Merge pull request #167 from ethz-asl/feature/ci

Set up github actions

.github/workflows/cd.yml

@@ -0,0 +1,49 @@
+name: moma CD
+
+on:
+  push:
+    branches: [ "master" ]
+
+env:
+  # Use docker.io for Docker Hub if empty
+  REGISTRY: ghcr.io
+  # github.repository as <account>/<repo>
+  IMAGE_NAME: ${{ github.repository }}
+
+jobs:
+  build-dockers:
+    name: Build docker images
+    strategy:
+      matrix:
+        dockerfile: [dev, robot, demo]
+    runs-on: ubuntu-latest
+    steps:
+    - name: Check out moma repo
+      uses: actions/checkout@v3
+      with:
+        path: moma_ws/src/moma
+        submodules: recursive
+    - name: Set up Docker Buildx
+      uses: docker/setup-buildx-action@v2
+    - name: Log into registry ${{ env.REGISTRY }}
+      uses: docker/login-action@v2
+      with:
+        registry: ${{ env.REGISTRY }}
+        username: ${{ github.actor }}
+        password: ${{ secrets.GITHUB_TOKEN }}
+    - name: Extract Docker metadata
+      id: meta
+      uses: docker/metadata-action@v4
+      with:
+        images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+        tags: type=raw,value=${{ matrix.dockerfile }}
+    - name: Build and push docker
+      uses: docker/build-push-action@v4
+      with:
+        context: ./moma_ws/src/moma/docker/
+        file: ./moma_ws/src/moma/docker/${{ matrix.dockerfile }}.Dockerfile
+        push: true
+        tags: ${{ steps.meta.outputs.tags }}
+        labels: ${{ steps.meta.outputs.labels }}
+        cache-from: type=gha
+        cache-to: type=gha,mode=max

.github/workflows/ci.yml

@@ -0,0 +1,79 @@
+name: moma CI
+
+on:
+  push:
+    branches: [ "master" ]
+  pull_request:
+    branches: [ "master" ]
+
+env:
+  # Use docker.io for Docker Hub if empty
+  REGISTRY: ghcr.io
+  # github.repository as <account>/<repo>
+  IMAGE_NAME: ${{ github.repository }}
+  CATKIN_WS_PATH: moma_ws
+
+jobs:
+  build-docker:
+    runs-on: ubuntu-latest
+    outputs:
+      docker_image_name: ${{ steps.meta.outputs.tags }}
+    steps:
+    - name: Check out moma repo
+      uses: actions/checkout@v3
+      with:
+        path: moma_ws/src/moma
+        submodules: recursive
+    - name: Set up Docker Buildx
+      uses: docker/setup-buildx-action@v2
+    - name: Log into registry ${{ env.REGISTRY }}
+      uses: docker/login-action@v2
+      with:
+        registry: ${{ env.REGISTRY }}
+        username: ${{ github.actor }}
+        password: ${{ secrets.GITHUB_TOKEN }}
+    - name: Extract Docker metadata
+      id: meta
+      uses: docker/metadata-action@98669ae865ea3cffbcbaa878cf57c20bbf1c6c38
+      with:
+        images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+    - name: Build and push docker
+      uses: docker/build-push-action@v4
+      with:
+        context: ./moma_ws/src/moma/docker/
+        file: ./moma_ws/src/moma/docker/dev.Dockerfile
+        push: true
+        tags: ${{ steps.meta.outputs.tags }}
+        labels: ${{ steps.meta.outputs.labels }}
+        cache-from: type=gha
+        cache-to: type=gha,mode=max
+
+  build-catkin:
+    needs: build-docker
+    runs-on: ubuntu-latest
+    container:
+      image: ${{ needs.build-docker.outputs.docker_image_name }}
+    steps:
+    - name: Git safe directory (only for running within containers)
+      run: git config --system --add safe.directory '*'
+    - name: Check out moma repo
+      uses: actions/checkout@v3
+      with:
+        path: moma_ws/src/moma
+        submodules: recursive
+    - run: ls
+      shell: bash
+    - name: Set up Catkin workspace
+      run: |
+        cd  ${{ env.CATKIN_WS_PATH }}
+        source /root/.bashrc
+        catkin init
+        catkin config --extend /root/moma_dep_ws/devel
+        catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
+      shell: bash
+    - name: Build the workspace
+      run: |
+        cd  ${{ env.CATKIN_WS_PATH }}
+        source /root/.bashrc
+        catkin build --continue
+      shell: bash

.gitmodules

@@ -1,7 +1,3 @@
-[submodule "submodules/yumi"]
-	path = submodules/yumi
-	url = [email protected]:ethz-asl/yumi.git
-	branch = asl-devel
 [submodule "submodules/roboticsgroup_gazebo_plugins"]
 	path = submodules/roboticsgroup_gazebo_plugins
 	url = [email protected]:roboticsgroup/roboticsgroup_gazebo_plugins.git

docker/scripts/install_demo.sh

@@ -7,15 +7,22 @@ cd $MOMA_DEP_WS/src || exit 1
 vcs import --recursive --input $SCRIPTS_PATH/moma_demo.repos
 
 # Upgrade numpy version
-pip install --upgrade numpy==1.23.0
+pip install --no-cache-dir --upgrade numpy==1.23.0
+
+# This helps torch download on Github Actions :)
+export TMPDIR='/var/tmp'
 
 # Pip install VGN requirements
-pip install -r vgn/requirements.txt
+pip install --no-cache-dir catkin_pkg scipy matplotlib mpi4py pybullet==2.7.9 tqdm
+pip install --no-cache-dir torch==1.12.0+cpu -f https://download.pytorch.org/whl/torch_stable.html
+pip install --no-cache-dir tensorboard
+pip install --no-cache-dir open3d==0.13.0
 
 # Pip install gdown to get google drive files
-pip install gdown
+pip install --no-cache-dir gdown
 
 # Make sure we can unzip too
+apt-get update
 apt-get install unzip
 
 # Download the data file from google drive
@@ -25,6 +32,7 @@ gdown 1MysYHve3ooWiLq12b58Nm8FWiFBMH-bJ
 unzip data.zip -d vgn_data
 mv vgn_data/data/* vgn/assets/
 rm -r vgn_data
+rm data.zip
 
 # Add a rundemo alias:
 echo 'alias rundemo="roslaunch grasp_demo grasp_demo.launch launch_rviz:=true"' >> ~/.bashrc

docker/scripts/install_sys_deps.sh

@@ -16,9 +16,5 @@ apt-get -qq update && apt-get install -y python3-catkin-tools python3-vcstool py
 # Install other system deps
 apt-get -qq update && apt-get install -y qtbase5-dev bash-completion
 
-# This is for nvblox
-pip install --upgrade cmake
-apt-get -qq update &&  apt-get install -y libgoogle-glog-dev libgtest-dev libgflags-dev python3-dev libsqlite3-dev
-
 # Clear cache to keep layer size down
 rm -rf /var/lib/apt/lists/*

docker/scripts/moma_demo.repos

@@ -10,4 +10,4 @@ repositories:
   moma:
     type: git
     url: https://github.com/ethz-asl/moma.git
-    version: 6730e11ca580dd80fb49a553db5394111bf232ff
+    version: demo