Checkpoint

.github/workflows/ci.yml

@@ -0,0 +1,32 @@
+name: CI
+on:
+  pull_request:
+    branches:
+      - master
+      - integration
+  push:
+    branches:
+      - master
+jobs:
+  ci:
+    name: CI
+    runs-on: ubuntu-latest
+    container:
+      image: umrover1/ros:latest
+      # GitHub is silly and requires us to be running as root for their checkout action
+      # Our docker container exports the user mrover, so we have to specific this explicitly
+      options: --user root
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          lfs: "true"
+          # This makes sure that $GITHUB_WORKSPACE is the catkin workspace path
+          path: "src/mrover"
+      - name: Style Check
+        run: . /home/mrover/ros2_ws/src/mrover/venv/bin/activate && cd $GITHUB_WORKSPACE/src/mrover/ && ./style.sh
+      - name: Build
+        if: github.event.pull_request.draft == false && github.event.pull_request.base.ref != 'refs/heads/master'
+        run: . /opt/ros/humble/setup.sh && . /home/mrover/ros2_ws/src/mrover/venv/bin/activate && ./build.sh
+      # - name: Test
+      #   if: github.event.pull_request.draft == false
+      #   run: . /opt/ros/noetic/setup.sh && . /home/mrover/ros2_ws/src/mrover/venv/bin/activate && . $GITHUB_WORKSPACE/devel/setup.sh && catkin test && rostest mrover integration.test --text

.gitignore

@@ -1,8 +1,22 @@
+# ROS2 build directories
 /build/
 /install/
 /log/
 
-__pycache__/
+# Common IDE's, ideally this should be in global gitignore per user
+.vscode/
+.idea/
+
+# clangd cache
 .cache/
+
+# IMGUI window layout
 imgui.ini
+
+# Python Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+.mypy_cache/
+*.egg-info/
 venv/

Dockerfile

@@ -0,0 +1,36 @@
+FROM ubuntu:jammy
+
+# DEBIAN_FRONTEND=noninteractive prevents apt from asking for user input
+# software-properties-common is needed for apt-add-repository
+# sudo is needed for ansible since it escalates from a normal user to root
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update -y && apt-get install software-properties-common sudo -y
+RUN apt-add-repository ppa:ansible/ansible -y && apt-get install -y git git-lfs ansible
+
+RUN useradd --create-home --groups sudo --shell /bin/zsh mrover
+# Give mrover user sudo access with no password
+RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+
+USER mrover
+RUN mkdir -p /home/mrover/ros2_ws/src/mrover
+WORKDIR /home/mrover/ros2_ws/src/mrover
+# Defines the APT packages that need to be installed
+# rosdep is called from Ansible to install them
+ADD --chown=mrover:mrover ./package.xml .
+# Defines the Python packages that need to be installed
+# pip is called from Ansible to install them
+ADD --chown=mrover:mrover ./pyproject.toml .
+ADD --chown=mrover:mrover ./README.md .
+# Copy over all Ansible files
+ADD --chown=mrover:mrover ./ansible ./ansible
+ADD --chown=mrover:mrover ./ansible.sh .
+ADD --chown=mrover:mrover ./pkg ./pkg
+RUN ./ansible.sh ci.yml
+
+USER root
+RUN apt-get purge ansible -y && apt-get autoremove -y
+# Remove apt cache to free up space in the image
+RUN apt-get clean && rm -rf /var/lib/apt/lists/*
+
+USER mrover
+ENTRYPOINT [ "/bin/bash" ]

ansible/roles/build/tasks/main.yml

@@ -72,8 +72,9 @@
       - unzip
       - rsync
       - python3-pip
+      - python3-dev
+      - python3-venv
       - python3-rosdep
-      - python3-virtualenvwrapper
       - clang-18
       - clangd-18
       - clang-tidy-18
@@ -82,10 +83,6 @@
       - lldb-18
       - gcc-13
       - g++-13
-      - python3.10
-      - python3.10-dev
-      - python3.10-venv
-      - lld
       - libbullet-dev
       - libglfw3-dev
       - libx11-xcb-dev

ansible/roles/ci/tasks/main.yml

@@ -1,8 +1,8 @@
-# Allows us to install Python versions newer than 3.8
-- name: Add Python PPA
-  become: True
-  apt_repository:
-    repo: ppa:deadsnakes/ppa
+# # Allows us to install Python versions newer than 3.10 (unused since Ubuntu 22 upgrade)
+# - name: Add Python PPA
+#   become: True
+#   apt_repository:
+#     repo: ppa:deadsnakes/ppa
 
 # Allows us to install G++13, so we can use an updated libstdc++ which provides more standard library features (C++20)
 - name: Add GCC PPA
@@ -15,11 +15,11 @@
   apt_key:
     url: https://apt.llvm.org/llvm-snapshot.gpg.key
 
-# Allows us to install Clang 16 and other LLVM tools
+# Allows us to install LLVM tools
 - name: Add LLVM APT List
   become: True
   apt_repository:
-    repo: deb http://apt.llvm.org/{{ ubuntu_release }}/ llvm-toolchain-{{ ubuntu_release }}-16 main
+    repo: deb http://apt.llvm.org/{{ ubuntu_release }}/ llvm-toolchain-{{ ubuntu_release }}-18 main
     filename: llvm
 
 - name: Add CMake APT Key
@@ -28,7 +28,7 @@
     url: https://apt.kitware.com/keys/kitware-archive-latest.asc
     keyring: /usr/share/keyrings/kitware-archive-keyring.gpg
 
-# Allows us to install CMake versions newer than 3.16
+# Allows us to install CMake versions newer than 3.22
 - name: Add CMake APT List
   become: True
   apt_repository:
@@ -38,12 +38,12 @@
 - name: Add ROS APT Key
   become: True
   apt_key:
-    url: https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc
+    url: https://raw.githubusercontent.com/ros/rosdistro/master/ros.key
 
 - name: Add ROS APT List
   become: True
   apt_repository:
-    repo: deb http://packages.ros.org/ros/ubuntu {{ ubuntu_release }} main
+    repo: deb http://packages.ros.org/ros2/ubuntu {{ ubuntu_release }} main
     filename: ros
 
 - name: Upgrade APT Packages
@@ -59,27 +59,48 @@
     cache_valid_time: 604800
     state: latest
     name:
+      # - zsh
+      # - fzf
+      # - neovim
+      # - sudo
       - cmake
+      # - ccache # Caches intermediate build files, speeds up compilation over time
+      - ninja-build # Faster than make
+      # - tmux
+      # - htop
+      # - curl
+      # - unzip
       - rsync
+      - python3-pip
+      - python3-dev
+      - python3-venv
       - python3-rosdep
-      - python3-catkin-tools
-      - clang-tidy-16
-      - clang-format-16
-      - lld-16
+      - clang-18
+      # - clangd-18
+      - clang-tidy-18
+      - clang-format-18
+      - lld-18
+      # - lldb-18
       - gcc-13
       - g++-13
-      - python3.10
-      - python3.10-dev
-      - python3.10-venv
       - libbullet-dev
       - libglfw3-dev
       - libx11-xcb-dev
       - libnl-3-dev
       - libnl-route-3-dev
       - libtbb-dev
+      - libassimp-dev
+      - libeigen3-dev
       - libopencv-dev
       - libgstreamer1.0-dev
       - libgstreamer-plugins-base1.0-dev
+      # - vainfo
+      # - x264
+      - ros-humble-ros-base
+      - ros-humble-rviz2
+      - ros-humble-xacro
+      # TODO (ali): why does this need to be installed manually
+      - libboost-dev
 
 - name: Install Local APT Packages
   become: True
@@ -100,31 +121,25 @@
 - name: Update rosdep
   command: rosdep update
 
-- name: Install ROS Packages
-  command: rosdep install --from-paths {{ ros2_workspace }}/src --ignore-src -y --rosdistro={{ ros_distro }}
-
-#- name: Download Bun Installer
-#  get_url:
-#    url: https://bun.sh/install
-#    dest: /tmp/bun_installer.sh
-#    mode: 0755
-#
-#- name: Run Bun Installer
-#  command: /tmp/bun_installer.sh
-#  args:
-#    creates: ~/.bun/bin/bun
-#
-#- name: Upgrade Bun
-#  command: ~/.bun/bin/bun upgrade
-#
-#- name: Install Bun Packages
-#  command: ~/.bun/bin/bun install --cwd {{ catkin_workspace }}/src/mrover/src/teleoperation/frontend
-
-#- name: Install Catkin Profiles
-#  synchronize:
-#    src: files/profiles
-#    dest: "{{ catkin_workspace }}/.catkin_tools"
-#    recursive: true
+# - name: Install ROS Packages
+#   # command: rosdep install --from-paths {{ ros2_workspace }}/src --ignore-src -y --rosdistro={{ ros_distro }}
+
+# - name: Download Bun Installer
+#   get_url:
+#     url: https://bun.sh/install
+#     dest: /tmp/bun_installer.sh
+#     mode: 0755
+
+# - name: Run Bun Installer
+#   command: /tmp/bun_installer.sh
+#   args:
+#     creates: ~/.bun/bin/bun
+
+# - name: Upgrade Bun
+#   command: ~/.bun/bin/bun upgrade
+
+# - name: Install Bun Packages
+#   command: ~/.bun/bin/bun install --cwd {{ catkin_workspace }}/src/mrover/src/teleoperation/frontend
 
 - name: Set G++ 13 as Default
   become: True
@@ -142,34 +157,50 @@
     link: /usr/bin/gcc
     priority: 130
 
-#- name: Set clangd 16 as Default
-#  become: True
-#  alternatives:
-#    name: clangd
-#    path: /usr/bin/clangd-16
-#    link: /usr/bin/clangd
-#    priority: 160
+- name: Set clang++18 as Default
+  become: True
+  alternatives:
+    name: clang++
+    path: /usr/bin/clang++-18
+    link: /usr/bin/clang++
+    priority: 180
+
+- name: Set clang-18 as Default
+  become: True
+  alternatives:
+    name: clang
+    path: /usr/bin/clang-18
+    link: /usr/bin/clang
+    priority: 180
+
+# - name: Set clangd 18 as Default
+#   become: True
+#   alternatives:
+#     name: clangd
+#     path: /usr/bin/clangd-18
+#     link: /usr/bin/clangd
+#     priority: 180
 
-- name: Set LLD 16 as Default
+- name: Set LLD 18 as Default
   become: True
   alternatives:
     name: lld
-    path: /usr/bin/lld-16
+    path: /usr/bin/lld-18
     link: /usr/bin/lld
-    priority: 160
+    priority: 180
 
-- name: Set clang-tidy 16 as Default
+- name: Set clang-tidy 18 as Default
   become: True
   alternatives:
     name: clang-tidy
-    path: /usr/bin/clang-tidy-16
+    path: /usr/bin/clang-tidy-18
     link: /usr/bin/clang-tidy
-    priority: 160
+    priority: 180
 
 - name: Setup Python Virtual Environment
   pip:
     name:
       # Installs from pyproject.toml
       - "{{ ros2_workspace }}/src/mrover[dev]"
     virtualenv: "{{ ros2_workspace }}/src/mrover/venv"
-    virtualenv_command: /usr/bin/python3.10 -m venv
+    virtualenv_command: /usr/bin/python3 -m venv