diff --git a/.github/workflows/build-docker-image-gazebo.yaml b/.github/workflows/build-docker-image-gazebo.yaml index f7efaf3..f8c579f 100644 --- a/.github/workflows/build-docker-image-gazebo.yaml +++ b/.github/workflows/build-docker-image-gazebo.yaml @@ -6,7 +6,7 @@ on: # - 'ros1' pull_request: types: [closed] - + jobs: build: runs-on: ubuntu-20.04 @@ -14,7 +14,6 @@ jobs: fail-fast: false matrix: include: - - ros-distro: melodic - ros-distro: noetic steps: @@ -23,19 +22,19 @@ jobs: - name: Set up QEMU uses: docker/setup-qemu-action@v1 - + - name: Set up Docker Buildx uses: docker/setup-buildx-action@v1 with: version: latest - + - name: Login to Docker Registry uses: docker/login-action@v1 with: registry: docker.io username: ${{ secrets.DOCKERHUB_USERNAME }} password: ${{ secrets.DOCKERHUB_TOKEN }} - + - name: Build and push (production) if: github.ref_name == 'ros1' uses: docker/build-push-action@v2 @@ -62,4 +61,4 @@ jobs: ROS_DISTRO=${{ matrix.ros-distro }} tags: husarion/rosbot:${{ matrix.ros-distro }}-simulation-${{ github.head_ref || github.ref_name }} cache-from: type=registry,ref=husarion/rosbot:${{ matrix.ros-distro }}-simulation-${{ github.head_ref || github.ref_name }} - cache-to: type=inline \ No newline at end of file + cache-to: type=inline diff --git a/.github/workflows/build-docker-image-hardware.yaml b/.github/workflows/build-docker-image-hardware.yaml index 0f70958..ce3edd5 100644 --- a/.github/workflows/build-docker-image-hardware.yaml +++ b/.github/workflows/build-docker-image-hardware.yaml @@ -7,7 +7,7 @@ on: workflow_dispatch: pull_request: types: [closed] - + jobs: build: runs-on: ubuntu-20.04 @@ -15,13 +15,8 @@ jobs: fail-fast: false matrix: include: - - ros-distro: melodic - ros-noetic-msgs: 0 - rosbot-fw-release: 0.16.1 - platforms: "linux/amd64, linux/arm64, linux/arm/v7" - ros-distro: noetic - ros-noetic-msgs: 1 - rosbot-fw-release: 0.16.1 + rosbot-fw-release: 0.16.2 platforms: "linux/amd64, linux/arm64" steps: @@ -30,19 +25,19 @@ jobs: - name: Set up QEMU uses: docker/setup-qemu-action@v1 - + - name: Set up Docker Buildx uses: docker/setup-buildx-action@v1 with: version: latest - + - name: Login to Docker Registry uses: docker/login-action@v1 with: registry: docker.io username: ${{ secrets.DOCKERHUB_USERNAME }} password: ${{ secrets.DOCKERHUB_TOKEN }} - + - name: Build and push (production) if: github.ref_name == 'ros1' uses: docker/build-push-action@v2 @@ -53,9 +48,8 @@ jobs: push: true build-args: | ROS_DISTRO=${{ matrix.ros-distro }} - ROS_NOETIC_MSGS=${{ matrix.ros-noetic-msgs }} ROSBOT_FW_RELEASE=${{ matrix.rosbot-fw-release }} - tags: husarion/rosbot:${{ matrix.ros-distro }} + tags: husarion/rosbot:${{ matrix.ros-distro }} cache-from: type=registry,ref=husarion/rosbot:${{ matrix.ros-distro }} cache-to: type=inline @@ -69,8 +63,7 @@ jobs: push: true build-args: | ROS_DISTRO=${{ matrix.ros-distro }} - ROS_NOETIC_MSGS=${{ matrix.ros-noetic-msgs }} ROSBOT_FW_RELEASE=${{ matrix.rosbot-fw-release }} tags: husarion/rosbot:${{ matrix.ros-distro }}-${{ github.head_ref || github.ref_name }} cache-from: type=registry,ref=husarion/rosbot:${{ matrix.ros-distro }}-${{ github.head_ref || github.ref_name }} - cache-to: type=inline \ No newline at end of file + cache-to: type=inline diff --git a/Dockerfile.hardware b/Dockerfile.hardware index 7f3be94..19f0238 100644 --- a/Dockerfile.hardware +++ b/Dockerfile.hardware @@ -1,68 +1,7 @@ -ARG ROS_DISTRO=melodic - - -## =========================== STM32 firmware=============================== -# FROM --platform=linux/amd64 ubuntu:18.04 as stm32_firmware_builder -# TODO: wget from releases instead -FROM --platform=linux/amd64 ubuntu:20.04 AS stm32_firmware_builder - -ARG ROSBOT_FW_RELEASE=0.16.1 -ARG ROS_NOETIC_MSGS=0 - -SHELL ["/bin/bash", "-c"] - -# ENV PIO_VERSION="5.1.0" -RUN apt update && apt install -y \ - python3 \ - python3-pip \ - git \ - wget \ - tree - -# https://docs.platformio.org/en/latest/core/installation.html#system-requirements -# RUN pip3 install -U platformio==${PIO_VERSION} -RUN pip3 install -U platformio - -RUN git clone https://github.com/husarion/rosbot-stm32-firmware.git --branch ${ROSBOT_FW_RELEASE} && \ - mkdir -p ~/.platformio/packages/framework-mbed/features/ && \ - cp rosbot-stm32-firmware/.mbedignore ~/.platformio/packages/framework-mbed/features/.mbedignore - -WORKDIR /rosbot-stm32-firmware - -RUN git submodule update --init --recursive - -# RUN wget https://github.com/husarion/rosbot-stm32-firmware/archive/refs/tags/${ROSBOT_FW_RELEASE}.tar.gz && \ -# tar -xf *.tar.gz && \ -# mv rosbot-stm32-firmware* rosbot-stm32-firmware && \ -# mkdir -p ~/.platformio/packages/framework-mbed/features/ && \ -# cp rosbot-stm32-firmware/.mbedignore ~/.platformio/packages/framework-mbed/features/.mbedignore - -WORKDIR /rosbot-stm32-firmware - -RUN export LC_ALL=C.UTF-8 && \ - export LANG=C.UTF-8 && \ - pio project init -e core2_diff -O \ - "build_flags= \ - -I\$PROJECTSRC_DIR/TARGET_CORE2 \ - -DPIO_FRAMEWORK_MBED_RTOS_PRESENT \ - -DPIO_FRAMEWORK_EVENT_QUEUE_PRESENT \ - -DMBED_BUILD_PROFILE_RELEASE \ - -DJOINT_STATES_ENABLE=1 \ - -DROS_NOETIC_MSGS=${ROS_NOETIC_MSGS} \ - -DKINEMATIC_TYPE=0" && \ - pio project init -e core2_mec -O \ - "build_flags= \ - -I\$PROJECTSRC_DIR/TARGET_CORE2 \ - -DPIO_FRAMEWORK_MBED_RTOS_PRESENT \ - -DPIO_FRAMEWORK_EVENT_QUEUE_PRESENT \ - -DMBED_BUILD_PROFILE_RELEASE \ - -DJOINT_STATES_ENABLE=1 \ - -DROS_NOETIC_MSGS=${ROS_NOETIC_MSGS} \ - -DKINEMATIC_TYPE=1" && \ - pio run +ARG ROS_DISTRO=noetic +ARG ROSBOT_FW_RELEASE=0.16.2 ## =========================== ROS package builder =============================== - FROM ros:$ROS_DISTRO-ros-core AS pkg-builder SHELL ["/bin/bash", "-c"] @@ -93,7 +32,7 @@ WORKDIR /ros_ws # clone robot github repositories RUN mkdir -p src && \ git clone https://github.com/husarion/rosbot_ros.git --branch=melodic src/rosbot_ros && \ - git clone https://github.com/husarion/rosbot_ekf.git --branch=master src/rosbot_ekf + git clone https://github.com/husarion/rosbot_ekf.git --branch=master src/rosbot_ekf # build ROS workspace RUN source /opt/ros/$ROS_DISTRO/setup.bash && \ @@ -103,9 +42,12 @@ RUN source /opt/ros/$ROS_DISTRO/setup.bash && \ ## =========================== Final Stage =============================== FROM ros:$ROS_DISTRO-ros-core +ARG ROSBOT_FW_RELEASE + SHELL ["/bin/bash", "-c"] RUN apt update && apt install -y \ + curl \ python3-pip \ stm32flash \ ros-$ROS_DISTRO-rosserial-python \ @@ -129,9 +71,10 @@ RUN apt update && apt install -y \ # copy ROS package from previous step COPY --from=pkg-builder /ros_ws /ros_ws -# copy firmware built in previous stage -COPY --from=stm32_firmware_builder /rosbot-stm32-firmware/.pio/build/core2_diff/firmware.bin /root/firmware_diff.bin -COPY --from=stm32_firmware_builder /rosbot-stm32-firmware/.pio/build/core2_mec/firmware.bin /root/firmware_mecanum.bin +# copy firmware built +RUN cd /root && \ + curl -LJ https://github.com/husarion/rosbot-stm32-firmware/releases/download/$ROSBOT_FW_RELEASE/firmware_diff.bin -o firmware_diff.bin && \ + curl -LJ https://github.com/husarion/rosbot-stm32-firmware/releases/download/$ROSBOT_FW_RELEASE/firmware_mec.bin -o firmware_mecanum.bin # copy scripts COPY ./flash-firmware.py / diff --git a/Dockerfile.simulation b/Dockerfile.simulation index 4521832..fb2da18 100644 --- a/Dockerfile.simulation +++ b/Dockerfile.simulation @@ -1,4 +1,4 @@ -ARG ROS_DISTRO=melodic +ARG ROS_DISTRO=noetic FROM osrf/ros:$ROS_DISTRO-desktop @@ -34,4 +34,4 @@ RUN apt-get update && \ # replace entrypoint ENTRYPOINT ["/ros_ws/ros_entrypoint.sh"] -CMD ["bash"] \ No newline at end of file +CMD ["bash"] diff --git a/flash-firmware.py b/flash-firmware.py index 2845633..efe106e 100755 --- a/flash-firmware.py +++ b/flash-firmware.py @@ -30,21 +30,21 @@ def __init__(self, sys_arch, binary_file): print(f"System architecture: {self.sys_arch}") - if self.sys_arch.stdout == b"armv7l\n": + if self.sys_arch == "armv7l\n": # Setups ThinkerBoard pins print("Device: ThinkerBoard\n") self.port = "/dev/ttyS1" boot0_pin_no = 164 reset_pin_no = 184 - elif self.sys_arch.stdout == b"x86_64\n": + elif self.sys_arch == "x86_64\n": # Setups UpBoard pins print("Device: UpBoard\n") self.port = "/dev/ttyS4" boot0_pin_no = 17 reset_pin_no = 18 - elif self.sys_arch.stdout == b"aarch64\n": + elif self.sys_arch == "aarch64\n": # Setups RPi pins print("Device: RPi\n") self.port = "/dev/ttyAMA0"