updating images

Signed-off-by: Teo Koon Peng <[email protected]>

.github/actions/bootstrap/action.yml

@@ -18,9 +18,6 @@ runs:
       with:
         node-version: '20'
         cache: 'pnpm'
-    - name: Install pipenv
-      run: pip3 install pipenv
-      shell: bash
     - name: Install dependencies
       run: pnpm install -w --filter ${{ inputs.package }}... --no-frozen-lockfile
       shell: bash

.github/minimal-rmf/Dockerfile

@@ -0,0 +1,30 @@
+ARG BASE_IMAGE=docker.io/ros:jazzy-ros-base
+FROM $BASE_IMAGE
+ARG BRANCH=main
+ARG ROS_DISTRO=jazzy
+
+### build minimal rmf
+
+RUN apt update && apt install -y curl
+
+# # fetch sources
+RUN mkdir -p /rmf && cd /rmf \
+  && curl -sL https://github.com/open-rmf/rmf_internal_msgs/archive/refs/heads/$BRANCH.tar.gz -o rmf_internal_msgs.tar.gz \
+  && curl -sL https://github.com/open-rmf/rmf_building_map_msgs/archive/refs/heads/$BRANCH.tar.gz -o rmf_building_map_msgs.tar.gz \
+  && mkdir -p /rmf/src/rmf/rmf_internal_msgs && tar zxf rmf_internal_msgs.tar.gz -C /rmf/src/rmf/rmf_internal_msgs --strip-components=1 && rm rmf_internal_msgs.tar.gz \
+  && mkdir -p /rmf/src/rmf/rmf_building_map_msgs && tar zxf rmf_building_map_msgs.tar.gz -C /rmf/src/rmf/rmf_building_map_msgs --strip-components=1 && rm rmf_building_map_msgs.tar.gz
+
+RUN rosdep update && rosdep install --from-paths /rmf/src -yi
+
+RUN cd /rmf \
+  && . /opt/ros/$ROS_DISTRO/setup.sh \
+  && colcon build --merge-install --install-base /opt/rmf --cmake-args -DCMAKE_BUILD_TYPE=Release \
+  && rm -rf /rmf
+
+RUN curl -fsSL https://get.pnpm.io/install.sh | bash -
+# shell runs in non-interactive mode, which does not source .bashrc so we need to set the PATH manually
+ENV PNPM_HOME /root/.local/share/pnpm
+ENV PATH "$PNPM_HOME:$PATH"
+
+# nodejs seems to have changed the official mirror, the default in pnpm is very slow now
+RUN pnpm config -g set 'node-mirror:release' https://nodejs.org/dist && pnpm env use --global lts

.github/workflows/api-server.yml

@@ -15,7 +15,7 @@ jobs:
     name: Tests
     runs-on: ubuntu-24.04
     container:
-      image: ghcr.io/${{ github.repository }}/e2e
+      image: ghcr.io/${{ github.repository }}/minimal-rmf
       credentials:
         username: ${{ github.repository_owner }}
         password: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/nightly.yml

@@ -3,60 +3,57 @@ on:
   schedule:
     # 2am SGT
     - cron: '0 18 * * *'
+  workflow_dispatch:
 jobs:
   build-docker-images:
     name: Push Docker images to GitHub Packages
     runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v2
-      - name: Push e2e image to GitHub Packages
-        uses: docker/build-push-action@v1
+      - name: Push minimal-rmf image to GitHub Packages
+        uses: docker/build-push-action@v5
         with:
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
           registry: ghcr.io
-          repository: ${{ github.repository }}/e2e
+          repository: ${{ github.repository }}/minimal-rmf
           tags: latest
-          path: docker
-  dashboard-e2e:
-    strategy:
-      matrix:
-        npm: ['latest']
-      fail-fast: false
-    needs: build-docker-images
-    name: Dashboard e2e
-    runs-on: ubuntu-24.04
-    container:
-      image: ghcr.io/${{ github.repository }}/e2e
-      options: --privileged --ipc=host
-    defaults:
-      run:
-        shell: bash
-        working-directory: packages/dashboard-e2e
-    env:
-      BROWSERSTACK_USERNAME: ${{ secrets.BROWSERSTACK_USERNAME }}
-      BROWSERSTACK_ACCESS_KEY: ${{ secrets.BROWSERSTACK_ACCESS_KEY }}
-      BROWSERSTACK_BUILD: ${{ github.head_ref }}:${{ github.event.number }}
-    steps:
-      - uses: actions/checkout@v2
-      - name: bootstrap
-        uses: ./.github/actions/bootstrap
-        with:
-          package: rmf-dashboard-e2e
-          skip-build: true
-      - name: test
-        uses: nick-fields/retry@v2
-        with:
-          timeout_minutes: 20
-          max_attempts: 3
-          command: |
-            . /rmf_demos_ws/install/setup.bash
-            cd packages/dashboard-e2e
-            pnpm test
-          shell: bash
-      - name: upload artifacts
-        uses: actions/upload-artifact@v2
-        if: always()
-        with:
-          name: artifacts
-          path: packages/dashboard-e2e/artifacts
+          path: .github/minimal-rmf
+  # dashboard-e2e:
+  #   strategy:
+  #     matrix:
+  #       npm: ['latest']
+  #     fail-fast: false
+  #   needs: build-docker-images
+  #   name: Dashboard e2e
+  #   runs-on: ubuntu-24.04
+  #   container:
+  #     image: ghcr.io/${{ github.repository }}/e2e
+  #     options: --privileged --ipc=host
+  #   defaults:
+  #     run:
+  #       shell: bash
+  #       working-directory: packages/dashboard-e2e
+  #   steps:
+  #     - uses: actions/checkout@v2
+  #     - name: bootstrap
+  #       uses: ./.github/actions/bootstrap
+  #       with:
+  #         package: rmf-dashboard-e2e
+  #         skip-build: true
+  #     - name: test
+  #       uses: nick-fields/retry@v2
+  #       with:
+  #         timeout_minutes: 20
+  #         max_attempts: 3
+  #         command: |
+  #           . /rmf_demos_ws/install/setup.bash
+  #           cd packages/dashboard-e2e
+  #           pnpm test
+  #         shell: bash
+  #     - name: upload artifacts
+  #       uses: actions/upload-artifact@v2
+  #       if: always()
+  #       with:
+  #         name: artifacts
+  #         path: packages/dashboard-e2e/artifacts