Merge changes

.github/workflows/codeql.yml

@@ -0,0 +1,64 @@
+name: "CodeQL"
+
+on:
+  push:
+    branches: [main, humble, jazzy]
+  pull_request:
+    branches: [main, humble, jazzy]
+  schedule:
+    - cron: '16 21 * * 6'
+permissions: read-all
+jobs:
+  analyze:
+    name: Analyze (${{ matrix.language }})
+    runs-on: ${{ (matrix.language == 'swift' && 'macos-latest') || 'ubuntu-latest' }}
+    container:
+      image:  osrf/ros:humble-desktop-full
+    timeout-minutes: ${{ (matrix.language == 'swift' && 120) || 360 }}
+    permissions:
+      # required for all workflows
+      security-events: write
+
+      # required to fetch internal or private CodeQL packs
+      packages: read
+
+      # only required for workflows in private repositories
+      actions: read
+      contents: read
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+        - language: c-cpp
+          build-mode: manual
+        - language: python
+          build-mode: none
+    steps:
+    - name: Checkout repository
+      uses: actions/checkout@b4ffde65f46336ab88eb53be808477a3936bae11 #v4.1.1
+
+    # Initializes the CodeQL tools for scanning.
+    - name: Initialize CodeQL
+      uses: github/codeql-action/init@v3
+      with:
+        languages: ${{ matrix.language }}
+        build-mode: ${{ matrix.build-mode }}
+    - if: matrix.build-mode == 'manual'
+      shell: bash
+      run: |
+        source /opt/ros/humble/setup.bash
+        colcon build --packages-up-to scenario_execution_interfaces
+        source install/setup.bash
+        apt update
+        rosdep update --rosdistro=humble
+        rosdep install --rosdistro=humble --from-paths scenario_execution_rviz --ignore-src -r -y;
+        mkdir build_rviz
+        cd build_rviz
+        cmake ../scenario_execution_rviz
+        make
+
+    - name: Perform CodeQL Analysis
+      uses: github/codeql-action/analyze@v3
+      with:
+        category: "/language:${{matrix.language}}"

.github/workflows/test_build.yml

@@ -351,7 +351,7 @@ jobs:
           export -n CYCLONEDDS_URI
           export ROS_DOMAIN_ID=2
           # shellcheck disable=SC1083
-          scenario_batch_execution -i examples/example_external_method/scenarios -o test_example_external_method --ignore-process-return-value -- ros2 launch scenario_execution_ros scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR}
+          scenario_batch_execution -i examples/example_external_method/scenarios -o test_example_external_method --ignore-process-return-value -- ros2 launch scenario_execution_ros scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR} headless:=True
       - name: Upload result
         uses: actions/upload-artifact@0b2256b8c012f0828dc542b3febcab082c67f72b # v4.3.4
         if: always()
@@ -391,6 +391,52 @@ jobs:
         with:
           name: test-scenario-execution-gazebo
           path: test_scenario_execution_gazebo/test.xml
+  test-scenario-execution-nav2:
+    needs: [build]
+    runs-on: intellabs-01
+    timeout-minutes: 30
+    container:
+      image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
+      credentials:
+        username: ${{ github.repository_owner }}
+        password: ${{ secrets.GITHUB_TOKEN }}
+    steps:
+      - name: Restore cache
+        uses: actions/cache@0c45773b623bea8c8e75f6c82b208c3cf94ea4f9 # v4.0.2
+        with:
+          key: ${{ runner.os }}-build-${{ github.run_number }}
+          path: .
+      - name: Test Scenario Execution Nav2
+        shell: bash
+        run: |
+          source /opt/ros/${{ github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}/setup.bash
+          source install/setup.bash
+          Xvfb :1 -screen 0 800x600x16 &
+          export DISPLAY=:1.0
+          export -n CYCLONEDDS_URI
+          export ROS_DOMAIN_ID=2
+          export IGN_PARTITION=${HOSTNAME}:${GITHUB_RUN_ID}
+          # shellcheck disable=SC1083
+          scenario_batch_execution -i test/scenario_execution_nav2_test/scenarios/ -o test_scenario_execution_nav2 -- ros2 launch tb4_sim_scenario sim_nav_scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR} headless:=True
+      - name: Upload result
+        uses: actions/upload-artifact@0b2256b8c012f0828dc542b3febcab082c67f72b # v4.3.4
+        if: always()
+        with:
+          name: test-scenario-execution-nav2
+          path: test_scenario_execution_nav2/test.xml
+      - name: Convert video
+        if: always()
+        shell: bash
+        run: |
+          source /opt/ros/${{ github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}/setup.bash
+          source /rosbag2_to_video/install/setup.bash
+          ros2 bag to_video  -t /static_camera/image_raw -o test_scenario_execution_nav2/test_scenario_execution_nav2/example_nav2.mp4  test_scenario_execution_nav2/test_scenario_execution_nav2/rosbag2_* --fps 5 --codec mp4v
+      - name: Upload video
+        uses: actions/upload-artifact@0b2256b8c012f0828dc542b3febcab082c67f72b # v4.3.4
+        if: always()
+        with:
+          name: test-scenario-execution-nav2-video
+          path: test_scenario_execution_nav2/test_scenario_execution_nav2/example_nav2.mp4
   test-scenario-execution-pybullet:
     needs: [build]
     runs-on: intellabs-01
@@ -421,6 +467,43 @@ jobs:
         with:
           name: test-scenario-execution-pybullet
           path: test_scenario_execution_pybullet/test.xml
+  test-scenario-execution-x11:
+    needs: [build]
+    runs-on: intellabs-01
+    timeout-minutes: 3
+    container:
+      image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
+      credentials:
+        username: ${{ github.repository_owner }}
+        password: ${{ secrets.GITHUB_TOKEN }}
+    steps:
+      - name: Restore cache
+        uses: actions/cache@0c45773b623bea8c8e75f6c82b208c3cf94ea4f9 # v4.0.2
+        with:
+          key: ${{ runner.os }}-build-${{ github.run_number }}
+          path: .
+      - name: Test Scenario Execution X11
+        shell: bash
+        run: |
+          source /opt/ros/${{ github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}/setup.bash
+          source install/setup.bash
+          sudo apt -y install mesa-utils
+          Xvfb :1 -screen 0 800x600x16 &
+          export DISPLAY=:1.0
+          ros2 run scenario_execution_ros scenario_execution_ros  libs/scenario_execution_x11/scenarios/example_capture.osc -t -o test_scenario_execution_x11
+          find test_scenario_execution_x11
+      - name: Upload result
+        uses: actions/upload-artifact@0b2256b8c012f0828dc542b3febcab082c67f72b # v4.3.4
+        if: always()
+        with:
+          name: test-scenario-execution-x11
+          path: test_scenario_execution_x11/test.xml
+      - name: Upload video
+        uses: actions/upload-artifact@0b2256b8c012f0828dc542b3febcab082c67f72b # v4.3.4
+        if: always()
+        with:
+          name: test-scenario-execution-x11-video
+          path: test_scenario_execution_x11/capture.mp4
   tests:
     needs: 
     - test-scenario-execution
@@ -434,7 +517,9 @@ jobs:
     - test-example-multirobot
     - test-example-external-method
     - test-scenario-execution-gazebo
+    - test-scenario-execution-nav2
     - test-scenario-execution-pybullet
+    - test-scenario-execution-x11
     runs-on: intellabs-01
     if: ${{ always() }}
     permissions:
@@ -471,4 +556,5 @@ 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-nav2/test.xml
             downloaded-artifacts/test-scenario-execution-pybullet/test.xml

.gitignore

@@ -1,3 +1,4 @@
+.idea
 build/
 log/
 install/