Use sample application setup script for build and bundle (#29)

* use vanilla ubuntu image * remove comment * pass in --install-ros * remove gazebo input/output * commit index.js * update readme * use ros2 branch * remove gazebo-version from test action input Co-authored-by: chengke <chengke@uefee1b00be3a55.ant.amazon.com>
aws-robotics · Jun 17, 2021 · bab67e5 · bab67e5
1 parent 865c557
commit bab67e5
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diff --git a/.github/workflows/test-ros2.yml b/.github/workflows/test-ros2.yml
@@ -17,15 +17,15 @@ jobs:
 
     strategy:      
       matrix:
-        distro: ['dashing']
-        gazebo: [9]
+        distro: ['foxy']
+        gazebo: [11]
         include:
-        - distro: dashing
-          gazebo: 9
-          ubuntu_distro: bionic
+        - distro: foxy
+          gazebo: 11
+          ubuntu_distro: focal
 
     container: 
-      image: rostooling/setup-ros-docker:ubuntu-${{ matrix.ubuntu_distro }}-ros-${{ matrix.distro }}-ros-base-latest
+      image: ubuntu:${{ matrix.ubuntu_distro }}
 
     # NOTES: We run 2 tests for robot_ws and simulation_ws
     # The test steps are duplicated because github workflow does not support reusable step (with parameter yet)
@@ -65,7 +65,6 @@ jobs:
       uses: ./action/robomaker-sample-app-ci
       with:
         ros-distro: ${{ matrix.distro }}
-        gazebo-version: ${{ matrix.gazebo }}
         workspace-dir: ./robot_ws
         generate-sources: true  
     # Expectation: bundle file, build files, and dependencies all exist
@@ -81,9 +80,8 @@ jobs:
       uses: ./action/robomaker-sample-app-ci
       with:
         ros-distro: ${{ matrix.distro }}
-        gazebo-version: ${{ matrix.gazebo }}
         workspace-dir: ./simulation_ws
-        generate-sources: false        
+        generate-sources: false      
     # Expectation: bundle file, build files, and dependencies all exist        
     - name: Check simulation_ws file existence
       id: check_simulation_ws_files

diff --git a/.github/workflows/test-ros2foxy.yml b/.github/workflows/test-ros2foxy.yml
diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
@@ -17,36 +17,20 @@ jobs:
 
     strategy:      
       matrix:
-        distro: ['kinetic', 'melodic']
-        gazebo: [7, 9]
+        distro: ['melodic']
+        gazebo: [9]
         include:
-        - distro: kinetic
-          gazebo: 7
-          ubuntu_distro: xenial
-        - distro: kinetic
-          gazebo: 9
-          ubuntu_distro: xenial
         - distro: melodic
           gazebo: 9
-          ubuntu_distro: bionic
-        exclude:
-        - distro: 'melodic'
-          gazebo: 7      
+          ubuntu_distro: bionic 
 
     container: 
-      image: rostooling/setup-ros-docker:ubuntu-${{ matrix.ubuntu_distro }}-ros-${{ matrix.distro }}-ros-base-latest
+      image: ubuntu:${{ matrix.ubuntu_distro }}
 
     # NOTES: We run 2 tests for robot_ws and simulation_ws
     # The test steps are duplicated because github workflow does not support reusable step (with parameter yet)
     # We also can use matrix to run tests with different parameters but it is overkill for this
     steps:    
-    - name: Setup permissions
-      run: |
-        # Due to user permisson issue, calling chown is necessary for now
-        # Related issue: https://github.com/actions/checkout/issues/47
-        # Note: rosbuild is the user of the docker image
-        # TODO(ros-tooling/setup-ros-docker#7): 
-        sudo chown -R rosbuild:rosbuild "$HOME" .         
     # Checkout SA ros1 branch into default root folder
     - name: Checkout hello world sample app
       uses: actions/checkout@v2
@@ -68,13 +52,11 @@ jobs:
     - name: Build test script
       run: npm run build
       working-directory: ./action/robomaker-sample-app-ci
-
     # Trigger to run robomaker-sample-app-ci action script
     - name: Build and bundle robot_ws      
       uses: ./action/robomaker-sample-app-ci
       with:
         ros-distro: ${{ matrix.distro }}
-        gazebo-version: ${{ matrix.gazebo }}
         workspace-dir: ./robot_ws
         generate-sources: true
     # Expectation: bundle file, build files, and dependencies all exist
@@ -90,7 +72,6 @@ jobs:
       uses: ./action/robomaker-sample-app-ci
       with:
         ros-distro: ${{ matrix.distro }}
-        gazebo-version: ${{ matrix.gazebo }}
         workspace-dir: ./simulation_ws
         generate-sources: false
     # Expectation: bundle file, build files, and dependencies all exist        

diff --git a/robomaker-sample-app-ci/README.md b/robomaker-sample-app-ci/README.md
@@ -1,27 +1,25 @@
 # AWS RoboMaker Sample Application CI Github Action
 
 This action will build and bundle your AWS RoboMaker Sample Application package.
-It must run in an environment that has all core ROS dependencies already installed for the ROS distro you are using (Kinetic, Melodic, Dashing, Foxy etc). 
 
 You use a [setup-ros-docker docker container], see usage section to see how to use this container. 
 
 ## Usage
 
-Using a [setup-ros-docker docker container] docker container:
+Using a Ubuntu docker container:
 
 ```
 jobs:
   build-and-bundle-robot_ws-kinetic:
     runs-on: ubuntu-latest
     name: Build Kinetic
     container:
-    image: rostooling/setup-ros-docker:ubuntu-xenial-ros-kinetic-ros-base-latest
+    image: ubuntu:bionic
     steps:
     - name: Build
       uses: aws-robotics/aws-robomaker-github-actions/robomaker-sample-app-ci@2.3.0
       with:
         ros-distro: kinetic
-        gazebo-version: 7
         workspace-dir: robot_ws
         generate-sources: true
   build-and-bundle-simulation_ws-kinetic:
@@ -34,18 +32,17 @@ jobs:
       uses: aws-robotics/aws-robomaker-github-actions/robomaker-sample-app-ci@2.3.0
       with:
         ros-distro: kinetic
-        gazebo-version: 7
         workspace-dir: simulation_ws
 ```
 
 ## Inputs
 
 ### `ros-distro`
 
-**Required** Distribution of ROS you are using (`[kinetic|melodic|dashing|foxy]`)
+**Required** Distribution of ROS you are using (`[melodic|foxy]`)
 
 ### `workspace-dir`
 
 Path to the workspace folder of your package (*eg.*: `[robot_ws|simulation_ws]`, *default:* `./`). 
 
-[setup-ros-docker container]: https://hub.docker.com/r/rostooling/setup-ros-docker
+[ubuntu container]: https://hub.docker.com/_/ubuntu
diff --git a/robomaker-sample-app-ci/dist/index.js b/robomaker-sample-app-ci/dist/index.js
@@ -727,7 +727,6 @@ const core = __importStar(__webpack_require__(470));
 const exec = __importStar(__webpack_require__(986));
 const fs = __webpack_require__(747);
 const ROS_DISTRO = core.getInput('ros-distro', { required: true });
-let GAZEBO_VERSION = core.getInput('gazebo-version');
 let SAMPLE_APP_VERSION = '';
 const WORKSPACE_DIRECTORY = core.getInput('workspace-dir');
 const GENERATE_SOURCES = core.getInput('generate-sources');
@@ -830,36 +829,19 @@ function fetchRosinstallDependencies() {
 function setup() {
     return __awaiter(this, void 0, void 0, function* () {
         try {
-            yield exec.exec("sudo", ["apt-key", "adv", "--fetch-keys", "http://packages.osrfoundation.org/gazebo.key"]);
-            let aptPackages = [
-                "zip",
-                "cmake",
-                "lcov",
-                "libgtest-dev",
-                "python3-colcon-common-extensions",
-                "python3-apt",
-                "python3-pip",
-                (ROS_DISTRO == "foxy") ? "python3-rosinstall" : "python-rosinstall",
-            ];
-            if (ROS_DISTRO != "foxy") {
-                //focal (foxy) does not ship with python2 and does not require python-pip
-                //using the ros_distro instead of ubuntu_distro saves users from specifying another 
-                //essentially redundant parameter.
-                aptPackages = aptPackages.concat(["python-pip"]);
+            if (!fs.existsSync("/etc/timezone")) {
+                //default to US Pacific if timezone is not set.
+                const timezone = "US/Pacific";
+                yield exec.exec("bash", ["-c", `ln -snf /usr/share/zoneinfo/${timezone} /etc/localtime`]);
+                yield exec.exec("bash", ["-c", `echo ${timezone} > /etc/timezone`]);
             }
-            const python3Packages = [
-                "setuptools",
-                "colcon-bundle",
-                "colcon-ros-bundle"
-            ];
-            yield exec.exec("sudo", ["apt-get", "update"]);
-            yield exec.exec("sudo", ["apt-get", "install", "-y"].concat(aptPackages));
-            yield exec.exec("sudo", ["pip3", "install", "-U"].concat(python3Packages));
-            yield exec.exec("rosdep", ["update"]);
-            yield loadROSEnvVariables();
+            yield exec.exec("bash", ["-c", `scripts/setup.sh --install-ros ${ROS_DISTRO}`]);
+            loadROSEnvVariables();
+            yield exec.exec("apt-get", ["update"]);
+            //zip required for prepare_sources step.
+            yield exec.exec("apt-get", ["install", "-y", "zip"]);
             SAMPLE_APP_VERSION = yield getSampleAppVersion();
             console.log(`Sample App version found to be: ${SAMPLE_APP_VERSION}`);
-            // Update PACKAGES_TO_SKIP_TESTS with the new packages added by 'rosws update'.
             let packages = yield fetchRosinstallDependencies();
             PACKAGES = packages.join(" ");
         }
@@ -868,29 +850,6 @@ function setup() {
         }
     });
 }
-function setup_gazebo_source() {
-    return __awaiter(this, void 0, void 0, function* () {
-        try {
-            const gazebo_apt_file = "/etc/apt/sources.list.d/gazebo-stable.list";
-            yield exec.exec("sudo", ["rm", "-f", gazebo_apt_file]);
-            yield exec.exec("bash", ["-c", `echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable \`lsb_release -cs\` main" | sudo tee ${gazebo_apt_file}`]);
-            yield exec.exec("sudo", ["apt-get", "update"]);
-            if (ROS_DISTRO == "kinetic") {
-                const gazebo9_rosdep_file = "/etc/ros/rosdep/sources.list.d/00-gazebo9.list";
-                yield exec.exec("sudo", ["rm", "-f", gazebo9_rosdep_file]);
-                yield exec.exec("bash", ["-c", `echo "yaml https://github.com/osrf/osrf-rosdep/raw/master/gazebo9/gazebo.yaml" | sudo tee -a ${gazebo9_rosdep_file}`]);
-                yield exec.exec("bash", ["-c", `echo "yaml https://github.com/osrf/osrf-rosdep/raw/master/gazebo9/releases/indigo.yaml indigo" | sudo tee -a ${gazebo9_rosdep_file}`]);
-                yield exec.exec("bash", ["-c", `echo "yaml https://github.com/osrf/osrf-rosdep/raw/master/gazebo9/releases/jade.yaml jade" | sudo tee -a ${gazebo9_rosdep_file}`]);
-                yield exec.exec("bash", ["-c", `echo "yaml https://github.com/osrf/osrf-rosdep/raw/master/gazebo9/releases/kinetic.yaml kinetic" | sudo tee -a ${gazebo9_rosdep_file}`]);
-                yield exec.exec("bash", ["-c", `echo "yaml https://github.com/osrf/osrf-rosdep/raw/master/gazebo9/releases/lunar.yaml lunar" | sudo tee -a ${gazebo9_rosdep_file}`]);
-                yield exec.exec("rosdep", ["update"]);
-            }
-        }
-        catch (error) {
-            core.setFailed(error.message);
-        }
-    });
-}
 function prepare_sources() {
     return __awaiter(this, void 0, void 0, function* () {
         try {
@@ -914,8 +873,6 @@ function prepare_sources() {
 function build() {
     return __awaiter(this, void 0, void 0, function* () {
         try {
-            yield exec.exec("rosdep", ["install", "--from-paths", ".", "--ignore-src", "-r", "-y", "--rosdistro", ROS_DISTRO], getWorkingDirExecOptions());
-            console.log(`Building the following packages: ${PACKAGES}`);
             yield exec.exec("colcon", ["build", "--build-base", "build", "--install-base", "install"], getWorkingDirExecOptions());
         }
         catch (error) {
@@ -951,7 +908,6 @@ function bundle() {
 function run() {
     return __awaiter(this, void 0, void 0, function* () {
         console.log(`ROS_DISTRO: ${ROS_DISTRO}`);
-        console.log(`GAZEBO_VERSION: ${GAZEBO_VERSION}`);
         console.log(`WORKSPACE_DIRECTORY: ${WORKSPACE_DIRECTORY}`);
         console.log(`GENERATE_SOURCES: ${GENERATE_SOURCES}`);
         console.log(`COLCON_BUNDLE_RETRIES: ${COLCON_BUNDLE_RETRIES}`);
@@ -960,34 +916,12 @@ function run() {
             core.setFailed(`Invalid number of colcon bundle retries. Must be between 0-9 inclusive`);
         }
         yield setup();
-        if (ROS_DISTRO == "kinetic" && (GAZEBO_VERSION == "" || GAZEBO_VERSION == "7")) {
-            GAZEBO_VERSION = "7";
-        }
-        else if (ROS_DISTRO == "kinetic" && GAZEBO_VERSION == "9") {
-            yield setup_gazebo_source();
-        }
-        else if (ROS_DISTRO == "melodic" && (GAZEBO_VERSION == "" || GAZEBO_VERSION == "9")) {
-            GAZEBO_VERSION = "9";
-            yield setup_gazebo_source();
-        }
-        else if (ROS_DISTRO == "dashing" && (GAZEBO_VERSION == "" || GAZEBO_VERSION == "9")) {
-            GAZEBO_VERSION = "9";
-            yield setup_gazebo_source();
-        }
-        else if (ROS_DISTRO == "foxy" && (GAZEBO_VERSION == "" || GAZEBO_VERSION == "11")) {
-            GAZEBO_VERSION = "11";
-            yield setup_gazebo_source();
-        }
-        else {
-            core.setFailed(`Invalid ROS and Gazebo combination`);
-        }
         if (GENERATE_SOURCES == 'true') {
             yield prepare_sources();
         }
         yield build();
         yield bundle();
         core.setOutput('ros-distro', ROS_DISTRO);
-        core.setOutput('gazebo-version', "gazebo" + GAZEBO_VERSION);
         core.setOutput('sample-app-version', SAMPLE_APP_VERSION);
     });
 }