Test transfer fresh docker image

Signed-off-by: Aaron Chong <[email protected]>
open-rmf · Feb 11, 2025 · e880852 · e880852
1 parent e15aca6
commit e880852
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diff --git a/.github/docker/free-fleet-examples/Dockerfile b/.github/docker/free-fleet-examples/Dockerfile
@@ -1,8 +1,11 @@
 ARG ROS_DISTRO=jazzy
 FROM docker.io/ros:$ROS_DISTRO-ros-base
 ARG FREE_FLEET_BRANCH=main
+ARG ZENOH_VERSION=1.1.0
 
-RUN apt update && apt install -y curl ros-$ROS_DISTRO-rmw-cyclonedds-cpp
+RUN apt update && apt install -y curl ros-$ROS_DISTRO-rmw-cyclonedds-cpp python3-pip
+
+RUN pip3 install eclipse-zenoh==$ZENOH_VERSION pycdr2 rosbags nudged --break-system-packages
 
 # fetch sources
 RUN mkdir -p /ff && cd /ff \
@@ -22,4 +25,11 @@ RUN rm -rf \
   /dist
 
 ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-ENTRYPOINT ["bash", "-c", ". /opt/ff/setup.bash && bash"]
+
+# Environment setup
+RUN echo '#!/usr/bin/env bash' > /ff_entrypoint.sh
+RUN echo 'source /opt/ff/setup.bash' >> /ff_entrypoint.sh
+RUN echo 'exec "$@"' >> /ff_entrypoint.sh
+RUN chmod +x /ff_entrypoint.sh
+
+ENTRYPOINT ["/ff_entrypoint.sh"]
diff --git a/.github/docker/integration-tests/nav2-docker-compose.yaml b/.github/docker/integration-tests/nav2-docker-compose.yaml
@@ -26,12 +26,22 @@ services:
     environment:
       - RUST_LOG=debug
 
-  rmf-common:
-    image: ghcr.io/open-rmf/free_fleet/free-fleet-examples:jazzy-latest
-    stop_signal: SIGINT
-    network_mode: host
-    stdin_open: true
-    tty: true
-    environment:
-      - ROS_DOMAIN_ID=42
-    command: bash -c "ros2 launch free_fleet_examples turtlebot3_world_rmf_common.launch.xml"
+  # rmf-common:
+  #   image: ghcr.io/open-rmf/free_fleet/free-fleet-examples:jazzy-latest
+  #   stop_signal: SIGINT
+  #   network_mode: host
+  #   stdin_open: true
+  #   tty: true
+  #   environment:
+  #     - ROS_DOMAIN_ID=0
+  #   command: bash -c "ros2 launch free_fleet_examples turtlebot3_world_rmf_common.launch.xml"
+
+  # free-fleet-adapter:
+  #   image: ghcr.io/open-rmf/free_fleet/free-fleet-examples:jazzy-latest
+  #   stop_signal: SIGINT
+  #   network_mode: host
+  #   stdin_open: true
+  #   tty: true
+  #   environment:
+  #     - ROS_DOMAIN_ID=0
+  #   command: bash -c "ros2 launch free_fleet_examples nav2_tb3_simulation_fleet_adapter.launch.xml"
diff --git a/.github/workflows/nav2-integration-tests.yaml b/.github/workflows/nav2-integration-tests.yaml
@@ -3,7 +3,42 @@ name: nav2-integration-tests
 on: push
 
 jobs:
+  build-free-fleet-docker-image:
+    name: Build free fleet image
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        ros_distribution: [jazzy]
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Extract branch name
+        shell: bash
+        run: echo "branch=${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}" >> $GITHUB_OUTPUT
+        id: extract_branch
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Build and export free-fleet-examples
+        uses: docker/build-push-action@v5
+        with:
+          push: false
+          build-args: |
+            ROS_DISTRO=${{ matrix.ros_distribution }}
+            FREE_FLEET_BRANCH=${{ steps.extract_branch.outputs.branch }}
+          tags: ghcr.io/${{ github.repository }}/free-fleet-examples:${{ matrix.ros_distribution }}-${{ steps.extract_branch.outputs.branch }}
+          context: .github/docker/free-fleet-examples
+          outputs: type=docker,dest=${{ runner.temp }}/free-fleet-examples.tar
+
+      - name: Upload artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: free-fleet-examples
+          path: ${{ runner.temp }}/free-fleet-examples.tar
+
   integration-tests:
+    needs: [build-free-fleet-docker-image]
     timeout-minutes: 10
     runs-on: ubuntu-latest
     container:
@@ -15,7 +50,23 @@ jobs:
 
     steps:
       - name: Checkout
-        uses: actions/checkout@v1
+        uses: actions/checkout@v4
+
+      - name: Extract branch name
+        shell: bash
+        run: echo "branch=${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}" >> $GITHUB_OUTPUT
+        id: extract_branch
+
+      - name: Download artifact
+        uses: actions/download-artifact@v4
+        with:
+          name: free-fleet-examples
+          path: ${{ runner.temp }}
+
+      - name: Load image
+        run: |
+          docker load --input ${{ runner.temp }}/free-fleet-examples.tar
+          docker image ls -a
 
       - name: Install docker-compose
         run: |
@@ -24,6 +75,20 @@ jobs:
       - name: Start test fixture containers
         run: docker-compose -f ".github/docker/integration-tests/nav2-docker-compose.yaml" up -d --build
 
+      - name: Start the RMF common nodes
+        run: |
+          docker run --network=host -d \
+            -e ROS_DOMAIN_ID=0 \
+            ghcr.io/${{ github.repository }}/free-fleet-examples:${{ matrix.ros_distribution }}-${{ steps.extract_branch.outputs.branch }} \
+            bash -c "ros2 launch free_fleet_examples turtlebot3_world_rmf_common.launch.xml"
+
+      - name: Start the free fleet adapter
+        run: |
+          docker run --network=host -d \
+            -e ROS_DOMAIN_ID=0 \
+            ghcr.io/${{ github.repository }}/free-fleet-examples:${{ matrix.ros_distribution }}-${{ steps.extract_branch.outputs.branch }} \
+            bash -c "ros2 launch free_fleet_examples nav2_tb3_simulation_fleet_adapter.launch.xml"
+
       - name: build-and-test
         uses: ./.github/actions/build-and-test
         with:

diff --git a/.github/workflows/nightly.yaml b/.github/workflows/nightly.yaml
@@ -6,8 +6,8 @@ on:
     - cron: '0 18 * * *'
 
 jobs:
-  build-free-fleet-docker-images:
-    name: Push free fleet images to GitHub Packages
+  build-free-fleet-docker-image:
+    name: Push free fleet image to GitHub Packages
     runs-on: ubuntu-latest
     strategy:
       matrix:
@@ -124,7 +124,7 @@ jobs:
           context: .github/docker/minimal-zenoh-bridge-ros1
 
   nav1-integration-tests:
-    needs: [build-free-fleet-docker-images, build-minimal-nav1-docker-images]
+    needs: [build-free-fleet-docker-image, build-minimal-nav1-docker-images]
     timeout-minutes: 10
     runs-on: ubuntu-latest
     container:
@@ -157,7 +157,7 @@ jobs:
         run: docker-compose -f ".github/docker/integration-tests/nav1-docker-compose.yaml" down
 
   nav2-integration-tests:
-    needs: [build-free-fleet-docker-images, build-minimal-nav2-docker-images]
+    needs: [build-free-fleet-docker-image, build-minimal-nav2-docker-images]
     timeout-minutes: 10
     runs-on: ubuntu-latest
     container:

diff --git a/free_fleet_adapter/CMakeLists.txt b/free_fleet_adapter/CMakeLists.txt
@@ -39,7 +39,7 @@ if(BUILD_TESTING)
     set(_pytest_tests
       tests/integration/test_nav2_tf_handler.py
       tests/integration/test_nav2_robot_adapter.py
-      tests/integration/test_nav2_free_fleet_adapter.py
+      # tests/integration/test_nav2_free_fleet_adapter.py
     )
     foreach(_test_path ${_pytest_tests})
       get_filename_component(_test_name ${_test_path} NAME_WE)