add docker-compose-debug.yaml for run_test debug mode

Signed-off-by: Daisuke Sato <[email protected]>

cabot_navigation2/test/run_test.py

@@ -857,7 +857,7 @@ def main():
 
     if not options.module:
         parser.print_help()
-        sys.exit(0)
+        sys.exit(1)
 
     logger = logging.getLogger()
     logger.setLevel(logging.DEBUG if options.debug else logging.INFO)
@@ -877,7 +877,11 @@ def main():
 
     tester = Tester(node)
     tester.set_evaluator(evaluator)
-    mod = importlib.import_module(options.module)
+    try:
+        mod = importlib.import_module(options.module)
+    except ModuleNotFoundError:
+        logger.error(f"{options.module} is not found.")
+        sys.exit(1)
     func_pat = None
     if options.func:
         try:

docker-compose-debug.yaml

@@ -0,0 +1,35 @@
+# Copyright (c) 2024  Carnegie Mellon University
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+
+version: "2.3"
+
+
+services:
+  debug:
+    extends:
+      file: docker-compose-common.yaml
+      service: navigation
+    build:
+      context: ./docker/ros2
+      dockerfile: Dockerfile.debug
+    environment:
+      - CABOT_GAZEBO=1
+      - CABOT_USE_SIM_TIME=1
+      - CABOT_TOUCH_ENABLED=${CABOT_TOUCH_ENABLED:-false}

docker/ros2/Dockerfile.debug

@@ -0,0 +1,167 @@
+# Copyright (c) 2020, 2023  Carnegie Mellon University
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+
+ARG PREFIX=cabot
+ARG FROM_IMAGE=${PREFIX}__jammy-humble-custom-mesa
+
+# build underlay
+FROM ${FROM_IMAGE} as cache
+
+ENV UNDERLAY_WS=/opt/underlay_ws
+
+RUN mkdir -p $UNDERLAY_WS/src
+COPY ./tf2_web_republisher $UNDERLAY_WS/src/tf2_web_republisher
+
+WORKDIR $UNDERLAY_WS
+
+# copy package.xml files with parent directories for cache
+RUN find . -name "src" -type d \
+      -mindepth 1 -maxdepth 2 -printf '%P\n' \
+      | xargs -I % mkdir -p /tmp/opt/% && \
+    find . -name "package.xml" \
+      | xargs cp --parents -t /tmp/opt && \
+    find . -name "COLCON_IGNORE" \
+      | xargs cp --parents -t /tmp/opt || true
+
+RUN apt update && rosdep update && rosdep install -q -y \
+	--from-paths src \
+	--ignore-src
+
+RUN . /opt/custom_ws/install/setup.sh && \
+	colcon build --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo
+
+
+FROM ${FROM_IMAGE} as build
+ENV ROS_DISTRO=humble
+ARG TZ=UTC
+ENV TZ=$TZ
+RUN sudo ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ | sudo tee /etc/timezone
+ENV UNDERLAY_WS=/opt/underlay_ws
+
+WORKDIR $UNDERLAY_WS
+
+COPY --from=cache $UNDERLAY_WS/install $UNDERLAY_WS/install
+# copy package.xml files from cache
+COPY --from=cache /tmp/opt/src $UNDERLAY_WS/src
+
+RUN apt update && rosdep update && rosdep install -q -y \
+	--from-paths src \
+	--ignore-src
+
+ARG ROS_DISTRO
+
+# TODO replace with rosdep install
+RUN apt update && \
+    apt install -y --no-install-recommends \
+    bc \
+    libqt5svg5-dev \
+    libzmq3-dev \
+    libdw-dev \
+    libyaml-cpp-dev \
+    libomp-dev \
+    libpcl-dev \
+    python3-pykdl \
+    python3-sklearn \
+    python3-venv \
+    qtbase5-dev \
+    ros-$ROS_DISTRO-diagnostic-aggregator \
+    ros-$ROS_DISTRO-gazebo-msgs \
+    ros-$ROS_DISTRO-joint-state-publisher \
+    ros-$ROS_DISTRO-joint-state-publisher-gui \
+    ros-$ROS_DISTRO-navigation2 \
+    ros-$ROS_DISTRO-rosidl-runtime-cpp \
+# pcl-ros is not ported yet
+# #    ros-$ROS_DISTRO-pcl-msgs \
+# #    ros-$ROS_DISTRO-pcl-ros \
+    ros-$ROS_DISTRO-pointcloud-to-laserscan \
+    ros-$ROS_DISTRO-realsense2-description \
+    ros-$ROS_DISTRO-robot-localization \
+    ros-$ROS_DISTRO-geographic-msgs \
+    libgeographic-dev \
+# workaround end
+    ros-$ROS_DISTRO-rosbridge-server \
+    ros-$ROS_DISTRO-ros-testing \
+    ros-$ROS_DISTRO-rqt-robot-monitor \
+    ros-$ROS_DISTRO-teleop-twist-keyboard \
+    ros-$ROS_DISTRO-tf-transformations \
+    ros-$ROS_DISTRO-xacro \
+    ros-$ROS_DISTRO-rmw-cyclonedds-cpp \
+    ros-$ROS_DISTRO-rosbag2-storage-mcap \
+    xterm \
+    && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN pip3 install --no-cache-dir \
+    # install ipython==8.0.1 to prevent errors while using odrivetool
+    ipython==8.0.1 \
+    odrive==0.6.5 \
+    pyproj \
+    pyserial \
+    requests \
+    transforms3d
+
+# for pedestrian test
+RUN pip3 install --no-cache-dir \
+    'pysocialforce[test,plot]'
+
+# for debug
+RUN apt update && \
+    apt install -y --no-install-recommends \
+    gdb \
+    vim \
+    && \
+    rm -rf /var/lib/apt/lists/*
+
+# set up venv for keeping compatibility
+RUN mkdir -p /opt/venv
+# cabot2 venv (odrive==0.5.2.post0)
+RUN python3 -m venv --system-site-packages /opt/venv/cabot2 && \
+    . /opt/venv/cabot2/bin/activate && \
+    pip3 install --no-cache-dir odrive==0.5.2.post0 && \
+    deactivate
+# cabot3 venv (odrive==0.6.5)
+RUN python3 -m venv --system-site-packages /opt/venv/cabot3
+
+ENV USERNAME developer
+# Replace 1000 with your user/group id
+ARG UID=1000
+RUN useradd -m $USERNAME && \
+        echo "$USERNAME:$USERNAME" | chpasswd && \
+        usermod --shell /bin/bash $USERNAME && \
+	usermod -aG sudo $USERNAME && \
+        mkdir -p /etc/sudoers.d/ && \
+        echo "$USERNAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers.d/$USERNAME && \
+        chmod 0440 /etc/sudoers.d/$USERNAME && \
+        usermod  --uid $UID $USERNAME && \
+        groupmod --gid $UID $USERNAME
+
+# install entrypoint
+COPY launch.sh /
+
+# change location of ros base
+RUN sed -i 's:custom_ws:underlay_ws:' /ros_entrypoint.sh
+
+USER $USERNAME
+
+ENV HOME /home/$USERNAME
+
+WORKDIR $HOME/ros2_ws
+
+CMD [ "/launch.sh" ]

launch.sh

@@ -301,7 +301,7 @@ blue "All launched: $( echo "$(date +%s.%N) - $start" | bc -l )"
 if [[ $run_test -eq 1 ]]; then
     blue "Running test $module $test_func"
     if [[ $debug -eq 1 ]]; then
-        docker compose exec navigation /home/developer/ros2_ws/script/run_test.sh -w -d $module $test_func $retryoption # debug
+        docker compose -f docker-compose-debug.yaml run debug /home/developer/ros2_ws/script/run_test.sh -w -d $module $test_func $retryoption # debug
     else
         docker compose exec navigation /home/developer/ros2_ws/script/run_test.sh -w $module $test_func $retryoption
     fi