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Mael-RABOTMael-RABOT
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Merge pull request #66 from Sentience-Robotics/release/v0.2.0
Release v0.2.0 -> Master
2 parents 2927857 + 3b42c9e commit 529a536

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‎.env.example‎

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PORT_ROSBRIDGE=9090
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PORT_CONTROL_PANEL=5000
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PORT_CONTROL_PANEL=4004
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# DDS discovery (scripts/dds_env.sh). macOS defaults to localhost-only unicast
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# because multicast needs a Local Network permission tmux never gets.
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# LUCY_DDS_LOCALHOST=0
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# LUCY_DDS_INTERFACE=192.168.1.5
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# LUCY_DDS_PEERS=hostA,hostB

‎.gitattributes‎

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*.sh text eol=lf
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*.bash text eol=lf

‎.github/workflows/install-and-launch.yml‎

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# Full workspace install (clone + Docker image + rosdep + colcon + yarn) plus a
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# non-interactive launch smoke test, on both x86_64 and ARM64 GitHub-hosted runners.
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#
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# - DEV=false -> install.sh uses `url_https` from config/repos.json (sub-repos are public).
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# - CI=true -> install.sh skips the host `xhost` check (no GUI on runners).
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# - variant=arm runs on `ubuntu-24.04-arm` with `./install.sh --arm`; the built image
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# is then verified to be linux/arm64 (linux/amd64 for the default variant).
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# - Runner OS (22.04 or 24.04) is only the CI host. ROS Humble always runs inside
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# Jammy-based images (`osrf/ros:humble-desktop` / `ros:humble-ros-base-jammy`).
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# - `ubuntu-24.04-arm` is GitHub's hosted ARM64 runner label; there is no 22.04-arm
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# standard runner. The container OS stays Jammy regardless.
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# - The launch smoke test uses `./launch_lucy.sh --headless <command>`, which runs a
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# single command inside the container (no control panel, no auto Gazebo/RViz).
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name: Install, Launch & Release
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# - DEV=false -> install.py uses url_https from config/repos.json.
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# - python3 install.py --skip-build clones sub-repos; colcon build runs via pixi run build.
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name: Install, Build & Test
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on:
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workflow_dispatch:
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push:
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branches: [master, dev]
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tags:
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- 'v*' # Run on version tags like v1.0, v2.3.4
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- 'v*'
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pull_request:
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branches: [master, dev]
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permissions:
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contents: read
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jobs:
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install-and-launch:
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pixi-install-build-test:
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name: Pixi install & build (${{ matrix.runner }})
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concurrency:
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group: ${{ github.workflow }}-${{ github.ref }}-${{ matrix.variant }}
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group: ${{ github.workflow }}-${{ github.ref }}-${{ matrix.runner }}
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cancel-in-progress: true
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runs-on: ${{ matrix.runner }}
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timeout-minutes: 120
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strategy:
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fail-fast: false
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matrix:
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include:
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- variant: default
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runner: ubuntu-latest
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use_arm_install: false
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expected_arch: linux/amd64
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- variant: arm
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runner: ubuntu-24.04-arm
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use_arm_install: true
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expected_arch: linux/arm64
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- runner: ubuntu-latest
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pixi_platform: linux-64
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- runner: ubuntu-24.04-arm
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pixi_platform: linux-aarch64
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- runner: macos-latest
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pixi_platform: osx-arm64
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- runner: windows-latest
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pixi_platform: win-64
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env:
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DEV: "false"
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CI: "true"
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steps:
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- uses: actions/checkout@v4
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# Make sure no committed/local .env can flip DEV back to true at install time.
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- name: Drop workspace .env if present
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run: rm -f .env .env.local || true
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# Docker Hub metadata/pull flakes (i/o timeout) fail `docker build` before
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# any Dockerfile layer runs. Pre-pull with retries so the build reuses cache.
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- name: Pre-pull base images (retry on Hub flakes)
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run: |
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pull_with_retry() {
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image="$1"
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for attempt in 1 2 3 4 5; do
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if docker pull "$image"; then
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return 0
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fi
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echo "docker pull ${image} failed (attempt ${attempt}/5), retrying..."
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sleep $((attempt * 15))
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done
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return 1
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}
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if [ "${{ matrix.use_arm_install }}" = true ]; then
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pull_with_retry ros:humble-ros-base-jammy
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else
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pull_with_retry osrf/ros:humble-desktop
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fi
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- name: Install (clone + Docker image + rosdep + colcon + yarn)
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run: |
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chmod +x install.sh launch_lucy.sh
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if [ "${{ matrix.use_arm_install }}" = true ]; then
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./install.sh --arm
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else
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./install.sh
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fi
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- name: Verify Lucy image architecture
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run: |
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osarch=$(docker image inspect lucy_ros2:humble --format '{{.Os}}/{{.Architecture}}')
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echo "lucy_ros2:humble -> ${osarch}"
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if [ "${osarch}" != "${{ matrix.expected_arch }}" ]; then
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echo "::error::Expected ${{ matrix.expected_arch }} after ./install.sh on ${{ matrix.runner }}, got ${osarch}"
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exit 1
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fi
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- uses: actions/checkout@v5
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# Single command in the container -> bypasses the control-panel / Gazebo / RViz auto-launch.
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- name: Launch smoke test (headless, no TTY)
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run: ./launch_lucy.sh --headless ros2 doctor --report
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# Windows-specific CI. NOTE: GitHub-hosted Windows runners cannot run Linux
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# containers (no Hyper-V/nested virtualization, no WSL2), so the heavy install
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# step (docker build of the ROS image + colcon) CANNOT run here — that is
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# covered for both amd64/arm64 by the Linux `install-and-launch` job above.
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# This job verifies the Windows-only pieces on real x64 AND arm64 hardware:
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# - host CPU -> Docker platform detection (install_ops.host_container_platform)
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# - Lucy.exe builds (PyInstaller) and its bundled --cli imports work
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# - the NSIS installer compiles
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windows-build-test:
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name: Windows build & installer test (${{ matrix.arch }})
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strategy:
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fail-fast: false
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matrix:
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include:
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- arch: x64
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runner: windows-latest
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expected_platform: linux/amd64
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- arch: arm64
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runner: windows-11-arm
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expected_platform: linux/arm64
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runs-on: ${{ matrix.runner }}
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timeout-minutes: 30
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steps:
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- name: Check out repository
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uses: actions/checkout@v4
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- name: Set up Python
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uses: actions/setup-python@v5
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- uses: prefix-dev/setup-pixi@v0.10.0
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with:
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python-version: '3.x'
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pixi-version: latest
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cache: ${{ matrix.pixi_platform != 'win-64' }}
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post-cleanup: false
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- name: Generate releases manifest
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run: python windows/generate_releases.py
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- name: Workspace unit tests
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shell: bash
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run: pixi run workspace-test
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- name: Verify host architecture detection
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shell: pwsh
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run: |
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$expected = "${{ matrix.expected_platform }}"
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$got = (python -c "import sys; sys.path.insert(0,'windows'); import install_ops; print(install_ops.host_container_platform())").Trim()
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Write-Host "host_container_platform() -> $got (expected $expected)"
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if ($got -ne $expected) {
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Write-Error "Arch detection mismatch: got '$got', expected '$expected'"
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exit 1
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}
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- name: Install PyInstaller
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run: python -m pip install pyinstaller
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- name: Drop workspace .env if present
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shell: bash
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run: rm -f .env .env.local || true
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- name: Build Lucy.exe
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shell: pwsh
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run: |
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python -m PyInstaller --noconfirm --onefile --name Lucy `
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--icon windows/assets/lucy-icon.ico `
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--hidden-import install_ops `
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--hidden-import install_runner `
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--paths windows `
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windows/Lucy.py
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if (-not (Test-Path "dist/Lucy.exe")) { Write-Error "Lucy.exe not produced"; exit 1 }
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- name: Smoke-test Lucy.exe CLI (bundled imports + prereq report)
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shell: pwsh
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- name: Clone sub-repositories (skip colcon)
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shell: bash
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run: |
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dist\Lucy.exe --cli check-prereqs
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$code = $LASTEXITCODE
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Write-Host "check-prereqs exit code: $code"
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# 0 (all present) or 1 (a prereq missing, e.g. no Docker on CI) both mean
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# the exe ran fine; >1 = crash. Reset the propagated exit code explicitly.
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if ($code -gt 1) { Write-Error "Lucy.exe --cli check-prereqs crashed (exit $code)"; exit 1 }
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exit 0
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- name: Install NSIS
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run: choco install nsis -y --no-progress
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- name: Build Lucy-Setup.exe (NSIS)
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shell: pwsh
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run: |
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$makensis = "${env:ProgramFiles(x86)}\NSIS\makensis.exe"
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& $makensis "/DMyAppVersion=0.0.0-ci" windows/installer/Lucy.nsi
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if (-not (Test-Path "dist/Lucy-Setup-0.0.0-ci.exe")) { Write-Error "Installer not produced"; exit 1 }
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chmod +x launch_lucy.sh
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python3 install.py --skip-build
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- name: Upload Windows artifacts
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uses: actions/upload-artifact@v4
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with:
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name: lucy-windows-${{ matrix.arch }}
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path: |
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dist/Lucy.exe
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dist/Lucy-Setup-0.0.0-ci.exe
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if-no-files-found: error
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build-and-release-windows-exe:
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name: Build and Release Windows Executable
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# Only run this job when a new tag is pushed
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if: startsWith(github.ref, 'refs/tags/')
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runs-on: windows-latest
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needs: install-and-launch
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permissions:
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contents: write # Required to create a release and upload assets
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steps:
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- name: Check out repository
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uses: actions/checkout@v4
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- name: Build workspace (colcon)
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shell: bash
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run: pixi run build
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- name: Set up Python
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uses: actions/setup-python@v5
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with:
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python-version: '3.x'
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- name: Install control panel (yarn)
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shell: bash
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run: pixi run panel-install
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- name: Generate releases manifest
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run: python windows/generate_releases.py
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- name: Run colcon tests
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shell: bash
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run: pixi run test-only
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- name: Install PyInstaller
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run: python -m pip install pyinstaller
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- name: ROS doctor
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shell: bash
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run: pixi run doctor
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- name: Build Lucy.exe
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shell: pwsh
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- name: Launch smoke test (headless)
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shell: bash
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run: ./launch_lucy.sh --headless python scripts/ros_doctor.py
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- name: Launcher tmux smoke (Linux)
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if: matrix.pixi_platform == 'linux-64'
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shell: bash
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run: |
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python -m PyInstaller --noconfirm --onefile --name Lucy `
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--icon windows/assets/lucy-icon.ico `
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--hidden-import install_ops `
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--hidden-import install_runner `
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--paths windows `
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windows/Lucy.py
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- name: Install NSIS
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run: choco install nsis -y
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- name: Build Lucy-Setup.exe
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shell: pwsh
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chmod +x scripts/ci_tmux_launcher_smoke.sh
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LUCY_WS_ROOT="$PWD" ./scripts/ci_tmux_launcher_smoke.sh
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# The smoke above answers "did the processes start". This asks whether the
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# graph they formed is one the control panel and RViz can actually use.
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- name: Core bringup graph checks (Linux)
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if: matrix.pixi_platform == 'linux-64'
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shell: bash
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run: pixi run core-bringup-test
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- name: Verify Pixi platform
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shell: bash
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run: |
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$version = "${{ github.ref_name }}" -replace '^v',''
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if (-not $version) { $version = "0.0.0" }
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$makensis = "${env:ProgramFiles(x86)}\NSIS\makensis.exe"
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& $makensis "/DMyAppVersion=$version" windows/installer/Lucy.nsi
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got=$(pixi info --json | python3 -c "import json,sys; d=json.load(sys.stdin); print(d.get('platform', ''))")
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echo "pixi platform -> ${got} (expected ${{ matrix.pixi_platform }})"
103+
if [ "${got}" != "${{ matrix.pixi_platform }}" ]; then
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echo "::error::Pixi platform mismatch on ${{ matrix.runner }}"
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exit 1
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fi
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- name: Create Release and Upload Assets
235-
uses: softprops/action-gh-release@v2
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with:
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files: |
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dist/Lucy.exe
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dist/Lucy-Setup-*.exe
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draft: true

‎.gitignore‎

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# Workspace (filled by install.sh)
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# Pixi
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.pixi/
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# Workspace (filled by install.py)
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src/
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# Colcon
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.env
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.env.local
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# Docker platform choice (./install.sh --arm)
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.lucy-docker-platform
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# Launcher remembered tick selection (persisted across container restarts)
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# Launcher remembered tick selection (persisted across restarts)
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.lucy_launcher_state.json
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# Launcher runtime modifier state (which core modifiers were applied)
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.lucy_launcher_modifiers.json
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.lucy_launcher.pid
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# Local repo override (forks/branches; takes precedence over config/repos.json)
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config/repos.json.local
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# End-user install profile (written by installer / Lucy.exe)
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# Local launcher override (package list/toggles; takes precedence over config/launcher_config.json)
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config/launcher_config.json.local
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# End-user install profile (written by the Windows installer)
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config/install.profile.json
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# Windows executable files
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dist/
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*.spec
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*.spec
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*.local
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.local/
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