Add proactive deconflicting heuristic to avoid planner crashes when robots need to move past each other #390
Workflow file for this run
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| name: Build and Test CI for Pull Requests | |
| on: | |
| pull_request: | |
| branches: [ 'master', 'develop', 'survey_manager' ] | |
| workflow_dispatch: | |
| jobs: | |
| build-focal: | |
| runs-on: ubuntu-20.04 | |
| steps: | |
| - name: Checkout Astrobee | |
| uses: actions/checkout@v3 | |
| with: | |
| repository: nasa/astrobee | |
| path: astrobee/ | |
| - name: Checkout ISAAC | |
| uses: actions/checkout@v3 | |
| with: | |
| submodules: recursive | |
| path: isaac/ | |
| # This version is more elegant but currently uses too much space for GitHub CI workers | |
| #- name: Build code for isaac:astrobee Ubuntu 20 | |
| # run: isaac/scripts/docker/build.sh --remote --focal --astrobee-source-path astrobee/ | |
| # These steps were copied verbatim from ci_push.yml which seems to use less space. | |
| - name: Build code for isaac:astrobee Ubuntu 20 | |
| run: docker build isaac -f isaac/scripts/docker/isaac_astrobee.Dockerfile | |
| --build-arg UBUNTU_VERSION=20.04 | |
| --build-arg ROS_VERSION=noetic | |
| --build-arg PYTHON=3 | |
| --build-arg REMOTE=ghcr.io/nasa | |
| -t ghcr.io/${{ github.repository_owner }}/isaac:latest-astrobee-ubuntu20.04 | |
| - name: Build code for isaac:latest Ubuntu 20 | |
| run: docker build isaac -f isaac/scripts/docker/isaac.Dockerfile | |
| --build-arg UBUNTU_VERSION=20.04 | |
| --build-arg ROS_VERSION=noetic | |
| --build-arg PYTHON=3 | |
| --build-arg REMOTE=ghcr.io/nasa | |
| -t ghcr.io/${{ github.repository_owner }}/isaac:latest-ubuntu20.04 | |
| - name: Build messages dockers for Ubuntu 20 (astrobee) | |
| run: docker build astrobee -f isaac/scripts/docker/astrobee_msgs.Dockerfile | |
| --build-arg UBUNTU_VERSION=20.04 | |
| --build-arg ROS_VERSION=noetic | |
| --build-arg PYTHON=3 | |
| -t ghcr.io/${{ github.repository_owner }}/isaac:astrobee-msgs-ubuntu20.04 | |
| - name: Build messages dockers for Ubuntu 20 (isaac) | |
| run: docker build isaac -f isaac/scripts/docker/isaac_msgs.Dockerfile | |
| --build-arg UBUNTU_VERSION=20.04 | |
| --build-arg ROS_VERSION=noetic | |
| --build-arg PYTHON=3 | |
| --build-arg REMOTE=ghcr.io/nasa | |
| -t ghcr.io/${{ github.repository_owner }}/isaac:msgs-ubuntu20.04 | |
| # Temp disabling the analyst build because it has a new version conflict issue. We should | |
| # re-enable once that issue is solved. | |
| #- name: Build analyst image isaac/isaac:msgs-ubuntu20.04 | |
| # run: docker build isaac -f isaac/scripts/docker/analyst.Dockerfile | |
| # --build-arg REMOTE=ghcr.io/nasa | |
| # -t ghcr.io/${{ github.repository_owner }}/isaac_analyst_notebook:latest |