Rework CI to ensure up-to-date containers prior to builds

.devcontainer/Dockerfile

@@ -1,17 +1,9 @@
 FROM ros:humble-ros-base-jammy
 
-SHELL ["/bin/bash", "-c"]
-
 # setup environment
 ENV LANG C.UTF-8
 ENV LC_ALL C.UTF-8
 
-# install packages
-RUN apt-get update \
-    && apt-get install -q -y --no-install-recommends \
-    curl \
-    && rm -rf /var/lib/apt/lists/*
-
 ARG ROS_DISTRO=humble
 ENV ROS_DISTRO $ROS_DISTRO
 ARG INSTALL_PACKAGE=base
@@ -21,6 +13,7 @@ RUN DEBIAN_FRONTEND=noninteractive apt-get update -q && \
     apt-get update -q && \
     apt-get install -yq --no-install-recommends \
     lcov \
+    curl \
     python3-pip \
     python-is-python3 \
     python3-argcomplete \
@@ -36,15 +29,6 @@ RUN DEBIAN_FRONTEND=noninteractive apt-get update -q && \
 # I added this
 RUN source "/opt/ros/${ROS_DISTRO}/setup.bash"
 
-# Spot packages
-RUN apt-get update -q && \
-    apt-get install -y --no-install-recommends \
-    ros-${ROS_DISTRO}-joint-state-publisher-gui \
-    ros-${ROS_DISTRO}-depth-image-proc \
-    ros-${ROS_DISTRO}-vision-msgs \
-    ros-${ROS_DISTRO}-interactive-markers && \
-    rm -rf /var/lib/apt/lists/*
-
 # Install bosdyn_msgs package
 RUN curl -sL https://github.com/bdaiinstitute/bosdyn_msgs/releases/download/v3.3.2-AMD64/ros-humble-bosdyn-msgs_3.3.2-0jammy_amd64.deb --output /tmp/ros-humble-bosdyn-msgs_3.3.2-0jammy_amd64.deb --silent \
   && dpkg -i /tmp/ros-humble-bosdyn-msgs_3.3.2-0jammy_amd64.deb \
@@ -55,15 +39,26 @@ RUN curl -sL https://github.com/bdaiinstitute/spot-cpp-sdk/releases/download/3.3
   && dpkg -i /tmp/spot-cpp-sdk_3.3.2_amd64.deb \
   && rm /tmp/spot-cpp-sdk_3.3.2_amd64.deb
 
-# Install packages inside the new environment
+# Install bosdyn_msgs missing dependencies
 RUN python -m pip install --no-cache-dir --upgrade pip==22.3.1 \
     && pip install --root-user-action=ignore --no-cache-dir --default-timeout=900 \
     numpy==1.24.1 \
     bosdyn-client==3.3.2 \
     bosdyn-mission==3.3.2 \
     bosdyn-api==3.3.2 \
-    bosdyn-core==3.3.2  && \
+    bosdyn-core==3.3.2 \
+    pip cache purge
+
+# Install spot_wrapper requirements
+RUN --mount=type=bind,source=spot_wrapper,target=/tmp/context/spot_wrapper cd /tmp/context && \
+    pip install --root-user-action=ignore --no-cache-dir --default-timeout=900 -r spot_wrapper/requirements.txt && \
     pip cache purge
 
+# Install packages dependencies
+RUN --mount=type=bind,source=.,target=/tmp/context \
+    apt-get update -q && rosdep update && \
+    rosdep install -y -i --from-paths /tmp/context --skip-keys "bosdyn bosdyn_msgs spot_wrapper" && \
+    rm -rf /var/lib/apt/lists/*
+
 # ROS doesn't recognize the docker shells as terminals so force colored output
 ENV RCUTILS_COLORIZED_OUTPUT=1

.github/workflows/ci.yml

@@ -0,0 +1,134 @@
+name: spot_ros2 CI
+
+on:
+  pull_request:
+  push:
+    branches:
+      - main
+  workflow_call:
+    secrets:
+      CODECOV_TOKEN:
+        required: true
+
+permissions:
+    contents: write
+
+env:
+  # Use docker.io for Docker Hub if empty
+  REGISTRY: ghcr.io
+  # github.repository as <account>/<repo>
+  IMAGE_NAME: bdaiinstitute/spot_ros2_jammy_humble
+
+defaults:
+  run:
+    shell: bash
+
+jobs:
+  lint:
+    name: Lint spot_ros2 packages
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v3
+      - uses: actions/setup-python@v3
+      - name: Lint sources
+        uses: pre-commit/action@v3.0.0
+  prepare_container:
+    name: Prepare Humble container for tests
+    runs-on: ubuntu-latest
+    needs: lint
+    permissions:
+      contents: read
+      packages: write
+      # This is used to complete the identity challenge
+      # with sigstore/fulcio when running outside of PRs.
+      id-token: write
+    outputs:
+      image: ${{ fromJSON(steps.meta.outputs.json).tags[0] }}
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v3
+        with:
+          submodules: recursive
+      - name: Setup Docker buildx  # to workaround: https://github.com/docker/build-push-action/issues/461
+        uses: docker/setup-buildx-action@79abd3f86f79a9d68a23c75a09a9a85889262adf
+      - name: Log into registry ${{ env.REGISTRY }}
+        uses: docker/login-action@28218f9b04b4f3f62068d7b6ce6ca5b26e35336c  # https://github.com/docker/login-action
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+      - name: Extract metadata (tags, labels) for Docker
+        uses: docker/metadata-action@98669ae865ea3cffbcbaa878cf57c20bbf1c6c38  # https://github.com/docker/metadata-action
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+        id: meta
+      - name: Build and push Docker image (may be cached)
+        uses: docker/build-push-action@ac9327eae2b366085ac7f6a2d02df8aa8ead720a  # https://github.com/docker/build-push-action
+        with:
+          context: .
+          file: .devcontainer/Dockerfile
+          push: true
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          cache-from: type=gha
+          cache-to: type=gha,mode=max
+  build_and_test_package_and_docs:
+    name: Build and test spot_ros2 packages
+    runs-on: ubuntu-latest
+    needs: prepare_container
+    container:
+      image: ${{ needs.prepare_container.outputs.image }}
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v3
+        with:
+          submodules: recursive
+          path: src
+      - name: Build packages
+        run: |
+          source /opt/ros/$ROS_DISTRO/setup.bash
+          colcon build --symlink-install --packages-skip-regex proto2ros --cmake-args -DCMAKE_CXX_FLAGS="--coverage"
+      - name: Test packages
+        run: |
+          source install/setup.bash
+          colcon test --python-testing pytest --pytest-with-coverage --event-handlers console_direct+ --packages-skip-regex bdai_ros2_wrappers proto2ros
+      - name: Generate coverage report
+        run: lcov -c -d build/spot_driver/ -o coverage_spot_driver.info --include "*/spot_driver/*" --exclude "*/test/*"
+      - name: Upload python coverage to Coveralls
+        uses: coverallsapp/github-action@v2
+        with:
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+          fail-on-error: true
+          flag-name: unittests-python
+          parallel: true
+          debug: true
+          files: $(find . -name "coverage.xml" -type f)
+      - name: Upload cpp coverage to Coveralls
+        uses: coverallsapp/github-action@v2
+        with:
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+          fail-on-error: true
+          flag-name: unittests-cpp
+          debug: true
+          files: coverage_spot_driver.info
+          format: lcov
+      - name: Aggregate coverage
+        uses: coverallsapp/github-action@v2
+        with:
+          parallel-finished: true
+          carryforward: "unittests-python, unittests-cpp"
+      - name: Report on test results
+        run: colcon test-result --all --verbose
+        if: always()
+      - name: Build packages documentation
+        run: |
+          source /opt/ros/$ROS_DISTRO/setup.bash
+          pip install -r docs/requirements.txt
+          # go to documentation folder and build the .rst files
+          cd docs
+          # we don't use the --implicit-namespaces flag
+          sphinx-apidoc -f -o source/ ../ ../*setup* ../examples ../*launch.py ../*command_spot_driver.py
+          cd ..
+          sphinx-build docs _build -v
+        working-directory: ${{ github.workspace }}/src

.github/workflows/maintenance.yml

@@ -0,0 +1,26 @@
+name: spot_ros2 CI maintenance
+
+on:
+  schedule:
+    - cron: "0 0 * * 0"  # once a week
+
+env:
+  ORG_NAME: bdaiinstitute
+  # github.repository as <account>/<repo>
+  IMAGE_NAME: spot_ros2_jammy_humble
+
+jobs:
+  clean-ghcr:
+    name: Prune old images from Github Container Registry
+    runs-on: ubuntu-latest
+    steps:
+      - name: Delete old pull request images
+        uses: snok/container-retention-policy@v2
+        with:
+          image-names: ${{ env.IMAGE_NAME }}
+          skip-tags: main
+          cut-off: One week ago UTC
+          org-name: ${{ env.ORG_NAME }}
+          account-type: org
+          token: ${{ secrets.GITHUB_TOKEN }}
+          token-type: github-token