Merge pull request #39 from nasa/develop

Release 0.2.4
nasa · Feb 14, 2022 · c7cd7d7 · c7cd7d7
2 parents c6cc7b5 + 3c96824
commit c7cd7d7
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diff --git a/.github/workflows/apk.yaml b/.github/workflows/apk.yaml
@@ -0,0 +1,71 @@
+# Check for lint error and auto correct them
+
+name: Compile APK
+
+on: ['push', 'pull_request']
+
+jobs:
+  install_dependencies:
+    runs-on: ubuntu-18.04
+
+    steps:
+    - name: Checkout Astrobee
+      uses: actions/checkout@v2
+      with:
+        repository: nasa/astrobee
+        path: astrobee/
+
+    - name: Checkout ISAAC
+      uses: actions/checkout@v2
+      with:
+        submodules: recursive
+        path: isaac/
+
+
+    - name: Build image isaac/astrobee:msgs-ubuntu16.04
+      run: docker build astrobee -f isaac/scripts/docker/astrobee_msgs.Dockerfile
+                                 --build-arg UBUNTU_VERSION=16.04
+                                 --build-arg ROS_VERSION=kinetic
+                                 --build-arg PYTHON=''
+                                 -t isaac/isaac:astrobee-msgs-ubuntu16.04
+
+    - name: Build image isaac/isaac:msgs-ubuntu16.04
+      run: docker build isaac -f isaac/scripts/docker/isaac_msgs.Dockerfile
+                              --build-arg UBUNTU_VERSION=16.04
+                              --build-arg ROS_VERSION=kinetic
+                              --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
+                              --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
diff --git a/.github/workflows/ci_pr.yml b/.github/workflows/ci_pr.yml
@@ -11,72 +11,135 @@ jobs:
     runs-on: ubuntu-18.04
 
     steps:
-    - uses: actions/checkout@v2
 
-    - name: Checkout submodule
-      run: git submodule update --init --depth 1 isaac_msgs
+    - name: Checkout Astrobee
+      uses: actions/checkout@v2
+      with:
+        repository: nasa/astrobee
+        path: astrobee/
+
+    - name: Checkout ISAAC
+      uses: actions/checkout@v2
+      with:
+        submodules: recursive
+        path: isaac/
 
     - name: Build code for isaac:astrobee Ubuntu 16
-      run: docker build . -f ./scripts/docker/isaac_astrobee.Dockerfile
+      run: docker build isaac -f isaac/scripts/docker/isaac_astrobee.Dockerfile
                           --build-arg UBUNTU_VERSION=16.04
                           --build-arg ROS_VERSION=kinetic
                           --build-arg PYTHON=''
                           --build-arg REMOTE=ghcr.io/nasa
                           -t isaac/isaac:latest-astrobee-ubuntu16.04
 
     - name: Build code for isaac:latest Ubuntu 16
-      run: docker build . -f ./scripts/docker/isaac.Dockerfile
+      run: docker build isaac -f isaac/scripts/docker/isaac.Dockerfile
                           --build-arg UBUNTU_VERSION=16.04
                           --build-arg ROS_VERSION=kinetic
                           --build-arg PYTHON=''
                           -t isaac:latest-ubuntu16.04
 
+    - name: Build messages image isaac/astrobee:msgs-ubuntu16.04
+      run: docker build astrobee -f isaac/scripts/docker/astrobee_msgs.Dockerfile
+                          --build-arg UBUNTU_VERSION=16.04
+                          --build-arg ROS_VERSION=kinetic
+                          --build-arg PYTHON=''
+                          -t isaac/isaac:astrobee-msgs-ubuntu16.04
+    - name: Build messages image isaac/isaac:msgs-ubuntu16.04
+      run: docker build isaac -f isaac/scripts/docker/isaac_msgs.Dockerfile
+                          --build-arg UBUNTU_VERSION=16.04
+                          --build-arg ROS_VERSION=kinetic
+                          --build-arg PYTHON=''
+                          -t isaac/isaac:msgs-ubuntu16.04
   build-bionic:
 
     runs-on: ubuntu-18.04
 
     steps:
-    - uses: actions/checkout@v2
 
-    - name: Checkout submodule
-      run: git submodule update --init --depth 1 isaac_msgs
+    - name: Checkout Astrobee
+      uses: actions/checkout@v2
+      with:
+        repository: nasa/astrobee
+        path: astrobee/
+
+    - name: Checkout ISAAC
+      uses: actions/checkout@v2
+      with:
+        submodules: recursive
+        path: isaac/
 
     - name: Build code for isaac:astrobee Ubuntu 18
-      run: docker build . -f ./scripts/docker/isaac_astrobee.Dockerfile
+      run: docker build isaac -f isaac/scripts/docker/isaac_astrobee.Dockerfile
                           --build-arg UBUNTU_VERSION=18.04
                           --build-arg ROS_VERSION=melodic
                           --build-arg PYTHON=3
                           --build-arg REMOTE=ghcr.io/nasa
                           -t isaac/isaac:latest-astrobee-ubuntu18.04
 
     - name: Build code for isaac:latest Ubuntu 18
-      run: docker build . -f ./scripts/docker/isaac.Dockerfile
+      run: docker build isaac -f isaac/scripts/docker/isaac.Dockerfile
                           --build-arg UBUNTU_VERSION=18.04
                           --build-arg ROS_VERSION=melodic
                           --build-arg PYTHON=3
                           -t isaac:latest-ubuntu18.04
 
+    - name: Build messages image isaac/astrobee:msgs-ubuntu18.04
+      run: docker build astrobee -f isaac/scripts/docker/astrobee_msgs.Dockerfile
+                          --build-arg UBUNTU_VERSION=18.04
+                          --build-arg ROS_VERSION=melodic
+                          --build-arg PYTHON=''
+                          -t isaac/isaac:astrobee-msgs-ubuntu18.04
+
+    - name: Build messages image isaac/isaac:msgs-ubuntu18.04
+      run: docker build isaac -f isaac/scripts/docker/isaac_msgs.Dockerfile
+                          --build-arg UBUNTU_VERSION=18.04
+                          --build-arg ROS_VERSION=melodic
+                          --build-arg PYTHON=''
+                          -t isaac/isaac:msgs-ubuntu18.04
   build-focal:
 
     runs-on: ubuntu-20.04
 
     steps:
-    - uses: actions/checkout@v2
 
-    - name: Checkout submodule
-      run: git submodule update --init --depth 1 isaac_msgs
+    - name: Checkout Astrobee
+      uses: actions/checkout@v2
+      with:
+        repository: nasa/astrobee
+        path: astrobee/
+
+    - name: Checkout ISAAC
+      uses: actions/checkout@v2
+      with:
+        submodules: recursive
+        path: isaac/
 
     - name: Build code for isaac:astrobee Ubuntu 20
-      run: docker build . -f ./scripts/docker/isaac_astrobee.Dockerfile
+      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 isaac/isaac:latest-astrobee-ubuntu20.04
 
     - name: Build code for isaac:latest Ubuntu 20
-      run: docker build . -f ./scripts/docker/isaac.Dockerfile
+      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
                           -t isaac:latest-ubuntu20.04
+
+    - name: Build messages image isaac/astrobee:msgs-ubuntu20.04
+      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 isaac/isaac:astrobee-msgs-ubuntu20.04
+
+    - name: Build messages image isaac/isaac:msgs-ubuntu20.04
+      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
+                          -t isaac/isaac:msgs-ubuntu20.04