modified isntallation scripts, docker file and test for pipelines

UBCAgroBot · Sep 1, 2024 · 8e93b8d · 8e93b8d
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diff --git a/.github/workflows/delivery.yml b/.github/workflows/delivery.yml
@@ -63,11 +63,26 @@ jobs:
             echo "version=$NEXT_VERSION" >> $GITHUB_OUTPUT
           fi
       
-      # - name: Build and push multi-platform Docker image
-      #   uses: docker/build-push-action@v6
-      #   with:
-      #     # context: .
-      #     push: true
-      #     tags: ["agrobotappliedai/jetson_ros:${{ github.ref_name }}-latest", "agrobotappliedai/jetson_ros:${{ github.ref_name }}-v${{ steps.get_next_version.outputs.version }}"]
-      #     platforms: linux/amd64,linux/arm64
-      #     file: ./Container/Jetson.Dockerfile
+      - run: echo "The job was automatically triggered by a ${{ github.event_name }} event."
+      - run: echo "The name of your branch is ${{ github.ref }} and your repository is ${{ github.repository }}."
+      - run: echo ${{ steps.get_next_version.outputs.version }}
+      - name: Show directory contents
+        run: |
+          echo "Current directory: $(pwd)"
+          echo "Directory contents:"
+          ls -la
+      
+      - name: List files in the repository
+        run: |
+          echo "github workspace folder"
+          ls ${{ github.workspace }}
+      
+      - name: Build and push multi-platform Docker image
+        uses: docker/build-push-action@v6
+        with:
+          push: true
+          tags: ["agrobotappliedai/jetson_ros:${{ github.ref_name }}-latest", "agrobotappliedai/jetson_ros:${{ github.ref_name }}-v${{ steps.get_next_version.outputs.version }}"]
+          platforms: linux/amd64,linux/arm64
+          file: ./Container/Jetson.Dockerfile
+            network: host
+            build-args: BRANCH_NAME="${{ github.ref_name }}"
diff --git a/.github/workflows/integration.yml b/.github/workflows/integration.yml
@@ -7,11 +7,6 @@ on:
 
   workflow_dispatch:
     inputs:
-      branch:
-        description: 'Which branch you would like to run the pipeline on?'
-        required: false
-        type: string
-        default: 'main'
       delivery: 
         description: 'Would you like to update the official image?'
         required: false
@@ -32,17 +27,16 @@ jobs:
     id: integration
     steps:
       - run: echo "The job was automatically triggered by a ${{ github.event_name }} event."
-      - run: echo "The name of your branch is ${{ github.ref }} and your repository is ${{ github.repository }}."
-      - run: echo "BRANCH=${{ github.event.inputs.branch }}" >> $GITHUB_ENV
+      - run: echo "The name of your branch is ${{ github.head_ref }} and your repository is ${{ github.repository }}."
 
       - name: Checkout branch
         uses: actions/checkout@v4
         with:
-          ref: ${{ github.event.inputs.branch || github.ref }}
+          ref: ${{ github.head_ref }}
 
       - name: Print branch
         run: |
-          echo "Checked out branch: ${{ github.event.inputs.branch || github.ref }}"
+          echo "Checked out branch: ${{ github.head_ref }}"
 
       - name: Show directory contents
         run: |
@@ -82,8 +76,6 @@ jobs:
       # - name: C++ lint
       #   uses: cpp-linter/cpp-linter-action@v2
       #   id: cpp_linter
-      #   env:
-      #     GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
       #   with:
       #     style: "file"
       #     tidy-checks: ""
@@ -100,10 +92,6 @@ jobs:
       #     flake8 . --count --select=E9,F63,F7,F82 --show-source --statistics
       #     # exit-zero treats all errors as warnings. The GitHub editor is 127 chars wide
       #     flake8 . --count --exit-zero --max-complexity=10 --max-line-length=127 --statistics
-
-      # - name: Fail fast?!
-      #   if: steps.linter.outputs.checks-failed > 0
-      #   run: exit 1
 
       # - name: Check for linting errors
       #   id: lint-check
@@ -132,24 +120,34 @@ jobs:
         run: |
           git config user.name "github-actions"
           git config user.email "[email protected]"
-          git add .
           
-          git commit -m "Fix linting issues"
-          git push origin HEAD:${{ github.head_ref }}
-  
+          if [[ $(git status --porcelain) ]]; then
+            git add .
+            git commit -m "Auto-fix lint issues"
+            git push origin HEAD:${{ github.head_ref }}
+          else
+            echo "No lint fixes applied, nothing to commit."
+          fi
+      
+      - run: echo ${{ github.event.inputs.delivery }}
+      - run: echo ${{ inputs.delivery }}
+      - run: echo ${{ github.event.inputs.deployment }}
+      - run: echo ${{ inputs.deployment }}
+
   # These are only triggered through workflow dispatch
   delivery:
-    if: ${{ github.event.inputs.delivery == 'true' }}
-    needs: integration
-    uses: ./.github/workflows/delivery.yml
-    with:
-      branch: {{ github.events.inputs.branch }}
-      deployment: {{ github.events.inputs.deployment }}
+    if: ${{ github.event.inputs.delivery }}
+    run: echo "this was detected successfully as a boolean (delivery)"
+    # uses: ./.github/workflows/delivery.yml
+    # with:
+    #   branch: {{ github.head_ref }}
+    #   deployment: {{ github.events.inputs.deployment }}
 
   deployment:
-    if: ${{ github.event.inputs.deployment == 'true' }}
-    needs: delivery
-    uses: ./.github/workflows/deployment.yml
-    with: 
-      container_branch: {{ github.events.inputs.branch }}
-      container_version: {{ needs.delivery.outputs.version }}
+    if: ${{ inputs.deployment }}
+    run: echo "this was detected successfully as boolean (deployment)"
+    # needs: delivery
+    # uses: ./.github/workflows/deployment.yml
+    # with: 
+    #   container_branch: {{ github.head_ref }}
+    #   container_version: {{ needs.delivery.outputs.version }}
diff --git a/Container/Jetson.DockerFile b/Container/Jetson.DockerFile
@@ -17,6 +17,8 @@ ENV DEBIAN_FRONTEND=noninteractive \
     OPENCV_VERSION=4.8.1 \
     OPENCV_DEB=OpenCV-4.8.1-aarch64.tar.gz
 
+ARG BRANCH_NAME=main
+
 COPY ./scripts /scripts
 
 RUN /scripts/install-build-essential.sh
@@ -33,4 +35,6 @@ RUN pip3 install -U --no-cache-dir --verbose jetson-stats numpy onnx  && \
     pip3 show numpy && python3 -c 'import numpy; print(numpy.__version__)' && \
     pip3 show onnx && python3 -c 'import onnx; print(onnx.__version__)'
 
+RUN /scripts/install-ros2-packages.sh
+
 ENTRYPOINT ["/bin/bash"]
diff --git a/Container/scripts/install-build-essential.sh b/Container/scripts/install-build-essential.sh
@@ -4,13 +4,6 @@ set -ex
 echo 'installing build-essential'
 
 apt -y update && apt -y upgrade
-# apt-get install -y --no-install-recommends
-#     locales \
-#     locales-all \
-#     tzdata \
-# locale-gen en_US $LANG
-# update-locale LC_ALL=$LC_ALL LANG=$LANG
-# locale
 apt-get install -y --no-install-recommends \
     build-essential \
     software-properties-common \

diff --git a/Container/scripts/install-opencv-cuda.sh b/Container/scripts/install-opencv-cuda.sh
@@ -1,23 +1,22 @@
-#!/bin/bash
-
+#!/usr/bin/env bash
 set -ex
 
 version="4.10.0"
 folder="workspace"
 
 python3 -c "import cv2; print('OpenCV version:', str(cv2.__version__)); print(cv2.getBuildInformation())"
 echo "** Remove other OpenCV first"
-sudo apt -y purge *libopencv*
+apt -y purge *libopencv*
 
 echo "------------------------------------"
 echo "** Install requirement (1/4)"
 echo "------------------------------------"
-sudo apt-get update
-sudo apt-get install -y build-essential cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
-sudo apt-get install -y libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev
-sudo apt-get install -y libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev
-sudo apt-get install -y libv4l-dev v4l-utils qv4l2
-sudo apt-get install -y curl
+apt-get update
+apt-get install -y build-essential cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
+apt-get install -y libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev
+apt-get install -y libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev
+apt-get install -y libv4l-dev v4l-utils qv4l2
+apt-get install -y curl
 # sudo apt-get install python3-libnvinfer-dev?
 
 echo "------------------------------------"
@@ -45,7 +44,7 @@ make -j$(nproc)
 echo "------------------------------------"
 echo "** Install opencv "${version}" (4/4)"
 echo "------------------------------------"
-sudo make install
+make install
 echo 'export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH' >> ~/.bashrc
 echo 'export PYTHONPATH=/usr/local/lib/python3.8/site-packages/:$PYTHONPATH' >> ~/.bashrc
 source ~/.bashrc

diff --git a/Container/scripts/install-ros2-packages.sh b/Container/scripts/install-ros2-packages.sh
@@ -0,0 +1,25 @@
+#!/usr/bin/env bash
+set -ex
+
+'compiling ros2 package'
+
+git clone --branch ${BRANCH_NAME} --single-branch --no-checkout https://github.com/UBCAgroBot/ROS.git
+cd ROS
+
+git sparse-checkout init
+
+echo "/*" > .git/info/sparse-checkout
+echo "!/.github/" >> .git/info/sparse-checkout  
+echo "!/Container/" >> .git/info/sparse-checkout  
+echo "!/Experiments/" >> .git/info/sparse-checkout  
+echo "!/Misc Scripts/" >> .git/info/sparse-checkout 
+
+git checkout ${BRANCH_NAME}
+
+cd Workspace
+rosdep init
+rosdep update
+rosdep install	--from-paths src -y --ignore-src
+colcon build --packages-select custom_interface
+colcon build --packages-select node_test
+source /opt/ros/humble/setup.bash
diff --git a/Container/scripts/install-ros2.sh b/Container/scripts/install-ros2.sh
@@ -1,5 +1,8 @@
+#!/usr/bin/env bash
 set -ex
 
+echo 'installing ros2'
+
 locale-gen en_US en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
 
 apt-get update
@@ -9,10 +12,6 @@ apt-get install -y --no-install-recommends \
 		ca-certificates \
 		locales \
 		software-properties-common \
-		# libpython3-dev \
-		# python3-colcon-common-extensions \
-		# python3-numpy \
-		# python3-rosdep \
 
 add-apt-repository universe
 curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

diff --git a/Container/scripts/install-script.sh b/Container/scripts/install-script.sh
@@ -1,8 +1,10 @@
 #!/usr/bin/env bash
-
 set -ex
+
 apt update && apt upgrade -y
 
+echo 'installing opencv-python-cuda'
+
 python3 -m pip install --upgrade pip
 URL="https://github.com/cudawarped/opencv-python-cuda-wheels/releases/download/4.9.80_13%2F05%2F24/opencv_contrib_python_rolling-4.9.0.80-cp37-abi3-linux_x86_64.whl"
 # URL="https://github.com/cudawarped/opencv-python-cuda-wheels/releases/download/4.8.0.20230804/opencv_contrib_python_rolling-4.8.0.20230804-cp36-abi3-linux_x86_64.whl"
@@ -11,6 +13,8 @@ wget -O $FILENAME $URL
 pip3 install --no-cache-dir --verbose numpy $FILENAME
 # python3 -c "import cv2; print(cv2.__version__); print(cv2.getBuildInformation())"
 
+echo 'installing ROS2'
+
 apt install -y --no-install-recommends software-properties-common 
 add-apt-repository universe
 apt update &&  apt install curl -y
@@ -22,6 +26,8 @@ echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
 source /opt/ros/humble/setup.bash
 printenv | grep -i ROS
 
+echo 'installing ZED SDK'
+
 apt-get update -y || true ; apt-get install --no-install-recommends lsb-release wget less zstd udev  apt-transport-https -y
 wget --no-check-certificate -O ZED_SDK_Linux.run https://download.stereolabs.com/zedsdk/4.1/cu121/ubuntu22
 chmod +x ZED_SDK_Linux.run ; ./ZED_SDK_Linux.run silent skip_drivers
@@ -30,13 +36,12 @@ rm -rf ZED_SDK_Linux.run
 rm -rf /var/lib/apt/lists/*
 apt-get clean
 
+echo 'installing pyzed'
+
 apt-get update -y || true ; apt-get install --no-install-recommends python3 python3-pip python3-dev python3-setuptools build-essential -y
 wget download.stereolabs.com/zedsdk/pyzed -O /usr/local/zed/get_python_api.py
 python3 /usr/local/zed/get_python_api.py
 python3 -m pip install cython wheel
 python3 -m pip install numpy pyopengl *.whl
 rm *.whl ; rm -rf /var/lib/apt/lists/* 
-apt-get clean
-
-# echo 'Applying aliases'
-# aliases....
+apt-get clean
diff --git a/Container/scripts/install-zed.sh b/Container/scripts/install-zed.sh
@@ -12,6 +12,8 @@ rm -rf ZED_SDK_Linux.run
 rm -rf /var/lib/apt/lists/*
 apt-get clean
 
+echo 'installing pyzed'
+
 apt-get update -y || true ; apt-get install --no-install-recommends python3 python3-pip python3-dev python3-setuptools build-essential -y
 wget download.stereolabs.com/zedsdk/pyzed -O /usr/local/zed/get_python_api.py
 python3 /usr/local/zed/get_python_api.py