noros builds

.devcontainer/devcontainer.json

@@ -1,6 +1,6 @@
 {
   "name": "dimos-dev",
-  "image": "ghcr.io/dimensionalos/dev:dev",
+  "image": "ghcr.io/dimensionalos/ros-dev:dev",
   "customizations": {
     "vscode": {
       "extensions": [

.github/workflows/_docker-build-template.yml

@@ -2,9 +2,11 @@ name: docker-build-template
 on:
   workflow_call:
     inputs:
-      branch-tag:  { type: string, required: true }
-      target:      { type: string, required: true }
+      from-image:  { type: string, required: true }
+      to-image:    { type: string, required: true }
+      dockerfile:  { type: string, required: true }
       freespace:   { type: boolean, default: false }
+      should-run:  { type: boolean, default: false }
       context:     { type: string, default: '.' }
 
 # you can run this locally as well via
@@ -17,6 +19,10 @@ jobs:
       packages: write
 
     steps:
+      - name: exit early
+        if: ${{ !inputs.should-run }}
+        run: |
+          exit 0
       - name: free up disk space
         # takes a bit of time, so disabled by default
         # explicitly enable this for large builds
@@ -37,34 +43,6 @@ jobs:
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
 
-      - name: Check base image tag
-        id: tagcheck
-        env:
-          BRANCH_TAG: ${{ inputs.branch-tag }}
-          DOCKERFILE_PATH: docker/${{ inputs.target }}/Dockerfile
-          DOCKER_CLI_EXPERIMENTAL: enabled  # required for `docker buildx imagetools`
-        run: |
-          BASE_REPO=$(grep -Eo '^FROM[[:space:]]+ghcr\.io/dimensionalos/[a-zA-Z0-9._-]+' "$DOCKERFILE_PATH" | head -n1 | awk -F/ '{print $NF}')
-
-          if [[ -z "$BASE_REPO" ]]; then
-            echo "Could not determine base repo from $DOCKERFILE_PATH, reverting to 'dev'"
-            FROM_TAG="dev"
-          else
-            IMAGE="ghcr.io/dimensionalos/${BASE_REPO}:${BRANCH_TAG}"
-            echo "Checking if $IMAGE exists…"
-            if docker buildx imagetools inspect "$IMAGE" > /dev/null 2>&1; then
-              echo "Found $IMAGE"
-              FROM_TAG="$BRANCH_TAG"
-            else
-              echo "Tag '$BRANCH_TAG' not found for $BASE_REPO; falling back to 'dev'"
-              FROM_TAG="dev"
-            fi
-          fi
-
-          echo "from_tag=$FROM_TAG" >> "$GITHUB_OUTPUT"
-
-
-
       # required for github cache of docker layers
       - uses: crazy-max/ghaction-github-runtime@v3
 
@@ -79,9 +57,8 @@ jobs:
         with:
           push: true
           context: ${{ inputs.context }}
-          file:   docker/${{ inputs.target }}/Dockerfile
-          tags:   ghcr.io/dimensionalos/${{ inputs.target }}:${{ inputs.branch-tag }}
-          cache-from: type=gha,scope=${{ inputs.target }}
-          cache-to:   type=gha,mode=max,scope=${{ inputs.target }}
-          build-args: |
-            FROM_TAG=${{ steps.tagcheck.outputs.from_tag }}
+          file:   docker/${{ inputs.dockerfile }}/Dockerfile
+          tags:   ${{ inputs.to-image }}
+          cache-from: type=gha,scope=${{ inputs.dockerfile }}-${{ inputs.from-image }}
+          cache-to:   type=gha,mode=max,scope=${{ inputs.dockerfile }}-${{ inputs.from-image }}
+          build-args: FROM_IMAGE=${{ inputs.from-image }}

.github/workflows/docker.yml

@@ -44,7 +44,7 @@ jobs:
         id: set-tag
         run: |
           case "${GITHUB_REF_NAME}" in
-            master) branch_tag="latest" ;;
+            main) branch_tag="latest" ;;
             dev)    branch_tag="dev"    ;;
             *)
               branch_tag=$(echo "${GITHUB_REF_NAME}" \
@@ -56,14 +56,6 @@ jobs:
           echo "branch tag determined: ${branch_tag}"
           echo branch_tag="${branch_tag}" >> "$GITHUB_OUTPUT"
 
-  ros:
-    needs: [check-changes]
-    if: needs.check-changes.outputs.ros == 'true'
-    uses: ./.github/workflows/_docker-build-template.yml
-    with:
-      branch-tag: ${{ needs.check-changes.outputs.branch-tag }}
-      target:  base-ros
-
   # just a debugger
   inspect-needs:
     needs: [check-changes, ros]
@@ -73,47 +65,105 @@ jobs:
       - run: |
           echo '${{ toJSON(needs) }}'
 
-  python:
+  ros:
+    needs: [check-changes]
+    if: needs.check-changes.outputs.ros == 'true'
+    uses: ./.github/workflows/_docker-build-template.yml
+    with:
+      from-image: ubuntu:22.04
+      to-image: ghcr.io/dimensionalos/ros:${{ needs.check-changes.outputs.branch-tag }}
+      dockerfile:  ros
+
+  # # just a debugger
+  # inspect-needs:
+  #   needs: [check-changes, ros]
+  #   runs-on: dimos-runner-ubuntu-2204
+  #   if: always()
+  #   steps:
+  #     - run: |
+  #         echo '${{ toJSON(needs) }}'
+
+  ros-python:
     needs: [check-changes, ros]
-    if: |
-      ${{
-      always() && !cancelled() &&
-      needs.check-changes.result == 'success' &&
-      ((needs.ros.result == 'success') ||
-      (needs.ros.result == 'skipped' &&
-      needs.check-changes.outputs.python == 'true'))
-      }}
+    if: always()
     uses: ./.github/workflows/_docker-build-template.yml
     with:
-      branch-tag:   ${{ needs.check-changes.outputs.branch-tag }}
-      target:  base-ros-python
+      should-run: ${{
+        needs.check-changes.outputs.python == 'true' &&
+        needs.check-changes.result != 'error' &&
+        needs.ros.result != 'error'
+        }}
+
+      from-image: ghcr.io/dimensionalos/ros:${{ needs.ros.result == 'success' && needs.check-changes.outputs.branch-tag || 'dev' }}
+      to-image: ghcr.io/dimensionalos/ros-python:${{ needs.check-changes.outputs.branch-tag }}
+      dockerfile:  python
       freespace: true
 
+  python:
+    needs: [check-changes]
+    if: needs.check-changes.outputs.python == 'true'
+    uses: ./.github/workflows/_docker-build-template.yml
+    with:
+      should-run: true
+      freespace: true
+      dockerfile:  python
+      from-image: ubuntu:22.04
+      to-image: ghcr.io/dimensionalos/python:${{ needs.check-changes.outputs.branch-tag }}
+
   dev:
     needs: [check-changes, python]
-    if: |
-      ${{
-      always() && !cancelled() &&
-      needs.check-changes.result == 'success' &&
-      ((needs.python.result == 'success') ||
-      (needs.python.result == 'skipped' &&
-      needs.check-changes.outputs.dev == 'true'))
-      }}
+    if: always()
+
+    uses: ./.github/workflows/_docker-build-template.yml
+    with:
+      should-run: ${{
+        needs.check-changes.result == 'success' &&
+        ((needs.python.result == 'success') ||
+        (needs.python.result == 'skipped' &&
+        needs.check-changes.outputs.dev == 'true')) }}
+      from-image: ghcr.io/dimensionalos/python:${{ needs.python.result == 'success' && needs.check-changes.outputs.branch-tag || 'dev' }}
+      to-image: ghcr.io/dimensionalos/dev:${{ needs.check-changes.outputs.branch-tag }}
+      dockerfile: dev
+
+  ros-dev:
+    needs: [check-changes, ros-python]
+    if: always()
     uses: ./.github/workflows/_docker-build-template.yml
     with:
-      branch-tag:   ${{ needs.check-changes.outputs.branch-tag }}
-      target: dev
+      should-run: ${{
+        needs.check-changes.result == 'success' &&
+        ((needs.ros-python.result == 'success') ||
+        (needs.ros-python.result == 'skipped' &&
+        needs.check-changes.outputs.dev == 'true'))
+        }}
+      from-image: ghcr.io/dimensionalos/ros-python:${{ needs.ros-python.result == 'success' && needs.check-changes.outputs.branch-tag || 'dev' }}
+      to-image: ghcr.io/dimensionalos/ros-dev:${{ needs.check-changes.outputs.branch-tag }}
+      dockerfile: dev
+
+  run-ros-tests:
+    needs: [check-changes, ros-dev]
+    if: always()
+    uses: ./.github/workflows/tests.yml
+    with:
+      should-run: ${{
+        needs.check-changes.result == 'success' &&
+        ((needs.ros-dev.result == 'success') ||
+        (needs.ros-dev.result == 'skipped' &&
+        needs.check-changes.outputs.tests == 'true'))
+        }}
+      cmd: "pytest && pytest -m ros" # run tests that depend on ros as well
+      dev-image: ros-dev:${{ needs.ros-dev.result == 'success' && needs.check-changes.outputs.branch-tag || 'dev' }}
 
   run-tests:
     needs: [check-changes, dev]
-    if: |
-      ${{
-      always() && !cancelled() &&
-      needs.check-changes.result == 'success' &&
-      ((needs.dev.result == 'success') ||
-      (needs.dev.result == 'skipped' &&
-      needs.check-changes.outputs.tests == 'true'))
-      }}
+    if: always()
     uses: ./.github/workflows/tests.yml
     with:
-      branch-tag: ${{ needs.dev.result != 'success' && 'dev' || needs.check-changes.outputs.branch-tag }}
+      should-run: ${{
+        needs.check-changes.result == 'success' &&
+        ((needs.dev.result == 'success') ||
+        (needs.dev.result == 'skipped' &&
+        needs.check-changes.outputs.tests == 'true'))
+        }}
+      cmd: "pytest"
+      dev-image: dev:${{ needs.dev.result == 'success' && needs.check-changes.outputs.branch-tag || 'dev' }}

.github/workflows/tests.yml

@@ -3,10 +3,17 @@ name: tests
 on:
  workflow_call:
    inputs:
-     branch-tag:
+     should-run:
+       required: false
+       type: boolean
+       default: true
+     dev-image:
+       required: true
+       type: string
+       default: "dev:dev"
+     cmd:
        required: true
        type: string
-       default: "latest"
 
 permissions:
   contents: read
@@ -17,12 +24,17 @@ jobs:
     runs-on: dimos-runner-ubuntu-2204
 
     container:
-      image: ghcr.io/dimensionalos/dev:${{ inputs.branch-tag }}
+      image: ghcr.io/dimensionalos/${{ inputs.dev-image }}
 
     steps:
+      - name: exit early
+        if: ${{ !inputs.should-run }}
+        run: |
+          exit 0
+
       - uses: actions/checkout@v4
 
       - name: Run tests
         run: |
           git config --global --add safe.directory '*'
-          /entrypoint.sh bash -c "pytest"
+          /entrypoint.sh bash -c "${{ inputs.cmd }}"

dimos/robot/local_planner/local_planner.py

@@ -30,7 +30,7 @@
 
 from dimos.types.vector import VectorLike, Vector, to_tuple
 from dimos.types.path import Path
-from nav_msgs.msg import OccupancyGrid
+from dimos.types.costmap import Costmap
 
 logger = setup_logger("dimos.robot.unitree.local_planner", level=logging.DEBUG)
 
@@ -45,7 +45,7 @@ class BaseLocalPlanner(ABC):
 
     def __init__(
         self,
-        get_costmap: Callable[[], Optional[OccupancyGrid]],
+        get_costmap: Callable[[], Optional[Costmap]],
         transform: object,
         move_vel_control: Callable[[float, float, float], None],
         safety_threshold: float = 0.5,