Port CI fixes from #955 but targeting ubuntu 22 and ROS 2 Humble

Signed-off-by: Aaron Chong <[email protected]>
open-rmf · Jul 4, 2024 · 1fd22ee · 1fd22ee
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diff --git a/.github/actions/bootstrap/action.yml b/.github/actions/bootstrap/action.yml
@@ -11,18 +11,8 @@ inputs:
 runs:
   using: composite
   steps:
-    - uses: pnpm/[email protected]
-      with:
-        version: '8.15.7'
-    - uses: actions/setup-node@v2
-      with:
-        node-version: '16'
-        cache: 'pnpm'
-    - name: Install pipenv
-      run: pip3 install pipenv
-      shell: bash
     - name: Install dependencies
-      run: pnpm install -w --filter ${{ inputs.package }}... --no-frozen-lockfile
+      run: pnpm install -w --filter ${{ inputs.package }}...
       shell: bash
     - name: Build
       if: '!${{ inputs.skip-build }}'

diff --git a/.github/minimal-rmf/Dockerfile b/.github/minimal-rmf/Dockerfile
@@ -0,0 +1,34 @@
+ARG BASE_IMAGE=docker.io/ros:humble-ros-base
+FROM $BASE_IMAGE
+ARG BRANCH=main
+ARG ROS_DISTRO=humble
+
+### build minimal rmf
+
+RUN apt update && apt install -y curl
+
+# # fetch sources
+RUN mkdir -p /rmf && cd /rmf \
+  && curl -sL https://github.com/open-rmf/rmf_internal_msgs/archive/refs/heads/$BRANCH.tar.gz -o rmf_internal_msgs.tar.gz \
+  && curl -sL https://github.com/open-rmf/rmf_building_map_msgs/archive/refs/heads/$BRANCH.tar.gz -o rmf_building_map_msgs.tar.gz \
+  && mkdir -p /rmf/src/rmf/rmf_internal_msgs && tar zxf rmf_internal_msgs.tar.gz -C /rmf/src/rmf/rmf_internal_msgs --strip-components=1 && rm rmf_internal_msgs.tar.gz \
+  && mkdir -p /rmf/src/rmf/rmf_building_map_msgs && tar zxf rmf_building_map_msgs.tar.gz -C /rmf/src/rmf/rmf_building_map_msgs --strip-components=1 && rm rmf_building_map_msgs.tar.gz
+
+RUN rosdep update && rosdep install --from-paths /rmf/src -yi
+
+RUN cd /rmf \
+  && . /opt/ros/$ROS_DISTRO/setup.sh \
+  && colcon build --merge-install --install-base /opt/rmf --cmake-args -DCMAKE_BUILD_TYPE=Release \
+  && rm -rf /rmf
+
+# install tools for rmf-web
+
+RUN curl -fsSL https://get.pnpm.io/install.sh | bash -
+# shell runs in non-interactive mode, which does not source .bashrc so we need to set the PATH manually
+ENV PNPM_HOME /root/.local/share/pnpm
+ENV PATH "$PNPM_HOME:$PATH"
+
+# nodejs seems to have changed the official mirror, the default in pnpm is very slow now
+RUN pnpm config -g set 'node-mirror:release' https://nodejs.org/dist && pnpm env use --global lts
+
+RUN apt update && apt install -y python3-venv
diff --git a/.github/workflows/api-client.yml b/.github/workflows/api-client.yml
@@ -7,16 +7,24 @@ on:
   push:
     branches:
       - main
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 jobs:
   unit-tests:
     name: Unit Tests
     runs-on: ubuntu-22.04
+    container:
+      image: ghcr.io/${{ github.repository }}/minimal-rmf
+      credentials:
+        username: ${{ github.repository_owner }}
+        password: ${{ secrets.GITHUB_TOKEN }}
     defaults:
       run:
         shell: bash
         working-directory: packages/api-client
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - name: bootstrap
         uses: ./.github/actions/bootstrap
         with:

diff --git a/.github/workflows/api-server.yml b/.github/workflows/api-server.yml
@@ -7,6 +7,9 @@ on:
   push:
     branches:
       - main
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 env:
   CI: true
   PIPENV_VERBOSITY: -1
@@ -15,28 +18,24 @@ jobs:
     name: Tests
     runs-on: ubuntu-22.04
     container:
-      image: ghcr.io/${{ github.repository }}/e2e
+      image: ghcr.io/${{ github.repository }}/minimal-rmf
       credentials:
         username: ${{ github.repository_owner }}
         password: ${{ secrets.GITHUB_TOKEN }}
-    defaults:
-      run:
         shell: bash
         working-directory: packages/api-server
     steps:
-      - uses: actions/checkout@v2
-      - name: setup python
-        run: apt update && apt install -y python3-venv python-is-python3
+      - uses: actions/checkout@v4
       - name: bootstrap
         uses: ./.github/actions/bootstrap
         with:
           package: api-server
       - name: tests
         run: |
-          . /rmf_demos_ws/install/setup.bash
+          . /opt/rmf/setup.bash
           pnpm run lint
-          pnpm run test:cov
-          pipenv run python -m coverage xml
+          pnpm run test:cov -v
+          ../../.venv/bin/python -m coverage xml
       - name: Upload coverage to Codecov
         uses: codecov/codecov-action@v1
         with:

diff --git a/.github/workflows/dashboard.yml b/.github/workflows/dashboard.yml
@@ -11,34 +11,31 @@ on:
   push:
     branches:
       - main
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 env:
   CI: true
 jobs:
   unit-tests:
     name: Unit Tests
     runs-on: ubuntu-22.04
     container:
-      image: ghcr.io/${{ github.repository }}/e2e
+      image: ghcr.io/${{ github.repository }}/minimal-rmf
       credentials:
         username: ${{ github.repository_owner }}
         password: ${{ secrets.GITHUB_TOKEN }}
-    defaults:
-      run:
         shell: bash
         working-directory: packages/dashboard
     steps:
-      - uses: actions/checkout@v2
-      - name: setup python
-        run: apt update && apt install -y python3-venv python-is-python3
+      - uses: actions/checkout@v4
       - name: bootstrap
-        env:
-          NODE_OPTIONS: '--max_old_space_size=4096'
         uses: ./.github/actions/bootstrap
         with:
           package: rmf-dashboard
           skip-build: true
       - name: unit test
-        run: . /rmf_demos_ws/install/setup.bash && pnpm run test:coverage
+        run: pnpm run test:coverage
       - name: Upload coverage to Codecov
         uses: codecov/codecov-action@v1
         with:

diff --git a/.github/workflows/react-components.yml b/.github/workflows/react-components.yml
@@ -8,22 +8,26 @@ on:
   push:
     branches:
       - main
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 env:
   CI: true
 jobs:
   unit-tests:
     name: Unit Tests
     runs-on: ubuntu-22.04
+    container:
+      image: ghcr.io/${{ github.repository }}/minimal-rmf
+      credentials:
+        username: ${{ github.repository_owner }}
+        password: ${{ secrets.GITHUB_TOKEN }}
     defaults:
       run:
         shell: bash
         working-directory: packages/react-components
-    env:
-      BROWSERSTACK_USERNAME: ${{ secrets.BROWSERSTACK_USERNAME }}
-      BROWSERSTACK_ACCESS_KEY: ${{ secrets.BROWSERSTACK_ACCESS_KEY }}
-      BROWSERSTACK_BUILD: ${{ github.head_ref }}:${{ github.event.number }}
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - name: bootstrap
         uses: ./.github/actions/bootstrap
         with:
@@ -37,4 +41,4 @@ jobs:
       - name: Upload coverage to Codecov
         uses: codecov/codecov-action@v1
         with:
-          flags: react-components
+          flags: react-components
diff --git a/.github/workflows/rmf-auth.yml b/.github/workflows/rmf-auth.yml
@@ -7,18 +7,26 @@ on:
   push:
     branches:
       - main
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 env:
   CI: true
 jobs:
   unit-tests:
     name: Unit Tests
     runs-on: ubuntu-22.04
+    container:
+      image: ghcr.io/${{ github.repository }}/minimal-rmf
+      credentials:
+        username: ${{ github.repository_owner }}
+        password: ${{ secrets.GITHUB_TOKEN }}
     defaults:
       run:
         shell: bash
         working-directory: packages/rmf-auth
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - name: bootstrap
         uses: ./.github/actions/bootstrap
         with:

diff --git a/.github/workflows/ros-translator.yml b/.github/workflows/ros-translator.yml
@@ -7,25 +7,24 @@ on:
   push:
     branches:
       - main
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 env:
   CI: true
 jobs:
   unit-tests:
     name: Unit Tests
     runs-on: ubuntu-22.04
     container:
-      image: ghcr.io/${{ github.repository }}/e2e
+      image: ghcr.io/${{ github.repository }}/minimal-rmf
       credentials:
         username: ${{ github.repository_owner }}
         password: ${{ secrets.GITHUB_TOKEN }}
-    defaults:
-      run:
         shell: bash
         working-directory: packages/ros-translator
     steps:
-      - uses: actions/checkout@v2
-      - name: setup python
-        run: apt update && apt install -y python3-venv python-is-python3
+      - uses: actions/checkout@v4
       - name: bootstrap
         uses: ./.github/actions/bootstrap
         with: