support jazzy

.github/actions/bootstrap/action.yml

@@ -11,18 +11,8 @@ inputs:
 runs:
   using: composite
   steps:
-    - uses: pnpm/[email protected]
-      with:
-        version: 'latest'
-    - uses: actions/setup-node@v2
-      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
+      run: pnpm install -w --filter ${{ inputs.package }}...
       shell: bash
     - name: Build
       if: '!${{ inputs.skip-build }}'

.github/minimal-rmf/Dockerfile

@@ -0,0 +1,34 @@
+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
+
+# install tools for rmf-web
+
+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
+
+RUN apt update && apt install -y python3-venv

.github/workflows/api-client.yml

@@ -7,16 +7,24 @@ on:
   push:
     branches:
       - main
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 jobs:
   unit-tests:
     name: Unit Tests
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
+    container:
+      image: ghcr.io/${{ github.repository }}/minimal-rmf
+      credentials:
+        username: ${{ github.repository_owner }}
+        password: ${{ secrets.GITHUB_TOKEN }}
     defaults:
       run:
         shell: bash
         working-directory: packages/api-client
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - name: bootstrap
         uses: ./.github/actions/bootstrap
         with:

.github/workflows/api-server.yml

@@ -7,15 +7,18 @@ on:
   push:
     branches:
       - main
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 env:
   CI: true
   PIPENV_VERBOSITY: -1
 jobs:
   tests:
     name: Tests
-    runs-on: ubuntu-22.04
+    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 }}
@@ -24,19 +27,17 @@ jobs:
         shell: bash
         working-directory: packages/api-server
     steps:
-      - uses: actions/checkout@v2
-      - name: setup python
-        run: apt update && apt install -y python3-venv python-is-python3
+      - uses: actions/checkout@v4
       - name: bootstrap
         uses: ./.github/actions/bootstrap
         with:
           package: api-server
       - name: tests
         run: |
-          . /rmf_demos_ws/install/setup.bash
+          . /opt/rmf/setup.bash
           pnpm run lint
           pnpm run test:cov -v
-          pipenv run python -m coverage xml
+          ../../.venv/bin/python -m coverage xml
       - name: Upload coverage to Codecov
         uses: codecov/codecov-action@v1
         with:

.github/workflows/dashboard-e2e.yml.disabled

@@ -9,7 +9,7 @@ env:
 jobs:
   dashboard-e2e:
     name: Dashboard e2e
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     container:
       image: ghcr.io/${{ github.repository }}/e2e
       credentials:
@@ -26,11 +26,11 @@ jobs:
       BROWSERSTACK_BUILD: ${{ github.head_ref }}:${{ github.event.number }}
       RMW_IMPLEMENTATION: rmw_cyclonedds_cpp
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - name: setup python
         run: apt update && apt install -y python3-venv python-is-python3
       - name: install rmw-cyclonedds-cpp
-        run: apt install -y ros-humble-rmw-cyclonedds-cpp
+        run: apt install -y ros-jazzy-rmw-cyclonedds-cpp
       - name: bootstrap
         uses: ./.github/actions/bootstrap
         with:

.github/workflows/dashboard.yml

@@ -11,14 +11,17 @@ on:
   push:
     branches:
       - main
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 env:
   CI: true
 jobs:
   unit-tests:
     name: Unit Tests
-    runs-on: ubuntu-22.04
+    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 }}
@@ -27,18 +30,14 @@ jobs:
         shell: bash
         working-directory: packages/dashboard
     steps:
-      - uses: actions/checkout@v2
-      - name: setup python
-        run: apt update && apt install -y python3-venv python-is-python3
+      - uses: actions/checkout@v4
       - name: bootstrap
-        env:
-          NODE_OPTIONS: '--max_old_space_size=4096'
         uses: ./.github/actions/bootstrap
         with:
           package: rmf-dashboard
           skip-build: true
       - name: unit test
-        run: . /rmf_demos_ws/install/setup.bash && pnpm run test:coverage
+        run: pnpm run test:coverage
       - name: Upload coverage to Codecov
         uses: codecov/codecov-action@v1
         with:

.github/workflows/ghpages.yml

@@ -29,7 +29,7 @@ jobs:
       name: github-pages
       url: ${{ steps.deployment.outputs.page_url }}
     container:
-      image: ghcr.io/${{ github.repository }}/e2e
+      image: ghcr.io/${{ github.repository }}/minimal-rmf
       credentials:
         username: ${{ github.repository_owner }}
         password: ${{ secrets.GITHUB_TOKEN }}
@@ -43,15 +43,13 @@ jobs:
         uses: actions/checkout@v3
       - name: Setup Pages
         uses: actions/configure-pages@v3
-      - name: setup python
-        run: apt update && apt install -y python3-venv python-is-python3
       - name: bootstrap
         uses: ./.github/actions/bootstrap
         with:
           package: api-server
       - name: Extract docs
         run: |
-          . /rmf_demos_ws/install/setup.bash
+          . /opt/rmf/install/setup.bash
           pnpm run generate-docs
       - name: Upload artifact
         uses: actions/upload-pages-artifact@v1

.github/workflows/nightly.yml

@@ -3,60 +3,64 @@ on:
   schedule:
     # 2am SGT
     - cron: '0 18 * * *'
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 jobs:
   build-docker-images:
     name: Push Docker images to GitHub Packages
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
-      - uses: actions/checkout@v2
-      - name: Push e2e image to GitHub Packages
-        uses: docker/build-push-action@v1
+      - uses: actions/checkout@v4
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+      - name: Login to docker
+        uses: docker/login-action@v3
         with:
+          registry: ghcr.io
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
-          registry: ghcr.io
-          repository: ${{ github.repository }}/e2e
-          tags: latest
-          path: docker
-  dashboard-e2e:
-    strategy:
-      matrix:
-        npm: ['latest']
-      fail-fast: false
-    needs: build-docker-images
-    name: Dashboard e2e
-    runs-on: ubuntu-22.04
-    container:
-      image: ghcr.io/${{ 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()
+      - name: Build and push
+        uses: docker/build-push-action@v5
         with:
-          name: artifacts
-          path: packages/dashboard-e2e/artifacts
+          push: true
+          tags: ghcr.io/${{ github.repository }}/minimal-rmf
+          context: .github/minimal-rmf
+  # dashboard-e2e:
+  #   strategy:
+  #     matrix:
+  #       npm: ['latest']
+  #     fail-fast: false
+  #   needs: build-docker-images
+  #   name: Dashboard e2e
+  #   runs-on: ubuntu-24.04
+  #   container:
+  #     image: ghcr.io/${{ github.repository }}/e2e
+  #     options: --privileged --ipc=host
+  #   defaults:
+  #     run:
+  #       shell: bash
+  #       working-directory: packages/dashboard-e2e
+  #   steps:
+  #     - uses: actions/checkout@v4
+  #     - 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

.github/workflows/react-components.yml

@@ -8,22 +8,26 @@ on:
   push:
     branches:
       - main
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 env:
   CI: true
 jobs:
   unit-tests:
     name: Unit Tests
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
+    container:
+      image: ghcr.io/${{ github.repository }}/minimal-rmf
+      credentials:
+        username: ${{ github.repository_owner }}
+        password: ${{ secrets.GITHUB_TOKEN }}
     defaults:
       run:
         shell: bash
         working-directory: packages/react-components
-    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
+      - uses: actions/checkout@v4
       - name: bootstrap
         uses: ./.github/actions/bootstrap
         with:

.github/workflows/rmf-auth.yml

@@ -7,18 +7,26 @@ on:
   push:
     branches:
       - main
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 env:
   CI: true
 jobs:
   unit-tests:
     name: Unit Tests
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
+    container:
+      image: ghcr.io/${{ github.repository }}/minimal-rmf
+      credentials:
+        username: ${{ github.repository_owner }}
+        password: ${{ secrets.GITHUB_TOKEN }}
     defaults:
       run:
         shell: bash
         working-directory: packages/rmf-auth
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - name: bootstrap
         uses: ./.github/actions/bootstrap
         with: