Merge pull request #472 from nasa/develop

Release 0.16.3
nasa · Apr 1, 2022 · c3a3fb5 · c3a3fb5
2 parents 9241e67 + bd1b023
commit c3a3fb5
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diff --git a/.github/workflows/ci_pr.yml b/.github/workflows/ci_pr.yml
@@ -3,6 +3,7 @@ name: Build and Test CI for Pull Requests
 on:
   pull_request:
     branches: [ 'master', 'develop' ]
+  workflow_dispatch:
 
 jobs:
 
@@ -18,18 +19,9 @@ jobs:
     - name: Checkout submodule
       run: git submodule update --init --depth 1 description/media
 
-    - name: Build code for Ubuntu 16
-      run: docker build . -f ./scripts/docker/astrobee.Dockerfile
-                          --build-arg UBUNTU_VERSION=16.04
-                          --build-arg ROS_VERSION=kinetic
-                          --build-arg PYTHON=''
-                          --build-arg REMOTE=ghcr.io/nasa
-                          -t astrobee/astrobee:latest-ubuntu16.04
-
-    - name: Test code
-      run: docker build . -f ./scripts/docker/test_astrobee.Dockerfile
-                          --build-arg UBUNTU_VERSION=16.04
-                          -t astrobee/astrobee:test-ubuntu16.04
+    - name: Build, test
+      run: ./scripts/docker/build.sh --xenial --remote
+                                     astrobee test_astrobee
 
   build-bionic:
 
@@ -43,18 +35,9 @@ jobs:
     - name: Checkout submodule
       run: git submodule update --init --depth 1 description/media
 
-    - name: Build code for Ubuntu 18
-      run: docker build . -f ./scripts/docker/astrobee.Dockerfile
-                          --build-arg UBUNTU_VERSION=18.04
-                          --build-arg ROS_VERSION=melodic
-                          --build-arg PYTHON=3
-                          --build-arg REMOTE=ghcr.io/nasa
-                          -t astrobee/astrobee:latest-ubuntu18.04
-
-    - name: Test code
-      run: docker build . -f ./scripts/docker/test_astrobee.Dockerfile
-                          --build-arg UBUNTU_VERSION=18.04
-                          -t astrobee/astrobee:test-ubuntu18.04
+    - name: Build, test
+      run: ./scripts/docker/build.sh --bionic --remote
+                                     astrobee test_astrobee
 
   build-focal:
 
@@ -68,15 +51,6 @@ jobs:
     - name: Checkout submodule
       run: git submodule update --init --depth 1 description/media
 
-    - name: Build code for Ubuntu 20
-      run: docker build . -f ./scripts/docker/astrobee.Dockerfile
-                          --build-arg UBUNTU_VERSION=20.04
-                          --build-arg ROS_VERSION=noetic
-                          --build-arg PYTHON=3
-                          --build-arg REMOTE=ghcr.io/nasa
-                          -t astrobee/astrobee:latest-ubuntu20.04
-
-    - name: Test code
-      run: docker build . -f ./scripts/docker/test_astrobee.Dockerfile
-                          --build-arg UBUNTU_VERSION=20.04
-                          -t astrobee/astrobee:test-ubuntu20.04
+    - name: Build, test
+      run: ./scripts/docker/build.sh --focal --remote
+                                     astrobee test_astrobee
diff --git a/.github/workflows/ci_push.yml b/.github/workflows/ci_push.yml
@@ -16,26 +16,13 @@ jobs:
     - name: Checkout submodule
       run: git submodule update --init --depth 1 description/media
 
-    - name: Build code for Ubuntu 16
-      run: docker build . -f ./scripts/docker/astrobee.Dockerfile
-                          --build-arg UBUNTU_VERSION=16.04
-                          --build-arg ROS_VERSION=kinetic
-                          --build-arg PYTHON=''
-                          --build-arg REMOTE=ghcr.io/nasa
-                          -t ghcr.io/${{ github.repository_owner }}/astrobee:latest-ubuntu16.04
-
-    - name: Test code
-      run: docker build . -f ./scripts/docker/test_astrobee.Dockerfile
-                          --build-arg UBUNTU_VERSION=16.04
-                          --build-arg REMOTE=ghcr.io/${{ github.repository_owner }}
-                          -t astrobee:test-ubuntu16.04
-
     - name: Log in to registry
       run: echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u ${{ github.repository_owner }} --password-stdin
 
-    - name: Push Docker image
-      run: |
-        if [ "${{ github.repository_owner }}" = "nasa" ]; then docker push ghcr.io/${{ github.repository_owner }}/astrobee:latest-ubuntu16.04; fi;
+    - name: Build, test, push docker
+      run: ./scripts/docker/build.sh --xenial --remote
+                                     --owner ${{ github.repository_owner }}
+                                     astrobee test_astrobee push_astrobee
 
   build-bionic:
 
@@ -47,26 +34,13 @@ jobs:
     - name: Checkout submodule
       run: git submodule update --init --depth 1 description/media
 
-    - name: Build code for Ubuntu 18
-      run: docker build . -f ./scripts/docker/astrobee.Dockerfile
-                          --build-arg UBUNTU_VERSION=18.04
-                          --build-arg ROS_VERSION=melodic
-                          --build-arg PYTHON=3
-                          --build-arg REMOTE=ghcr.io/nasa
-                          -t ghcr.io/${{ github.repository_owner }}/astrobee:latest-ubuntu18.04
-
-    - name: Test code
-      run: docker build . -f ./scripts/docker/test_astrobee.Dockerfile
-                          --build-arg UBUNTU_VERSION=18.04
-                          --build-arg REMOTE=ghcr.io/${{ github.repository_owner }}
-                          -t astrobee:test-ubuntu18.04
-
     - name: Log in to registry
       run: echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u ${{ github.repository_owner }} --password-stdin
 
-    - name: Push Docker image
-      run: |
-        if [ "${{ github.repository_owner }}" = "nasa" ]; then docker push ghcr.io/${{ github.repository_owner }}/astrobee:latest-ubuntu18.04; fi;
+    - name: Build, test, push docker
+      run: ./scripts/docker/build.sh --bionic --remote
+                                     --owner ${{ github.repository_owner }}
+                                     astrobee test_astrobee push_astrobee
 
   build-focal:
 
@@ -78,23 +52,10 @@ jobs:
     - name: Checkout submodule
       run: git submodule update --init --depth 1 description/media
 
-    - name: Build code for Ubuntu 20
-      run: docker build . -f ./scripts/docker/astrobee.Dockerfile
-                          --build-arg UBUNTU_VERSION=20.04
-                          --build-arg ROS_VERSION=noetic
-                          --build-arg PYTHON=3
-                          --build-arg REMOTE=ghcr.io/nasa
-                          -t ghcr.io/${{ github.repository_owner }}/astrobee:latest-ubuntu20.04
-
-    - name: Test code
-      run: docker build . -f ./scripts/docker/test_astrobee.Dockerfile
-                          --build-arg UBUNTU_VERSION=20.04
-                          --build-arg REMOTE=ghcr.io/${{ github.repository_owner }}
-                          -t astrobee:test-ubuntu20.0
-
     - name: Log in to registry
       run: echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u ${{ github.repository_owner }} --password-stdin
 
-    - name: Push Docker image
-      run: |
-        if [ "${{ github.repository_owner }}" = "nasa" ]; then docker push ghcr.io/${{ github.repository_owner }}/astrobee:latest-ubuntu20.04; fi;
+    - name: Build, test, push docker
+      run: ./scripts/docker/build.sh --focal --remote
+                                     --owner ${{ github.repository_owner }}
+                                     astrobee test_astrobee push_astrobee
diff --git a/.github/workflows/ci_release.yml b/.github/workflows/ci_release.yml
@@ -2,7 +2,7 @@ name: Build, test and push packages CI
 
 on:
   push:
-    branches: [ 'release' ]
+    branches: [ 'master' ]
 
 jobs:
 
@@ -16,33 +16,18 @@ jobs:
     - name: Checkout submodule
       run: git submodule update --init --depth 1 description/media
 
-    - name: Build base for Ubuntu 16
-      run: docker build . -f ./scripts/docker/astrobee_base.Dockerfile
-                          --build-arg UBUNTU_VERSION=16.04
-                          --build-arg ROS_VERSION=kinetic
-                          --build-arg PYTHON=''
-                          -t astrobee/astrobee:latest-base-ubuntu16.04
-
-    - name: Build code for Ubuntu 16
-      run: docker build . -f ./scripts/docker/astrobee.Dockerfile
-                          --build-arg UBUNTU_VERSION=16.04
-                          --build-arg ROS_VERSION=kinetic
-                          --build-arg PYTHON=''
-                          -t astrobee/astrobee:latest-ubuntu16.04
-
-    - name: Test code
-      run: docker build . -f ./scripts/docker/test_astrobee.Dockerfile
-                          --build-arg UBUNTU_VERSION=16.04
-                          -t astrobee:test-ubuntu16.04
-
     - name: Log in to registry
       run: echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u ${{ github.repository_owner }} --password-stdin
 
-    - name: Push Docker image
+    - name: Build, test, push base docker
+      run: ./scripts/docker/build.sh --xenial
+                                     --owner ${{ github.repository_owner }}
+                                     astrobee_base astrobee test_astrobee
+                                     push_astrobee_base
+
+    - name: Push code docker
       run: |
         export VERSION=`grep -w -m 1 "Release" RELEASE.md | awk '{print $3}'`
-        docker tag astrobee/astrobee:latest-base-ubuntu16.04 ghcr.io/${{ github.repository_owner }}/astrobee:latest-base-ubuntu16.04
-        docker push ghcr.io/${{ github.repository_owner }}/astrobee:latest-base-ubuntu16.04
         docker tag astrobee/astrobee:latest-ubuntu16.04 ghcr.io/${{ github.repository_owner }}/astrobee:v${VERSION}-ubuntu16.04
         docker push ghcr.io/${{ github.repository_owner }}/astrobee:v${VERSION}-ubuntu16.04
 
@@ -56,33 +41,18 @@ jobs:
     - name: Checkout submodule
       run: git submodule update --init --depth 1 description/media
 
-    - name: Build base for Ubuntu 18
-      run: docker build . -f ./scripts/docker/astrobee_base.Dockerfile
-                          --build-arg UBUNTU_VERSION=18.04
-                          --build-arg ROS_VERSION=melodic
-                          --build-arg PYTHON=''
-                          -t astrobee/astrobee:latest-base-ubuntu18.04
-
-    - name: Build code for Ubuntu 18
-      run: docker build . -f ./scripts/docker/astrobee.Dockerfile
-                          --build-arg UBUNTU_VERSION=18.04
-                          --build-arg ROS_VERSION=melodic
-                          --build-arg PYTHON=''
-                          -t astrobee/astrobee:latest-ubuntu18.04
-
-    - name: Test code
-      run: docker build . -f ./scripts/docker/test_astrobee.Dockerfile
-                          --build-arg UBUNTU_VERSION=18.04
-                          -t astrobee:test-ubuntu18.04
-
     - name: Log in to registry
       run: echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u ${{ github.repository_owner }} --password-stdin
 
-    - name: Push Docker image
+    - name: Build, test, push base docker
+      run: ./scripts/docker/build.sh --bionic
+                                     --owner ${{ github.repository_owner }}
+                                     astrobee_base astrobee test_astrobee
+                                     push_astrobee_base
+
+    - name: Push code docker
       run: |
         export VERSION=`grep -w -m 1 "Release" RELEASE.md | awk '{print $3}'`
-        docker tag astrobee/astrobee:latest-base-ubuntu18.04 ghcr.io/${{ github.repository_owner }}/astrobee:latest-base-ubuntu18.04
-        docker push ghcr.io/${{ github.repository_owner }}/astrobee:latest-base-ubuntu18.04
         docker tag astrobee/astrobee:latest-ubuntu18.04 ghcr.io/${{ github.repository_owner }}/astrobee:v${VERSION}-ubuntu18.04
         docker push ghcr.io/${{ github.repository_owner }}/astrobee:v${VERSION}-ubuntu18.04
 
@@ -96,32 +66,17 @@ jobs:
     - name: Checkout submodule
       run: git submodule update --init --depth 1 description/media
 
-    - name: Build base for Ubuntu 20
-      run: docker build . -f ./scripts/docker/astrobee_base.Dockerfile
-                          --build-arg UBUNTU_VERSION=20.04
-                          --build-arg ROS_VERSION=noetic
-                          --build-arg PYTHON=3
-                          -t astrobee/astrobee:latest-base-ubuntu20.04
-
-    - name: Build code for Ubuntu 20
-      run: docker build . -f ./scripts/docker/astrobee.Dockerfile
-                          --build-arg UBUNTU_VERSION=20.04
-                          --build-arg ROS_VERSION=noetic
-                          --build-arg PYTHON=3
-                          -t astrobee/astrobee:latest-ubuntu20.04
-
-    - name: Test code
-      run: docker build . -f ./scripts/docker/test_astrobee.Dockerfile
-                          --build-arg UBUNTU_VERSION=20.04
-                          -t astrobee:test-ubuntu20.04
-
     - name: Log in to registry
       run: echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u ${{ github.repository_owner }} --password-stdin
 
-    - name: Push Docker image
+    - name: Build, test, push base docker
+      run: ./scripts/docker/build.sh --focal
+                                     --owner ${{ github.repository_owner }}
+                                     astrobee_base astrobee test_astrobee
+                                     push_astrobee_base
+
+    - name: Push code docker
       run: |
         export VERSION=`grep -w -m 1 "Release" RELEASE.md | awk '{print $3}'`
-        docker tag astrobee/astrobee:latest-base-ubuntu20.04 ghcr.io/${{ github.repository_owner }}/astrobee:latest-base-ubuntu20.04
-        docker push ghcr.io/${{ github.repository_owner }}/astrobee:latest-base-ubuntu20.04
         docker tag astrobee/astrobee:latest-ubuntu20.04 ghcr.io/${{ github.repository_owner }}/astrobee:v${VERSION}-ubuntu20.04
         docker push ghcr.io/${{ github.repository_owner }}/astrobee:v${VERSION}-ubuntu20.04
diff --git a/.github/workflows/docker_push_latest_base.yml b/.github/workflows/docker_push_latest_base.yml
@@ -0,0 +1,63 @@
+# Push the latest-base Docker images without doing a release. Called
+# manually only when needed (basically, when we push a change that
+# affects the base image on the develop branch).
+
+name: Docker push latest base
+
+on: ['workflow_dispatch']
+
+jobs:
+
+  build-xenial:
+
+    runs-on: ubuntu-18.04
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - name: Checkout submodule
+      run: git submodule update --init --depth 1 description/media
+
+    - name: Log in to registry
+      run: echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u ${{ github.repository_owner }} --password-stdin
+
+    - name: Build base, build, test, push base docker
+      run: ./scripts/docker/build.sh --xenial
+                                     --owner ${{ github.repository_owner }}
+                                     astrobee_base astrobee test_astrobee push_astrobee_base
+
+  build-bionic:
+
+    runs-on: ubuntu-18.04
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - name: Checkout submodule
+      run: git submodule update --init --depth 1 description/media
+
+    - name: Log in to registry
+      run: echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u ${{ github.repository_owner }} --password-stdin
+
+    - name: Build base, build, test, push base docker
+      run: ./scripts/docker/build.sh --bionic
+                                     --owner ${{ github.repository_owner }}
+                                     astrobee_base astrobee test_astrobee push_astrobee_base
+
+  build-focal:
+
+    runs-on: ubuntu-20.04
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - name: Checkout submodule
+      run: git submodule update --init --depth 1 description/media
+
+    - name: Log in to registry
+      run: echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u ${{ github.repository_owner }} --password-stdin
+
+    - name: Build base, build, test, push base docker
+      run: ./scripts/docker/build.sh --focal
+                                     --owner ${{ github.repository_owner }}
+                                     astrobee_base astrobee test_astrobee push_astrobee_base
diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
@@ -59,7 +59,8 @@ jobs:
         cd ..
     - name: Replace old documentation with new
       run: |
-        rm -r docs/html
+        [ -d docs ] || mkdir docs
+        [ -d docs/html ] && rm -r docs/html
         cp -r repo/doc/html docs
     - name: Commit and Push
       run: |

diff --git a/.github/workflows/lint.yaml b/.github/workflows/lint.yaml
@@ -2,7 +2,7 @@
 
 name: Check for lint errors
 
-on: ['push', 'pull_request']
+on: ['push', 'pull_request', 'workflow_dispatch']
 
 jobs:
   lint_check_cpp:
@@ -20,8 +20,7 @@ jobs:
     - uses: actions/checkout@v2
     - name: Install linters
       run: |
-        pip install black==22.1.0
-        pip install isort==5.10.1
+        pip install click==8.0.1 black==22.1.0 isort==5.10.1
 
     - name: Run black
       run: |

diff --git a/RELEASE.md b/RELEASE.md
@@ -1,5 +1,12 @@
 # Releases
 
+## Release 0.16.3
+
+  * Added bag tools
+  * Disabled mapper (can be enabled through service)
+  * Add debayer live
+  * Multiple other fixes and improvements
+
 ## Release 0.16.2
 
   * Performance improvements