d

.dockerignore

@@ -1,8 +1,13 @@
-# Folders that don't need to be in the Docker build context.
+# Files and folders that don't need to be in the Docker build context.
 dependencies/
+docker/Dockerfile
 docs/
+test/results/
 
-# Metadata that definitely doesn't need to be in the Docker build context.
+# Metadata that doesn't need to be in the Docker build context.
+*/__pycache__/
+*.egg-info
 .dockerignore
+.git/
 .github/
 .vscode/

.github/workflows/format.yml

@@ -0,0 +1,15 @@
+name: format
+
+on:
+  # Run action on certain pull request events
+  pull_request:
+    types: [opened, synchronize, reopened, ready_for_review]
+
+jobs:
+  pre-commit:
+    name: pre-commit
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+      - uses: pre-commit/action@v3.0.1

.github/workflows/tests.yml

@@ -0,0 +1,135 @@
+name: tests
+
+on:
+  # Run action on certain pull request events
+  pull_request:
+    types: [opened, synchronize, reopened, ready_for_review]
+
+  # Nightly job on default (main) branch
+  schedule:
+    - cron: '0 0 * * *'
+
+  # Allow tests to be run manually
+  workflow_dispatch:
+
+# Ensures that only one workflow runs at a time for this branch
+concurrency:
+  group: ${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  # Build and test the base, non-ROS image
+  python-test:
+    runs-on: ubuntu-latest
+    permissions:
+      pull-requests: write
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+      - name: Login to Docker Hub Registry
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_PAT }}
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+        with:
+          driver: docker-container
+      - name: Build Docker image
+        uses: docker/build-push-action@v5
+        with:
+          file: docker/Dockerfile
+          target: pyrobosim
+          context: .
+          tags: ${{ secrets.DOCKERHUB_USERNAME }}/pyrobosim:base
+          push: true
+          cache-from: |
+            type=registry,ref=${{ secrets.DOCKERHUB_USERNAME }}/pyrobosim:buildcache-base
+          cache-to: |
+            type=registry,ref=${{ secrets.DOCKERHUB_USERNAME }}/pyrobosim:buildcache-base,mode=max
+      - name: Run tests
+        run: |
+          docker run \
+            -w /opt/pyrobosim \
+            --volume ./test/results:/opt/pyrobosim/test/results:rw \
+            ${{ secrets.DOCKERHUB_USERNAME }}/pyrobosim:base \
+            /bin/bash -c 'PYTHONPATH=./dependencies/pddlstream:$PYTHONPATH ./test/run_tests.bash'
+      - name: Pytest coverage comment
+        id: coverageComment
+        uses: MishaKav/pytest-coverage-comment@main
+        with:
+          pytest-coverage-path: ./test/results/pytest-coverage.txt
+          junitxml-path: ./test/results/test_results.xml
+          pytest-xml-coverage-path: ./test/results/test_results_coverage.xml
+          coverage-path-prefix: pyrobosim/pyrobosim/
+        # This will break on PRs from forks
+        if: ${{ !github.event.pull_request.head.repo.fork }}
+      - name: Create coverage badge
+        uses: schneegans/dynamic-badges-action@v1.7.0
+        with:
+          auth: ${{ secrets.COVERAGE_GIST_SECRET }}
+          # This comes from https://gist.github.com/sea-bass/3761a8aa05af7b0e8c84210b9d103df8#file-pyrobosim-test-coverage-json
+          gistID: 3761a8aa05af7b0e8c84210b9d103df8
+          filename: pyrobosim-test-coverage.json
+          label: coverage
+          message: ${{ steps.coverageComment.outputs.coverage }}
+          color: ${{ steps.coverageComment.outputs.color }}
+          namedLogo: python
+        # Only update this badge on main
+        if: github.ref == 'refs/heads/main'
+      - name: Upload test results
+        uses: actions/upload-artifact@v4
+        with:
+          name: test-results
+          path: test/results/
+        # Always publish test results even when there are failures.
+        if: ${{ always() }}
+
+  # Build and test with ROS 2
+  ros2-test:
+    strategy:
+      matrix:
+        ros_distro: [humble, iron, jazzy, rolling]
+
+    name: ros-${{ matrix.ros_distro }}-test
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+      - name: Login to Docker Hub Registry
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_PAT }}
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+        with:
+          driver: docker-container
+      - name: Build Docker image
+        uses: docker/build-push-action@v5
+        with:
+          file: docker/Dockerfile
+          target: pyrobosim_ros
+          context: .
+          build-args: |
+            ROS_DISTRO=${{ matrix.ros_distro }}
+          tags: ${{ secrets.DOCKERHUB_USERNAME }}/pyrobosim:${{ matrix.ros_distro }}
+          push: true
+          cache-from: |
+            type=registry,ref=${{ secrets.DOCKERHUB_USERNAME }}/pyrobosim:buildcache-${{ matrix.ros_distro }}
+          cache-to: |
+            type=registry,ref=${{ secrets.DOCKERHUB_USERNAME }}/pyrobosim:buildcache-${{ matrix.ros_distro }},mode=max
+      - name: Run tests
+        run: |
+          docker run \
+            --volume ./test/:/pyrobosim_ws/test/:rw \
+            --volume ./pytest.ini:/pyrobosim_ws/pytest.ini:rw \
+            ${{ secrets.DOCKERHUB_USERNAME }}/pyrobosim:${{ matrix.ros_distro }} \
+            /bin/bash -c './test/run_tests.bash'
+      - name: Upload test results
+        uses: actions/upload-artifact@v4
+        with:
+          name: test-results-${{ matrix.ros_distro }}
+          path: test/results/
+        # Always publish test results even when there are failures.
+        if: ${{ always() }}

.gitignore

@@ -1,3 +1,6 @@
+# Environment file written by setup scripts
+pyrobosim.env
+
 # Dependencies folder
 dependencies/
 
@@ -14,6 +17,7 @@ docs/build/
 docs/source/generated
 
 # Test artifacts
+**/.coverage
 test/results/
 
 # Temporary folders generated by PDDLStream

.pre-commit-config.yaml

@@ -0,0 +1,61 @@
+repos:
+
+  # Runs pre-commit hooks and other file format checks.
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.6.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-ast
+      - id: check-builtin-literals
+      - id: check-case-conflict
+      - id: check-docstring-first
+      - id: check-executables-have-shebangs
+      - id: check-json
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-toml
+      - id: check-vcs-permalinks
+      - id: check-yaml
+      - id: debug-statements
+      - id: destroyed-symlinks
+      - id: detect-private-key
+      - id: end-of-file-fixer
+      - id: fix-byte-order-marker
+      - id: forbid-new-submodules
+      - id: mixed-line-ending
+      - id: name-tests-test
+      - id: requirements-txt-fixer
+      - id: sort-simple-yaml
+      - id: trailing-whitespace
+
+  # Autoformats Python code.
+  - repo: https://github.com/psf/black.git
+    rev: 24.4.2
+    hooks:
+      - id: black
+
+  # Finds spelling issues in code.
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.3.0
+    hooks:
+      - id: codespell
+
+  # Finds issues in YAML files.
+  - repo: https://github.com/adrienverge/yamllint
+    rev: v1.35.1
+    hooks:
+      - id: yamllint
+        args:
+          [
+            "--no-warnings",
+            "--config-data",
+            "{extends: default, rules: {line-length: disable, braces: {max-spaces-inside: 1}}}",
+          ]
+        types: [text]
+        files: \.(yml|yaml)$
+
+  # Checks links in markdown files.
+  - repo: https://github.com/tcort/markdown-link-check
+    rev: v3.12.2
+    hooks:
+      - id: markdown-link-check

.readthedocs.yaml

@@ -9,9 +9,12 @@ build:
 
 python:
   install:
+    - requirements: docs/python_docs_requirements.txt
     - method: pip
       path: pyrobosim
+    - method: pip
+      path: pyrobosim_ros
 
 # Build documentation in the Sphinx source directory
 sphinx:
-   configuration: docs/source/conf.py
+  configuration: docs/source/conf.py