fixes

IntelLabs · Jul 25, 2024 · d3cf23a · d3cf23a
1 parent bbd5978
commit d3cf23a
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Showing 48 changed files with 512 additions and 250 deletions.
diff --git a/.github/workflows/Dockerfile b/.github/workflows/Dockerfile
@@ -1,5 +1,7 @@
-# Use the ROS Humble desktop-full image as the base
-FROM osrf/ros:humble-desktop-full
+ARG ROS_DISTRO
+
+FROM osrf/ros:${ROS_DISTRO}-desktop-full
+SHELL ["/bin/bash", "-xo", "pipefail", "-c"]
 
 # Install system dependencies
 # hadolint ignore=DL3008
@@ -10,19 +12,19 @@ RUN --mount=type=bind,source=.,target=/scenario_execution \
         xvfb \
         tk \
         libgl1 && \
-    xargs -a /scenario_execution/deb_requirements.txt apt-get install -y --no-install-recommends && \
-    rosdep update --rosdistro=humble && \
-    rosdep install --rosdistro=humble --from-paths /scenario_execution/ --ignore-src -r -y && \
+    xargs -a "/scenario_execution/deb_requirements_${ROS_DISTRO}.txt" apt-get install -y --no-install-recommends && \
+    rosdep update --rosdistro=${ROS_DISTRO} && \
+    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
+    if [[ "$ROS_DISTRO" == "humble" ]] ; then \
+        pip3 install  --no-cache-dir -r /scenario_execution/libs/scenario_execution_pybullet/requirements.txt; \
+    else \
+        pip3 install  --no-cache-dir -r /scenario_execution/libs/scenario_execution_pybullet/requirements.txt --break-system-packages; \
+    fi
 
 # 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
@@ -31,5 +33,7 @@ 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
diff --git a/.github/workflows/image.yml b/.github/workflows/image.yml
@@ -5,12 +5,16 @@ on:
     paths:
     - 'deb_requirements.txt'
     - 'requirements.txt'
+    - 'libs/scenario_execution_floorplan_dsl/deb_requirements.txt'
+    - 'libs/scenario_execution_pybullet/requirements.txt'
     - '.github/workflows/Dockerfile'
   pull_request:
     branches: [main]
     paths:
     - 'deb_requirements.txt'
     - 'requirements.txt'
+    - 'libs/scenario_execution_floorplan_dsl/deb_requirements.txt'
+    - 'libs/scenario_execution_pybullet/requirements.txt'
     - '.github/workflows/Dockerfile'
   workflow_dispatch:
 concurrency: 
@@ -22,6 +26,11 @@ jobs:
     runs-on: intellabs-01
     permissions:
       packages: write
+    strategy:
+      matrix:
+        include:
+        - ros_distro: humble
+        - ros_distro: jazzy
     steps:
     - name: Checkout code
       uses: actions/checkout@b4ffde65f46336ab88eb53be808477a3936bae11 #v4.1.1
@@ -39,4 +48,6 @@ jobs:
         context: .
         file: .github/workflows/Dockerfile
         push: true
-        tags: ghcr.io/intellabs/scenario-execution:humble
+        tags: ghcr.io/intellabs/scenario-execution:${{ matrix.ros_distro }}
+        build-args: |
+          ROS_DISTRO=${{ matrix.ros_distro }}