Fix tests and cache containers for CI

.github/workflows/tests.yml

@@ -65,24 +65,34 @@ jobs:
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
+      - name: Login to DockerHub Registry
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_PAT }}
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3
         with:
-          driver: docker
+          driver: docker-container
       - name: Build Docker image
         uses: docker/build-push-action@v5
         with:
           file: docker/Dockerfile
           context: .
           build-args: |
             ROS_DISTRO=${{ matrix.ros_distro }}
-          tags: pyrobosim:${{ 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 \
-            pyrobosim:${{ matrix.ros_distro }} \
+            ${{ secrets.DOCKERHUB_USERNAME }}/pyrobosim:${{ matrix.ros_distro }} \
             /bin/bash -c './test/run_tests.bash'
       - name: Upload test results
         uses: actions/upload-artifact@v3

pyrobosim_ros/test/test_ros_conversions.py

@@ -1,7 +1,7 @@
 # Tests for pyrobosim ROS conversions functionality
 
 import pytest
-from rclpy import Duration
+from rclpy.duration import Duration
 
 import pyrobosim.planning.actions as acts
 from pyrobosim.utils.motion import Path

test/run_tests.bash

@@ -10,6 +10,13 @@
 
 SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
 TEST_RESULTS_DIR="${SCRIPT_DIR}/results"
+mkdir -p "$TEST_RESULTS_DIR"
+
+# Ensure we run everything for coverage purposes, but ensure failures are returned by the script
+SUCCESS=0
+
+# Do not swallow errors with tee
+set -o pipefail
 
 # Run regular pytest tests
 echo "Running Python package unit tests..."
@@ -21,7 +28,7 @@ python3 -m pytest "$SCRIPT_DIR" \
  --junitxml="$TEST_RESULTS_DIR/test_results.xml" \
  --html="$TEST_RESULTS_DIR/test_results.html" \
  --self-contained-html \
- | tee "$TEST_RESULTS_DIR"/pytest-coverage.txt
+ | tee "$TEST_RESULTS_DIR"/pytest-coverage.txt || SUCCESS=$?
 echo ""
 
 # Run colcon tests, if using a ROS distro
@@ -33,7 +40,10 @@ then
     pushd "${WORKSPACE_DIR}" > /dev/null || exit
     colcon test \
         --event-handlers console_cohesion+ \
-        --pytest-with-coverage --pytest-args " --cov-report term"
+        --pytest-with-coverage --pytest-args " --cov-report term" || SUCCESS=$?
+echo ""
     colcon test-result --verbose
     popd > /dev/null || exit
 fi
+
+exit $SUCCESS