dev to manipulation branch

.devcontainer/README.md

@@ -0,0 +1,15 @@
+# How to use Dev container
+
+- Install Docker and the 'Devcontainer' extension in VSCode
+
+- Clone the repository and open the folder in VSCode
+
+- Use `Ctrl/Cmd + Shift + P` to open the command palette
+
+- Select 'Dev containers: Rebuild and Reopen in Container' Option
+
+- Wait for the container to finish setting up
+
+- Type this command into the terminal `roslaunch pycram ik_and_description.launch` to start roscore
+
+  - Note: Bullet world needs a display to be connected; the render mode needs to be set to direct when running on GitHub codespaces or on WindowOS; Otherwise, the kernel will crash

.devcontainer/devcontainer.json

@@ -0,0 +1,23 @@
+{
+  "name": "PyCRAM vscode devcontainer",
+  "image": "pycram/pycram:dev",
+  "features": {
+    "ghcr.io/devcontainers/features/git:1": {},
+    "ghcr.io/devcontainers/features/sshd:1": {}
+  },
+  "postStartCommand": {
+    "pip": "pip3 install ipykernel pyjpt",
+    "git": "git config --global --add safe.directory '*'",
+    "source setup": "./.devcontainer/script.sh"
+  },
+  "customizations": {
+    "vscode": {
+      "extensions": [
+        "ms-python.python",
+        "ms-python.vscode-pylance",
+        "ms-toolsai.jupyter",
+        "esbenp.prettier-vscode"
+      ]
+    }
+  }
+}

.devcontainer/script.sh

@@ -0,0 +1,7 @@
+#!/bin/bash
+
+set -e
+
+source /opt/ros/overlay_ws/devel/setup.bash
+
+exec "$@"

.github/workflows/new-pycram-ci.yml

@@ -0,0 +1,73 @@
+name: pycram_docker_ci
+defaults:
+  run:
+    shell: bash -ieo pipefail {0}
+
+on:
+  push:
+    branches:
+      - dev
+      - master
+  pull_request:
+    branches:
+      - master
+      - dev
+  workflow_dispatch: # For manual debugging
+    inputs:
+      debug_enabled:
+        type: boolean
+        required: false
+        default: false
+        description: "Run tmate session"
+
+jobs:
+  build_and_run_tests:
+    runs-on: ubuntu-20.04
+    container:
+      image: "pycram/pycram:dev"
+    steps:
+      - name: Checkout PyCRAM
+        uses: actions/checkout@v3
+        with:
+          path: "ros/src/pycram"
+          repository: ${{ github.repository }}
+          ref: ${{ github.ref }}
+          submodules: "recursive"
+
+      # For debugging
+      - name: Setup tmate session
+        uses: mxschmitt/action-tmate@v3
+        if: ${{ github.event_name == 'workflow_dispatch' && inputs.debug_enabled }}
+
+      - name: Update PyCRAM source files
+        run: |
+          rm -rf /opt/ros/overlay_ws/src/pycram/* 
+          cd /opt/ros/overlay_ws/src/pycram
+          rm -rf .git .github .gitignore .gitmodules .readthedocs.yaml
+          mv /__w/${{ github.event.repository.name }}/${{ github.event.repository.name }}/ros/src/pycram /opt/ros/overlay_ws/src
+
+      - name: Remake workspace & start roscore
+        run: |
+          sudo -s
+          source /opt/ros/noetic/setup.bash
+          cd /opt/ros/overlay_ws
+          catkin_make    
+          source /opt/ros/overlay_ws/devel/setup.bash 
+          roslaunch pycram ik_and_description.launch &
+
+      - name: Install python dependencies
+        run: |
+          pip3 install --upgrade pip --root-user-action=ignore
+          cd /opt/ros/overlay_ws/src/pycram
+          pip3 install -r requirements.txt
+          pip3 install -r requirements-resolver.txt
+
+      - name: Install pytest & pyjpt
+        run: |
+          pip3 install --ignore-installed pytest pyjpt
+
+      - name: Run tests
+        run: | 
+          source /opt/ros/overlay_ws/devel/setup.bash 
+          roscd pycram
+          pytest -v test

.github/workflows/reusable-sphinx-build.yml

@@ -4,6 +4,10 @@ on:
   push:
     branches:
       - dev
+  pull_request:
+    branches:
+      - master
+      - dev
 
 # ----------------------------------------------------------------------------------------------------------------------
 

.github/workflows/update-docker-image.yml

@@ -0,0 +1,31 @@
+name: update_docker_image
+on:
+  push:
+    branches:
+      - master
+      - dev
+    paths:
+      - 'requirements.txt' 
+# only run when a commit has changes in the requirements.txt file
+
+jobs:
+  build_and_push_docker_image:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Set up Docker Buildx
+        id: buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: log into Docker Hub #Set repository secrets in github secrets
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_PASS }}
+
+      - name: Build and push
+        uses: docker/build-push-action@v5
+        with:
+          context: ./docker
+          push: true
+          tags: ${{ vars.DOCKER_IMAGE }}

.gitmodules

@@ -1,6 +1,4 @@
 [submodule "src/neem_interface_python"]
 	path = src/neem_interface_python
 	url = https://github.com/Tigul/neem_interface_python
-[submodule "src/macropy"]
-	path = src/macropy
-	url = https://github.com/Tigul/macropy.git
+

README.md

@@ -92,12 +92,3 @@ how to do that take a look at the respective `README` file.
 If you encounter some error please first take a look at the 
 [troubleshooting](https://pycram.readthedocs.io/en/latest/troubleshooting.html) section and see if the error is mentioned 
 there. 
-
-## Authors
-
-* **Jonas Dech** <[email protected]>
-* **Andy Augsten** <[email protected]>
-* **Dustin Augsten** <[email protected]>
-* **Christopher Pollok** <[email protected]>
-* **Thomas Lipps** <[email protected]>
-* **Benjamin Alt** <[email protected]>

binder/Dockerfile

@@ -0,0 +1,36 @@
+FROM intel4coro/base-notebook:20.04-noetic-full-xpra
+
+# Set environment
+ENV PATH=$PATH:/home/user/.local/bin
+ENV PYCRAM_WS=/home/${NB_USER}/workspace/ros
+WORKDIR ${PYCRAM_WS}/src/
+COPY --chown=${NB_USER}:users . pycram/
+RUN vcs import --input pycram/binder/pycram-http.rosinstall --recursive
+
+RUN pip install --requirement ${PYCRAM_WS}/src/pycram/binder/requirements.txt --user 
+
+COPY --chown=${NB_USER}:users binder/me ${PYCRAM_WS}/src/me
+
+USER root
+RUN apt-get update
+
+# Build pycram workspace
+WORKDIR  ${PYCRAM_WS}
+USER root
+RUN rosdep update \
+  && rosdep install -y --ignore-src --from-paths ./ -r \
+  && rosdep fix-permissions
+USER ${NB_USER}
+RUN catkin build
+
+RUN pip install service_identity
+
+# Jupyter Config
+COPY --chown=${NB_USER}:users binder/jupyter-config.json /opt/conda/share/jupyter/lab/settings/overrides.json
+
+WORKDIR ${PYCRAM_WS}/src/pycram
+RUN git config --global --add safe.directory ${PWD}
+COPY --chown=${NB_USER}:users binder/entrypoint.sh /
+ENTRYPOINT ["/entrypoint.sh"]
+CMD ["jupyter", "lab", "--allow-root", "--NotebookApp.token=''", "--no-browser", "--ip=0.0.0.0"]
+RUN pip install https://raw.githubusercontent.com/yxzhan/jupyterlab-rviz/master/dist/jupyterlab_rviz-0.3.1.tar.gz