Add ROS!

.github/workflows/test.yml

@@ -13,7 +13,8 @@ jobs:
     # We only need to test on one OS as we are using Docker
     runs-on: ubuntu-latest
     env:
-      DOCKER_BASE_CMD: docker run --user root --rm
+      # Running as root removes permission errors when running github workflow
+      DOCKER_BASE_CMD: docker compose run --rm --user root
       COVERAGE_VOLUME: ${{ github.workspace }}/coverage:/usr/app/coverage
 
     steps:
@@ -23,29 +24,39 @@ jobs:
 
       # Build Docker image
       - name: Build Docker image
-        run: docker build -t autobike .
+        run: docker build -t autobike --no-cache .
+
+      # Build ROS project
+      - name: Build ROS project
+        if: success()
+        run: ${{ env.DOCKER_BASE_CMD }} autobike bash -ic "build"
+
+      # Run test ROS package
+      - name: Run ROS package
+        if: success()
+        run: ${{ env.DOCKER_BASE_CMD }} autobike bash -ic "build && ros2 run waypoints once"
 
       # Run Black formatting check
       - name: Black formatting check
-        # always() runs even if the job is canceled, while success() || failure() does not
         if: success() || failure()
-        run: ${{ env.DOCKER_BASE_CMD }} autobike black --check --config pyproject.toml .
+        run: ${{ env.DOCKER_BASE_CMD }} autobike bash -ic "format_check"
 
       # Run Pylint linting
       - name: Pylint linting
+        # always() runs even if the job is canceled, while success() || failure() does not
         if: success() || failure()
-        run: ${{ env.DOCKER_BASE_CMD }} autobike pylint --rcfile=pyproject.toml src/
+        run: ${{ env.DOCKER_BASE_CMD }} autobike bash -ic "lint"
 
       # Run Pytest with code coverage
       - name: Pytest with code coverage
         if: success() || failure()
         # Specify coverage volume
-        run: ${{ env.DOCKER_BASE_CMD }} -v ${{ env.COVERAGE_VOLUME }} autobike pytest --cov=./ --cov-report=xml:./coverage/coverage.xml --cov-report=term
+        run: ${{ env.DOCKER_BASE_CMD }} -v ${{ env.COVERAGE_VOLUME }} autobike bash -ic "build && pytest --cov=./ --cov-report=xml:./coverage/coverage.xml --cov-report=term"
 
       # Run mypy type checking
       - name: Mypy type check
         if: success() || failure()
-        run: ${{ env.DOCKER_BASE_CMD }} autobike mypy --config-file=pyproject.toml src/
+        run: ${{ env.DOCKER_BASE_CMD }} autobike bash -ic "type_check"
 
       # Upload to codecov
       - name: Upload coverage to Codecov

.gitignore

@@ -1,25 +1,24 @@
 # Cache files
 __pycache__/
 *cache*
+*.egg-info
+
+# Coverage reports and test artifacts
+*coverage*
+codecov*
 
 # IDE-specific files (IntelliJ IDEA, PyCharm)
 Q-Learning.iml
 misc.xml
 modules.xml
 vcs.xml
 
-# Egg info (Python package distribution)
-src/qlearning.egg-info/
-
-# Coverage reports and test artifacts
-*coverage*
-codecov*
-
 # macOS system files
 .DS_Store
 
-# Build directories
+# ROS2 build artifacts
 build/
+install/
+log/
+
 
-# OpenStreetMap data files
-*.osm

Dockerfile

@@ -1,34 +1,64 @@
-# Autonomous Bicycle - Python Enviorment
+# Build-time arguments
+ARG ROS_DISTRO=humble
 
-# Base image
-FROM python:3.10.6-slim
+# Base image (Humble is the LTS version for Ubuntu 22.04)
+# IMPORTANT: pin to a specific hash!
+FROM ros:${ROS_DISTRO}@sha256:80a4f6329aad64f14b600133cb3fd279d0bf666feeca5abef3f10bb41b0916ea
+
+# Set working directory
+ENV WORKDIR /usr/local/autobike
+WORKDIR $WORKDIR
 
 # Update package list and fix missing dependencies
 RUN apt-get update --fix-missing
 
-# Set working directory of container
-WORKDIR /usr/app/
-ENV PYTHONPATH="/usr/app/src:${PYTHONPATH}"
-COPY . .
+# Basic tools
+RUN apt-get install -y vim
+
+# Install pip (updating is important!)
+RUN apt-get install -y python3-pip=22.0.2+dfsg-1ubuntu0.4 && pip3 install --upgrade pip
+
+# Setup ROSboard
+RUN apt-get install -y \
+    ros-${ROS_DISTRO}-demo-nodes-cpp && \
+    pip3 install tornado==6.4.1 simplejpeg==1.7.4 && \
+    git clone https://github.com/dheera/rosboard.git /usr/local/rosboard
 
 # OSMnx dependencies
 RUN apt-get install -y \
-    gdal-bin=3.2.2+dfsg-2+deb11u2 \
-    libgdal-dev=3.2.2+dfsg-2+deb11u2 \
-    g++=4:10.2.1-1
+    gdal-bin=3.4.1+dfsg-1build4 \
+    libgdal-dev=3.4.1+dfsg-1build4 \
+    g++=4:11.2.0-1ubuntu1
 
-USER root
+# GUI backend for python (required by Matplotlib)
+RUN apt-get install -y python3.10-tk
 
-# Install Python dependencies defined in pyproject.toml
+# Copy Python project files and install dependencies
+ENV PYTHONPATH="$WORKDIR:${PYTHONPATH}"
+COPY pyproject.toml .
 RUN pip install .
 
-# GUI backend for python (required by Matplotlib)
-RUN apt-get install -y tk=8.6.11+1
+# Run the container as a non-root user for better security
+ARG USERNAME=bichael
+ARG USER_UID=1000
+ARG USER_GID=1000
+RUN groupadd --gid $USER_GID $USERNAME && \
+    useradd --uid $USER_UID --gid $USER_GID -m $USERNAME
+
+ENV HOME=/home/$USERNAME
+RUN chown -R $USERNAME:$USERNAME $HOME
+
+# Add shell env to .bashrc (overwritten by volume)
+COPY shell_env.sh $HOME/shell_env.sh
+RUN echo "source \$HOME/shell_env.sh" >> $HOME/.bashrc
 
 # Clean up cached package lists to reduce image size
 RUN rm -rf /var/lib/apt/lists/*
 
-USER 1001
+# Copy the rest of the application files
+COPY . .
+
+USER $USERNAME
 
 # Run on container start (not when using docker-compose run, however)
 CMD ["/bin/bash"]