From 6ff96ba6a35a83ac64808028c0c0d09c76e44ea7 Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Tue, 12 Sep 2023 08:32:44 -0700 Subject: [PATCH 1/9] Bump docker/setup-buildx-action from 2 to 3 (#163) Bumps [docker/setup-buildx-action](https://github.com/docker/setup-buildx-action) from 2 to 3. - [Release notes](https://github.com/docker/setup-buildx-action/releases) - [Commits](https://github.com/docker/setup-buildx-action/compare/v2...v3) --- updated-dependencies: - dependency-name: docker/setup-buildx-action dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- .github/workflows/build-images.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/build-images.yml b/.github/workflows/build-images.yml index 163020234..8c49f56ef 100644 --- a/.github/workflows/build-images.yml +++ b/.github/workflows/build-images.yml @@ -22,7 +22,7 @@ jobs: uses: docker/setup-qemu-action@v2 - name: Set up Docker Buildx - uses: docker/setup-buildx-action@v2 + uses: docker/setup-buildx-action@v3 with: platforms: linux/arm64,linux/amd64 From 19ea6f4bbda16ad5838bdd9db27685b6d1524d62 Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Tue, 12 Sep 2023 08:33:00 -0700 Subject: [PATCH 2/9] Bump docker/build-push-action from 4 to 5 (#164) Bumps [docker/build-push-action](https://github.com/docker/build-push-action) from 4 to 5. - [Release notes](https://github.com/docker/build-push-action/releases) - [Commits](https://github.com/docker/build-push-action/compare/v4...v5) --- updated-dependencies: - dependency-name: docker/build-push-action dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- .github/workflows/build-images.yml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/.github/workflows/build-images.yml b/.github/workflows/build-images.yml index 8c49f56ef..f35ee05a7 100644 --- a/.github/workflows/build-images.yml +++ b/.github/workflows/build-images.yml @@ -34,7 +34,7 @@ jobs: password: ${{ secrets.PAT_TOKEN }} - name: Build and push base - uses: docker/build-push-action@v4 + uses: docker/build-push-action@v5 with: context: "{{defaultContext}}:.devcontainer/base-dev" file: base-dev.Dockerfile @@ -46,7 +46,7 @@ jobs: target: base - name: Build and push local-base - uses: docker/build-push-action@v4 + uses: docker/build-push-action@v5 with: context: "{{defaultContext}}:.devcontainer/base-dev" file: base-dev.Dockerfile @@ -58,7 +58,7 @@ jobs: target: local-base - name: Build and push dev - uses: docker/build-push-action@v4 + uses: docker/build-push-action@v5 with: context: "{{defaultContext}}:.devcontainer/base-dev" file: base-dev.Dockerfile From d3fbd10e12491ace5b773bfc3232eb8bd00cb2a0 Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Tue, 12 Sep 2023 08:33:27 -0700 Subject: [PATCH 3/9] Bump docker/setup-qemu-action from 2 to 3 (#165) Bumps [docker/setup-qemu-action](https://github.com/docker/setup-qemu-action) from 2 to 3. - [Release notes](https://github.com/docker/setup-qemu-action/releases) - [Commits](https://github.com/docker/setup-qemu-action/compare/v2...v3) --- updated-dependencies: - dependency-name: docker/setup-qemu-action dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- .github/workflows/build-images.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/build-images.yml b/.github/workflows/build-images.yml index f35ee05a7..7660f3715 100644 --- a/.github/workflows/build-images.yml +++ b/.github/workflows/build-images.yml @@ -19,7 +19,7 @@ jobs: steps: - name: Set up QEMU - uses: docker/setup-qemu-action@v2 + uses: docker/setup-qemu-action@v3 - name: Set up Docker Buildx uses: docker/setup-buildx-action@v3 From c0c09f92ab33483c54a3604eb5ace8e94ac3432a Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Tue, 12 Sep 2023 08:33:45 -0700 Subject: [PATCH 4/9] Bump docker/login-action from 2 to 3 (#166) Bumps [docker/login-action](https://github.com/docker/login-action) from 2 to 3. - [Release notes](https://github.com/docker/login-action/releases) - [Commits](https://github.com/docker/login-action/compare/v2...v3) --- updated-dependencies: - dependency-name: docker/login-action dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- .github/workflows/build-images.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/build-images.yml b/.github/workflows/build-images.yml index 7660f3715..15519bdd1 100644 --- a/.github/workflows/build-images.yml +++ b/.github/workflows/build-images.yml @@ -27,7 +27,7 @@ jobs: platforms: linux/arm64,linux/amd64 - name: Login to GitHub Container Registry - uses: docker/login-action@v2 + uses: docker/login-action@v3 with: registry: ghcr.io username: ${{ github.actor }} From bcd5466f51bbebc34029043ec13635607c324e19 Mon Sep 17 00:00:00 2001 From: Patrick Creighton Date: Mon, 25 Sep 2023 11:04:26 -0700 Subject: [PATCH 5/9] Add notebooks repo (#157) * Add and configure Jupyter extension * Add notebooks repo --- .devcontainer/config/sailbot_workspace.code-workspace | 5 +++++ .devcontainer/devcontainer.json | 1 + src/new_project.repos | 5 +++++ 3 files changed, 11 insertions(+) diff --git a/.devcontainer/config/sailbot_workspace.code-workspace b/.devcontainer/config/sailbot_workspace.code-workspace index 954e8fe15..6967e20c5 100644 --- a/.devcontainer/config/sailbot_workspace.code-workspace +++ b/.devcontainer/config/sailbot_workspace.code-workspace @@ -18,6 +18,9 @@ { "path": "../../src/network_systems" }, + { + "path": "../../src/notebooks" + }, { "path": "../../src/raye-local-pathfinding" }, @@ -125,6 +128,8 @@ "editor.formatOnSave": true, "editor.rulers": [99], }, + "notebook.formatOnCellExecution": true, + "notebook.formatOnSave.enabled": true, "python.analysis.diagnosticMode": "workspace", "python.analysis.extraPaths": [ "/workspaces/sailbot_workspace/install/lib/python3.10/site-packages", diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json index b446a3eef..8c6feb167 100644 --- a/.devcontainer/devcontainer.json +++ b/.devcontainer/devcontainer.json @@ -66,6 +66,7 @@ "ms-python.black-formatter", "ms-python.isort", "ms-python.vscode-pylance", + "ms-toolsai.jupyter", "ms-vsliveshare.vsliveshare", "njpwerner.autodocstring", "streetsidesoftware.code-spell-checker", diff --git a/src/new_project.repos b/src/new_project.repos index f0c32dbaa..b9083c076 100644 --- a/src/new_project.repos +++ b/src/new_project.repos @@ -42,6 +42,11 @@ repositories: url: https://github.com/UBCSailbot/network_systems version: main + notebooks: + type: git + url: https://github.com/UBCSailbot/notebooks + version: main + raye-local-pathfinding: type: git url: https://github.com/UBCSailbot/raye-local-pathfinding From ab968887cb6a6a8efbca8f403d88ffa448bc0a3f Mon Sep 17 00:00:00 2001 From: Patrick Creighton Date: Mon, 25 Sep 2023 11:23:07 -0700 Subject: [PATCH 6/9] Revert "Revert setup skipping existing repositories" (#168) * Revert "Revert setup skipping existing repositories (#151)" This reverts commit 06eedc6ed78f2cfdb4d328e240361d49214d02c1. * Rename new_project.repos to polaris.repos --- .devcontainer/config/sailbot_workspace.code-workspace | 4 ++-- .github/actions/ament-lint/run.sh | 2 +- .gitignore | 2 +- setup.sh | 2 +- src/{new_project.repos => polaris.repos} | 0 5 files changed, 5 insertions(+), 5 deletions(-) rename src/{new_project.repos => polaris.repos} (100%) diff --git a/.devcontainer/config/sailbot_workspace.code-workspace b/.devcontainer/config/sailbot_workspace.code-workspace index 6967e20c5..fbc998700 100644 --- a/.devcontainer/config/sailbot_workspace.code-workspace +++ b/.devcontainer/config/sailbot_workspace.code-workspace @@ -417,9 +417,9 @@ // Workspace editing tasks { "label": "clone source repositories", - "detail": "Clone the repositories specified in src/new_project.repos to src/", + "detail": "Clone the repositories specified in src/polaris.repos to src/", "type": "shell", - "command": "vcs import < src/new_project.repos src --skip-existing", + "command": "vcs import < src/polaris.repos src --skip-existing", "problemMatcher": [] }, { diff --git a/.github/actions/ament-lint/run.sh b/.github/actions/ament-lint/run.sh index 1959f196b..813997678 100755 --- a/.github/actions/ament-lint/run.sh +++ b/.github/actions/ament-lint/run.sh @@ -47,5 +47,5 @@ source /opt/ros/${ROS_DISTRO}/setup.bash cd src # Exclude repos and files we don't want to lint -VALID_SRC_DIRS=$(ls | grep -v -e virtual_iridium -e docs -e raye-local-pathfinding -e new_project.repos) +VALID_SRC_DIRS=$(ls | grep -v -e virtual_iridium -e docs -e raye-local-pathfinding -e polaris.repos) lint ${VALID_SRC_DIRS} diff --git a/.gitignore b/.gitignore index 7af5573e6..31103c815 100644 --- a/.gitignore +++ b/.gitignore @@ -6,7 +6,7 @@ site/* # vcstool packages src/* !src/global_launch -!src/new_project.repos +!src/polaris.repos # configuration files .devcontainer/config/* diff --git a/setup.sh b/setup.sh index 192222e0a..2810ac16e 100755 --- a/setup.sh +++ b/setup.sh @@ -10,7 +10,7 @@ function warn() { # Import all project repositories if [[ $DISABLE_VCS != "true" ]]; then echo "Importing project repositories..." - vcs import < src/new_project.repos src + vcs import < src/polaris.repos src --skip-existing else warn "VCS disabled. Skipping project repository imports..." fi diff --git a/src/new_project.repos b/src/polaris.repos similarity index 100% rename from src/new_project.repos rename to src/polaris.repos From f3c28df88fd01ca9fa09e3f847b25765b2b994be Mon Sep 17 00:00:00 2001 From: Patrick Creighton Date: Mon, 25 Sep 2023 14:06:45 -0700 Subject: [PATCH 7/9] Add controller repository (#169) --- .devcontainer/config/sailbot_workspace.code-workspace | 3 +++ src/polaris.repos | 5 +++++ 2 files changed, 8 insertions(+) diff --git a/.devcontainer/config/sailbot_workspace.code-workspace b/.devcontainer/config/sailbot_workspace.code-workspace index fbc998700..2ff328e96 100644 --- a/.devcontainer/config/sailbot_workspace.code-workspace +++ b/.devcontainer/config/sailbot_workspace.code-workspace @@ -6,6 +6,9 @@ { "path": "../../src/boat_simulator" }, + { + "path": "../../src/controller" + }, { "path": "../../src/custom_interfaces" }, diff --git a/src/polaris.repos b/src/polaris.repos index b9083c076..7ba1a9f74 100644 --- a/src/polaris.repos +++ b/src/polaris.repos @@ -22,6 +22,11 @@ repositories: url: https://github.com/UBCSailbot/boat_simulator version: main + controller: + type: git + url: https://github.com/UBCSailbot/controller + version: main + custom_interfaces: type: git url: https://github.com/UBCSailbot/custom_interfaces From f0e879cbd3b552b3eb6799bc4139c3b3fc331f69 Mon Sep 17 00:00:00 2001 From: Patrick Creighton Date: Mon, 2 Oct 2023 20:32:04 -0700 Subject: [PATCH 8/9] Fix base/dev image long build times (#173) * Move cpp mongodb driver installation to pre-base * Fix git clone error * Fix curl error * Refactor certificate fix * Refactor mongodb-cpp-driver installation * Use mongo-cxx-driver-builder in pre-base * Install mongoc-dev package * Revert * Add git as pre-base dep * Build mongo-cxx-driver in separate layer * Change order * Update tag name * Try original first * Narrow scope * Update tags to v2 image --- .devcontainer/Dockerfile | 2 +- .devcontainer/base-dev/base-dev.Dockerfile | 14 +------ .devcontainer/pre-base/build-pre-base.sh | 2 +- .devcontainer/pre-base/pre-base.Dockerfile | 43 ++++++++++++++++++++-- 4 files changed, 43 insertions(+), 18 deletions(-) diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile index d85a7bcec..7fc073865 100644 --- a/.devcontainer/Dockerfile +++ b/.devcontainer/Dockerfile @@ -1,4 +1,4 @@ -FROM ghcr.io/ubcsailbot/sailbot_workspace/dev:mongodb-cpp +FROM ghcr.io/ubcsailbot/sailbot_workspace/dev:refactor-images-v2 # Copy configuration files (e.g., .vimrc) from config/ to the container's home directory ARG USERNAME=ros diff --git a/.devcontainer/base-dev/base-dev.Dockerfile b/.devcontainer/base-dev/base-dev.Dockerfile index 5119c1bf2..ce7ebcee5 100644 --- a/.devcontainer/base-dev/base-dev.Dockerfile +++ b/.devcontainer/base-dev/base-dev.Dockerfile @@ -1,4 +1,4 @@ -FROM ghcr.io/ubcsailbot/sailbot_workspace/pre-base:ros_humble-ompl_4c86b2f as base +FROM ghcr.io/ubcsailbot/sailbot_workspace/pre-base:ros_humble-ompl_4c86b2f-mongo_367-v2 as base # install base apt dependencies ENV DEBIAN_FRONTEND=noninteractive @@ -70,23 +70,11 @@ RUN apt-get update \ && apt-get install -y --no-install-recommends \ mongodb-database-tools \ mongodb-mongosh \ - libmongoc-dev \ && apt-get autoremove -y \ && apt-get clean -y \ && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/* ENV DEBIAN_FRONTEND= -# setup MongoDB C++ Packages -ENV DEBIAN_FRONTEND=noninteractive -# mongo-cxx-driver version must match libmongoc-dev version - see https://mongocxx.org/mongocxx-v3/installation/linux/ -RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.6.7/mongo-cxx-driver-r3.6.7.tar.gz \ - && tar -xzf mongo-cxx-driver-r3.6.7.tar.gz \ - && cd mongo-cxx-driver-r3.6.7/build \ - && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local \ - && cmake --build . \ - && cmake --build . --target install -ENV DEBIAN_FRONTEND= - FROM local-base as ros-dev # From https://github.com/athackst/dockerfiles/blob/32a872348af0ad25ec4a6e6184cb803357acb6ab/ros2/humble.Dockerfile diff --git a/.devcontainer/pre-base/build-pre-base.sh b/.devcontainer/pre-base/build-pre-base.sh index 121e458f9..7cdba38e5 100755 --- a/.devcontainer/pre-base/build-pre-base.sh +++ b/.devcontainer/pre-base/build-pre-base.sh @@ -2,6 +2,6 @@ docker buildx build . \ --file pre-base.Dockerfile \ - --tag ghcr.io/ubcsailbot/sailbot_workspace/pre-base:ros_humble-ompl_4c86b2f \ + --tag ghcr.io/ubcsailbot/sailbot_workspace/pre-base:ros_humble-ompl_4c86b2f-mongo_367-v2 \ --platform linux/arm64,linux/amd64 \ --push diff --git a/.devcontainer/pre-base/pre-base.Dockerfile b/.devcontainer/pre-base/pre-base.Dockerfile index b73beb1a1..66c342830 100644 --- a/.devcontainer/pre-base/pre-base.Dockerfile +++ b/.devcontainer/pre-base/pre-base.Dockerfile @@ -1,4 +1,15 @@ -FROM ubuntu:22.04 AS ompl-source +FROM ubuntu:22.04 AS fix-certificates + +ENV DEBIAN_FRONTEND=noninteractive +RUN apt-get update \ + && apt-get install -y --no-install-recommends \ + ca-certificates \ + && apt-get autoremove -y \ + && apt-get clean -y \ + && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/* +ENV DEBIAN_FRONTEND= + +FROM fix-certificates AS ompl-source ENV DEBIAN_FRONTEND=noninteractive RUN apt-get update \ @@ -11,7 +22,7 @@ WORKDIR /ompl RUN git reset --hard 4c86b2f # From https://github.com/athackst/dockerfiles/blob/32a872348af0ad25ec4a6e6184cb803357acb6ab/ros2/humble.Dockerfile -FROM ubuntu:22.04 AS ros-pre-base +FROM fix-certificates AS ros-pre-base ENV DEBIAN_FRONTEND=noninteractive @@ -55,7 +66,7 @@ ENV ROS_VERSION=2 ENV DEBIAN_FRONTEND= # Based on https://github.com/ompl/ompl/blob/4c86b2fecf7084ae9073bf6a837176d0be169721/scripts/docker/ompl.Dockerfile -FROM ros-pre-base AS ompl-builder +FROM fix-certificates AS ompl-builder # avoid interactive configuration dialog from tzdata, which gets pulled in # as a dependency ENV DEBIAN_FRONTEND=noninteractive @@ -99,6 +110,30 @@ RUN cmake \ && ninja -j `nproc` \ && ninja install +FROM fix-certificates AS mongo-cxx-driver-builder + +ENV DEBIAN_FRONTEND=noninteractive +RUN apt-get update \ + && apt-get install -y --no-install-recommends \ + build-essential \ + cmake \ + git \ + libmongoc-dev \ + wget \ + && apt-get autoremove -y \ + && apt-get clean -y \ + && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/* + +# setup MongoDB C++ Packages +# mongo-cxx-driver version must match libmongoc-dev version - see https://mongocxx.org/mongocxx-v3/installation/linux/ +RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.6.7/mongo-cxx-driver-r3.6.7.tar.gz \ + && tar -xzf mongo-cxx-driver-r3.6.7.tar.gz \ + && cd mongo-cxx-driver-r3.6.7/build \ + && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local \ + && cmake --build . \ + && cmake --build . --target install +ENV DEBIAN_FRONTEND= + FROM ros-pre-base as pre-base LABEL org.opencontainers.image.source = "https://github.com/UBCSailbot/sailbot_workspace" @@ -115,6 +150,7 @@ RUN apt-get update \ libboost-system-dev \ libeigen3-dev \ libflann-dev \ + libmongoc-dev \ libode-dev \ libtriangle-dev \ ninja-build \ @@ -129,3 +165,4 @@ RUN apt-get update \ ENV DEBIAN_FRONTEND= COPY --from=ompl-builder /usr /usr +COPY --from=mongo-cxx-driver-builder /usr/local /usr/local From 8d0ae2e9975fefbf2a02875747de764df862905a Mon Sep 17 00:00:00 2001 From: Henry Huang <69825683+hhenry01@users.noreply.github.com> Date: Mon, 2 Oct 2023 20:33:32 -0700 Subject: [PATCH 9/9] Restore BUILD_TYPE Flag (#172) --- build.sh | 3 +++ 1 file changed, 3 insertions(+) diff --git a/build.sh b/build.sh index c6165525c..ab28ca2f8 100755 --- a/build.sh +++ b/build.sh @@ -41,6 +41,9 @@ else STATIC_ANALYSIS="ON" UNIT_TEST="ON" fi +if [[ $UNIT_TEST = "ON" ]]; then + BUILD_TYPE="Debug" +fi # Build ROS packages in src directory colcon build \