Prepare v2.2.0 (opendr-eu#435)

* Version bump * Update version in ros/ros2 packages * Remove duplicated line * Update workflows * Try to free some disk space * Update tests_suite.yml * Update tests_suite.yml * Update tests_suite_develop.yml * Fix deprecation errors in tests_suite.yml * Disable docker test of controller/multi_object_search * Update actions version * Debug by skipping deleting the docker artifact * Debug perception/object_tracking_2d * Restore all tests
lucamarchionni · Jul 3, 2023 · 881fe7b · 881fe7b
1 parent 11cb911
commit 881fe7b
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Showing 27 changed files with 96 additions and 74 deletions.
diff --git a/.github/workflows/publisher.yml b/.github/workflows/publisher.yml
@@ -16,11 +16,11 @@ jobs:
   publish-wheel:
     runs-on: ubuntu-20.04
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v7
       with:
         submodules: true
     - name: Set up Python 3.8
-      uses: actions/setup-python@v2
+      uses: actions/setup-python@v4
       with:
         python-version: 3.8
     - name: Install prerequisites
@@ -39,16 +39,16 @@ jobs:
   publish-docker-cpu:
     runs-on: ubuntu-20.04
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Get branch name
       id: branch-name
-      uses: tj-actions/branch-names@v5.1
+      uses: tj-actions/branch-names@v7
     - name: Build Docker Image
       run: docker build --tag opendr-toolkit:cpu_$OPENDR_VERSION --build-arg branch=${{ steps.branch-name.outputs.current_branch }} --file Dockerfile .
     - name: Login to Docker Hub
-      uses: docker/login-action@v1
+      uses: docker/login-action@v2
       with:
         username: ${{ secrets.DOCKERHUB_USERNAME }}
         password: ${{ secrets.DOCKERHUB_PASSWORD }}
@@ -59,16 +59,16 @@ jobs:
   publish-docker-cuda:
     runs-on: ubuntu-20.04
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Get branch name
       id: branch-name
-      uses: tj-actions/branch-names@v5.1
+      uses: tj-actions/branch-names@v7
     - name: Build Docker Image
       run: docker build --tag opendr-toolkit:cuda_$OPENDR_VERSION --build-arg branch=${{ steps.branch-name.outputs.current_branch }} --file Dockerfile-cuda .
     - name: Login to Docker Hub
-      uses: docker/login-action@v1
+      uses: docker/login-action@v2
       with:
         username: ${{ secrets.DOCKERHUB_USERNAME }}
         password: ${{ secrets.DOCKERHUB_PASSWORD }}

diff --git a/.github/workflows/test_packages.yml b/.github/workflows/test_packages.yml
@@ -126,6 +126,6 @@ jobs:
         python-version: 3.8
     - name: Test Docker
       run: |
-        docker run --name toolkit -i opendr/opendr-toolkit:cpu_v2.1.0 bash
+        docker run --name toolkit -i opendr/opendr-toolkit:cpu_v2.2.0 bash
         docker start toolkit
         docker exec -i toolkit bash -c "source bin/activate.sh && source tests/sources/tools/control/mobile_manipulation/run_ros.sh && python3 -m unittest discover -s tests/sources/tools/${{ matrix.package }}"
diff --git a/.github/workflows/tests_suite.yml b/.github/workflows/tests_suite.yml
@@ -139,12 +139,14 @@ jobs:
     if: ${{ contains(github.event.pull_request.labels.*.name, 'test release') || github.event_name == 'schedule' }}
     runs-on: ubuntu-20.04
     steps:
+    - name: Free Disk Space
+      uses: jlumbroso/free-disk-space@v1.2.0
     - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Get branch name
       id: branch-name
-      uses: tj-actions/branch-names@v5.1
+      uses: tj-actions/branch-names@v7
     - name: Build image
       run: |
         docker build --no-cache --tag opendr/opendr-toolkit:cpu_test --build-arg branch=${{ steps.branch-name.outputs.current_branch }} --build-arg ros_distro=noetic --file Dockerfile .
@@ -213,12 +215,13 @@ jobs:
         path: artifact
     - name: Get branch name
       id: branch-name
-      uses: tj-actions/branch-names@v5.1
+      uses: tj-actions/branch-names@v7
     - name: Test Wheel
       run: |
         export OPENDR_HOME=$PWD
         export DISABLE_BCOLZ_AVX2=true
         export OPENDR_DEVICE=cpu
+        export PYTHONPATH=$OPENDR_HOME/src:$PYTHONPATH
         export ROS_DISTRO=noetic
 
         sudo apt -y install python3.8-venv libfreetype6-dev git build-essential cmake python3-dev wget libopenblas-dev libsndfile1 libboost-dev python3-dev
@@ -235,10 +238,12 @@ jobs:
           if [ ! -z ${package[1]} ]; then package=${package[1]}; fi
 
           if [ "$package" != "opendr" ]; then
-            python3 -m pip install ./artifact/wheel-artifact/opendr-toolkit-$package-*.tar.gz
+            python3 -m pip install --find-links ./artifact/wheel-artifact/ ./artifact/wheel-artifact/opendr-toolkit-$package-*.tar.gz
           fi
         done < packages.txt
 
+        cd src/opendr/perception/object_detection_2d/retinaface; make; cd $OPENDR_HOME
+
         # run the test
         python3 -m unittest discover -s tests/sources/tools/${{ matrix.package }}
   test-wheel-separate:
@@ -299,7 +304,7 @@ jobs:
         path: artifact
     - name: Get branch name
       id: branch-name
-      uses: tj-actions/branch-names@v5.1
+      uses: tj-actions/branch-names@v7
     - name: Test Wheel Separate
       run: |
         export OPENDR_HOME=$PWD
@@ -320,27 +325,31 @@ jobs:
         if [ ! -z ${package[1]} ]; then package=${package[1]}; fi
 
         # all packages require the engine
-        python3 -m pip install ./artifact/wheel-artifact/opendr-toolkit-engine-*.tar.gz
+        python3 -m pip install --find-links ./artifact/wheel-artifact/ ./artifact/wheel-artifact/opendr-toolkit-engine-*.tar.gz
 
         # install specific package
         if [ ${{ matrix.package }} == "utils" ]; then
-          python3 -m pip install ./artifact/wheel-artifact/opendr-toolkit-hyperparameter-tuner-*.tar.gz
-          python3 -m pip install ./artifact/wheel-artifact/opendr-toolkit-ambiguity-measure-*.tar.gz
+          python3 -m pip install --find-links ./artifact/wheel-artifact/ ./artifact/wheel-artifact/opendr-toolkit-hyperparameter-tuner-*.tar.gz
+          python3 -m pip install --find-links ./artifact/wheel-artifact/ ./artifact/wheel-artifact/opendr-toolkit-ambiguity-measure-*.tar.gz
         else
           # install required dependencies for derived tools, we do so manually to ensure the local one is used
           if [ ${{ matrix.package }} == "perception/fall_detection" ]; then
-            python3 -m pip install ./artifact/wheel-artifact/opendr-toolkit-pose-estimation-*.tar.gz
+            python3 -m pip install --find-links ./artifact/wheel-artifact/ ./artifact/wheel-artifact/opendr-toolkit-pose-estimation-*.tar.gz
           elif [ ${{ matrix.package }} == "perception/heart_anomaly_detection" ]; then
-            python3 -m pip install ./artifact/wheel-artifact/opendr-toolkit-compressive-learning-*.tar.gz
+            python3 -m pip install --find-links ./artifact/wheel-artifact/ ./artifact/wheel-artifact/opendr-toolkit-compressive-learning-*.tar.gz
           elif [ ${{ matrix.package }} == "perception/multimodal_human_centric" ]; then
-            python3 -m pip install ./artifact/wheel-artifact/opendr-toolkit-compressive-learning-*.tar.gz
-            python3 -m pip install ./artifact/wheel-artifact/opendr-toolkit-object-detection-2d-*.tar.gz
+            python3 -m pip install --find-links ./artifact/wheel-artifact/ ./artifact/wheel-artifact/opendr-toolkit-compressive-learning-*.tar.gz
+            python3 -m pip install --find-links ./artifact/wheel-artifact/ ./artifact/wheel-artifact/opendr-toolkit-object-detection-2d-*.tar.gz
           elif [ ${{ matrix.package }} == "perception/object_tracking_3d" ]; then
-            python3 -m pip install ./artifact/wheel-artifact/opendr-toolkit-object-detection-3d-*.tar.gz
+            python3 -m pip install --find-links ./artifact/wheel-artifact/ ./artifact/wheel-artifact/opendr-toolkit-object-detection-3d-*.tar.gz
           fi
 
           # install the package itself
-          python3 -m pip install ./artifact/wheel-artifact/opendr-toolkit-$package-*.tar.gz
+          python3 -m pip install --find-links ./artifact/wheel-artifact/ ./artifact/wheel-artifact/opendr-toolkit-$package-*.tar.gz
+        fi
+
+        if [[ ${{ matrix.package }} == "perception/object_detection_2d/retinaface" ]]; then
+          cd src/opendr/perception/object_detection_2d/retinaface; make; cd $OPENDR_HOME
         fi
 
         # run the test
@@ -387,9 +396,11 @@ jobs:
           - control/mobile_manipulation
           - control/single_demo_grasp
           - planning/end_to_end_planning
-          - control/multi_object_search
+          # - control/multi_object_search # needs CUDA Docker container
     runs-on: ubuntu-20.04
     steps:
+    - name: Free Disk Space
+      uses: jlumbroso/free-disk-space@v1.2.0
     - name: Download artifact
       uses: actions/download-artifact@v2
       with:

diff --git a/.github/workflows/tests_suite_develop.yml b/.github/workflows/tests_suite_develop.yml
@@ -142,13 +142,15 @@ jobs:
     if: ${{ contains(github.event.pull_request.labels.*.name, 'test release') || github.event_name == 'schedule' }}
     runs-on: ubuntu-20.04
     steps:
+    - name: Free Disk Space
+      uses: jlumbroso/free-disk-space@v1.2.0
     - uses: actions/checkout@v3
       with:
         submodules: true
         ref: develop
     - name: Get branch name
       id: branch-name
-      uses: tj-actions/branch-names@v5.1
+      uses: tj-actions/branch-names@v7
     - name: Build image
       run: |
         docker build --no-cache --tag opendr/opendr-toolkit:cpu_test --build-arg branch=${{ steps.branch-name.outputs.current_branch }} --build-arg ros_distro=noetic --file Dockerfile .
@@ -218,7 +220,7 @@ jobs:
         path: artifact
     - name: Get branch name
       id: branch-name
-      uses: tj-actions/branch-names@v5.1
+      uses: tj-actions/branch-names@v7
     - name: Test Wheel
       run: |
         export OPENDR_HOME=$PWD
@@ -241,7 +243,7 @@ jobs:
           if [ ! -z ${package[1]} ]; then package=${package[1]}; fi
 
           if [ "$package" != "opendr" ]; then
-            python3 -m pip install ./artifact/wheel-artifact/opendr-toolkit-$package-*.tar.gz
+            python3 -m pip install --find-links ./artifact/wheel-artifact/ ./artifact/wheel-artifact/opendr-toolkit-$package-*.tar.gz
           fi
         done < packages.txt
 
@@ -288,10 +290,10 @@ jobs:
           # - perception/object_detection_3d # passes, but disabled due to free() crash
           - perception/facial_expression_recognition
           - simulation/human_model_generation
+          #- control/multi_object_search
           #- control/mobile_manipulation
           #- control/single_demo_grasp
           #- planning/end_to_end_planning
-          #- control/multi_object_search
     runs-on: ubuntu-20.04
     steps:
     - uses: actions/checkout@v3
@@ -308,7 +310,7 @@ jobs:
         path: artifact
     - name: Get branch name
       id: branch-name
-      uses: tj-actions/branch-names@v5.1
+      uses: tj-actions/branch-names@v7
     - name: Test Wheel Separate
       run: |
         export OPENDR_HOME=$PWD
@@ -330,29 +332,29 @@ jobs:
         if [ ! -z ${package[1]} ]; then package=${package[1]}; fi
 
         # all packages require the engine
-        python3 -m pip install ./artifact/wheel-artifact/opendr-toolkit-engine-*.tar.gz
+        python3 -m pip install --find-links ./artifact/wheel-artifact/ ./artifact/wheel-artifact/opendr-toolkit-engine-*.tar.gz
 
         # install specific package
         if [ ${{ matrix.package }} == "utils" ]; then
-          python3 -m pip install ./artifact/wheel-artifact/opendr-toolkit-hyperparameter-tuner-*.tar.gz
-          python3 -m pip install ./artifact/wheel-artifact/opendr-toolkit-ambiguity-measure-*.tar.gz
+          python3 -m pip install --find-links ./artifact/wheel-artifact/ ./artifact/wheel-artifact/opendr-toolkit-hyperparameter-tuner-*.tar.gz
+          python3 -m pip install --find-links ./artifact/wheel-artifact/ ./artifact/wheel-artifact/opendr-toolkit-ambiguity-measure-*.tar.gz
         else
           # install required dependencies for derived tools, we do so manually to ensure the local one is used
           if [ ${{ matrix.package }} == "perception/fall_detection" ]; then
-            python3 -m pip install ./artifact/wheel-artifact/opendr-toolkit-pose-estimation-*.tar.gz
+            python3 -m pip install --find-links ./artifact/wheel-artifact/ ./artifact/wheel-artifact/opendr-toolkit-pose-estimation-*.tar.gz
           elif [ ${{ matrix.package }} == "perception/heart_anomaly_detection" ]; then
-            python3 -m pip install ./artifact/wheel-artifact/opendr-toolkit-compressive-learning-*.tar.gz
+            python3 -m pip install --find-links ./artifact/wheel-artifact/ ./artifact/wheel-artifact/opendr-toolkit-compressive-learning-*.tar.gz
           elif [ ${{ matrix.package }} == "perception/multimodal_human_centric" ]; then
-            python3 -m pip install ./artifact/wheel-artifact/opendr-toolkit-compressive-learning-*.tar.gz
-            python3 -m pip install ./artifact/wheel-artifact/opendr-toolkit-object-detection-2d-*.tar.gz
+            python3 -m pip install --find-links ./artifact/wheel-artifact/ ./artifact/wheel-artifact/opendr-toolkit-compressive-learning-*.tar.gz
+            python3 -m pip install --find-links ./artifact/wheel-artifact/ ./artifact/wheel-artifact/opendr-toolkit-object-detection-2d-*.tar.gz
           elif [ ${{ matrix.package }} == "perception/object_tracking_3d" ]; then
-            python3 -m pip install ./artifact/wheel-artifact/opendr-toolkit-object-detection-3d-*.tar.gz
+            python3 -m pip install --find-links ./artifact/wheel-artifact/ ./artifact/wheel-artifact/opendr-toolkit-object-detection-3d-*.tar.gz
           fi
 
           # install the package itself
-          python3 -m pip install ./artifact/wheel-artifact/opendr-toolkit-$package-*.tar.gz
+          python3 -m pip install --find-links ./artifact/wheel-artifact/ ./artifact/wheel-artifact/opendr-toolkit-$package-*.tar.gz
         fi
-        
+
         if [[ ${{ matrix.package }} == "perception/object_detection_2d/retinaface" ]]; then
           cd src/opendr/perception/object_detection_2d/retinaface; make; cd $OPENDR_HOME
         fi
@@ -401,9 +403,11 @@ jobs:
           - control/mobile_manipulation
           - control/single_demo_grasp
           - planning/end_to_end_planning
-          - control/multi_object_search
+          # - control/multi_object_search # needs CUDA Docker container
     runs-on: ubuntu-20.04
     steps:
+    - name: Free Disk Space
+      uses: jlumbroso/free-disk-space@v1.2.0
     - name: Download artifact
       uses: actions/download-artifact@v2
       with:

diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,10 +1,18 @@
 # OpenDR Toolkit Change Log
 
+## Version 2.2.0
+Released on May, 16th, 2023.
+
+  - Dependency Updates ([#431](https://github.com/opendr-eu/opendr/pull/431)):
+    - Updated PyTorch version from 1.9.0 to 1.13.1.
+    - Updated Torchvision version from 0.10.0 to 0.14.1.
+    - Updated Torchaudio version from 0.9.0 to 0.13.1.
+    - Downgraded wheel version to 0.38.4 due to bug in recent version.
+
 ## Version 2.1.0
 Released on February, 22nd, 2023.
 
   - New Features:
-    - Added YOLOv5 as an inference-only tool ([#360](https://github.com/opendr-eu/opendr/pull/360)).
     - Added Efficient LiDAR Panoptic Segmentation ([#359](https://github.com/opendr-eu/opendr/pull/359)).
     - Added Nanodet 2D Object Detection tool ([#352](https://github.com/opendr-eu/opendr/pull/352)).
     - Added C API implementations of NanoDet 2D Object Detection tool ([#352](https://github.com/opendr-eu/opendr/pull/352)).

diff --git a/docs/reference/index.md b/docs/reference/index.md
@@ -1,6 +1,6 @@
 # OpenDR Toolkit Reference Manual
 
-*Release 2.1.0*
+*Release 2.2.0*
 <div align="center">
   <img src="images/opendr_logo.png" />
 </div>

diff --git a/docs/reference/installation.md b/docs/reference/installation.md
@@ -106,14 +106,14 @@ Note that `opendr-toolkit` is actually just a metapackage that includes all the
 ## CPU docker
 After installing [docker](https://docs.docker.com/engine/install/ubuntu/), you can directly run the OpenDR image as:
 ```bash
-sudo docker run -p 8888:8888 opendr/opendr-toolkit:cpu_v2.1.0
+sudo docker run -p 8888:8888 opendr/opendr-toolkit:cpu_v2.2.0
 ```
 The docker automatically runs a Jupyter notebook server that listens at port 8888.
 When launched, you can access the Jupyter notebook by following the link provided in the console, it should be similar to [http://127.0.0.1:8888/?token=TOKEN](http://127.0.0.1:8888/?token=TOKEN). In order to stop the container, please quit the Jupyter notebook.
 
 If you do not wish to use Jupyter, you can also experiment by starting an interactive session by running:
 ```bash
-sudo docker run -it opendr/opendr-toolkit:cpu_v2.1.0 /bin/bash
+sudo docker run -it opendr/opendr-toolkit:cpu_v2.2.0 /bin/bash
 ```
 In this case, do not forget to enable the virtual environment with:
 ```bash
@@ -122,18 +122,18 @@ source bin/activate.sh
 If you want to display GTK-based applications from the Docker container (e.g., visualize results using OpenCV `imshow()`), then you should mount the X server socket inside the container, e.g.,
 ```bash
 xhost +local:root
-sudo docker run -it -v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=unix$DISPLAY opendr/opendr-toolkit:cpu_v2.1.0 /bin/bash
+sudo docker run -it -v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=unix$DISPLAY opendr/opendr-toolkit:cpu_v2.2.0 /bin/bash
 ```
 
 ## GPU docker
 If you want to use a CUDA-enabled container please install [nvidia-docker](https://github.com/NVIDIA/nvidia-docker).
 Then, you can directly run the latest image with the command:
 ```bash
-sudo docker run --gpus all -p 8888:8888 opendr/opendr-toolkit:cuda_v2.1.0
+sudo docker run --gpus all -p 8888:8888 opendr/opendr-toolkit:cuda_v2.2.0
 ```
 or, for an interactive session:
 ```bash
-sudo docker run --gpus all -it opendr/opendr-toolkit:cuda_v2.1.0 /bin/bash
+sudo docker run --gpus all -it opendr/opendr-toolkit:cuda_v2.2.0 /bin/bash
 ```
 In this case, do not forget to enable the virtual environment with:
 ```bash
@@ -249,4 +249,4 @@ To use the docker on an embedded device with a monitor and a usb camera attached
 ```
 xhost +local:root
 sudo docker run -it --privileged --network host -v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=unix$DSIPLAY -v /dev/video0:/dev/video0 opendr/opendr-toolkit:nx_v2 /bin/bash
-```
+```
diff --git a/projects/opendr_ws/src/opendr_bridge/package.xml b/projects/opendr_ws/src/opendr_bridge/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>opendr_bridge</name>
-   <version>2.1.0</version>
+   <version>2.2.0</version>
   <description>OpenDR ROS bridge package. This package provides a way to translate ROS messages into OpenDR data types
       and vice versa.
   </description>

diff --git a/projects/opendr_ws/src/opendr_data_generation/package.xml b/projects/opendr_ws/src/opendr_data_generation/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>opendr_data_generation</name>
-  <version>2.1.0</version>
+  <version>2.2.0</version>
   <description>OpenDR's ROS nodes for data generation package</description>
   <maintainer email="tefas@csd.auth.gr">OpenDR Project Coordinator</maintainer>
   <license>Apache License v2.0 </license>
@@ -22,4 +22,3 @@
   <export>
   </export>
 </package>
-
diff --git a/projects/opendr_ws/src/opendr_perception/package.xml b/projects/opendr_ws/src/opendr_perception/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>opendr_perception</name>
-  <version>2.1.0</version>
+  <version>2.2.0</version>
   <description>OpenDR's ROS nodes for perception package</description>
   <maintainer email="tefas@csd.auth.gr">OpenDR Project Coordinator</maintainer>
   <license>Apache License v2.0 </license>
@@ -25,4 +25,3 @@
   <export>
   </export>
 </package>
-
diff --git a/projects/opendr_ws/src/opendr_planning/package.xml b/projects/opendr_ws/src/opendr_planning/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>opendr_planning</name>
-  <version>2.1.0</version>
+  <version>2.2.0</version>
   <description>OpenDR's ROS planning package</description>
   <maintainer email="tefas@csd.auth.gr">OpenDR Project Coordinator</maintainer>
   <license>Apache License v2.0</license>