fix CI, update dependencies

.devcontainer/Dockerfile

@@ -1,13 +1,13 @@
 ARG ROS_DISTRO=humble
 
-FROM ros:${ROS_DISTRO}-ros-base
+FROM osrf/ros:${ROS_DISTRO}-desktop-full
 ENV TZ=Europe/Berlin
 RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
 
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 
 ##############################################################################
-##                                 Global Dependencies                       ##
+##                                 Global Dependencies                      ##
 ##############################################################################
 # Install libraries for rendering
 # hadolint ignore=DL3008
@@ -35,15 +35,17 @@ RUN chmod +x /ros_entrypoint.sh
 ##############################################################################
 ##                      Scenario Execution Dependencies                     ##
 ##############################################################################
-# hadolint ignore=DL3008
-RUN --mount=type=bind,target=/tmp_setup apt-get update \
-    && xargs -a "/tmp_setup/.devcontainer/deb_requirements_${ROS_DISTRO}.txt" apt-get install -y --no-install-recommends "ros-${ROS_DISTRO}-rosbag2-storage-mcap" \
-    && rm -rf /var/lib/apt/lists/*
-
-# hadolint ignore=DL3013
-RUN --mount=type=bind,target=/tmp_setup \
-    python3 -m pip install --no-cache-dir --upgrade pip && \
-    pip3 install --no-cache-dir -r /tmp_setup/requirements.txt
+
+RUN --mount=type=bind,target=/tmp_setup export DEBIAN_FRONTEND=noninteractive && \
+    apt-get update && \
+    xargs -a /tmp_setup/deb_requirements.txt apt-get install -y --no-install-recommends && \
+    rosdep update --rosdistro="${ROS_DISTRO}" && \
+    for d in /tmp_setup/*; do \
+        [[ ! -d  "$d" ]] && continue; \
+        [[ "$(basename $d)" =~ ^(install|build|log)$ ]] && continue; \
+        rosdep install --rosdistro="${ROS_DISTRO}" --from-paths "$d" --ignore-src -r -y; \
+    done && \
+    rm -rf /var/lib/apt/lists/*
 
 ##############################################################################
 ##                           Create Non-root User                           ##
@@ -60,19 +62,13 @@ RUN groupadd -g "$GID" "$USER"  && \
     echo "$USER:$PASSWORD" | chpasswd && \
     echo "%sudo ALL=(ALL) NOPASSWD: ALL" > /etc/sudoers.d/sudogrp
 
-RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> /etc/bash.bashrc
-USER $USER
-
-
 ##############################################################################
-##                                 Build ROS and run                        ##
+##                           Setup ROS environment                          ##
 ##############################################################################
 
+RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> /etc/bash.bashrc
+USER $USER
 WORKDIR /workspace
-RUN . "/opt/ros/$ROS_DISTRO/setup.sh" \
-    && colcon build 
-    # --symlink-install
-
 RUN printf "if [ -f /workspace/install/setup.bash ]; then \n\
               source /workspace/install/setup.bash \n\
           else \n\
@@ -81,4 +77,3 @@ RUN printf "if [ -f /workspace/install/setup.bash ]; then \n\
 
 # Switch to cyclonedds
 ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-ENV IGN_FILE_PATH=/workspace/install/tb4_sim_scenario/share/

.devcontainer/devcontainer.json

@@ -6,11 +6,11 @@
         "context": "..",
         "dockerfile": "Dockerfile",
         "args": {
-            "USERNAME": "ros"
+            "USERNAME": "ros",
             "http_proxy": "${env:http_proxy}",
             "https_proxy": "${env:https_proxy}",
             "no_proxy": "${env:no_proxy}",
-            "NO_PROXY": "${env:NO_PROXY}",
+            "NO_PROXY": "${env:NO_PROXY}"
         }
     },
     "workspaceFolder": "/workspace",
@@ -25,7 +25,8 @@
                 "twxs.cmake",
                 "donjayamanne.python-extension-pack",
                 "eamodio.gitlens",
-                "ms-iot.vscode-ros"
+                "ms-iot.vscode-ros",
+                "BenjaminEngel.asam-osc2"
             ]
         }
     },
@@ -42,7 +43,7 @@
         "-e", "DISPLAY=${env:DISPLAY}"
     ],
     "mounts": [
-       "source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached",
+        "source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached",
         "source=/dev/dri,target=/dev/dri,type=bind,consistency=cached"
     ],
 }

.github/workflows/Dockerfile

@@ -1,6 +1,7 @@
 ARG ROS_DISTRO=humble
-# Use the ROS desktop-full image as the base
+
 FROM osrf/ros:${ROS_DISTRO}-desktop-full
+SHELL ["/bin/bash", "-xo", "pipefail", "-c"]
 
 # Install system dependencies
 # hadolint ignore=DL3008
@@ -16,14 +17,10 @@ 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/*
 
-# hadolint ignore=DL3042
 RUN --mount=type=bind,source=.,target=/scenario_execution \
-    pip3 install -r /scenario_execution/requirements.txt && \
-    pip3 install -r /scenario_execution/libs/scenario_execution_floorplan_dsl/requirements.txt && \
-    pip3 install -r /scenario_execution/libs/scenario_execution_pybullet/requirements.txt
+    pip3 install  --no-cache-dir -r /scenario_execution/libs/scenario_execution_pybullet/requirements.txt
 
 # install rosbag2_to_video used within github actions
-SHELL ["/bin/bash", "-xo", "pipefail", "-c"]
 WORKDIR /rosbag2_to_video/src
 RUN git clone https://github.com/ivanpauno/rosbag2_to_video.git
 WORKDIR /rosbag2_to_video/src/rosbag2_to_video
@@ -32,5 +29,7 @@ WORKDIR /rosbag2_to_video
 RUN apt-get update && \
     rosdep install --from-paths src --ignore-src -y && \
     rm -rf "/var/lib/apt/lists/*" && \
-    . /opt/ros/${ROS_DISTRO}/setup.bash && \
+    . "/opt/ros/${ROS_DISTRO}/setup.bash" && \
     colcon build
+
+WORKDIR /scenario_execution

.github/workflows/image.yml

@@ -4,14 +4,16 @@ on:
     branches: [main, humble, jazzy]
     paths:
     - 'deb_requirements.txt'
-    - 'requirements.txt'
     - '.github/workflows/Dockerfile'
+    - '.devcontainer/Dockerfile'
+    - '**/package.xml'
   pull_request:
     branches: [main, humble, jazzy]
     paths:
     - 'deb_requirements.txt'
-    - 'requirements.txt'
     - '.github/workflows/Dockerfile'
+    - '.devcontainer/Dockerfile'
+    - '**/package.xml'
   workflow_dispatch:
 concurrency: 
   group: ${{ github.workflow }}-${{ github.ref }}
@@ -46,3 +48,24 @@ jobs:
         tags: ghcr.io/intellabs/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
+    permissions:
+      packages: write
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@b4ffde65f46336ab88eb53be808477a3936bae11 #v4.1.1
+    - name: Set up Docker Buildx
+      uses: docker/setup-buildx-action@f95db51fddba0c2d1ec667646a06c2ce06100226 #v3.0.0
+    - name: Extract branch name
+      shell: bash
+      run: echo "branch=${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}" >> "$GITHUB_OUTPUT"
+      id: extract_branch
+    - name: Build Docker image
+      uses: docker/build-push-action@0565240e2d4ab88bba5387d719585280857ece09 #v5.0.0
+      with:
+        context: .
+        file: .devcontainer/Dockerfile
+        push: false
+        build-args: |
+          ROS_DISTRO=${{ github.ref == 'refs/heads/main' && 'humble' || github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}

.github/workflows/scan.yml

@@ -1,12 +1,10 @@
 ---
 name: Scan
 on:
-  # Triggers the workflow on push or pull request events but
-  # only for the main branch
   push:
-    branches: [main,humble,jazzy]
+    branches: [main, humble, jazzy]
   pull_request:
-    branches: [main,humble,jazzy]
+    branches: [main, humble, jazzy]
   workflow_dispatch:
 permissions: read-all
 jobs:

.github/workflows/scorecard.yml

@@ -56,7 +56,7 @@ jobs:
           # For private repositories:
           #   - `publish_results` will always be set to `false`, regardless
           #     of the value entered here.
-          publish_results: true
+          publish_results: false
 
       # Upload the results as artifacts (optional). Commenting out will disable uploads of run results in SARIF
       # format to the repository Actions tab.

.github/workflows/test_build.yml

@@ -7,6 +7,7 @@ on:
 concurrency: 
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
+permissions: read-all
 jobs:
   build:
     #TODO model dependency to image-workflow. Workaround: retrigger run after image-workflow finished.
@@ -302,7 +303,7 @@ jobs:
           export IGN_PARTITION=${HOSTNAME}:${GITHUB_RUN_ID}
           sed -i 's/240s/900s/g' examples/example_multi_robot/scenarios/example_multi_robot.osc
           # shellcheck disable=SC1083
-          scenario_batch_execution -i examples/example_multi_robot/scenarios/ -o test_example_multirobot -- ros2 launch tb4_sim_scenario sim_nav_scenario_launch.py scenario:={SCENARIO} yaw:=3.14 output_dir:={OUTPUT_DIR} headless:=True
+          scenario_batch_execution -i examples/example_multi_robot/scenarios/ -o test_example_multirobot -- ros2 launch tb4_sim_scenario sim_nav_scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR} headless:=True
       - name: Upload result
         uses: actions/upload-artifact@0b2256b8c012f0828dc542b3febcab082c67f72b # v4.3.4
         if: always()
@@ -412,7 +413,7 @@ jobs:
           source install/setup.bash
           Xvfb :1 -screen 0 800x600x16 &
           export DISPLAY=:1.0
-          sed -i 's/p.GUI/p.DIRECT/g' ./install/scenario_execution_pybullet/lib/python3.10/site-packages/scenario_execution_pybullet/actions/sim_initialize.py
+          sed -i 's/p.GUI/p.DIRECT/g' ./install/scenario_execution_pybullet/lib/python3.1*/site-packages/scenario_execution_pybullet/actions/sim_initialize.py
           ros2 run scenario_execution scenario_execution libs/scenario_execution_pybullet/scenarios/example_pybullet.osc -t -s 0.00416666666 -o test_scenario_execution_pybullet
       - name: Upload result
         uses: actions/upload-artifact@0b2256b8c012f0828dc542b3febcab082c67f72b # v4.3.4
@@ -436,6 +437,9 @@ jobs:
     - test-scenario-execution-pybullet
     runs-on: intellabs-01
     if: ${{ always() }}
+    permissions:
+      checks: write
+      pull-requests: write
     steps:
       - name: Download all artifacts
         uses: actions/download-artifact@7a1cd3216ca9260cd8022db641d960b1db4d1be4 #v4.0
@@ -467,4 +471,4 @@ jobs:
             downloaded-artifacts/test-example-multirobot-result/test.xml
             downloaded-artifacts/test-example-external-method-result/test.xml
             downloaded-artifacts/test-scenario-execution-gazebo/test.xml
-            downloaded-artifacts/test-scenario-execution-pybullet/test.xml
+            downloaded-artifacts/test-scenario-execution-pybullet/test.xml

deb_requirements.txt

@@ -1,6 +1,4 @@
-ros-humble-turtlebot4-simulator
-ros-humble-py-trees-ros-interfaces
-ros-humble-py-trees
 python3-autopep8
 clang-format
 pylint
+python3-antlr4

examples/example_multi_robot/scenarios/example_multi_robot.osc

@@ -10,10 +10,10 @@ scenario multi_robot:
         robot2.spawn(pose_3d(position_3d(x: -3.0, y: 1.5, z: 0.3), orientation_3d(yaw: -1.57)), model: 'example_multi_robot://models/robot.sdf')
         ros_launch("example_multi_robot", "robot2_launch.py", wait_for_shutdown: false)
         ros_launch("gazebo_static_camera", "spawn_static_camera_launch.py", [ key_value('x', '-3'), key_value('z', '10'), key_value('pitch', '1.57')], wait_for_shutdown: false)
-        record_bag(['/tf', '/tf_static', '/scenario_execution/snapshots', '/map', '/static_camera/image_raw', '/local_costmap/costmap', '/initialpose'], use_sim_time: true)
+        record_bag(['/tf', '/tf_static', '/scenario_execution/snapshots', '/map', '/static_camera/image_raw', '/local_costmap/costmap'], use_sim_time: true)
         parallel:
             test_drive: serial:
-                robot.init_nav2(initial_pose: pose_3d(orientation: orientation_3d(yaw: 3.14rad)))
+                robot.init_nav2(initial_pose: pose_3d())
                 robot.nav_to_pose(goal_pose: pose_3d(position: position_3d(x: -4.0m), orientation: orientation_3d(yaw: 3.14rad)))
                 emit end
             serial:

libs/scenario_execution_floorplan_dsl/package.xml

@@ -13,6 +13,7 @@
 
   <exec_depend>docker</exec_depend>
   <exec_depend>py_trees</exec_depend>
+  <exec_depend>python3-docker</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>

libs/scenario_execution_gazebo/package.xml

@@ -12,6 +12,8 @@
 
   <exec_depend>rclpy</exec_depend>
   <exec_depend>py_trees</exec_depend>
+  <exec_depend>python3-transforms3d</exec_depend>
+  <exec_depend>python3-defusedxml</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>

libs/scenario_execution_gazebo/scenario_execution_gazebo/actions/gazebo_actor_exists.py

@@ -23,7 +23,7 @@
 
 class ActorExistsActionState(Enum):
     """
-    States for executing a entity check in ignition
+    States for executing a entity check in gazebo
     """
     IDLE = 1
     WAITING_FOR_ACTOR = 2
@@ -33,7 +33,7 @@ class ActorExistsActionState(Enum):
 
 class GazeboActorExists(RunProcess):
     """
-    Class to check existance of an entity in Ignition
+    Class to check existance of an entity in gazebo
 
     """
 

libs/scenario_execution_gazebo/scenario_execution_gazebo/actions/gazebo_delete_actor.py

@@ -33,7 +33,7 @@ class DeleteActionState(Enum):
 
 class GazeboDeleteActor(RunProcess):
     """
-    Class to delete an entity in Ignition
+    Class to delete an entity in gazebo
 
     """
 

libs/scenario_execution_gazebo/setup.py

@@ -28,7 +28,11 @@
             ['resource/' + PACKAGE_NAME]),
         ('share/' + PACKAGE_NAME, ['package.xml'])
     ],
-    install_requires=['setuptools'],
+    install_requires=[
+        'setuptools',
+        'transforms3d==0.3.1',
+        'defusedxml==0.7.1',
+    ],
     zip_safe=True,
     maintainer='Intel Labs',
     maintainer_email='[email protected]',

requirements.txt

@@ -1,5 +1,5 @@
-antlr4-python3-runtime==4.7.2
+antlr4-python3-runtime==4.9.1
 transforms3d==0.3.1
-pexpect==4.9.0
+pexpect==4.8.0
 defusedxml==0.7.1
-pyyaml==6.0.1
+pyyaml==5.4.1

scenario_coverage/package.xml

@@ -9,6 +9,8 @@
   <license file="../LICENSE">Apache-2.0</license>
 
   <exec_depend>scenario_execution</exec_depend>
+  <test_depend>python3-pexpect</test_depend>
+  <test_depend>python3-defusedxml</test_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>

scenario_coverage/setup.py

@@ -30,7 +30,11 @@
         ('share/' + PACKAGE_NAME, ['package.xml']),
         (os.path.join('share', PACKAGE_NAME, 'launch'), glob('launch/*launch.py'))
     ],
-    install_requires=['setuptools'],
+    install_requires=[
+        'setuptools',
+        'pexpect==4.8.0',
+        'defusedxml==0.7.1',
+    ],
     zip_safe=True,
     maintainer='Intel Labs',
     maintainer_email='[email protected]',

scenario_execution/package.xml

@@ -9,6 +9,7 @@
   <license file="../LICENSE">Apache-2.0</license>
 
   <exec_depend>py_trees</exec_depend>
+  <exec_depend>python3-yaml</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>

scenario_execution/scenario_execution/osc2_parsing/OpenSCENARIO2Lexer.py

@@ -14,7 +14,7 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
-# Generated from OpenSCENARIO2.g4 by ANTLR 4.7.2
+# Generated from OpenSCENARIO2.g4 by ANTLR 4.9.1
 from antlr4 import *
 from io import StringIO
 from typing.io import TextIO
@@ -579,7 +579,7 @@ class OpenSCENARIO2Lexer(Lexer):
 
     def __init__(self, input=None, output: TextIO = sys.stdout):
         super().__init__(input, output)
-        self.checkVersion("4.7.2")
+        self.checkVersion("4.9.1")
         self._interp = LexerATNSimulator(self, self.atn, self.decisionsToDFA, PredictionContextCache())
         self._actions = None
         self._predicates = None