Merge pull request allenh1#7 from tiiuae/new_build_scripts

New build scripts

.github/workflows/main.yaml

@@ -9,32 +9,32 @@ on:
 jobs:
   tii-deb-build:
     runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        ros2_distro: [foxy, galactic]
     steps:
 
       - name: Checkout rplidar_ros2
         uses: actions/checkout@v2
         with:
           path: rplidar_ros2
 
-      - name: Checkout ci-scripts
-        uses: actions/checkout@v2
-        with:
-          repository: tiiuae/fogsw-ci-scripts
-          path: fogsw-ci-scripts
-
       # Run docker build
       - name: Run rplidar_ros2 docker build
+        env:
+          ROS: 1
+          ROS_DISTRO: ${{ matrix.ros2_distro }}
+          PACKAGE_NAME: rplidar_ros2
         run: |
           set -eux
           mkdir bin
-          pushd fogsw-ci-scripts
-          export ROS=1
-          ./generate_deb.sh ../rplidar_ros2 ../bin/
+          pushd rplidar_ros2
+          ./build.sh ../bin/
           popd
 
       - name: Install jfrog CLI tool
         env:
-          JFROG_CLI_URL: https://artifactory.ssrc.fi/artifactory/gen-public-local/tools/jfrog/jfrog-1.45.2.tar.gz
+          JFROG_CLI_URL: https://ssrc.jfrog.io/artifactory/ssrc-gen-public-remote-cache/tools/jfrog/jfrog-1.45.2.tar.gz
         if: github.event_name == 'push'
         run: |
           set -exu
@@ -58,7 +58,7 @@ jobs:
           set -exu
           jfrog rt c import "$ARTIFACTORY_TOKEN"
           jfrog rt ping
-          pkg=$(find bin -name 'ros-foxy-rplidar-ros2*.deb')
+          pkg=$(find bin -name 'ros-${{ matrix.ros2_distro }}-rplidar-ros2*.deb')
           jfrog rt u --deb "$DISTRIBUTION/$COMPONENT/$ARCHITECTURE" \
                      --target-props COMMIT="$GITHUB_SHA" \
                      --build-name "$BUILD_NAME" \

.github/workflows/tii-rplidar.yaml

@@ -0,0 +1,72 @@
+name: tii-rplidar
+
+on:
+  push:
+    branches: new_ros2
+    tags:
+      - 'v*'
+      - v[0-9]+.[0-9]+.[0-9]+
+      - v[0-9]+.[0-9]+.[0-9]+-rc.[0-9]+
+  pull_request:
+    branches: [ new_ros2 ]
+
+jobs:
+  tii-rplidar:
+    runs-on: ubuntu-latest
+    services:
+      registry:
+        image: registry:2
+        ports:
+          - 5000:5000
+    steps:
+
+      - uses: actions/checkout@v2
+
+      - uses: docker/setup-buildx-action@v1
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v1
+        with:
+          driver-opts: network=host
+
+      - name: Build the builder container image
+        uses: docker/build-push-action@v2
+        with:
+          context: .
+          file: ./Dockerfile.build_env
+          push: true
+          tags: localhost:5000/tiiuae/rplidar:build_env
+          build-args: |
+            PACKAGE_NAME=rplidar
+            ROS_DISTRO=foxy
+
+      - name: Docker meta
+        id: meta
+        uses: docker/metadata-action@v3
+        with:
+          images: ghcr.io/tiiuae/tii-rplidar
+          tags: |
+            type=ref,event=branch
+            type=semver,pattern={{version}}
+            type=sha
+            type=raw,value=latest
+
+      - name: Login to GitHub Container Registry
+        uses: docker/login-action@v1
+        if: github.event_name == 'push'
+        with:
+          registry: ghcr.io
+          username: ${{ secrets.GCR_PACKAGES_USER }}
+          password: ${{ secrets.GCR_PACKAGES_TOKEN }}
+
+      - name: Build tii-rplidar image and push
+        uses: docker/build-push-action@v2
+        with:
+          context: .
+          file: ./Dockerfile
+          push: ${{ github.event_name != 'pull_request' }}
+          tags: ${{ steps.meta.outputs.tags }}
+          build-args: |
+            PACKAGE_NAME=rplidar
+            ROS_DISTRO=foxy
+            FROM_IMAGE=localhost:5000/tiiuae/rplidar:build_env

.gitignore

@@ -34,13 +34,6 @@
 # clion
 .idea
 
-# ignore build directories
-*build*
 
-# ignore install directory from colcon
-*install*
-
-# ros2 log
-log/
 
 debian/

Dockerfile

@@ -0,0 +1,31 @@
+# fog-sw BUILDER
+ARG FROM_IMAGE
+FROM $FROM_IMAGE as fog-sw-builder
+ARG ROS_DISTRO="galactic"
+ARG UID=1000
+ARG GID=1000
+ARG PACKAGE_NAME
+
+WORKDIR /$PACKAGE_NAME/main_ws
+USER root
+ADD . /$PACKAGE_NAME/main_ws/src
+RUN chown -R builder:builder /$PACKAGE_NAME/main_ws
+
+USER builder
+
+RUN if [ -e /$PACKAGE_NAME/deps_ws ]; then \
+        . /$PACKAGE_NAME/deps_ws/install/setup.sh && \
+        colcon build; \
+    elif [ -e /opt/ros/${ROS_DISTRO}/setup.sh ]; then \
+        . /opt/ros/${ROS_DISTRO}/setup.sh && \
+        colcon build; \
+    fi 
+
+RUN sed --in-place \
+      's|^source .*|source "/'$PACKAGE_NAME'/main_ws/install/setup.bash"|' \
+      /$PACKAGE_NAME/entrypoint.sh && \  
+        chmod +x /$PACKAGE_NAME/entrypoint.sh
+
+ENV PACKAGE_NAME $PACKAGE_NAME
+WORKDIR /$PACKAGE_NAME
+ENTRYPOINT "/"$PACKAGE_NAME"/entrypoint.sh"

Dockerfile.build_env

@@ -0,0 +1,44 @@
+# fog-sw BUILDER
+ARG ROS_DISTRO="galactic"
+FROM ros:${ROS_DISTRO}-ros-base as fog-sw-builder
+
+ARG UID=1000
+ARG GID=1000
+ARG BUILD_NUMBER
+ARG COMMIT_ID
+ARG GIT_VER
+ARG PACKAGE_NAME
+# Install build dependencies
+RUN apt-get update -y && apt-get install -y --no-install-recommends \
+    curl \
+    python3-bloom \
+    fakeroot \
+    dh-make \
+    libboost-dev \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN groupadd -g $GID builder && \
+    useradd -m -u $UID -g $GID -g builder builder && \
+    usermod -aG sudo builder && \
+    echo 'builder ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+
+RUN echo "deb [trusted=yes] https://ssrc.jfrog.io/artifactory/ssrc-debian-public-remote focal fog-sw" >> /etc/apt/sources.list
+
+RUN mkdir -p /$PACKAGE_NAME/packaging
+
+COPY packaging/rosdep.yaml* packaging/rosdep.sh packaging/build_deps.sh /$PACKAGE_NAME/packaging/
+COPY underlay.repos package.xml /$PACKAGE_NAME/packaging/
+COPY entrypoint.sh* /$PACKAGE_NAME/
+
+RUN /$PACKAGE_NAME/packaging/rosdep.sh /$PACKAGE_NAME
+
+RUN chown -R builder:builder /$PACKAGE_NAME
+
+USER builder
+
+RUN rosdep update
+
+RUN /$PACKAGE_NAME/packaging/build_deps.sh /$PACKAGE_NAME
+
+VOLUME /$PACKAGE_NAME/sources
+WORKDIR /$PACKAGE_NAME/sources

build.sh

@@ -0,0 +1,40 @@
+#!/bin/bash
+
+set -euxo pipefail
+
+output_dir=$1
+
+git_commit_hash=${2:-$(git rev-parse HEAD)}
+
+git_version_string=${3:-$(git log --date=format:%Y%m%d --pretty=~git%cd.%h -n 1)}
+
+build_number=${GITHUB_RUN_NUMBER:=0}
+
+ros_distro=${ROS_DISTRO:=foxy}
+
+iname=${PACKAGE_NAME:=rplidar_ros2}
+
+iversion=${PACKAGE_VERSION:=latest}
+
+docker build \
+  --build-arg UID=$(id -u) \
+  --build-arg GID=$(id -g) \
+  --build-arg ROS_DISTRO=${ros_distro} \
+  --build-arg PACKAGE_NAME=${iname} \
+  --pull \
+  -f Dockerfile.build_env -t "${iname}_build:${iversion}" .
+
+docker run \
+  --rm \
+  -v $(pwd):/${iname}/sources \
+  ${iname}_build:${iversion} \
+  ./packaging/package.sh \
+  -b ${build_number} \
+  -g ${git_commit_hash} \
+  -v ${git_version_string}
+
+mkdir -p ${output_dir}
+cp *.deb *.ddeb ${output_dir}
+rm -Rf *.deb *.ddeb
+
+exit 0

entrypoint.sh

@@ -0,0 +1,4 @@
+#!/bin/bash
+
+source /opt/ros/foxy/setup.bash
+ros2 launch rplidar_ros2 sensors_launch.py

launch/sensors_launch.py

@@ -4,6 +4,7 @@
 from launch.substitutions import LaunchConfiguration
 from launch.substitutions import PythonExpression
 from launch.substitutions import ThisLaunchFileDir
+from launch.conditions import IfCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch_ros.actions import Node
 import os
@@ -16,6 +17,8 @@ def generate_launch_description():
 
     # environment variables
     DRONE_DEVICE_ID = os.getenv('DRONE_DEVICE_ID')
+    # If the SIMULATION environment variable is set to 1, then only static tf publisher will start.
+    SIMULATION = os.getenv('SIMULATION')
 
     # arguments
     ld.add_action(DeclareLaunchArgument("rplidar_mode", default_value="outdoor"))
@@ -27,7 +30,7 @@ def generate_launch_description():
     # Boost: optimized for sample rate 
     # Stability: for light elimination performance, but shorter range and lower sample rate 
     rplidar_mode = PythonExpression(['"Stability" if "outdoor" == "', LaunchConfiguration("rplidar_mode"), '" else "Sensitivity"'])
-
+    simulation_mode = (SIMULATION == "1")
     #namespace declarations
     namespace = DRONE_DEVICE_ID
 
@@ -41,6 +44,7 @@ def generate_launch_description():
             namespace = namespace,
             package = 'rplidar_ros2',
             executable = 'rplidar',
+            condition=IfCondition(PythonExpression(['not ', str(simulation_mode)])),
             name = 'rplidar',
             parameters = [{
                 'serial_port': LaunchConfiguration("serial_port"),

packaging/build_deps.sh

@@ -0,0 +1,51 @@
+#!/bin/bash
+
+set -eo pipefail
+
+mod_dir=${1}
+
+# Extract not satisfied dependencies from output, check if they are exist in ../underlay.repos
+if rosdep check --from-paths ${mod_dir} 1> /dev/null 2>&1; then
+	echo "[INFO] Dependencies are satisfied."
+else
+	echo "[INFO] Building dependencies using underlay.repos."
+	cd ${mod_dir}
+
+    echo "[INFO] Get package dependencies."
+    # Dependencies from fog-sw repo
+    if [ -e ${mod_dir}/ros2_ws/src ]; then
+        echo "[INFO] Use dependencies from fog_sw."
+        pushd ${mod_dir}/ros2_ws > /dev/null
+        source /opt/ros/${ROS_DISTRO}/setup.bash
+    else
+        echo "[INFO] Use dependencies from local repository."
+        mkdir -p ${mod_dir}/deps_ws/src
+        pushd ${mod_dir}/deps_ws > /dev/null
+        vcs import src < ${mod_dir}/packaging/underlay.repos
+        rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROS_DISTRO}
+        source /opt/ros/${ROS_DISTRO}/setup.bash
+    fi
+
+    rosdep_out=$(rosdep check -v --from-paths src 2>&1 | grep "resolving for resources" )
+    ALL_PKGS=$(echo $rosdep_out | sed 's/.*\[\(.*\)\].*/\1/' | tr ',' '\n' | tr -d ' ')
+    echo "[INFO] All packages: $(echo $ALL_PKGS|tr '\n' ' ')"
+    PKGS_TO_BUILD=""
+    pushd src > /dev/null
+
+    for pkg_name in ${ALL_PKGS}; do
+        echo "[INFO] Check if package ${pkg_name} is in the list of packages to build."
+        pkg_name=$(echo ${pkg_name} | sed 's/\/$//')
+        if ! ros2 pkg list | grep ${pkg_name} 1> /dev/null 2>&1; then
+            PKGS_TO_BUILD="${PKGS_TO_BUILD} ${pkg_name}"
+        fi
+    done
+
+    echo "[INFO] Packages to build: $PKGS_TO_BUILD"
+    popd > /dev/null
+
+    echo "[INFO] Build package dependencies."
+    colcon build --packages-select ${PKGS_TO_BUILD}
+    popd > /dev/null
+fi
+
+