feat(workflow): speedup testing workflow runtime

.devcontainer/Dockerfile

@@ -1,4 +1,4 @@
-FROM ros:jazzy AS dev
+FROM ros@sha256:9749355a0760334fa5ea3c660f2de1ecc5e8a5af8047e4bbaa9afa8a7843da80 AS dev
 
 # ********************************************************
 # * Install Dependencies *
@@ -20,11 +20,6 @@ RUN apt-get update -q && \
     apt-get install -y gnupg2 iputils-ping usbutils \
     python3-argcomplete python3-colcon-common-extensions python3-networkx python3-pip python3-rosdep python3-vcstool
 
-# Set up the ROS 2 environment
-# This ensures that ROS 2 commands are available in the shell
-RUN grep -F "source /opt/ros/jazzy/setup.bash" /root/.bashrc || echo "source /opt/ros/jazzy/setup.bash" >> /root/.bashrc && \
-    grep -F "source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash" /root/.bashrc || echo "source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash" >> /root/.bashrc
-
 # Install Linux packages
 # xterm: to use teleop_twist_keyboard
 RUN apt-get update && apt-get install -y \
@@ -56,8 +51,11 @@ RUN apt-get update && apt-get install -y \
     ros-jazzy-teleop-twist-joy \
     ros-jazzy-fuse
 
+# Install cyclonedds rmw and set up the configuration
 RUN apt-get update && apt-get install -y \
     ros-jazzy-rmw-cyclonedds-cpp
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+ENV RMW_CYCLONEDDS_URI=file:///home/ws/config/cyclonedds.xml
 
 # ********************************************************
 # * Set up the user *
@@ -82,9 +80,15 @@ RUN apt-get update && apt-get upgrade -y
 RUN apt-get install -y python3-pip
 ENV SHELL=/bin/bash
 
+# Define entrypoint
+RUN mkdir -p /home/ws
+COPY .devcontainer/entrypoint.sh /home/ws
+RUN chmod +x /home/ws/entrypoint.sh
+ENTRYPOINT [ "/home/ws/entrypoint.sh" ]
+CMD ["/bin/bash"]
+
 # [Optional] Set the default user. Omit if you want to keep the default as root.
 USER $USERNAME
-CMD ["/bin/bash"]
 
 # ********************************************************
 # * Production *
@@ -93,11 +97,8 @@ FROM dev AS prod
 
 # Copy our packages into the image and build them
 USER root
-RUN mkdir -p /ws/src
-WORKDIR /ws
+WORKDIR /home/ws
 COPY config config
 COPY src src
 RUN source /opt/ros/jazzy/setup.bash \
-    && colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
-
-ENTRYPOINT ["python3", "/ws/config/append_to_bashrc.py"]
+    && colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

.devcontainer/devcontainer.json

@@ -4,6 +4,7 @@
   "remoteUser": "htkz",
   "build": {
       "dockerfile": "Dockerfile",
+      "context": "..",
       "target": "dev",
       "args": {
           "USERNAME": "htkz"
@@ -44,5 +45,5 @@
      "source=/dev/dri,target=/dev/dri,type=bind,consistency=cached",
      "source=/dev/input,target=/dev/input,type=bind,consistency=delegated"
   ],
-  "postCreateCommand": "sudo apt-get update && sudo rosdep update && sudo rosdep install --from-paths src --ignore-src -y && sudo chown -R $(whoami) /home/ws/ && python3 /home/ws/config/append_to_bashrc.py"
+  "postCreateCommand": "sudo chown -R $(whoami) /home/ws/ && python3 /home/ws/config/append_to_bashrc.py"
 }

.devcontainer/entrypoint.sh

@@ -0,0 +1,10 @@
+#!/bin/bash
+set +e
+
+# Source environment variables
+source /opt/ros/jazzy/setup.bash
+source /home/ws/install/setup.bash
+source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash
+
+# Execute the provided command
+exec "$@"

.github/workflows/ci.yml

@@ -1,15 +1,14 @@
-name: docker build & colcon-test
+name: Build Image and Run Tests
 
 on:
   push:
     branches:
-      - microservices
-  pull_request:
-    branches:
-      - microservices
+      - '**'
+      - '!humble'
+      - '!jazzy'
 
 jobs:
-  docker-build:
+  Build-image:
     runs-on: ubuntu-latest
 
     steps:
@@ -31,26 +30,38 @@ jobs:
         with:
           context: .
           file: .devcontainer/Dockerfile
-          tags: ghcr.io/helbling-technik/github_actions:latest
-          cache-from: type=gha
-          cache-to: type=gha,mode=max
+          tags: ghcr.io/helbling-technik/helmoro-software-ros2:${{ github.ref_name }}-latest
           push: true
+          cache-from: |
+            type=gha
+            type=registry,ref=ghcr.io/helbling-technik/helmoro-software-ros2:${{ github.ref_name }}-buildcache
+          cache-to: |
+            type=gha,mode=max
+            type=registry,ref=ghcr.io/helbling-technik/helmoro-software-ros2:${{ github.ref_name }}-buildcache,mode=max
+
 
-  colcon-test:
-    needs: docker-build
+  Run-tests:
+    needs: Build-image
     runs-on: ubuntu-latest
+    defaults:
+      run:
+        working-directory: /home/ws
     container: 
-      image: ghcr.io/helbling-technik/github_actions:latest
+      image: ghcr.io/helbling-technik/helmoro-software-ros2:${{ github.ref_name }}-latest
+
     steps:
-      - uses: ros-tooling/action-ros-ci@v0.4
-        id: action_ros_ci_step    
-        with:
-          package-name: helmoro_description
-          target-ros2-distro: jazzy
-          coverage-result: false
+      - name: Run tests
+        shell: bash
+        run: |
+          set -e
+          source entrypoint.sh
+          colcon test
+          colcon test-result --all --verbose
 
-      - uses: actions/upload-artifact@v4
+      - name: Upload logs
+        uses: actions/upload-artifact@v4
         with:
             name: colcon-logs
-            path: ${{ steps.action_ros_ci_step.outputs.ros-workspace-directory-name }}/log
-        if: always() # upload the logs even when the build fails
+            path: /home/ws/log
+            if-no-files-found: error
+        if: always() # upload the logs even when the test fails

.github/workflows/debug.yml

@@ -0,0 +1,34 @@
+name: Run Tests
+
+on:
+  push:
+    branches:
+      - '**'
+      - '!humble'
+      - '!jazzy'
+
+jobs:
+  colcon-test:
+    runs-on: ubuntu-latest
+    defaults:
+      run:
+        working-directory: /home/ws
+    container: 
+      image: ghcr.io/helbling-technik/helmoro-software-ros2:${{ github.ref_name }}-latest
+
+    steps:
+      - name: Run tests
+        shell: bash
+        run: |
+          set -e
+          source entrypoint.sh
+          colcon test
+          colcon test-result --all --verbose
+
+      - name: Upload logs
+        uses: actions/upload-artifact@v4
+        with:
+            name: colcon-logs
+            path: /home/ws/log
+            if-no-files-found: error
+        if: always() # upload the logs even when the test fails

config/append_to_bashrc.py

@@ -26,8 +26,7 @@ def append_unique_lines_to_bashrc(source_file):
         print("ℹ️ No new lines were added. All lines already exist.")
 
 if __name__ == "__main__":
-    append_unique_lines_to_bashrc(os.path.expanduser("/ws/config/append_to_bashrc.txt"))
-
+    append_unique_lines_to_bashrc(os.path.abspath("/home/ws/config/append_to_bashrc.txt"))
 
     # If there are arguments passed to this container (i.e., CMD), run them
     if len(sys.argv) > 1:

config/append_to_bashrc.txt

@@ -1,10 +1,5 @@
 # Custom Alias
 alias src='source /opt/ros/jazzy/setub.bash && source /home/ws/install/setup.bash'
 
-# Environment Setup
-source /opt/ros/jazzy/setup.bash 
-source /home/ws/install/setup.bash
-export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-export CYCLONEDDS_URI=file:///home/ws/config/cyclonedds.xml
-
-
+# Integrate entrypoint.sh
+source /home/ws/.devcontainer/entrypoint.sh

src/helmoro_description/test/launch_description.test.py

@@ -48,7 +48,7 @@ def generate_test_description():
     ld.add_action(ready_to_test)
     return ld
 
-class TestRobotStatePublisher(unittest.TestCase):
+class TestCollection(unittest.TestCase):
     """Test suite for checking the robot_state_publisher functionality."""
 
     def setUp(self):
@@ -61,7 +61,7 @@ def tearDown(self):
         self.node.destroy_node()
         rclpy.shutdown()
 
-    def test_node_start(self, proc_output: ActiveIoHandler):
+    def test_robot_state_publisher_node_start(self, proc_output: ActiveIoHandler):
         """Test if the robot_state_publisher node has started."""
         found = False
         print('Waiting for node...')
@@ -75,7 +75,7 @@ def test_node_start(self, proc_output: ActiveIoHandler):
         # Assert that the node was found
         assert found, 'Node not found!'
 
-    def test_advertise_topic(self, proc_output: ActiveIoHandler):
+    def test_robot_state_publisher_advertise_topic(self, proc_output: ActiveIoHandler):
         """Test if the robot_description topic is advertised by the node."""
         received = False
         print("Listening for topics...")
@@ -94,7 +94,7 @@ def test_advertise_topic(self, proc_output: ActiveIoHandler):
         # Assert that the topic was advertised 
         assert received, 'Topic not advertised!'
 
-    def test_publish_msgs(self, proc_output: ActiveIoHandler):
+    def test_robot_state_publisher_publish_msgs(self, proc_output: ActiveIoHandler):
         """Test if messages are published to the correct topic."""
         msgs_rx = []  # List to store received messages
 
@@ -128,20 +128,7 @@ def test_publish_msgs(self, proc_output: ActiveIoHandler):
             # Ensure that the subscription is destroyed after the test
             self.node.destroy_subscription(sub)
 
-class TestJointStatePublisher(unittest.TestCase):
-    """Test suite for checking the joint_state_publisher functionality."""
-
-    def setUp(self):
-        """Initialize the ROS node before each test."""
-        rclpy.init()
-        self.node = rclpy.create_node('test_node')
-
-    def tearDown(self):
-        """Shut down the ROS node after each test."""
-        self.node.destroy_node()
-        rclpy.shutdown()
-
-    def test_node_start(self, proc_output: ActiveIoHandler):
+    def test_joint_state_publisher_node_start(self, proc_output: ActiveIoHandler):
         """Test if the joint_state_publisher node has started."""
         found = False
         print('Waiting for node...')
@@ -155,7 +142,7 @@ def test_node_start(self, proc_output: ActiveIoHandler):
         # Assert that the node was found
         assert found, 'Node not found!'
 
-    def test_advertise_topic(self, proc_output: ActiveIoHandler):
+    def test_joint_state_publisher_advertise_topic(self, proc_output: ActiveIoHandler):
         """Test if the joint_state topic is advertised by the node."""
         received = False
         print("Listening for topics...")