH/free_fleet_examples/config/zenoh/nav1_tb3_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:$ROS_DISTRO-ros-base
+
+COPY --from=0 /zenoh-bridge/nav1_tb3_zenoh_bridge_ros1_client_config.json5 /zenoh-bridge/nav1_tb3_zenoh_bridge_ros1_client_config.json5
+
+COPY --from=0 /zenoh-bridge/zenoh-plugin-ros1/target/release/zenoh-bridge-ros1 /zenoh-bridge/zenoh-bridge-ros1
+
+ENTRYPOINT ["bash", "-c", ". /opt/ros/$ROS_DISTRO/setup.bash && /zenoh-bridge/zenoh-bridge-ros1 -c /zenoh-bridge/nav1_tb3_zenoh_bridge_ros1_client_config.json5"]

.github/docker/minimal-zenoh-bridge-ros2dds/Dockerfile

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+ARG ROS_DISTRO=jazzy
+FROM docker.io/ros:$ROS_DISTRO-ros-base
+ARG ZENOH_VERSION=1.1.0
+ARG FREE_FLEET_BRANCH=main
+
+RUN apt update && apt install -y wget unzip ros-$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 nav2_tb3_zenoh_bridge_ros2dds_client_config.json5 https://raw.githubusercontent.com/open-rmf/free_fleet/refs/heads/$FREE_FLEET_BRANCH/free_fleet_examples/config/zenoh/nav2_tb3_zenoh_bridge_ros2dds_client_config.json5
+
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+RUN rm -rf \
+  /var/lib/apt/lists \
+  /dist
+
+ENTRYPOINT ["bash", "-c", ". /opt/ros/$ROS_DISTRO/setup.bash && /zenoh-bridge/zenoh-bridge-ros2dds -c /zenoh-bridge/nav2_tb3_zenoh_bridge_ros2dds_client_config.json5"]

.github/workflows/nav1-integration-tests.yaml

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+name: nav1-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/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
+
+      - 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 }}

.github/workflows/nav2-integration-tests.yaml

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+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 }}