Containerization Pipeline and Ubuntu 22.04 Upgrade

.github/workflows/docker.yml

@@ -0,0 +1,42 @@
+name: Docker
+
+on: [push, pull_request]
+
+jobs:
+
+  clean-up:
+    name: Clean up
+    runs-on: self-hosted
+    steps:
+
+      - name: Clean up
+        run: rm -rf *
+
+  create-image:
+    name: Create docker image
+    runs-on: self-hosted
+    steps:
+      - uses: docker/login-action@v3
+        name: Login to Docker Hub
+        with:
+          username: ${{ secrets.DOCKER_USERNAME }}
+          password: ${{ secrets.DOCKER_PASSWORD }}
+
+      - uses: robinraju/release-downloader@v1.8
+        name: Download python-api
+        with:
+          repository: carla-compose/carla
+          latest: true
+          fileName: PythonAPI.tar.gz
+          out-file-path: artifacts
+
+      - name: Extract PythonAPI
+        run: tar -xvzf artifacts/PythonAPI.tar.gz -C artifacts
+
+      - uses: docker/build-push-action@v5
+        name: Build and push
+        with:
+          push: true
+          file: docker/Dockerfile
+          tags: cgellerac/carla-scenario-runner
+          no-cache: true

CARLA_VER

@@ -1,2 +1,2 @@
 HOST = https://carla-releases.s3.eu-west-3.amazonaws.com/Linux
-RELEASE=CARLA_0.9.13
+RELEASE=CARLA_0.9.15

docker/Dockerfile

@@ -0,0 +1,65 @@
+ARG UBUNTU_VERSION="22.04"
+
+
+############ dependencies ############
+FROM "ubuntu:${UBUNTU_VERSION}" as dependencies
+
+USER root
+SHELL ["/bin/bash", "-c"]
+
+ARG CARLA_API_PATH=/opt/carla/PythonAPI
+ARG SCENARIO_RUNNER_PATH=/opt/carla/scenario_runner
+
+# Install essentials
+RUN apt-get update && \
+    apt-get install -y \
+      libpng16-16 \
+      libtiff5 \
+      libjpeg8 \
+      build-essential \
+      wget \
+      git \
+      libxerces-c-dev \
+      python3-pip \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN pip3 install --upgrade pip
+RUN update-alternatives --install /usr/bin/python python /usr/bin/python3 10
+
+# Install scenario_runner
+COPY . $SCENARIO_RUNNER_PATH
+RUN pip3 install -r $SCENARIO_RUNNER_PATH/requirements.txt
+
+# Move over PythonAPI
+RUN mv $SCENARIO_RUNNER_PATH/artifacts/PythonAPI ${CARLA_API_PATH}
+
+# Recursively install PythonAPI requirements, keep version of first occurrence
+RUN cat $(find ${CARLA_API_PATH} -type f -name "requirements.txt") > /tmp/requirements_raw.txt \
+    && awk -F '==' '{print $1}' /tmp/requirements_raw.txt | awk '!visited[$1]++' > /tmp/requirements.txt \
+    && pip3 install -r /tmp/requirements.txt
+
+# Create script that adds API to pythonpath and make .bashrc source it
+RUN echo "export PYTHONPATH=\$PYTHONPATH:$CARLA_API_PATH/carla/dist/$(ls $CARLA_API_PATH/carla/dist | grep py$(python --version | awk -F'[ .]' '{print $2"."$3}').)" >> /setup_carla_env.sh; \
+    echo "export PYTHONPATH=\$PYTHONPATH:$CARLA_API_PATH/carla/agents" >> /setup_carla_env.sh; \
+    echo "export PYTHONPATH=\$PYTHONPATH:$CARLA_API_PATH/carla" >> /setup_carla_env.sh; \
+    echo "export CARLA_API_PATH=$CARLA_API_PATH" >> /setup_carla_env.sh; \
+    echo "source /setup_carla_env.sh" >> ~/.bashrc
+
+############ final ############
+FROM dependencies as final
+
+# Needed for (pygame based) scripts that have a GUI
+ENV SDL_VIDEODRIVER=x11
+
+USER root
+SHELL ["/bin/bash", "-c"]
+
+ARG WORKSPACE=${SCENARIO_RUNNER_PATH}
+ENV WORKSPACE=${WORKSPACE}
+WORKDIR ${WORKSPACE}
+
+# Set entrypoint
+COPY ./docker/entrypoint.sh /
+ENTRYPOINT [ "/entrypoint.sh" ]
+
+CMD [ "python3", "scenario_runner.py", "--help" ]

docker/entrypoint.sh

@@ -0,0 +1,8 @@
+#!/bin/bash
+set -e
+
+# source CARLA environment setup script
+source /setup_carla_env.sh
+
+# run the actual command
+exec "$@"

requirements.txt

@@ -1,14 +1,15 @@
-py-trees==0.8.3
-numpy==1.18.4; python_version >= '3.0'
-networkx==2.2
-Shapely==1.7.1
-psutil
-xmlschema==1.0.18
-ephem
-tabulate
-opencv-python==4.2.0.32
-matplotlib
-six
-simple-watchdog-timer
-antlr4-python3-runtime==4.10
-graphviz
+# Update all versions to be compatible with Ubuntu 22.04, Python 3.10.6, ROS Humble (at 2023-07-24)
+py-trees==0.8.3                 # newest version (2.2.3) is not compatible
+numpy==1.21.5       
+networkx==3.1               
+shapely==2.0.1                 
+psutil==5.9.0                 
+xmlschema==2.3.1                
+ephem==4.1.4
+tabulate==0.9.0
+opencv-python==4.8.0.74        
+matplotlib==3.7.2           
+six==1.16.0
+simple-watchdog-timer==0.1.1
+antlr4-python3-runtime==4.13.1
+graphviz==0.20.1

scenario_runner.py

@@ -44,7 +44,7 @@
 from srunner.scenarioconfigs.osc2_scenario_configuration import OSC2ScenarioConfiguration
 
 # Version of scenario_runner
-VERSION = '0.9.13'
+VERSION = '0.9.15'
 
 
 class ScenarioRunner(object):