Containerize the non-ros testing pipeline

.github/workflows/tests.yml

@@ -15,28 +15,42 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
-  # Pure Python testing
+  # Build and test the base, non-ROS image
   python-test:
     runs-on: ubuntu-latest
     permissions:
       pull-requests: write
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
-      - name: Set up Python
-        uses: actions/setup-python@v3
+      - name: Login to Docker Hub Registry
+        uses: docker/login-action@v3
         with:
-          python-version: '3.10'
-      - name: Install dependencies
-        run: |
-          python3 -m pip install --upgrade pip
-          pip3 install -e pyrobosim
-          pip3 install -r test/python_test_requirements.txt
-          setup/setup_pddlstream.bash
-      - name: Run unit tests
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_PAT }}
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+        with:
+          driver: docker-container
+      - name: Build Docker image
+        uses: docker/build-push-action@v5
+        with:
+          file: docker/Dockerfile
+          target: pyrobosim
+          context: .
+          tags: ${{ secrets.DOCKERHUB_USERNAME }}/pyrobosim:base
+          push: true
+          cache-from: |
+            type=registry,ref=${{ secrets.DOCKERHUB_USERNAME }}/pyrobosim:buildcache-base
+          cache-to: |
+            type=registry,ref=${{ secrets.DOCKERHUB_USERNAME }}/pyrobosim:buildcache-base,mode=max
+      - name: Run tests
         run: |
-          export PYTHONPATH=./dependencies/pddlstream:$PYTHONPATH
-          test/run_tests.bash
+          docker run \
+            -w /opt/pyrobosim \
+            --volume ./test/results:/opt/pyrobosim/test/results:rw \
+            ${{ secrets.DOCKERHUB_USERNAME }}/pyrobosim:base \
+            /bin/bash -c 'PYTHONPATH=./dependencies/pddlstream:$PYTHONPATH ./test/run_tests.bash'
       - name: Pytest coverage comment
         uses: MishaKav/pytest-coverage-comment@main
         with:
@@ -65,7 +79,7 @@ jobs:
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
-      - name: Login to DockerHub Registry
+      - name: Login to Docker Hub Registry
         uses: docker/login-action@v3
         with:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
@@ -78,6 +92,7 @@ jobs:
         uses: docker/build-push-action@v5
         with:
           file: docker/Dockerfile
+          target: pyrobosim_ros
           context: .
           build-args: |
             ROS_DISTRO=${{ matrix.ros_distro }}

docker-compose.yaml

@@ -13,10 +13,11 @@
 
 services:
   base:
-    image: pyrobosim:${ROS_DISTRO:-humble}
+    image: pyrobosim_ros:${ROS_DISTRO:-humble}
     build:
       context: .
       dockerfile: docker/Dockerfile
+      target: pyrobosim_ros
       args:
         ROS_DISTRO: ${ROS_DISTRO:-humble}
     # Ensures signals are actually passed and reaped in the container for shutdowns.

docker/Dockerfile

@@ -1,7 +1,52 @@
+# Dockerfile for pyrobosim builds with and without ROS
 ARG ROS_DISTRO=humble
 
-# pyrobosim Dockerfile for Ubuntu / ROS
-FROM osrf/ros:${ROS_DISTRO}-desktop
+##################################
+#
+# base pyrobosim build for Ubuntu
+#
+##################################
+FROM ubuntu:latest as pyrobosim
+
+# Install dependencies
+ARG DEBIAN_FRONTEND=noninteractive
+RUN apt-get update &&\
+    apt-get install -y \
+        apt-utils \
+        python3 \
+        python3-pip \
+        python3-tk \
+        git \
+        cmake \
+        ffmpeg \
+        libsm6 \
+        libxext6
+
+RUN mkdir -p /opt/pyrobosim/test
+RUN mkdir -p /opt/pyrobosim/setup
+WORKDIR /opt/pyrobosim/
+
+# Install baseline pip dependencies
+COPY test/python_test_requirements.txt test/
+RUN pip3 install -r test/python_test_requirements.txt
+
+# Install PDDL
+COPY setup/setup_pddlstream.bash setup/
+RUN setup/setup_pddlstream.bash
+
+# Copy the rest of the source directory
+COPY . /opt/pyrobosim/
+RUN pip3 install -e pyrobosim
+
+# Start it up
+CMD /bin/bash
+
+##################################
+#
+# pyrobosim build for Ubuntu / ROS
+#
+##################################
+FROM osrf/ros:${ROS_DISTRO}-desktop as pyrobosim_ros
 ENV ROS_DISTRO=${ROS_DISTRO}
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]