Update CI, prepare for Jazzy

.github/workflows/Dockerfile

@@ -1,6 +1,7 @@
 ARG ROS_DISTRO=humble
-# Use the ROS desktop-full image as the base
+
 FROM osrf/ros:${ROS_DISTRO}-desktop-full
+SHELL ["/bin/bash", "-xo", "pipefail", "-c"]
 
 # Install system dependencies
 # hadolint ignore=DL3008
@@ -16,14 +17,10 @@ RUN --mount=type=bind,source=.,target=/scenario_execution \
     rosdep install --rosdistro=${ROS_DISTRO} --from-paths /scenario_execution/ --ignore-src -r -y && \
     rm -rf /var/lib/apt/lists/*
 
-# hadolint ignore=DL3042
 RUN --mount=type=bind,source=.,target=/scenario_execution \
-    pip3 install -r /scenario_execution/requirements.txt && \
-    pip3 install -r /scenario_execution/libs/scenario_execution_floorplan_dsl/requirements.txt && \
-    pip3 install -r /scenario_execution/libs/scenario_execution_pybullet/requirements.txt
+    pip3 install  --no-cache-dir -r /scenario_execution/libs/scenario_execution_pybullet/requirements.txt
 
 # install rosbag2_to_video used within github actions
-SHELL ["/bin/bash", "-xo", "pipefail", "-c"]
 WORKDIR /rosbag2_to_video/src
 RUN git clone https://github.com/ivanpauno/rosbag2_to_video.git
 WORKDIR /rosbag2_to_video/src/rosbag2_to_video
@@ -32,5 +29,7 @@ WORKDIR /rosbag2_to_video
 RUN apt-get update && \
     rosdep install --from-paths src --ignore-src -y && \
     rm -rf "/var/lib/apt/lists/*" && \
-    . /opt/ros/${ROS_DISTRO}/setup.bash && \
+    . "/opt/ros/${ROS_DISTRO}/setup.bash" && \
     colcon build
+
+WORKDIR /scenario_execution

.github/workflows/scan.yml

@@ -1,12 +1,10 @@
 ---
 name: Scan
 on:
-  # Triggers the workflow on push or pull request events but
-  # only for the main branch
   push:
-    branches: [main,humble,jazzy]
+    branches: [main, humble, jazzy]
   pull_request:
-    branches: [main,humble,jazzy]
+    branches: [main, humble, jazzy]
   workflow_dispatch:
 permissions: read-all
 jobs:

.github/workflows/scorecard.yml

@@ -56,7 +56,7 @@ jobs:
           # For private repositories:
           #   - `publish_results` will always be set to `false`, regardless
           #     of the value entered here.
-          publish_results: true
+          publish_results: false
 
       # Upload the results as artifacts (optional). Commenting out will disable uploads of run results in SARIF
       # format to the repository Actions tab.

.github/workflows/test_build.yml

@@ -7,6 +7,7 @@ on:
 concurrency: 
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
+permissions: read-all
 jobs:
   build:
     #TODO model dependency to image-workflow. Workaround: retrigger run after image-workflow finished.
@@ -302,7 +303,7 @@ jobs:
           export IGN_PARTITION=${HOSTNAME}:${GITHUB_RUN_ID}
           sed -i 's/240s/900s/g' examples/example_multi_robot/scenarios/example_multi_robot.osc
           # shellcheck disable=SC1083
-          scenario_batch_execution -i examples/example_multi_robot/scenarios/ -o test_example_multirobot -- ros2 launch tb4_sim_scenario sim_nav_scenario_launch.py scenario:={SCENARIO} yaw:=3.14 output_dir:={OUTPUT_DIR} headless:=True
+          scenario_batch_execution -i examples/example_multi_robot/scenarios/ -o test_example_multirobot -- ros2 launch tb4_sim_scenario sim_nav_scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR} headless:=True
       - name: Upload result
         uses: actions/upload-artifact@0b2256b8c012f0828dc542b3febcab082c67f72b # v4.3.4
         if: always()
@@ -412,7 +413,7 @@ jobs:
           source install/setup.bash
           Xvfb :1 -screen 0 800x600x16 &
           export DISPLAY=:1.0
-          sed -i 's/p.GUI/p.DIRECT/g' ./install/scenario_execution_pybullet/lib/python3.10/site-packages/scenario_execution_pybullet/actions/sim_initialize.py
+          sed -i 's/p.GUI/p.DIRECT/g' ./install/scenario_execution_pybullet/lib/python3.1*/site-packages/scenario_execution_pybullet/actions/sim_initialize.py
           ros2 run scenario_execution scenario_execution libs/scenario_execution_pybullet/scenarios/example_pybullet.osc -t -s 0.00416666666 -o test_scenario_execution_pybullet
       - name: Upload result
         uses: actions/upload-artifact@0b2256b8c012f0828dc542b3febcab082c67f72b # v4.3.4
@@ -436,6 +437,9 @@ jobs:
     - test-scenario-execution-pybullet
     runs-on: intellabs-01
     if: ${{ always() }}
+    permissions:
+      checks: write
+      pull-requests: write
     steps:
       - name: Download all artifacts
         uses: actions/download-artifact@7a1cd3216ca9260cd8022db641d960b1db4d1be4 #v4.0
@@ -467,4 +471,4 @@ jobs:
             downloaded-artifacts/test-example-multirobot-result/test.xml
             downloaded-artifacts/test-example-external-method-result/test.xml
             downloaded-artifacts/test-scenario-execution-gazebo/test.xml
-            downloaded-artifacts/test-scenario-execution-pybullet/test.xml
+            downloaded-artifacts/test-scenario-execution-pybullet/test.xml

deb_requirements.txt

@@ -1,6 +1,4 @@
-ros-humble-turtlebot4-simulator
-ros-humble-py-trees-ros-interfaces
-ros-humble-py-trees
 python3-autopep8
 clang-format
 pylint
+python3-antlr4

examples/example_multi_robot/scenarios/example_multi_robot.osc

@@ -10,10 +10,10 @@ scenario multi_robot:
         robot2.spawn(pose_3d(position_3d(x: -3.0, y: 1.5, z: 0.3), orientation_3d(yaw: -1.57)), model: 'example_multi_robot://models/robot.sdf')
         ros_launch("example_multi_robot", "robot2_launch.py", wait_for_shutdown: false)
         ros_launch("gazebo_static_camera", "spawn_static_camera_launch.py", [ key_value('x', '-3'), key_value('z', '10'), key_value('pitch', '1.57')], wait_for_shutdown: false)
-        record_bag(['/tf', '/tf_static', '/scenario_execution/snapshots', '/map', '/static_camera/image_raw', '/local_costmap/costmap', '/initialpose'], use_sim_time: true)
+        record_bag(['/tf', '/tf_static', '/scenario_execution/snapshots', '/map', '/static_camera/image_raw', '/local_costmap/costmap'], use_sim_time: true)
         parallel:
             test_drive: serial:
-                robot.init_nav2(initial_pose: pose_3d(orientation: orientation_3d(yaw: 3.14rad)))
+                robot.init_nav2(initial_pose: pose_3d())
                 robot.nav_to_pose(goal_pose: pose_3d(position: position_3d(x: -4.0m), orientation: orientation_3d(yaw: 3.14rad)))
                 emit end
             serial:

libs/scenario_execution_floorplan_dsl/package.xml

@@ -13,6 +13,7 @@
 
   <exec_depend>docker</exec_depend>
   <exec_depend>py_trees</exec_depend>
+  <exec_depend>python3-docker</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>

libs/scenario_execution_gazebo/package.xml

@@ -12,6 +12,8 @@
 
   <exec_depend>rclpy</exec_depend>
   <exec_depend>py_trees</exec_depend>
+  <exec_depend>python3-transforms3d</exec_depend>
+  <exec_depend>python3-defusedxml</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>

libs/scenario_execution_gazebo/scenario_execution_gazebo/actions/gazebo_actor_exists.py

@@ -23,7 +23,7 @@
 
 class ActorExistsActionState(Enum):
     """
-    States for executing a entity check in ignition
+    States for executing a entity check in gazebo
     """
     IDLE = 1
     WAITING_FOR_ACTOR = 2
@@ -33,7 +33,7 @@ class ActorExistsActionState(Enum):
 
 class GazeboActorExists(RunProcess):
     """
-    Class to check existance of an entity in Ignition
+    Class to check existance of an entity in gazebo
 
     """
 

libs/scenario_execution_gazebo/scenario_execution_gazebo/actions/gazebo_delete_actor.py

@@ -33,7 +33,7 @@ class DeleteActionState(Enum):
 
 class GazeboDeleteActor(RunProcess):
     """
-    Class to delete an entity in Ignition
+    Class to delete an entity in gazebo
 
     """
 

libs/scenario_execution_gazebo/setup.py

@@ -28,7 +28,11 @@
             ['resource/' + PACKAGE_NAME]),
         ('share/' + PACKAGE_NAME, ['package.xml'])
     ],
-    install_requires=['setuptools'],
+    install_requires=[
+        'setuptools',
+        'transforms3d==0.3.1',
+        'defusedxml==0.7.1',
+    ],
     zip_safe=True,
     maintainer='Intel Labs',
     maintainer_email='[email protected]',

scenario_coverage/package.xml

@@ -9,6 +9,8 @@
   <license file="../LICENSE">Apache-2.0</license>
 
   <exec_depend>scenario_execution</exec_depend>
+  <test_depend>python3-pexpect</test_depend>
+  <test_depend>python3-defusedxml</test_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>

scenario_coverage/setup.py

@@ -30,7 +30,11 @@
         ('share/' + PACKAGE_NAME, ['package.xml']),
         (os.path.join('share', PACKAGE_NAME, 'launch'), glob('launch/*launch.py'))
     ],
-    install_requires=['setuptools'],
+    install_requires=[
+        'setuptools',
+        'pexpect==4.8.0',
+        'defusedxml==0.7.1',
+    ],
     zip_safe=True,
     maintainer='Intel Labs',
     maintainer_email='[email protected]',

scenario_execution/package.xml

@@ -9,6 +9,7 @@
   <license file="../LICENSE">Apache-2.0</license>
 
   <exec_depend>py_trees</exec_depend>
+  <exec_depend>python3-yaml</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>

scenario_execution/scenario_execution/osc2_parsing/OpenSCENARIO2Lexer.py

@@ -14,7 +14,7 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
-# Generated from OpenSCENARIO2.g4 by ANTLR 4.7.2
+# Generated from OpenSCENARIO2.g4 by ANTLR 4.9.1
 from antlr4 import *
 from io import StringIO
 from typing.io import TextIO
@@ -579,7 +579,7 @@ class OpenSCENARIO2Lexer(Lexer):
 
     def __init__(self, input=None, output: TextIO = sys.stdout):
         super().__init__(input, output)
-        self.checkVersion("4.7.2")
+        self.checkVersion("4.9.1")
         self._interp = LexerATNSimulator(self, self.atn, self.decisionsToDFA, PredictionContextCache())
         self._actions = None
         self._predicates = None

scenario_execution/scenario_execution/osc2_parsing/OpenSCENARIO2Listener.py

@@ -14,7 +14,7 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
-# Generated from OpenSCENARIO2.g4 by ANTLR 4.7.2
+# Generated from OpenSCENARIO2.g4 by ANTLR 4.9.1
 from antlr4 import *
 if __name__ is not None and "." in __name__:
     from .OpenSCENARIO2Parser import OpenSCENARIO2Parser
@@ -1249,3 +1249,6 @@ def enterIntegerLiteral(self, ctx: OpenSCENARIO2Parser.IntegerLiteralContext):
     # Exit a parse tree produced by OpenSCENARIO2Parser#integerLiteral.
     def exitIntegerLiteral(self, ctx: OpenSCENARIO2Parser.IntegerLiteralContext):
         pass
+
+
+del OpenSCENARIO2Parser