Flexbe hfsmbth demo

.docker/Dockerfile

@@ -0,0 +1,60 @@
+# Dockerfile for ROSCon 2024 Deliberation Workshop
+
+FROM ros:jazzy-ros-base AS roscon_delib_ws_2024
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+
+# Install apt dependencies.
+ARG DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && \
+    apt-get upgrade -y && \
+    apt-get install -y \
+    apt-utils curl fuse3 libfuse2 gdb nano \
+    libegl1 libgl1-mesa-dev libglu1-mesa-dev '^libxcb.*-dev' libx11-xcb-dev \
+    libxi-dev libxkbcommon-dev libxkbcommon-x11-dev libxrender-dev \
+    libnss3 libasound2t64 libxkbfile1 \
+    python3-pip python3-tk python3-wrapt python3-inflection \
+    ros-jazzy-rqt-service-caller
+
+# Create a ROS 2 workspace.
+RUN mkdir -p /delib_ws/src/
+WORKDIR /delib_ws
+
+# Install external dependencies.
+# Groot2 for BehaviorTree.CPP
+RUN curl -o Groot2.AppImage https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-v1.6.1-x86_64.AppImage && \
+    chmod a+x Groot2.AppImage && \
+    groupadd fuse && \
+    usermod -aG fuse root
+# Aggregated Python dependencies
+COPY python-requirements.txt /delib_ws
+RUN pip3 install --break-system-packages -r python-requirements.txt
+COPY dependencies src/dependencies
+RUN source /opt/ros/jazzy/setup.bash && \
+    rosdep install --from-paths src -y --ignore-src
+# SkiROS2 dependencies
+RUN src/dependencies/SkiROS2/skiros2/skiros2/scripts/install_fd_task_planner.sh
+# Convince toolchain
+# (smc_storm)
+RUN curl -O -L https://github.com/convince-project/smc_storm/releases/download/0.0.3/smc_storm_executable.tar.gz && \
+    tar -xzf smc_storm_executable.tar.gz && \
+    ./install.sh --install-dependencies && \
+    ln -s /delib_ws/bin/smc_storm /usr/local/bin/smc_storm
+# (AS2FM)
+RUN cd src/dependencies/convince/AS2FM && \
+    pip3 install --break-system-packages as2fm_common/. && \
+    pip3 install --break-system-packages jani_generator/. && \
+    pip3 install --break-system-packages scxml_converter/. && \
+    pip3 uninstall -y --break-system-packages js2py && \
+    pip3 install --break-system-packages git+https://github.com/felixonmars/[email protected]  # Temporary fix for js2py && \
+    pip3 uninstall -y --break-system-packages matplotlib  # Temporary fix for MatPlotLib conflict
+
+# Remove MatPlotLib display warnings.
+RUN mkdir /tmp/runtime-root
+ENV XDG_RUNTIME_DIR "/tmp/runtime-root"
+RUN chmod -R 0700 /tmp/runtime-root
+ENV NO_AT_BRIDGE 1
+
+# Set up the entrypoint.
+CMD /bin/bash
+COPY .docker/entrypoint.sh /entrypoint.sh
+RUN echo "source /entrypoint.sh" >> ~/.bashrc

.docker/entrypoint.sh

@@ -0,0 +1,73 @@
+#!/bin/bash
+
+# Source ROS and the deliberation workspace.
+source /opt/ros/jazzy/setup.bash
+
+# Ignores additional output because of deprecated Python tooling in ament_python
+export PYTHONWARNINGS="ignore:setup.py install is deprecated,ignore:easy_install command is deprecated"
+
+export ROS_WS=/delib_ws
+export WORKSPACE_ROOT=$ROS_WS	# For FlexBE compatibility
+
+function print_ros_variables () {
+        echo -e "ROS Distro: \t" $ROS_DISTRO
+        echo -e "ROS Domain ID: \t" $ROS_DOMAIN_ID
+        echo -e "ROS Workspace: \t" $ROS_WS
+}
+print_ros_variables
+
+# Convenience functions
+alias delib_src='cd $ROS_WS/src'
+alias delib_ws='cd $ROS_WS'
+# TODO(matthias-mayr): This ignored package is still being ported.
+function delib_build() {
+        cwd=$(pwd)
+        delib_ws
+        colcon build --symlink-install --continue-on-error --packages-ignore skiros2_task
+        cd $cwd
+}
+
+function delib_build_packages() {
+        cwd=$(pwd)
+        delib_ws
+        colcon build --symlink-install --continue-on-error --packages-ignore skiros2_task --packages-select "$@"
+        cd $cwd
+}
+
+function delib_build_packages_up_to() {
+        cwd=$(pwd)
+        delib_ws
+        colcon build --symlink-install --continue-on-error --packages-ignore skiros2_task --packages-up-to "$@"
+        cd $cwd
+}
+
+function delib_clean () {
+        cwd=$(pwd)
+        delib_ws
+        local _ret=$?
+        if [ $_ret -ne 0 ] ; then
+                echo "Could not switch dirs. Aborting delib_clean"
+                return $_ret
+        fi
+        rm -r build/*
+        rm -r install/*
+        rm -r log/*
+        cd $cwd
+}
+
+# Use this to switch to software rendering to avoid
+# conflicts with GPU and docker
+function qt_soft_render() {
+        export QT_QUICK_BACKEND=software
+        echo "Using $QT_QUICK_BACKEND for QT rendering"
+}
+
+# Automatic build when entering the container
+if [ ! -f $ROS_WS/install/setup.bash ]
+then
+  delib_build
+fi
+source $ROS_WS/install/setup.bash
+
+# Execute the command passed into this entrypoint.
+exec "$@"

.dockerignore

@@ -0,0 +1,10 @@
+.colcon/
+.github/
+
+.gitignore
+.gitmodules
+.pre-commit-config.yaml
+
+docker-compose.yaml
+LICENSE
+README.md

.github/workflows/lint.yml

@@ -0,0 +1,26 @@
+name: Lint
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+
+jobs:
+  md-lint:
+    name: Lint README.md
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check out code
+        uses: actions/checkout@v4
+      - name: Lint markdown files
+        uses: avto-dev/[email protected]
+        with:
+          args: README.md
+
+  pre-commit:
+    name: Run pre-commit
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+      - uses: pre-commit/[email protected]

.github/workflows/ros_test.yml

@@ -0,0 +1,31 @@
+name: Test
+on:
+  pull_request:
+  push:
+    branches:
+      - main
+  schedule:
+    # Run every week at 20:00 on Sunday
+    - cron: "0 20 * * 0"
+
+jobs:
+  build_and_test:
+    name: Build and test
+    strategy:
+      fail-fast: false
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: true
+      - name: Build and start docker
+        uses: hoverkraft-tech/[email protected]
+        with:
+          compose-file: ./docker-compose.yaml
+          services: base
+      # TODO: Add the following steps
+      # - name: Run tests
+      #   run: |
+      #     docker compose exec base colcon build
+      #     docker compose exec base colcon test
+      #     docker compose exec base colcon test-result

.gitignore

@@ -1 +1,6 @@
 __pycache__/
+.colcon/
+.vscode
+/build/*
+/install/*
+/log/*

.gitmodules

@@ -0,0 +1,42 @@
+[submodule "pyrobosim"]
+	path = dependencies/pyrobosim
+	url = https://github.com/sea-bass/pyrobosim.git
+	branch = main
+[submodule "skiros2"]
+	path = dependencies/SkiROS2/skiros2
+	url = https://github.com/RVMI/skiros2
+	branch = fix/ros2_jazzy_build
+[submodule "skiros2_std_lib"]
+	path = dependencies/SkiROS2/skiros2_std_lib
+	url = https://github.com/RVMI/skiros2_std_lib
+	branch = ros2
+[submodule "ros2_ros_bt_py"]
+	path = dependencies/ros_bt_py/ros2_ros_bt_py
+	url = https://github.com/fzi-forschungszentrum-informatik/ros2_ros_bt_py.git
+	branch = dev
+[submodule "rosbridge_suite"]
+	path = dependencies/ros_bt_py/rosbridge_suite
+	url = https://github.com/RobotWebTools/rosbridge_suite.git
+	branch = ros2
+[submodule "skiros2_pyrobosim_lib"]
+	path = technologies/SkiROS2/skiros2_pyrobosim_lib
+	url = https://github.com/matthias-mayr/skiros2_pyrobosim_lib.git
+	branch = main
+[submodule "flexbe_behavior_engine"]
+	path = dependencies/FlexBE/flexbe_behavior_engine
+	url = https://github.com/FlexBE/flexbe_behavior_engine.git
+	branch = ros2-devel
+[submodule "flexbe_webui"]
+	path = dependencies/FlexBE/flexbe_webui
+	url = https://github.com/FlexBE/flexbe_webui.git
+	branch = main
+[submodule "BehaviorTree.ROS2"]
+	path = dependencies/BehaviorTree.ROS2
+	url = https://github.com/BehaviorTree/BehaviorTree.ROS2.git
+	branch = humble
+[submodule "dependencies/convince/AS2FM"]
+	path = dependencies/convince/AS2FM
+	url = https://github.com/convince-project/AS2FM.git
+[submodule "dependencies/convince/bt_tools"]
+	path = dependencies/convince/bt_tools
+	url = https://github.com/boschresearch/bt_tools.git

.pre-commit-config.yaml

@@ -30,9 +30,10 @@ repos:
 
   # Autoformats Python code.
   - repo: https://github.com/psf/black.git
-    rev: 24.4.2
+    rev: 24.8.0
     hooks:
       - id: black
+        exclude: ^technologies/FlexBE
 
   # Finds spelling issues in code.
   - repo: https://github.com/codespell-project/codespell
@@ -49,7 +50,7 @@ repos:
           [
             "--no-warnings",
             "--config-data",
-            "{extends: default, rules: {line-length: disable, braces: {max-spaces-inside: 1}}}",
+            "{extends: default, rules: {line-length: disable, braces: {max-spaces-inside: 1}, indentation: disable}}",
           ]
         types: [text]
         files: \.(yml|yaml)$
@@ -59,3 +60,13 @@ repos:
     rev: v3.12.2
     hooks:
       - id: markdown-link-check
+
+  # CPP formatting
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v17.0.6
+    hooks:
+      - id: clang-format
+        types_or: [c++, c]
+        args: ['-fallback-style=none', '-i']
+
+exclude: '(dependencies|.colcon)/.*'