ci: Speed up pipeline

.github/workflows/ci.yml

@@ -14,6 +14,9 @@ jobs:
   build:
     needs: build_dev_container
     uses: ./.github/workflows/ci_build.yml
+  build_release_image:
+    needs: build
+    uses: ./.github/workflows/ci_build_release_image.yml
   unit_test:
     needs: build_dev_container
     uses: ./.github/workflows/ci_unit_test.yml

.github/workflows/ci_build.yml

@@ -13,6 +13,15 @@ jobs:
           registry: ghcr.io
           username: ${{ github.repository_owner }}
           password: ${{ secrets.GITHUB_TOKEN }}
+      - uses: actions/cache@v4
+        with:
+          path: |
+            ~/.cargo/bin/
+            ~/.cargo/registry/index/
+            ~/.cargo/registry/cache/
+            ~/.cargo/git/db/
+            target/
+          key: ${{ runner.os }}-cargo-${{ hashFiles('**/Cargo.lock') }}
       - name: Cargo build
         uses: devcontainers/[email protected]
         with:

.github/workflows/ci_build_release_image.yml

@@ -0,0 +1,34 @@
+name: CI Build Release Image
+'on':
+  workflow_call: null
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout (GitHub)
+        uses: actions/checkout@v4
+      - name: Login to GitHub Container Registry
+        uses: docker/login-action@v3
+        with:
+          registry: ghcr.io
+          username: ${{ github.repository_owner }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+      - name: Cargo build
+        uses: devcontainers/[email protected]
+        with:
+          cacheFrom: ghcr.io/vorausrobotik/voraus-ros-bridge-dev
+          runCmd: cargo ament-build --install-base install/voraus-ros-bridge -- --release
+          push: never
+      - name: Extract metadata (tags, labels) for Docker
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          images: ghcr.io/vorausrobotik/voraus-ros-bridge
+      - name: Build and push Docker image
+        id: push
+        uses: docker/build-push-action@v6
+        with:
+          context: .
+          push: ${{ github.event_name != 'pull_request' }}
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}

.github/workflows/ci_format_code.yml

@@ -7,5 +7,14 @@ jobs:
     steps:
       - name: Checkout (GitHub)
         uses: actions/checkout@v4
+      - uses: actions/cache@v4
+        with:
+          path: |
+            ~/.cargo/bin/
+            ~/.cargo/registry/index/
+            ~/.cargo/registry/cache/
+            ~/.cargo/git/db/
+            target/
+          key: ${{ runner.os }}-cargo-${{ hashFiles('**/Cargo.lock') }}
       - name: Verify Code is formatted
         run: cargo fmt -- --check

.github/workflows/ci_integration_test.yml

@@ -7,6 +7,15 @@ jobs:
     steps:
       - name: Checkout (GitHub)
         uses: actions/checkout@v4
+      - uses: actions/cache@v4
+        with:
+          path: |
+            ~/.cargo/bin/
+            ~/.cargo/registry/index/
+            ~/.cargo/registry/cache/
+            ~/.cargo/git/db/
+            target/
+          key: ${{ runner.os }}-cargo-${{ hashFiles('**/Cargo.lock') }}
       - name: Login to GitHub Container Registry
         uses: docker/login-action@v3
         with:

.github/workflows/ci_lint.yml

@@ -7,6 +7,15 @@ jobs:
     steps:
       - name: Checkout (GitHub)
         uses: actions/checkout@v4
+      - uses: actions/cache@v4
+        with:
+          path: |
+            ~/.cargo/bin/
+            ~/.cargo/registry/index/
+            ~/.cargo/registry/cache/
+            ~/.cargo/git/db/
+            target/
+          key: ${{ runner.os }}-cargo-${{ hashFiles('**/Cargo.lock') }}
       - name: Login to GitHub Container Registry
         uses: docker/login-action@v3
         with:

.github/workflows/ci_unit_test.yml

@@ -7,6 +7,15 @@ jobs:
     steps:
       - name: Checkout (GitHub)
         uses: actions/checkout@v4
+      - uses: actions/cache@v4
+        with:
+          path: |
+            ~/.cargo/bin/
+            ~/.cargo/registry/index/
+            ~/.cargo/registry/cache/
+            ~/.cargo/git/db/
+            target/
+          key: ${{ runner.os }}-cargo-${{ hashFiles('**/Cargo.lock') }}
       - name: Login to GitHub Container Registry
         uses: docker/login-action@v3
         with:

Dockerfile

@@ -0,0 +1,6 @@
+FROM ros:humble-ros-core@sha256:854e48183c14881767553657ca73602fe7bb5d7f265f744c5ea66ef88bb59955
+RUN mkdir /root/voraus-ros-bridge
+COPY package.xml /root/voraus-ros-bridge/
+COPY ./install/voraus-ros-bridge/ /root/voraus-ros-bridge/install/
+COPY ./launch/* /root/voraus-ros-bridge/install/share/voraus-ros-bridge/
+COPY ./voraus_interfaces/install/voraus_interfaces/lib/* /opt/ros/humble/lib/

README.md

@@ -4,6 +4,14 @@
 
 Enables `voraus.core` integration within the ROS framework.
 
+## Quick Start
+
+The easiest way to use the voraus ros bridge is to start it via the provided docker compose file.
+
+`docker compose up`
+
+Note that you have to run this command from within the directory where the `compose.yaml` is located.
+
 ## Development
 
 This repository provides a dev container to streamline the development process.

compose.yaml

@@ -0,0 +1,7 @@
+services:
+    voraus_ros_bridge:
+        image: voraus-ros-bridge:0.1.0
+        command: ros2 launch voraus-ros-bridge voraus-ros-bridge.launch.py
+        environment:
+            - AMENT_PREFIX_PATH=/root/voraus-ros-bridge/install:/opt/ros/humble
+            - ROS_NAMESPACE=robot1

launch/voraus-ros-bridge.launch.py

@@ -0,0 +1,16 @@
+import os
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    return LaunchDescription(
+        [
+            Node(
+                package="voraus-ros-bridge",
+                namespace=os.environ.get("ROS_NAMESPACE", "robot1"),
+                executable="voraus-ros-bridge",
+                name="voraus_ros_bridge",
+            )
+        ]
+    )

package.xml

@@ -10,6 +10,8 @@
   <depend>rosidl_runtime_rs</depend>
   <depend>voraus_interfaces</depend>
 
+  <exec_depend>ros2launch</exec_depend>
+
   <export>
     <build_type>ament_cargo</build_type>
   </export>