Merge branch 'cram2:dev' into tests

.github/workflows/new-pycram-ci.yml

@@ -0,0 +1,72 @@
+name: pycram_docker_ci
+defaults:
+  run:
+    shell: bash -ieo pipefail {0}
+
+on:
+  push:
+    branches:
+      - dev
+      - master
+  pull_request:
+    branches:
+      - master
+      - dev
+  workflow_dispatch: # For manual debugging
+    inputs:
+      debug_enabled:
+        type: boolean
+        required: false
+        default: false
+        description: "Run tmate session"
+
+jobs:
+  build_and_run_tests:
+    runs-on: ubuntu-20.04
+    container:
+      image: "pycram/pycram:dev"
+    steps:
+      - name: Checkout PyCRAM
+        uses: actions/checkout@v3
+        with:
+          path: "ros/src/pycram"
+          repository: ${{ github.repository }}
+          ref: ${{ github.ref }}
+          submodules: "recursive"
+
+      # For debugging
+      - name: Setup tmate session
+        uses: mxschmitt/action-tmate@v3
+        if: ${{ github.event_name == 'workflow_dispatch' && inputs.debug_enabled }}
+
+      - name: Update PyCRAM source files
+        run: |
+          rm -rf /opt/ros/overlay_ws/src/pycram/* 
+          cd /opt/ros/overlay_ws/src/pycram
+          rm -rf .git .github .gitignore .gitmodules .readthedocs.yaml
+          mv /__w/${{ github.event.repository.name }}/${{ github.event.repository.name }}/ros/src/pycram /opt/ros/overlay_ws/src
+
+      - name: Remake workspace & start roscore
+        run: |
+          sudo -s
+          source /opt/ros/noetic/setup.bash
+          cd /opt/ros/overlay_ws
+          catkin_make    
+          source /opt/ros/overlay_ws/devel/setup.bash 
+          roslaunch pycram ik_and_description.launch &
+
+      - name: Install python dependencies
+        run: |
+          pip3 install --upgrade pip --root-user-action=ignore
+          cd /opt/ros/overlay_ws/src/pycram
+          pip3 install -r requirements.txt
+
+      - name: Install pytest, pyjpt & mlflow
+        run: |
+          pip3 install --ignore-installed pytest pyjpt mlflow
+
+      - name: Run tests
+        run: | 
+          source /opt/ros/overlay_ws/devel/setup.bash 
+          roscd pycram
+          pytest -v test

.github/workflows/update-docker-image.yml

@@ -0,0 +1,31 @@
+name: update_docker_image
+on:
+  push:
+    branches:
+      - master
+      - dev
+    paths:
+      - 'requirements.txt' 
+# only run when a commit has changes in the requirements.txt file
+
+jobs:
+  build_and_push_docker_image:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Set up Docker Buildx
+        id: buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: log into Docker Hub #Set repository secrets in github secrets
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_PASS }}
+
+      - name: Build and push
+        uses: docker/build-push-action@v5
+        with:
+          context: ./docker
+          push: true
+          tags: ${{ vars.DOCKER_IMAGE }}

docker/Dockerfile

@@ -0,0 +1,21 @@
+ARG FROM_IMAGE=ros:noetic-ros-core
+ARG OVERLAY_WS=/opt/ros/overlay_ws
+
+FROM $FROM_IMAGE as cacher
+ARG OVERLAY_WS 
+WORKDIR $OVERLAY_WS/src
+
+RUN apt-get update && apt-get install python3-pip python3-vcstool git -y && pip3 install pip --upgrade
+RUN pip3 install rosdep && rosdep init
+
+RUN vcs import --input https://raw.githubusercontent.com/cram2/pycram/dev/pycram-https.rosinstall --recursive --skip-existing $OVERLAY_WS/src
+RUN rosdep update && rosdep install --from-paths $OVERLAY_WS/src --ignore-src -r -y
+
+RUN . /opt/ros/noetic/setup.sh && cd $OVERLAY_WS && catkin_make
+RUN echo "source $OVERLAY_WS/devel/setup.bash" >> ~/.bashrc
+
+RUN pip3 install --upgrade pip 
+WORKDIR $OVERLAY_WS/src/pycram
+RUN pip3 install -r requirements.txt
+
+EXPOSE 11311

requirements.txt

@@ -15,3 +15,4 @@ SQLAlchemy>=2.0.9
 tqdm==4.66.1
 psutil==5.9.7
 lxml==4.9.1
+typing_extensions==4.9.0

src/pycram/process_modules/__init__.py

@@ -1,11 +1,11 @@
 from .pr2_process_modules import Pr2Manager
 from .boxy_process_modules import BoxyManager
 from .donbot_process_modules import DonbotManager
-from .hsr_process_modules import HSRManager
+from .hsr_process_modules import HSRBManager
 from .default_process_modules import DefaultManager
 
 Pr2Manager()
 BoxyManager()
 DonbotManager()
-HSRManager()
+HSRBManager()
 DefaultManager()