Allow building docs in Docker containers

[sea-bass]

We're now mounting the docs folder and installing the pip requirements for building docs.

I also added a docs service so you can do docker compose run docs to generate the documentation.

FYI @kumar-sanjeeev

[kumar-sanjeeev]

Noted. Thanks.

[github-actions]

Coverage Report

File	Stmts	Miss	Cover	Missing
__init__.py	0	0	100%
core
__init__.py	9	0	100%
dynamics.py	49	1	97%	142
gazebo.py	137	8	94%	55, 128, 234, 248–252
hallway.py	97	8	91%	206, 248–251, 295–297
locations.py	137	17	87%	76, 78, 111, 124–125, 127–128, 145, 204, 237, 262, 272, 329–330, 332–333, 362
objects.py	73	4	94%	113, 144, 191, 219
robot.py	494	84	83%	273, 276, 288, 291, 295–296, 301–302, 342–344, 360, 377–378, 417–419, 423–427, 452, 455, 459–461, 488, 490, 532–533, 535–536, 542–543, 552–555, 560, 562, 571–573, 580–582, 644–646, 671–673, 679–680, 688–692, 737–739, 750–751, 811–813, 818, 865–867, 872, 890, 896, 899, 901, 903, 906–908, 985, 1003, 1006
room.py	56	2	96%	68, 125
world.py	824	190	76%	163, 166, 200–201, 205, 277–278, 280, 283, 313–314, 376, 390–391, 393, 396, 411–413, 433–437, 439–441, 443–444, 447, 449–452, 456–460, 463–464, 467, 470–481, 497–498, 516–518, 532, 534, 537–538, 543–545, 564–565, 567–568, 584, 586, 589–590, 595–597, 607–609, 626–627, 629–630, 644, 646, 649–650, 655–657, 680, 682, 685–686, 691–693, 729, 735, 771–772, 775, 798, 818, 821, 832, 835, 843, 859–863, 865, 868–869, 872–875, 877, 880, 883–884, 887–889, 891–893, 895–897, 899, 914, 921, 932–936, 971–972, 976–977, 995–996, 1002–1003, 1005–1006, 1008, 1010–1011, 1013, 1015–1016, 1026–1027, 1030, 1032, 1046, 1048, 1055, 1115, 1146–1147, 1170–1171, 1175–1176, 1195–1196, 1200–1201, 1226–1227, 1280–1281, 1305, 1370, 1377, 1487–1488, 1540, 1620–1621, 1687, 1697
yaml_utils.py	143	6	95%	71, 77, 166, 169, 189, 192
gui
__init__.py	2	0	100%
action_runners.py	91	48	47%	32–33, 35–39, 41, 74–75, 77–81, 83, 109–110, 112–116, 118, 144–145, 147–151, 153, 176–177, 179–183, 185, 208–209, 211–215, 217
main.py	277	74	73%	23–25, 46, 94, 98–101, 248–257, 269–279, 286–289, 291, 294–300, 304, 309–310, 314–315, 326, 369–370, 379–380, 384–385, 397, 400–403, 405–406, 408–409, 412–415, 417–419, 423–426
world_canvas.py	263	52	80%	134–137, 141–142, 147–148, 155, 157, 159, 216–218, 224, 226, 246–248, 293, 350–351, 378–379, 381, 383–384, 386–389, 391–392, 396–402, 405, 408–409, 422, 440–441, 443, 449, 451–454
manipulation
__init__.py	1	0	100%
grasping.py	239	64	73%	100, 108, 110–112, 114–122, 124, 132, 462, 464–466, 470–472, 566–567, 569–571, 574–578, 586, 589–591, 596–597, 603–607, 610–617, 620–622, 631, 633, 635–641
navigation
__init__.py	16	2	87%	37, 54
a_star.py	79	11	86%	82–84, 87–89, 91–93, 181, 190
execution.py	96	7	92%	81–83, 88–90, 125
occupancy_grid.py	139	14	89%	45–48, 50–54, 57, 193, 227, 235, 239
prm.py	58	4	93%	59–60, 139, 148
rrt.py	163	0	100%
visualization.py	32	6	81%	88–93
world_graph.py	61	6	90%	117, 120, 130, 139, 148, 150
planning
__init__.py	0	0	100%
actions.py	112	0	100%
planning/pddlstream
__init__.py	7	1	85%	13
default_mappings.py	9	0	100%
planner.py	40	8	80%	119–126
primitives.py	61	4	93%	68, 82, 94, 232
utils.py	99	8	91%	66, 93, 105, 115–116, 207–208, 211
utils
__init__.py	0	0	100%
general.py	47	2	95%	25, 47
knowledge.py	152	20	86%	91, 122, 163–168, 170–171, 174–178, 209–210, 252, 268, 331
logging.py	16	5	68%	24–27, 56
motion.py	70	3	95%	93–94, 96
polygon.py	111	0	100%
pose.py	112	0	100%
search_graph.py	93	3	96%	239–241
trajectory.py	67	2	97%	130, 167
TOTAL	4532	664	85%

Tests	Skipped	Failures	Errors	Time
200	0 💤	0 ❌	0 🔥	3m 31s ⏱️

[kumar-sanjeeev]

One observation before recommending building docs in the Docker container: I mounted the docs inside the container and installed pyrobosim locally using pip install -e . inside container

The drawback:
Even though the source code is mounted in the container, changes won't reflect until I reinstall it locally (local installation takes precedence). Previously, local changes reflected immediately in the container.

[sea-bass]

One observation before recommending building docs in the Docker container: I mounted the docs inside the container and installed pyrobosim locally using pip install -e . inside container

The drawback: Even though the source code is mounted in the container, changes won't reflect until I reinstall it locally (local installation takes precedence). Previously, local changes reflected immediately in the container.

I think this has to do with mismatch between installing with pip install vs. with colcon build, as those are 2 separate installation targets.

The default container being used is the ROS workflow, so I imagine that the colcon build form of installing takes precedence.

I think a better long term solution is to have the option of starting separate containers for with/without ROS (which already exist, they're just not both built). So then people can just start the "no ROS" container and the only installation is the one that happens through pip install -e

[kumar-sanjeeev]

Okay understood.