Added Build and Test Workflows (#58)

* Added build and test workflow

* Corrected IMAGE_NAME varibles in run_devel.sh script

* Corrected pull_requests trigger name

* Removed -it option from docker run & added docker attach step

* Removed PERCEP_WS_PATH environment variable and used github.workspace instead

* Corrected container name in docker run

* Corrected volume mount path

* Removed not required arguments from docker run

* Removed docker attach & used docker exec for colcon build

* Added | character in run for multi-line command

* Added container_name environment variable

* Added jobs for lint and test

* Updated linting job, added matrix for linter

* Added package name field to lint job

* Removed pep8 and mypy linter from action workflows

* Added copyright notice, corrected according to lint

* Updated worflow to pass arguments for linter, made some corrections

* Removed arguments from workflow

* Updated flake8 test to use setup.cfg as the config

* Updated workflow to pass config argument to flake8 lint

* Fixed variable name typo

* Corrected variable used for config path

* Updated lin job to setup ros humble

* Added ros distribution field for lint steps

* Updated flake8 config from default ament_flake8 config

* Added project wide flake8 config file, some more lint corrections

.flake8

@@ -0,0 +1,6 @@
+[flake8]
+extend-ignore = B902,C816,D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404,I202,Q000
+import-order-style = google
+max-line-length = 125
+show-source = true
+statistics = true

.github/workflows/build_and_test.yml

@@ -0,0 +1,65 @@
+name: Build and Test Workflows
+
+on:
+  pull_request:
+    branches:
+      - main
+      - develop
+  push:
+    branches:
+      - main
+
+jobs:
+  ament_lint:
+    name: Lint and Codecheck
+    runs-on:  ubuntu-latest
+    steps:
+      - name: Code Checkout
+        uses: actions/checkout@v4
+      - name: Setup ROS
+        uses: ros-tooling/setup-ros@master
+      - name: Ament Copyright Lint
+        uses: ros-tooling/action-ros-lint@master
+        with:
+          distribution: humble
+          linter: copyright
+          package-name: "*"
+      - name: Ament Flake8 Lint
+        uses: ros-tooling/action-ros-lint@master
+        with:
+          distribution: humble
+          linter: flake8
+          package-name: "*"
+          arguments: '--config=${{ github.workspace }}/.flake8'
+      - name: Ament PEP257 Lint
+        uses: ros-tooling/action-ros-lint@master
+        with:
+          distribution: humble
+          linter: pep257
+          package-name: "*"
+      - name: Ament xmllint Lint
+        uses: ros-tooling/action-ros-lint@master
+        with:
+          distribution: humble
+          linter: xmllint
+          package-name: "*"
+
+  build_source:
+    name: Build Docker Image and ROS 2 Packages
+    runs-on: ubuntu-latest
+    env:
+      CONTAINER_NAME: perception_pipeline
+      PERCEP_WS:  /root/percep_ws
+    steps:
+      - name: Code Checkout
+        uses: actions/checkout@v4
+      - name: Build Docker Image
+        run:  docker build . --file Dockerfile.ubuntu -t ${{ github.repository }}:latest
+      - name: Run Docker Image
+        run:  |
+          docker run -it -d --name $CONTAINER_NAME \
+          -v ${{ github.workspace }}:$PERCEP_WS/src \
+          ${{ github.repository }}:latest
+      - name: Build ROS 2 Packages in Container
+        run:  docker exec $CONTAINER_NAME bash -c \
+              "source /opt/ros/humble/setup.bash && cd $PERCEP_WS && colcon build"

docker_scripts/run_devel.sh

@@ -2,9 +2,9 @@
 
 xhost +local:root
 
-IMAGE_NAME="object_detection"
+IMAGE_NAME="perception_pipeline"
 IMAGE_TAG="latest"
-CONTAINER_NAME="object_detection"
+CONTAINER_NAME="perception_pipeline"
 
 # Build the image if it doesn't exist
 if docker inspect "$IMAGE_NAME:$IMAGE_TAG" &> /dev/null; then
@@ -69,4 +69,4 @@ docker run --gpus all --shm-size=1g --ulimit memlock=-1 --ulimit stack=67108864
 --env CYCLONEDDS_URI=/ddsconfig.xml \
 --env="QT_X11_NO_MITSHM=1"  \
 --env="DISPLAY"  \
-object_detection:latest
+$IMAGE_NAME:$IMAGE_TAG

object_detection/launch/object_detection.launch.py

@@ -1,10 +1,10 @@
-# Copyright (c) 2018 Intel Corporation
+# Copyright (c) 2023 A.T.O.M ROBOTICS
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
 # You may obtain a copy of the License at
 #
-#     http://www.apache.org/licenses/LICENSE-2.0
+#   http://www.apache.org/licenses/LICENSE-2.0
 #
 # Unless required by applicable law or agreed to in writing, software
 # distributed under the License is distributed on an "AS IS" BASIS,
@@ -27,15 +27,14 @@ def generate_launch_description():
         'config',
         'params.yaml'
         )
-    
-    node=Node(
-        package = 'object_detection',
-        name = 'object_detection',
-        executable = 'ObjectDetection',
-        parameters = [params],
+
+    node = Node(
+        package='object_detection',
+        name='object_detection',
+        executable='ObjectDetection',
+        parameters=[params],
         output="screen",
-        emulate_tty = True
+        emulate_tty=True
     )
-
 
     return LaunchDescription([node])

object_detection/object_detection/DetectorBase.py

@@ -1,4 +1,19 @@
+# Copyright (c) 2023 A.T.O.M ROBOTICS
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 from abc import ABC, abstractmethod
+
 import numpy as np
 
 
@@ -17,7 +32,7 @@ def create_predictions_list(self, class_ids, confidences, boxes):
             }
 
             self.predictions.append(obj_dict)
-    
+
     @abstractmethod
     def build_model(self, model_dir_path: str, weight_file_name: str) -> None:
         pass
@@ -28,4 +43,4 @@ def load_classes(self, model_dir_path: str) -> None:
 
     @abstractmethod
     def get_predictions(self, cv_image: np.ndarray) -> list[dict]:
-        pass
+        pass

object_detection/object_detection/Detectors/RetinaNet.py

@@ -1,3 +1,17 @@
+# Copyright (c) 2023 A.T.O.M ROBOTICS
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 import os
 
 from keras_retinanet import models
@@ -7,58 +21,55 @@
 from ..DetectorBase import DetectorBase
 
 
-class RetinaNet(DetectorBase) :
-    def __init(self) :
+class RetinaNet(DetectorBase):
 
+    def __init(self):
         super.__init__()
 
-    def build_model(self, model_dir_path, weight_file_name) :
+    def build_model(self, model_dir_path, weight_file_name):
         model_path = os.path.join(model_dir_path, weight_file_name)
-        
-        try:        
+
+        try:
             self.model = models.load_model(model_path, backbone_name='resnet50')
-        except:
-            raise Exception("Error loading given model from path: {}. Maybe the file doesn't exist?".format(model_path))
+        except Exception as e:
+            print("Loading the model failed with exception {}".format(e))
+            raise Exception("Error loading given model from path: {}.".format(model_path) +
+                            "Maybe the file doesn't exist?")
 
-    def load_classes(self, model_dir_path) :
+    def load_classes(self, model_dir_path):
         self.class_list = []
-        
+
         with open(model_dir_path + "/classes.txt", "r") as f:
             self.class_list = [cname.strip() for cname in f.readlines()]
-        
+
         return self.class_list
 
-    def get_predictions(self, cv_image) :
+    def get_predictions(self, cv_image):
         if cv_image is None:
             # TODO: show warning message (different color, maybe)
             return None
-
-        else :                
-
+        else:
             # copy to draw on
             self.frame = cv_image.copy()
             # preprocess image for network
-            input = preprocess_image(self.frame)
-            input, scale = resize_image(input)
-    
+            processed_img = preprocess_image(self.frame)
+            processed_img, scale = resize_image(processed_img)
+
             # process image
-            boxes_all, confidences_all, class_ids_all = self.model.predict_on_batch(np.expand_dims(input, axis=0))
+            boxes_all, confidences_all, class_ids_all = self.model.predict_on_batch(np.expand_dims(processed_img, axis=0))
 
             boxes, confidences, class_ids = [], [], []
-            
-            for index in range(len(confidences_all[0])) :
-                if confidences_all[0][index]!=-1 :
+
+            for index in range(len(confidences_all[0])):
+                if confidences_all[0][index] != -1:
                     confidences.append(confidences_all[0][index])
                     boxes.append(boxes_all[0][index])
                     class_ids.append(class_ids_all[0][index])
-
-
+
             # correct for image scale
-            #boxes = [x/scale for x in boxes]
+            # boxes = [x/scale for x in boxes]
             boxes = [[int(coord/scale) for coord in box] for box in boxes]
-            
+
             super().create_predictions_list(class_ids, confidences, boxes)
-
-            return self.predictions
-
 
+            return self.predictions