Merge pull request #89 from nasa/develop

Release 0.2.6
nasa · May 12, 2023 · b309ae1 · b309ae1
2 parents 3a7bdca + d8bc94c
commit b309ae1
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diff --git a/.catkin_tools/CATKIN_IGNORE b/.catkin_tools/CATKIN_IGNORE
diff --git a/.catkin_tools/README b/.catkin_tools/README
diff --git a/.catkin_tools/VERSION b/.catkin_tools/VERSION
diff --git a/.catkin_tools/profiles/cross/config.yaml b/.catkin_tools/profiles/cross/config.yaml
diff --git a/.catkin_tools/profiles/default/config.yaml b/.catkin_tools/profiles/default/config.yaml
diff --git a/.github/workflows/apk.yaml b/.github/workflows/apk.yaml
@@ -2,21 +2,21 @@
 
 name: Compile APK
 
-on: ['push', 'pull_request']
+on: ['push', 'pull_request', 'workflow_dispatch']
 
 jobs:
   install_dependencies:
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-20.04
 
     steps:
     - name: Checkout Astrobee
-      uses: actions/checkout@v2
+      uses: actions/checkout@v3
       with:
         repository: nasa/astrobee
         path: astrobee/
 
     - name: Checkout ISAAC
-      uses: actions/checkout@v2
+      uses: actions/checkout@v3
       with:
         submodules: recursive
         path: isaac/
@@ -36,36 +36,9 @@ jobs:
                               --build-arg PYTHON=''
                               -t isaac/isaac:msgs-ubuntu16.04
 
-    - name: Build image isaac/isaac:latest-msgs-jar-ubuntu16.04
-      run: docker build isaac -f isaac/scripts/docker/build_msgs_jar.Dockerfile
+    - name: Build image isaac/isaac:latest-akp-ubuntu16.04
+      run: docker build isaac -f isaac/scripts/docker/build_apk.Dockerfile
                               --build-arg UBUNTU_VERSION=16.04
                               --build-arg ROS_VERSION=kinetic
                               --build-arg PYTHON=''
-                              -t isaac/isaac:latest-msgs-jar-ubuntu16.04
-
-    - name: Copy jar files
-      run: |
-        docker cp $(docker create --rm isaac/isaac:latest-msgs-jar-ubuntu16.04):/src/msgs/devel/share/maven/ .
-        rm isaac/apks/isaac_gs_ros_bridge/app/libs/*msgs*
-        find maven -name *.jar -print0 | xargs -0 cp -t isaac/apks/isaac_gs_ros_bridge/app/libs
-
-    - name: Install APK dependencies
-      run: |
-        sudo apt-get install -y libc6-dev-i386 lib32z1 openjdk-8-jdk
-        mkdir $HOME/android-sdk
-        cd $HOME/android-sdk
-        wget https://dl.google.com/android/repository/tools_r25.2.3-linux.zip
-        java -version
-        unzip tools_r25.2.3-linux.zip
-        tools/bin/sdkmanager --update
-        yes | tools/bin/sdkmanager "platforms;android-25" "build-tools;25.0.2" "extras;google;m2repository" "extras;android;m2repository"
-        wget https://dl.google.com/android/repository/android-ndk-r22b-linux-x86_64.zip
-        unzip android-ndk-r22b-linux-x86_64.zip
-        mv android-ndk-r22b ndk-bundle
-        cd  ~/android-sdk/ndk-bundle/toolchains
-        ln -s aarch64-linux-android-4.9 mips64el-linux-android
-        ln -s arm-linux-androideabi-4.9 mipsel-linux-android
-    - name: Build APK
-      run: |
-        cd isaac/apks/isaac_gs_ros_bridge
-        ANDROID_HOME=$HOME/android-sdk ANDROID_NDK_HOME=$HOME/android-sdk/ndk-bundle ./gradlew build
+                              -t isaac/isaac:latest-apk-ubuntu16.04
diff --git a/.github/workflows/ci_pr.yml b/.github/workflows/ci_pr.yml
@@ -3,23 +3,24 @@ name: Build and Test CI for Pull Requests
 on:
   pull_request:
     branches: [ 'master', 'develop' ]
+  workflow_dispatch:
 
 jobs:
 
   build-xenial:
 
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-20.04
 
     steps:
 
     - name: Checkout Astrobee
-      uses: actions/checkout@v2
+      uses: actions/checkout@v3
       with:
         repository: nasa/astrobee
         path: astrobee/
 
     - name: Checkout ISAAC
-      uses: actions/checkout@v2
+      uses: actions/checkout@v3
       with:
         submodules: recursive
         path: isaac/
@@ -53,18 +54,18 @@ jobs:
                           -t isaac/isaac:msgs-ubuntu16.04
   build-bionic:
 
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-20.04
 
     steps:
 
     - name: Checkout Astrobee
-      uses: actions/checkout@v2
+      uses: actions/checkout@v3
       with:
         repository: nasa/astrobee
         path: astrobee/
 
     - name: Checkout ISAAC
-      uses: actions/checkout@v2
+      uses: actions/checkout@v3
       with:
         submodules: recursive
         path: isaac/
@@ -104,13 +105,13 @@ jobs:
     steps:
 
     - name: Checkout Astrobee
-      uses: actions/checkout@v2
+      uses: actions/checkout@v3
       with:
         repository: nasa/astrobee
         path: astrobee/
 
     - name: Checkout ISAAC
-      uses: actions/checkout@v2
+      uses: actions/checkout@v3
       with:
         submodules: recursive
         path: isaac/
@@ -146,4 +147,4 @@ jobs:
 
     - name: Build analyst image isaac/isaac:msgs-ubuntu20.04
       run: docker build isaac -f isaac/scripts/docker/analyst.Dockerfile
-                          -t isaac/isaac_analyst_notebook:latest
+                          -t isaac/isaac_analyst_notebook:latest
diff --git a/.github/workflows/ci_push.yml b/.github/workflows/ci_push.yml
@@ -3,23 +3,25 @@ name: Build, test and push packages CI
 on:
   push:
     branches: [ 'develop' ]
+  workflow_dispatch:
+    branches: [ 'develop' ]
 
 jobs:
 
   build-xenial:
 
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-20.04
 
     steps:
 
     - name: Checkout Astrobee
-      uses: actions/checkout@v2
+      uses: actions/checkout@v3
       with:
         repository: nasa/astrobee
         path: astrobee/
 
     - name: Checkout ISAAC
-      uses: actions/checkout@v2
+      uses: actions/checkout@v3
       with:
         submodules: recursive
         path: isaac/
@@ -67,18 +69,18 @@ jobs:
 
   build-bionic:
 
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-20.04
 
     steps:
 
     - name: Checkout Astrobee
-      uses: actions/checkout@v2
+      uses: actions/checkout@v3
       with:
         repository: nasa/astrobee
         path: astrobee/
 
     - name: Checkout ISAAC
-      uses: actions/checkout@v2
+      uses: actions/checkout@v3
       with:
         submodules: recursive
         path: isaac/
@@ -131,13 +133,13 @@ jobs:
     steps:
 
     - name: Checkout Astrobee
-      uses: actions/checkout@v2
+      uses: actions/checkout@v3
       with:
         repository: nasa/astrobee
         path: astrobee/
 
     - name: Checkout ISAAC
-      uses: actions/checkout@v2
+      uses: actions/checkout@v3
       with:
         submodules: recursive
         path: isaac/

diff --git a/.github/workflows/ci_release.yml b/.github/workflows/ci_release.yml
@@ -3,15 +3,17 @@ name: Build, test and push packages CI
 on:
   push:
     branches: [ 'master' ]
+  workflow_dispatch:
+    branches: [ 'master' ]
 
 jobs:
 
   build-xenial:
 
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-20.04
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
     - name: Checkout submodule
       run: git submodule update --init --depth 1 isaac_msgs
@@ -45,10 +47,10 @@ jobs:
 
   build-bionic:
 
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-20.04
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
     - name: Checkout submodule
       run: git submodule update --init --depth 1 isaac_msgs
@@ -85,7 +87,7 @@ jobs:
     runs-on: ubuntu-20.04
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
     - name: Checkout submodule
       run: git submodule update --init --depth 1 isaac_msgs

diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
@@ -5,18 +5,20 @@ name: Build and Push Documentation to gh-pages Branch
 on:
   push:
     branches: ['develop']
+  workflow_dispatch:
+    branches: ['develop']
 
 jobs:
   build_and_push_docs:
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-20.04
 
     steps:
     - name: Checkout
-      uses: actions/checkout@v2
+      uses: actions/checkout@v3
       with:
         path: repo/
     - name: Checkout gh-pages
-      uses: actions/checkout@v2
+      uses: actions/checkout@v3
       with:
         path: docs/
         ref: gh-pages

diff --git a/.github/workflows/lint.yaml b/.github/workflows/lint.yaml
@@ -2,26 +2,25 @@
 
 name: Check for lint errors
 
-on: ['push', 'pull_request']
+on: ['push', 'pull_request', 'workflow_dispatch']
 
 jobs:
   lint_check_cpp:
     runs-on: ubuntu-latest
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
     - name: Check repo for lint errors
       run: ./scripts/git/cpplint_repo.py .
 
   lint_check_python:
     runs-on: ubuntu-latest
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
     - name: Install linters
       run: |
-        pip install black
-        pip install isort
+        pip install click==8.0.1 black==22.1.0 isort==5.10.1
 
     - name: Run black
       run: |

diff --git a/.gitignore b/.gitignore
@@ -1,5 +1,6 @@
 # ROS
 *.bag
+.catkin_tools/*
 
 # Fortran module files
 *.mod
@@ -16,6 +17,7 @@
 *.app
 
 # Emacs temporary
+*~
 
 # ViM swap files
 *.swp
@@ -48,9 +50,15 @@ tags
 doc/html
 doc/latex
 
+# Pytorch models
+analyst/workspace/*.pt
+
 # Jupyter Notebooks
 analyst/workspace/.ipython
 analyst/workspace/.jupyter
 analyst/workspace/.local
 analyst/workspace/.ipynb_checkpoints
-analyst/workspace/.cache
+analyst/workspace/.cache
+
+# vscode
+isaac.code-workspace
diff --git a/.gitmodules b/.gitmodules
@@ -1,3 +1,3 @@
 [submodule "isaac_msgs"]
-	path = isaac_msgs
+	path = communications/isaac_msgs
 	url = https://github.com/nasa/isaac_msgs.git