Enable CI (#2)

* Update runner
* update maintainers
* add license check tools to runner image

Author: fred-labs

.github/linters/actionlint.yml

@@ -1,4 +1,4 @@
 ---
 self-hosted-runner:
   labels:
-    - intellabs-01
+    - ubuntu-latest

.github/workflows/Dockerfile

@@ -9,6 +9,7 @@ RUN --mount=type=bind,source=.,target=/scenario_execution \
     apt-get update && \
     apt-get install -y --no-install-recommends \
         python3-pip \
+        pipx golang-go\
         xvfb \
         tk \
         libgl1 && \
@@ -18,6 +19,11 @@ RUN --mount=type=bind,source=.,target=/scenario_execution \
     rosdep install --rosdistro=${ROS_DISTRO} --from-paths /scenario_execution/ --ignore-src -r -y && \
     rm -rf /var/lib/apt/lists/*
 
+# install dependencies for license check
+RUN PIPX_HOME="" PIPX_BIN_DIR="/python_bin" pipx install -v ros-license-toolkit==1.2.2 && \
+    GOPATH=/go go install github.com/google/[email protected]
+
+# install pybullet dependencies
 RUN --mount=type=bind,source=.,target=/scenario_execution \
     pip3 install  --no-cache-dir -r /scenario_execution/libs/scenario_execution_pybullet/requirements.txt --break-system-packages
 

.github/workflows/cleanup_cache.yml

@@ -8,7 +8,7 @@ jobs:
   cleanup:
     permissions:
       actions: write
-    runs-on: intellabs-01
+    runs-on: ubuntu-latest
     steps:
       - name: Cleanup
         run: |

.github/workflows/doc.yml

@@ -20,7 +20,7 @@ permissions: read-all
 jobs:
   build_docs:
     name: 'Build Docs'
-    runs-on: intellabs-01
+    runs-on: ubuntu-latest
     container:
       image: ghcr.io/sphinx-doc/sphinx:7.1.2
       volumes:
@@ -46,7 +46,7 @@ jobs:
     name: 'Deploy to GitHub Pages'
     needs: build_docs
     if: ${{ (github.event_name == 'push' || github.event_name == 'workflow_dispatch') && github.ref == 'refs/heads/main' }}
-    runs-on: intellabs-01
+    runs-on: ubuntu-latest
     container:
       image: ghcr.io/sphinx-doc/sphinx:7.1.2
     environment:

.github/workflows/image.yml

@@ -21,7 +21,7 @@ concurrency:
 permissions: read-all
 jobs:
   build-and-push:
-    runs-on: intellabs-01
+    runs-on: ubuntu-latest
     permissions:
       packages: write
     steps:
@@ -45,11 +45,11 @@ jobs:
         context: .
         file: .github/workflows/Dockerfile
         push: true
-        tags: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref || steps.extract_branch.outputs.branch }}
+        tags: ghcr.io/cps-test-lab/scenario-execution:${{ github.event.pull_request.base.ref || steps.extract_branch.outputs.branch }}
         build-args: |
           ROS_DISTRO=${{ github.ref == 'refs/heads/main' && 'humble' || github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}
   test-devcontainer:
-    runs-on: intellabs-01
+    runs-on: ubuntu-latest
     permissions:
       packages: write
     steps:

.github/workflows/scan.yml

@@ -10,7 +10,7 @@ permissions: read-all
 jobs:
   lint:
     name: 'Super-linter'
-    runs-on: intellabs-01
+    runs-on: ubuntu-latest
     container: 'ghcr.io/github/super-linter:v5.0.0'
     permissions:
       contents: read
@@ -39,7 +39,7 @@ jobs:
           FILTER_REGEX_EXCLUDE: .*/pull_request_template.md
   trivy:
     name: Trivy
-    runs-on: intellabs-01
+    runs-on: ubuntu-latest
     steps:
       - name: Checkout code
         uses: actions/checkout@b4ffde65f46336ab88eb53be808477a3936bae11 #v4.1.1
@@ -52,7 +52,7 @@ jobs:
           vuln-type: 'os,library'
   bandit:
     name: Bandit
-    runs-on: intellabs-01
+    runs-on: ubuntu-latest
     steps:
       - name: Checkout code
         uses: actions/checkout@b4ffde65f46336ab88eb53be808477a3936bae11 #v4.1.1
@@ -63,29 +63,21 @@ jobs:
           bandit -c .github/bandit.yaml -r .
   license:
     name: License check
-    runs-on: intellabs-01
+    runs-on: ubuntu-latest
     container:
-      image: osrf/ros:humble-desktop
+      image: ghcr.io/cps-test-lab/scenario-execution:${{ github.event.pull_request.base.ref }}
     steps:
       - name: Checkout code
-        uses: actions/checkout@b4ffde65f46336ab88eb53be808477a3936bae11 #v4.1.1
-      - name: Prepare System
-        shell: bash
-        run: |
-          apt update
-          apt install -y python3-pip
-          pip3 install ros-license-toolkit==1.2.2
-          apt install -y golang-go
-          go version
-          go install github.com/google/[email protected]
+        uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 #v4.2.2
       - name: Check for license tags
         shell: bash
         run: |
-            find . -type f \( -name "*.py" -o -name "*.cpp" -o -name "*.h" \) -exec "$HOME"/go/bin/addlicense -check {} +
+            find . -type f \( -name "*.py" -o -name "*.cpp" -o -name "*.h" \) -exec /go/bin/addlicense -check {} +
       - name: Run ros_license_toolkit for each Package
         shell: bash
         run: |
-            git config --global --add safe.directory /__w/scenario_execution/scenario_execution
+            git config --global --add safe.directory /__w/scenario-execution/scenario-execution
+            git config --global --add safe.directory /venvs/ros-license-toolkit
             find . -name "package.xml" | while IFS= read -r pkg_file; do
               pkg_dir=$(dirname "$pkg_file")
               pkg_name=$(basename "$pkg_dir")
@@ -94,6 +86,6 @@ jobs:
                 continue
               fi
               echo "Processing package at $pkg_dir"
-              ros_license_toolkit "$pkg_dir"
+              /python_bin/ros_license_toolkit "$pkg_dir"
             done
             

.github/workflows/scorecard.yml

@@ -22,7 +22,7 @@ permissions: read-all
 jobs:
   analysis:
     name: Scorecard analysis
-    runs-on: intellabs-01
+    runs-on: ubuntu-latest
     permissions:
       # Needed to upload the results to code-scanning dashboard.
       security-events: write

.github/workflows/test_build.yml

@@ -11,9 +11,9 @@ permissions: read-all
 jobs:
   build:
     #TODO model dependency to image-workflow. Workaround: retrigger run after image-workflow finished.
-    runs-on: intellabs-01
+    runs-on: ubuntu-latest
     container:
-      image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
+      image: ghcr.io/cps-test-lab/scenario-execution:${{ github.event.pull_request.base.ref }}
       credentials:
         username: ${{ github.repository_owner }}
         password: ${{ secrets.GITHUB_TOKEN }}
@@ -40,9 +40,9 @@ jobs:
           key: ${{ runner.os }}-build-${{ github.run_number }}
   test-scenario-execution:
     needs: [build]
-    runs-on: intellabs-01
+    runs-on: ubuntu-latest
     container:
-      image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
+      image: ghcr.io/cps-test-lab/scenario-execution:${{ github.event.pull_request.base.ref }}
       credentials:
         username: ${{ github.repository_owner }}
         password: ${{ secrets.GITHUB_TOKEN }}
@@ -77,9 +77,9 @@ jobs:
           path: ./**/TEST.xml
   test-scenario-execution-ros:
     needs: [build]
-    runs-on: intellabs-01
+    runs-on: ubuntu-latest
     container:
-      image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
+      image: ghcr.io/cps-test-lab/scenario-execution:${{ github.event.pull_request.base.ref }}
       credentials:
         username: ${{ github.repository_owner }}
         password: ${{ secrets.GITHUB_TOKEN }}
@@ -112,9 +112,9 @@ jobs:
           path: ./**/TEST.xml
   scenario-files-validation:
     needs: [build]
-    runs-on: intellabs-01
+    runs-on: ubuntu-latest
     container:
-      image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
+      image: ghcr.io/cps-test-lab/scenario-execution:${{ github.event.pull_request.base.ref }}
       credentials:
         username: ${{ github.repository_owner }}
         password: ${{ secrets.GITHUB_TOKEN }}
@@ -135,9 +135,9 @@ jobs:
           done
   test-example-scenario:
     needs: [build]
-    runs-on: intellabs-01
+    runs-on: ubuntu-latest
     container:
-      image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
+      image: ghcr.io/cps-test-lab/scenario-execution:${{ github.event.pull_request.base.ref }}
       credentials:
         username: ${{ github.repository_owner }}
         password: ${{ secrets.GITHUB_TOKEN }}
@@ -162,9 +162,9 @@ jobs:
           path: test_example_scenario/test.xml
   test-example-library:
     needs: [build]
-    runs-on: intellabs-01
+    runs-on: ubuntu-latest
     container:
-      image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
+      image: ghcr.io/cps-test-lab/scenario-execution:${{ github.event.pull_request.base.ref }}
       credentials:
         username: ${{ github.repository_owner }}
         password: ${{ secrets.GITHUB_TOKEN }}
@@ -189,9 +189,9 @@ jobs:
           path: test_example_library/test.xml
   test-example-variation:
     needs: [build]
-    runs-on: intellabs-01
+    runs-on: ubuntu-latest
     container:
-      image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
+      image: ghcr.io/cps-test-lab/scenario-execution:${{ github.event.pull_request.base.ref }}
       credentials:
         username: ${{ github.repository_owner }}
         password: ${{ secrets.GITHUB_TOKEN }}
@@ -217,9 +217,9 @@ jobs:
           path: test_example_variation/test.xml
   test-example-nav2:
     needs: [build]
-    runs-on: intellabs-01
+    runs-on: ubuntu-latest
     container:
-      image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
+      image: ghcr.io/cps-test-lab/scenario-execution:${{ github.event.pull_request.base.ref }}
       credentials:
         username: ${{ github.repository_owner }}
         password: ${{ secrets.GITHUB_TOKEN }}
@@ -250,9 +250,9 @@ jobs:
           path: test_example_nav2/test.xml
   test-example-simulation:
     needs: [build]
-    runs-on: intellabs-01
+    runs-on: ubuntu-latest
     container:
-      image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
+      image: ghcr.io/cps-test-lab/scenario-execution:${{ github.event.pull_request.base.ref }}
       credentials:
         username: ${{ github.repository_owner }}
         password: ${{ secrets.GITHUB_TOKEN }}
@@ -283,9 +283,9 @@ jobs:
           path: test_example_simulation/test.xml
   test-example-multirobot:
     needs: [build]
-    runs-on: intellabs-01
+    runs-on: ubuntu-latest
     container:
-      image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
+      image: ghcr.io/cps-test-lab/scenario-execution:${{ github.event.pull_request.base.ref }}
       credentials:
         username: ${{ github.repository_owner }}
         password: ${{ secrets.GITHUB_TOKEN }}
@@ -335,9 +335,9 @@ jobs:
           path: test_example_multirobot/**/rosbag*
   test-example-external-method:
     needs: [build]
-    runs-on: intellabs-01
+    runs-on: ubuntu-latest
     container:
-      image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
+      image: ghcr.io/cps-test-lab/scenario-execution:${{ github.event.pull_request.base.ref }}
       credentials:
         username: ${{ github.repository_owner }}
         password: ${{ secrets.GITHUB_TOKEN }}
@@ -364,9 +364,9 @@ jobs:
           path: test_example_external_method/test.xml
   test-example-moveit2:
     needs: [build]
-    runs-on: intellabs-01
+    runs-on: ubuntu-latest
     container:
-      image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
+      image: ghcr.io/cps-test-lab/scenario-execution:${{ github.event.pull_request.base.ref }}
       credentials:
         username: ${{ github.repository_owner }}
         password: ${{ secrets.GITHUB_TOKEN }}
@@ -397,10 +397,10 @@ jobs:
           path: test_example_moveit2/test.xml
   test-scenario-execution-gazebo:
     needs: [build]
-    runs-on: intellabs-01
+    runs-on: ubuntu-latest
     timeout-minutes: 30
     container:
-      image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
+      image: ghcr.io/cps-test-lab/scenario-execution:${{ github.event.pull_request.base.ref }}
       credentials:
         username: ${{ github.repository_owner }}
         password: ${{ secrets.GITHUB_TOKEN }}
@@ -430,10 +430,10 @@ jobs:
           path: test_scenario_execution_gazebo/test.xml
   test-scenario-execution-nav2:
     needs: [build]
-    runs-on: intellabs-01
+    runs-on: ubuntu-latest
     timeout-minutes: 30
     container:
-      image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
+      image: ghcr.io/cps-test-lab/scenario-execution:${{ github.event.pull_request.base.ref }}
       credentials:
         username: ${{ github.repository_owner }}
         password: ${{ secrets.GITHUB_TOKEN }}
@@ -476,10 +476,10 @@ jobs:
           path: test_scenario_execution_nav2/test_scenario_execution_nav2/example_nav2.mp4
   test-scenario-execution-pybullet:
     needs: [build]
-    runs-on: intellabs-01
+    runs-on: ubuntu-latest
     timeout-minutes: 10
     container:
-      image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
+      image: ghcr.io/cps-test-lab/scenario-execution:${{ github.event.pull_request.base.ref }}
       credentials:
         username: ${{ github.repository_owner }}
         password: ${{ secrets.GITHUB_TOKEN }}
@@ -506,10 +506,10 @@ jobs:
           path: test_scenario_execution_pybullet/test.xml
   test-scenario-execution-x11:
     needs: [build]
-    runs-on: intellabs-01
+    runs-on: ubuntu-latest
     timeout-minutes: 3
     container:
-      image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
+      image: ghcr.io/cps-test-lab/scenario-execution:${{ github.event.pull_request.base.ref }}
       credentials:
         username: ${{ github.repository_owner }}
         password: ${{ secrets.GITHUB_TOKEN }}
@@ -558,7 +558,7 @@ jobs:
     - test-scenario-execution-nav2
     - test-scenario-execution-pybullet
     - test-scenario-execution-x11
-    runs-on: intellabs-01
+    runs-on: ubuntu-latest
     if: ${{ always() }}
     permissions:
       checks: write

dependencies/scenario_execution_py_trees_ros/package.xml

@@ -4,8 +4,11 @@
   <name>scenario_execution_py_trees_ros</name>
   <version>1.2.0</version>
   <description>Fixes in py-trees-ros not yet release</description>
-  <author email="[email protected]">Intel Labs</author>
-  <maintainer email="[email protected]">Intel Labs</maintainer>
+  <author>Intel Labs</author>
+  <author email="[email protected]">Frederik Pasch</author>
+  <author email="[email protected]">Florian Mirus</author>
+  <maintainer email="[email protected]">Frederik Pasch</maintainer>
+  <maintainer email="[email protected]">Florian Mirus</maintainer>
   <license>BSD-3-Clause</license>
 
   <exec_depend>py_trees_ros</exec_depend>

examples/example_multi_robot/package.xml

@@ -5,7 +5,8 @@
   <version>1.2.0</version>
   <description>Example Multi Robot</description>
   <author email="[email protected]">Intel Labs</author>
-  <maintainer email="[email protected]">Intel Labs</maintainer>
+  <maintainer email="[email protected]">Frederik Pasch</maintainer>
+  <maintainer email="[email protected]">Florian Mirus</maintainer>
   <license>Apache-2.0</license>
 
   <exec_depend>rclpy</exec_depend>

examples/example_scenario_control/package.xml

@@ -4,8 +4,11 @@
   <name>example_scenario_control</name>
   <version>1.2.0</version>
   <description>Scenario Execution Example for Scenario Control using RVIZ</description>
-  <author email="[email protected]">Intel Labs</author>
-  <maintainer email="[email protected]">Intel Labs</maintainer>
+  <author>Intel Labs</author>
+  <author email="[email protected]">Frederik Pasch</author>
+  <author email="[email protected]">Florian Mirus</author>
+  <maintainer email="[email protected]">Frederik Pasch</maintainer>
+  <maintainer email="[email protected]">Florian Mirus</maintainer>
   <license>Apache-2.0</license>
 
   <depend>scenario_execution_control</depend>