workflow updated for docker execution

.github/workflows/run_tests.yml

@@ -1,4 +1,4 @@
-name: Run Tests
+name: CI - ROS2 Simulation
 
 on:
   pull_request:
@@ -8,24 +8,90 @@ on:
     branches: [main, develop]
 
 jobs:
-  ros-tests:
+  ros2-simulation-test:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
-        with:
-          fetch-depth: 0
+      - name: Checkout Repository
+        uses: actions/checkout@v3
 
-      - name: Prepare files for Docker build
+      - name: Set up Docker Compose
+        run: sudo apt-get update && sudo apt-get install -y docker-compose
+
+      - name: Cleanup Docker
+        run: |
+          docker container prune -f
+          docker volume prune -f
+
+      - name: Build and Start Simulation
+        working-directory: docker
+        run: |
+          set -e
+          chmod +x docker_start.sh
+          ./docker_start.sh | tee docker_start_output.log
+
+      - name: Show Docker Compose Status and Logs
+        working-directory: docker
+        run: |
+          docker compose ps
+          docker compose logs --tail=50 auto_shepherd_simulation_ros2_humble
+
+      - name: Print Docker Container Logs if Not Running
+        if: ${{ failure() || !steps.build-and-start-simulation.outcome == 'success' }}
+        run: |
+          echo "Container logs:"
+          docker logs auto_shepherd_simulation_ros2_humble || echo "No logs found."
+          echo "Docker ps output:"
+          docker ps -a
+
+      - name: Smoke Test Container
+        run: |
+          docker exec auto_shepherd_simulation_ros2_humble bash -c "source /opt/ros/humble/setup.bash && ros2 --help"
+
+
+      - name: Build ROS2 Workspace
         run: |
-          mkdir -p docker_build/src
-          cp ros2_package/auto_shepherd_simulation/ros_interface.py docker_build/src/ros_interface.py
-          cp -r tests docker_build/tests
-          cp tests/Dockerfile.test docker_build/Dockerfile
+          docker exec auto_shepherd_simulation_ros2_humble bash -c \
+            "source /opt/ros/humble/setup.bash && \
+             cd /home/ros/base_ws && \
+             colcon build --symlink-install"
 
-      - name: Build ROS Test Container
+      - name: List ROS2 Topics
         run: |
-          cd docker_build
-          docker build -t ros_test .
+          docker exec auto_shepherd_simulation_ros2_humble bash -c \
+            "source /opt/ros/humble/setup.bash && \
+             source /home/ros/base_ws/install/setup.bash && \
+             ros2 topic list"
+
+      - name: Wait for and Echo /dbscan_hulls
+        run: |
+          docker exec auto_shepherd_simulation_ros2_humble bash -c "
+            set -e
+            source /opt/ros/humble/setup.bash
+            source /home/ros/bash_scripts/bashrc_extensions.sh
+
+            github_action_initialise_tmule
+
+            for attempt in {1..3}; do
+              echo \"Attempt \$attempt to trigger and read /dbscan_hulls\"
+
+              github_action_initialise_dog
+              github_action_initialise_goal
+
+              echo \"Checking topic list and /dbscan_hulls info\"
+              ros2 topic list
+              ros2 topic info /dbscan_hulls -v || echo 'No info for /dbscan_hulls yet'
+
+              echo \"Waiting up to 60s for a MarkerArray message on /dbscan_hulls...\"
+              if timeout 60s ros2 topic echo /dbscan_hulls visualization_msgs/msg/MarkerArray --no-arr --once; then
+                echo \"Successfully received /dbscan_hulls on attempt \$attempt\"
+                exit 0
+              else
+                echo \"No message received on /dbscan_hulls (attempt \$attempt)\"
+              fi
+
+              sleep 5
+            done
 
-      - name: Run ROS Tests
-        run: docker run ros_test
+            echo \"❌ Failed to receive /dbscan_hulls after 3 attempts\"
+            exit 1
+          "

bash_scripts/container/bashrc_extensions.sh

@@ -64,3 +64,92 @@ function con(){  tmule -c $CONNECTED $1 ; }
 # TMuLe for injecting data to inputs
 export INJECTED=${BASE_WS}/src/auto_shepherd_simulation_ros2/tmule/injected.tmule.yaml
 function inj(){  tmule -c $INJECTED $1 ; }
+
+
+################################
+## Aliases for github actions ##
+################################
+
+function github_action_initialise_tmule() { tmule -c $INJECTED launch ; }
+
+function github_action_initialise_goal()
+{
+ros2 topic pub /goal_pose geometry_msgs/msg/PoseStamped "header:
+  stamp:
+    sec: 1752234451
+    nanosec: 558437227
+  frame_id: field_frame
+pose:
+  position:
+    x: -15.754144668579102
+    y: 44.95618438720703
+    z: 0.0
+  orientation:
+    x: 0.0
+    y: 0.0
+    z: -0.0721578213596985
+    w: 0.9973932267749877
+" --once ;
+}
+
+function github_action_initialise_dog()
+{
+ros2 topic pub /initialpose geometry_msgs/msg/PoseWithCovarianceStamped "header:
+  stamp:
+    sec: 1752234463
+    nanosec: 6465847
+  frame_id: field_frame
+pose:
+  pose:
+    position:
+      x: -19.47688865661621
+      y: 8.73109245300293
+      z: 0.0
+    orientation:
+      x: 0.0
+      y: 0.0
+      z: 0.0
+      w: 1.0
+  covariance:
+  - 0.25
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.25
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.06853891909122467
+" --once ;
+}
+
+
+
+

docker/Dockerfile

@@ -116,6 +116,7 @@ RUN apt-get update && \
 
 # 5. Python pip installs
 RUN python3 -m pip install --no-cache-dir --upgrade \
+    --ignore-installed \
     pip wheel \
     setuptools==58.2.0 \
     packaging==24.2 \

docker/docker-compose.yml

@@ -1,5 +1,6 @@
 services:
   auto_shepherd_simulation_ros2_humble:
+    container_name: auto_shepherd_simulation_ros2_humble  # <- included for .git action identification
     build:
       context: .
       dockerfile: Dockerfile

docker/docker_start.sh

@@ -4,7 +4,8 @@
 COMPOSE_FILE="docker-compose.yml"
 SERVICE_NAME="auto_shepherd_simulation_ros2_humble"
 
-xhost +local:docker
+command -v xhost >/dev/null && xhost +local:docker
+#xhost +local:docker
 
 if [[ "$OSTYPE" == "linux-gnu"* ]]; then
     HOST_DISPLAY_VAR="$DISPLAY"
@@ -29,12 +30,24 @@ echo "Docker Compose cleanup completed."
 # --- Run the Docker Compose service interactively ---
 echo "Starting Docker Compose service '${SERVICE_NAME}' in interactive mode..."
 
-docker compose -f "${COMPOSE_FILE}" run \
-    -v "$HOME/.Xauthority:/root/.Xauthority:rw" \
-    -e "HOST_DISPLAY_VAR=${HOST_DISPLAY_VAR}" \
-    -e QT_X11_NO_MITSHM=1 \
-    "${DOCKER_RUN_ARGS[@]}" \
-    "${SERVICE_NAME}" \
-    bash
-
+docker compose -f "${COMPOSE_FILE}" up -d "${SERVICE_NAME}"
+#docker compose -f "${COMPOSE_FILE}" run \
+#    -v "$HOME/.Xauthority:/root/.Xauthority:rw" \
+#    -e "HOST_DISPLAY_VAR=${HOST_DISPLAY_VAR}" \
+#    -e QT_X11_NO_MITSHM=1 \
+#    "${DOCKER_RUN_ARGS[@]}" \
+#    "${SERVICE_NAME}" \
+#    bash
+
+# Check if the container started successfully
+docker ps --filter "name=${SERVICE_NAME}" --filter "status=running" | grep ${SERVICE_NAME} > /dev/null
+if [ $? -ne 0 ]; then
+    echo "Container failed to start!"
+    docker ps -a
+    docker logs auto_shepherd_simulation_ros2_humble || echo "No logs found for container."
+    exit 1
+fi
+echo "Container started successfully."
+docker ps -a
+docker logs auto_shepherd_simulation_ros2_humble || echo "No logs found for container."
 echo "Docker container session ended."