シナリオテスト

.github/workflows/build_test.yaml

@@ -15,7 +15,7 @@ jobs:
           || fromJSON('[ "ubuntu-latest" ]')
       }}
     timeout-minutes: 30
-    container: ghcr.io/ibis-ssl/crane:prebuilt
+    container: ghcr.io/ibis-ssl/crane:base
     env:
       DEBIAN_FRONTEND: noninteractive
     strategy:
@@ -43,6 +43,21 @@ jobs:
           cd ~/ibis_ws
           vcs import src < src/crane/dependency_${{ matrix.rosdistro }}.repos
 
+      - name: Install other dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y curl docker-compose
+
+      - name: Download logger for scenario test
+        run: |
+          curl -L https://github.com/RoboCup-SSL/ssl-go-tools/releases/download/v1.5.2/ssl-log-recorder_v1.5.2_linux_amd64 -o ssl-log-recorder
+          chmod +x ssl-log-recorder
+
+      - name: docker compose pull
+        run: |
+          docker-compose pull -f docker/docker-compose.yaml
+        shell: bash
+
       - name: Resolve rosdep
         run: |
           cd ~/ibis_ws

.github/workflows/custom_dict.json

@@ -79,6 +79,9 @@
     "ZJUNlict",
     "luhbots",
     "nAMeC",
+    "TRAPS",
+    "Shinobi",
+    "reRo",
     "roboticserlangen",
     "tigersmannheim",
     "simulatorcli",
@@ -105,6 +108,7 @@
     "MPPI",
     "Kwargs",
     "voicevox",
-    "FREEKICK"
+    "FREEKICK",
+    "rcst"
   ]
 }

.github/workflows/docker_build.yaml

@@ -5,7 +5,6 @@ on:
     branches:
       - develop
   workflow_dispatch:
-
 jobs:
   build_base:
     name: build base image
@@ -16,6 +15,9 @@ jobs:
           fetch-depth: 0
           token: ${{ secrets.GITHUB_TOKEN }}
 
+      - name: Set up buildx
+        uses: docker/setup-buildx-action@v3
+
       - name: Login to GitHub Container Registry
         uses: docker/login-action@v3
         with:
@@ -25,12 +27,14 @@ jobs:
 
       - name: Build image
         if: steps.check_image.outputs.GITHUB_OUTPUT == ${{ steps.extract_dependencies.outputs.rosdep_checksum }}
-        uses: docker/build-push-action@v2
+        uses: docker/build-push-action@v5
         with:
           context: .
           file: docker/base/Dockerfile
           push: true
           tags: ghcr.io/${{ github.repository }}:base
+          cache-from: type=gha
+          cache-to: type=gha,mode=max
 
   build_ccache:
     name: build ccache image
@@ -41,6 +45,9 @@ jobs:
           fetch-depth: 0
           token: ${{ secrets.GITHUB_TOKEN }}
 
+      - name: Set up buildx
+        uses: docker/setup-buildx-action@v3
+
       - name: Login to GitHub Container Registry
         uses: docker/login-action@v3
         with:
@@ -50,12 +57,14 @@ jobs:
 
       - name: Build image
         if: steps.check_image.outputs.GITHUB_OUTPUT == ${{ steps.extract_dependencies.outputs.rosdep_checksum }}
-        uses: docker/build-push-action@v2
+        uses: docker/build-push-action@v5
         with:
           context: .
           file: docker/ccache/Dockerfile
           push: true
           tags: ghcr.io/${{ github.repository }}:ccache
+          cache-from: type=gha
+          cache-to: type=gha,mode=max
 
   build_prebuilt:
     name: build prebuilt image
@@ -66,6 +75,9 @@ jobs:
           fetch-depth: 0
           token: ${{ secrets.GITHUB_TOKEN }}
 
+      - name: Set up buildx
+        uses: docker/setup-buildx-action@v3
+
       - name: Login to GitHub Container Registry
         uses: docker/login-action@v3
         with:
@@ -75,9 +87,11 @@ jobs:
 
       - name: Build image
         if: steps.check_image.outputs.GITHUB_OUTPUT == ${{ steps.extract_dependencies.outputs.rosdep_checksum }}
-        uses: docker/build-push-action@v2
+        uses: docker/build-push-action@v5
         with:
           context: .
           file: docker/prebuilt/Dockerfile
           push: true
           tags: ghcr.io/${{ github.repository }}:prebuilt
+          cache-from: type=gha
+          cache-to: type=gha,mode=max

.github/workflows/scenario_test.yaml

@@ -0,0 +1,162 @@
+name: scenario test
+
+on:
+  workflow_dispatch:
+  pull_request:
+  merge_group:
+
+env:
+  PYTHON_VERSION: '3.10'
+
+jobs:
+  create_scenario_test_image:
+    name: build image for scenario test
+    runs-on: ubuntu-latest
+    env:
+      DEBIAN_FRONTEND: noninteractive
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro: [humble]
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+          token: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Set up buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Login to GitHub Container Registry
+        uses: docker/login-action@v3
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Build image
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          file: docker/scenario/Dockerfile
+          push: true
+          tags: ghcr.io/${{ github.repository }}:scenario-${{ github.sha }}
+          cache-from: type=gha
+
+  setup_scenario_test_library:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+          token: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: ${{ env.PYTHON_VERSION }}
+
+      - name: Setup virtual environment
+        run: |
+          python -m venv env
+          source env/bin/activate
+
+      - name: Cache virtual environment
+        uses: actions/cache@v4
+        with:
+          path: env
+          key: ${{ runner.os }}-env-${{ github.run_id }}
+          restore-keys: |
+            ${{ runner.os }}-env-
+
+      - name: Install robocup_scenario_test library
+        run: |
+          source env/bin/activate
+          python -m pip install --upgrade pip
+          sudo apt update
+          sudo apt install -y protobuf-compiler
+          pip install -v git+https://github.com/SSL-Roots/robocup_scenario_test
+          pip install pytest
+
+  scenario_test:
+    needs: [create_scenario_test_image, setup_scenario_test_library]
+    strategy:
+      fail-fast: false
+      matrix:
+        env:
+          - TEST: STOP_AVOID_BALL
+          - TEST: STOP_ROBOT_SPEED
+
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+          token: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: ${{ env.PYTHON_VERSION }}
+
+      - name: Cache virtual environment
+        uses: actions/cache@v4
+        with:
+          path: env
+          key: ${{ runner.os }}-env-${{ github.run_id }}
+          restore-keys: |
+            ${{ runner.os }}-env-
+
+      - name: Setup virtual environment
+        run: |
+          python -m venv env
+          source env/bin/activate
+          python -m pip list
+
+      - name: Start Docker Compose services
+        run: |
+          docker compose -f docker/scenario/docker-compose.yaml up -d
+        env:
+          CRANE_TAG: scenario-${{ github.sha }}
+
+      - name: Wait for crane to start
+        timeout-minutes: 5
+        run: |
+          sleep 5
+
+      - name: Download logger
+        run: |
+          curl -L https://github.com/RoboCup-SSL/ssl-go-tools/releases/download/v1.5.2/ssl-log-recorder_v1.5.2_linux_amd64 -o ssl-log-recorder
+          chmod +x ssl-log-recorder
+
+      - name: Run pytest
+        run: |
+          source env/bin/activate
+          pytest scenario_test/${{ matrix.env.TEST }}.py --vision_port=10020 --logging --log_recorder=./ssl-log-recorder
+          echo "LOG_EXISTS=$(ls *.log.gz 2> /dev/null)" >> $GITHUB_ENV
+
+      - name: Get and print logs
+        if: always()
+        run: docker compose -f docker/scenario/docker-compose.yaml logs
+
+      - name: Clean up Docker Compose services
+        if: always()
+        run: docker compose -f docker/scenario/docker-compose.yaml down
+
+      - name: Upload artifacts
+        id: upload-artifact
+        if: always()
+#        if: env.LOG_EXISTS != ''
+        uses: actions/upload-artifact@v4
+        with:
+          name: ${{ matrix.env.TEST}}-failure-logs
+          path: '*.log.gz'
+
+      - name: Comment PR with Artifact URL
+        if: always()
+#        if: env.LOG_EXISTS != ''
+        uses: peter-evans/create-or-update-comment@v4
+        with:
+          issue-number: ${{ github.event.pull_request.number }}
+          body: |
+            Failure logs: ${{ steps.upload-artifact.outputs.artifact-url }}

crane_bringup/launch/crane.launch.xml

@@ -7,8 +7,11 @@
   <!--    <arg name="referee_port" default="10003" description="Set multicast port to connect Game Controller."/>-->
   <arg name="team" default="ibis" description="team name"/>
   <arg name="sim" default="true" description="Set true if you want to use simulator."/>
+  <arg name="original_grsim" default="false" description="Set true if you want to default grsim."/>
   <arg name="simple_ai" default="false" description="a"/>
   <arg name="max_vel" default="5.0" description="Set max velocity of robot."/>
+  <arg name="gui" default="true" description="Set true if you want to use GUI."/>
+  <arg name="speak" default="true" description="Set true if you want to use speaker."/>
   <set_parameter name="use_sim_time" value="$(var sim)"/>
 
   <!-- Nodes -->
@@ -32,13 +35,6 @@
       <param name="d_gain" value="1.0"/>
       <param name="max_vel" value="$(var max_vel)"/>
     </node>
-    <node pkg="crane_sender" exec="ibis_sender_node" output="screen">
-      <param name="no_movement" value="false"/>
-      <param name="theta_kp" value="3.5"/>
-      <param name="theta_ki" value="0.0"/>
-      <param name="theta_kd" value="0.5"/>
-      <param name="sim_mode" value="true"/>
-    </node>
 
     <node pkg="crane_clock_publisher" exec="crane_clock_publisher_node" output="screen">
       <param name="time_scale" value="1.00"/>
@@ -54,14 +50,25 @@
       <param name="d_gain" value="0.8"/>
       <param name="max_vel" value="$(var max_vel)"/>
     </node>
+  </group>
+
+  <group if="$(var original_grsim)">
+    <node pkg="crane_sender" exec="sim_sender_node" output="screen">
+      <param name="no_movement" value="false"/>
+      <param name="theta_kp" value="3.5"/>
+      <param name="theta_ki" value="0.0"/>
+      <param name="theta_kd" value="0.5"/>
+      <param name="sim_mode" value="true"/>
+    </node>
+  </group>
+
+  <group unless="$(var original_grsim)">
     <node pkg="crane_sender" exec="ibis_sender_node" output="screen">
-      <param name="no_movement" value="true"/>
-      <param name="theta_kp" value="5.5"/>
+      <param name="no_movement" value="false"/>
+      <param name="theta_kp" value="3.5"/>
       <param name="theta_ki" value="0.0"/>
-      <param name="theta_kd" value="0.1"/>
-      <param name="delay_s" value="0.0"/>
-      <param name="debug_id" value="1"/>
-      <param name="sim_mode" value="false"/>
+      <param name="theta_kd" value="0.5"/>
+      <param name="sim_mode" value="$(var sim)"/>
     </node>
   </group>
 
@@ -95,14 +102,18 @@
     <param name="team_name" value="$(var team)"/>
   </node>
 
-  <node pkg="crane_speaker" exec="crane_speaker_node"/>
+  <group if="$(var speak)">
+    <node pkg="crane_speaker" exec="crane_speaker_node"/>
+  </group>
 
   <node pkg="speak_ros" exec="speak_ros_node">
     <param name="plugin_name" value="voicevox_plugin::VoiceVoxPlugin"/>
     <param name="voicevox_plugin/speaker" value="14"/>
     <param name="voicevox_plugin/speedScale" value="1.0"/>
-    <param name="voicevox_plugin/volumeScale" value="2.0"/>
+    <param name="voicevox_plugin/volumeScale" value="1.0"/>
   </node>
 
-  <node pkg="consai_visualizer" exec="consai_visualizer"/>
+  <group if="$(var gui)">
+    <node pkg="consai_visualizer" exec="consai_visualizer"/>
+  </group>
 </launch>

docker/scenario/Dockerfile

@@ -0,0 +1,17 @@
+FROM ghcr.io/ibis-ssl/crane:prebuilt
+
+ENV ROS_OVERLAY /root/ibis_ws
+WORKDIR $ROS_OVERLAY/src
+SHELL ["/bin/bash", "-c"]
+
+COPY . crane
+
+RUN vcs import . < crane/dependency_${ROS_DISTRO}.repos
+
+RUN rosdep update && \
+    rosdep install -iy --from-paths . && \
+    rm -rf /var/lib/apt/lists/
+
+RUN cd .. && \
+    source /opt/ros/humble/setup.bash && \
+    colcon build --symlink-install --cmake-args '-DCMAKE_BUILD_TYPE=Release'