Release v1.0.0

.dockerignore

@@ -3,6 +3,3 @@
 *.md
 LICENSE
 *.sh
-source/lib/dynamical_systems/build
-source/lib/protocol_buffers/build
-source/lib/state_representation/build

.github/workflows/build-push.yml

@@ -0,0 +1,45 @@
+name: Build and Push
+
+# Run workflow on pushes to main branch or by manual dispatch
+on:
+  push:
+    branches:
+      - master
+      - develop
+  release:
+    types: [published]
+  workflow_dispatch:
+
+jobs:
+
+  build-publish:
+    runs-on: ubuntu-latest
+    name: Build and publish modulo image
+    steps:
+      - name: Checkout Repository
+        uses: actions/checkout@v2
+
+      - name: Build image
+        run: |
+          docker build . --file ./Dockerfile.development  --tag dev-image
+          docker build . --file ./Dockerfile.production --build-arg BASE_IMAGE=dev-image --tag modulo
+      - name: Login to GitHub Container Registry
+        run: echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u "${{ github.actor }}" --password-stdin
+
+      - name: Push latest image
+        if: ${{ github.event_name != 'release' }}
+        run: |
+          IMAGE_NAME="${{ github.repository }}:latest"
+          IMAGE_NAME="${IMAGE_NAME/_/-}"
+          docker tag modulo ghcr.io/"${IMAGE_NAME}"
+          docker push ghcr.io/"${IMAGE_NAME}"
+
+      - name: Push tagged image
+        if: ${{ github.event_name == 'release' }}
+        run: |
+          REF="${{ github.ref }}"
+          TAG="${REF##*/}"
+          IMAGE_NAME="${{ github.repository }}:${TAG}"
+          IMAGE_NAME="${IMAGE_NAME/_/-}"
+          docker tag modulo ghcr.io/"${IMAGE_NAME}"
+          docker push ghcr.io/"${IMAGE_NAME}"

.gitignore

@@ -1,4 +1,6 @@
 **/*#*
 **/__pycache__/**
 **/.cache/**
-/source/lib/state_representation/build/*
+
+.idea
+cmake-build-*

CHANGELOG.md

@@ -1,3 +1,8 @@
+## 1.0.0 (September 22, 2020)
+
+Modulo core library to provide ROS2 Cell and Component classes built
+around state_representation and clproto libraries.
+
 ## 0.3.0 (November 18, 2020)
 
 Latest version that fixes different bugs and add the possibility to isolate the containers to run them on dedicated network. Complete list of commits is:
@@ -408,4 +413,3 @@ Latest version that fixes different bugs and add the possibility to isolate the
   - Modify the README
   - Add the software architechture at its current stage of development
   - Initial commit
-

Dockerfile.development

@@ -0,0 +1,7 @@
+ARG ROS_VERSION=foxy
+FROM ghcr.io/aica-technology/ros2-control-libraries:${ROS_VERSION}
+
+WORKDIR ${HOME}/ros2_ws
+# copy sources and build ROS workspace with user permissions
+WORKDIR ${HOME}/ros2_ws/
+COPY --chown=${USER} ./source/ ./src/

Dockerfile.production

@@ -0,0 +1,6 @@
+ARG ROS_VERSION=foxy
+ARG BASE_IMAGE=epfl-lasa/modulo/development:${ROS_VERSION}
+FROM ${BASE_IMAGE} as remote-development
+
+# build modulo
+RUN su ${USER} -c /bin/bash -c "source /opt/ros/$ROS_DISTRO/setup.bash; colcon build"

README.md

@@ -1,14 +1,16 @@
-[![Codacy Badge](https://api.codacy.com/project/badge/Grade/a89a7401d0aa479db3db959625cdfd65)](https://www.codacy.com/manual/buschbapti/modulo?utm_source=github.com&utm_medium=referral&utm_content=epfl-lasa/modulo&utm_campaign=Badge_Grade)
 
 # Modulo
 
-Modulo is a software architecture to design control loop for robotic systems. It is based on the definition of modules communicating with each other to facilitate the implementation of closed loop control architecture. Each module has a specific function such as being an interface to a robot or a sensor, or modulate an input signal. The core library [modulo_core](./source/modulo_core) implements multiple abstract classes you can inherit from to develop your own module.
+Modulo is an extension layer to ROS2 that adds support for [epfl-lasa/control-libraries](https://github.com/epfl-lasa/control-libraries), allowing parameters, subscriptions and publications to directly use custom `state_representation` types with a simplified asynchronous exchange.
 
-The communication between the modules is based on ROS2. Each module inherits from the `lifecycle` interface allowing the creation of state based control scheme. Exchanging messages has been simplified and is asynchronous (cf. [modulo_core](./source/modulo_core) documentation for control loop examples).
+The core package [modulo_core](./source/modulo_core) implements some abstract classes you can inherit from to develop your own module,
+including the `Cell` and `Component` classes. These classes inherit from the `lifecycle` interface and additionally provide a customisable `step()` thread
+that runs when activated, allowing the creation of state-based behavioural modules.
 
-There are a few standalone libraries developed as helpers for communication and design of control loops. For example, the [state_representation](./source/lib/state_representation) library provides classes to represent states (pose, velocities, ...) in cartesian, joint and dual quaternion spaces. The [dynamical_systems](./source/lib/dynamical_systems) library is a set of templated classes representing dynamical systems. Used in complement of the [state_representation](./source/lib/state_representation) library it can generate dynamical system in the previously mentioned spaces.
+See also:
+- [aica-technology/docker-images](https://github.com/aica-technology/docker-images)
+- [epfl-lasa/control-libraries](https://github.com/epfl-lasa/control-libraries)
 
-You can build a complete working environment using `docker`. Simply run `sh build.sh` to build an image based on `ros2:nightly` docker image. This will create an image called `modulo`. Running `sh run.sh` opens an interactive shell with a `ros2_ws` allowing you to compile and run your modules. When creating a new module, we recommend you to create a new docker image on top of the `modulo` one. This way you will have all the libraries already installed while being able to create you own packages.
 
 ## Interfacing with ROS1
 

VERSION

@@ -1 +1 @@
-0.3.0
+1.0.0

build.sh

@@ -1,27 +1,44 @@
 #!/bin/bash
 ROS_VERSION=foxy
 
-REBUILD=0
-
-while getopts 'r' opt; do
-    case $opt in
-        r) REBUILD=1 ;;
-        *) echo 'Error in command line parsing' >&2
-           exit 1
-    esac
+BUILD_PROD=false
+IMAGE_NAME=epfl-lasa/modulo
+
+HELP_MESSAGE="Usage: build.sh [-p] [-r]
+
+Options:
+  -p, --production       Build the production ready image on top of
+                         of the development one.
+
+  -r, --rebuild          Rebuild the image(s) using the docker
+                         --no-cache option
+"
+
+PARAM_BUILD_FLAGS=()
+while [[ $# -gt 0 ]]; do
+  opt="$1"
+  case $opt in
+    -p|--production) BUILD_PROD=true ; shift ;;
+    -r|--rebuild) PARAM_BUILD_FLAGS+=(--no-cache) ; shift ;;
+    -h|--help) echo "${HELP_MESSAGE}" ; exit 0 ;;
+    *) echo 'Error in command line parsing' >&2
+       echo -e "\n${HELP_MESSAGE}"
+       exit 1
+  esac
 done
-shift "$(( OPTIND - 1 ))"
-
-NAME=$(echo "${PWD##*/}" | tr _ -)
-TAG="latest"
-
-if [ "$REBUILD" -eq 1 ]; then
-	docker build \
-    	--no-cache \
-    	--build-arg ROS_VERSION="${ROS_VERSION}" \
- 		-t "${NAME}:${TAG}" .
-else
-	docker build \
-	    --build-arg ROS_VERSION="${ROS_VERSION}" \
-	    -t "${NAME}:${TAG}" .
-fi
+
+BUILD_FLAGS=()
+BUILD_FLAGS+=(--build-arg ROS_VERSION="${ROS_VERSION}")
+BUILD_FLAGS+=(-t "${IMAGE_NAME}/development":"${ROS_VERSION}")
+BUILD_FLAGS+=("${PARAM_BUILD_FLAGS[@]}")
+
+docker pull ghcr.io/aica-technology/ros2-control-libraries:"${ROS_VERSION}"
+DOCKER_BUILDKIT=1 docker build --file ./Dockerfile.development "${BUILD_FLAGS[@]}" .
+
+if [ $BUILD_PROD = true ]; then
+  BUILD_FLAGS=()
+  BUILD_FLAGS+=(--build-arg ROS_VERSION="${ROS_VERSION}")
+  BUILD_FLAGS+=(-t "${IMAGE_NAME}":"${ROS_VERSION}")
+  BUILD_FLAGS+=("${PARAM_BUILD_FLAGS[@]}")
+  DOCKER_BUILDKIT=1 docker build --file ./Dockerfile.production "${BUILD_FLAGS[@]}" .
+fi