Feature/auto logger (#331)

* add docker build action

Signed-off-by: Masaya Kataoka <[email protected]>

* rename docker

Signed-off-by: Masaya Kataoka <[email protected]>

* enable logging all topics

Signed-off-by: Masaya Kataoka <[email protected]>

* add rosbag directory

Signed-off-by: Masaya Kataoka <[email protected]>

* update entrypoint

Signed-off-by: Masaya Kataoka <[email protected]>

---------

Signed-off-by: Masaya Kataoka <[email protected]>

.github/workflows/docker/auto_logger/.gitignore

@@ -0,0 +1 @@
+packages.repos

.github/workflows/docker/auto_logger/Dockerfile

@@ -0,0 +1,34 @@
+ARG ROS_DISTRO=humble
+FROM ros:${ROS_DISTRO}-ros-core
+SHELL ["/bin/bash", "-c"]
+
+RUN apt update && \
+    apt install -y ros-$ROS_DISTRO-rosbag2-storage-mcap ros-$ROS_DISTRO-rosbag2 python3-vcstool python3-rosdep git python3-colcon-common-extensions && \
+    apt-get clean && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN mkdir -p messages_ws/src
+
+WORKDIR messages_ws
+COPY packages.repos packages.repos
+RUN vcs import src < packages.repos
+
+RUN rosdep init && \
+    rosdep update && \
+    apt update && \
+    source /opt/ros/$ROS_DISTRO/setup.bash && \
+    rosdep install -iry --from-paths $(colcon list -p | xargs -I{} bash -c 'if [ "`cat {}/package.xml | grep "rosidl_interface_packages"`" ]; then echo {}; fi') && \
+    apt-get clean  && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN source /opt/ros/$ROS_DISTRO/setup.bash && \
+    colcon build --packages-select $(colcon list -n | xargs -I{} bash -c 'if [ "`cat {}/package.xml | grep "rosidl_interface_packages"`" ]; then echo {}; fi' | xargs)
+
+ENV ROS_LOCALHOST_ONLY 0
+
+RUN mkdir /rosbag
+
+ADD entrypoint.sh /
+RUN chmod +x /entrypoint.sh
+
+ENTRYPOINT ["/entrypoint.sh"]

.github/workflows/docker/auto_logger/action.yaml

@@ -0,0 +1,70 @@
+name: "Build auto logger image action"
+description: "Build Virtual RobotX docker images"
+
+inputs:
+  docker_username:
+    description: "Username for Dockerhub"
+    required: true
+  docker_password:
+    description: "Password for Dockerhub"
+    required: true
+
+runs:
+  using: "composite"
+  steps:
+    - uses: actions/checkout@v2
+    - name: basic install
+      run: |
+          sudo apt install make ansible
+    - uses: actions/checkout@v2-beta
+    - name: run ansible
+      run: |
+          ansible-playbook -i ansible/hosts/localhost.ini ansible/export_repos_full.yml --connection local --become -e ansible_user=ubuntu
+    - name: copy repos file
+      run: |
+        cp ansible/mv ansible/packages.repos .github/workflows/docker/auto_logger/
+    - name: Set up Docker Buildx
+      uses: docker/setup-buildx-action@v2
+    - name: Login to Docker Hub
+      uses: docker/login-action@v1
+      with:
+        username: ${{ inputs.docker_username }}
+        password: ${{ inputs.docker_password }}
+    - name: Build and Push Docker Image
+      if: ${{ github.event_name != 'pull_request'}}
+      uses: docker/build-push-action@v2
+      env:
+        DOCKER_BUILDKIT: 1
+      with:
+        username: ${{ inputs.docker_username }}
+        password: ${{ inputs.docker_password }}
+        context: ./.github/workflows/docker/auto_logger
+        file: ./.github/workflows/docker/auto_logger/Dockerfile
+        tags: wamvtan/auto_logger:latest
+        no-cache: false
+        cache-from: type=registry,ref=wamvtan/auto_logger:buildcache
+        cache-to: type=registry,ref=wamvtan/auto_logger:buildcache,mode=max
+        push: true
+    - name: Build Docker Image
+      if: ${{ github.event_name == 'pull_request'}}
+      uses: docker/build-push-action@v2
+      env:
+        DOCKER_BUILDKIT: 1
+      with:
+        username: ${{ inputs.docker_username }}
+        password: ${{ inputs.docker_password }}
+        context: ./.github/workflows/docker/auto_logger
+        file: ./.github/workflows/docker/auto_logger/Dockerfile
+        tags: wamvtan/auto_logger:latest
+        no-cache: false
+        cache-from: type=registry,ref=wamvtan/auto_logger:buildcache
+        push: false
+    - uses: peter-evans/dockerhub-description@v3
+      if: ${{ github.event_name == 'pull_request'}}
+      with:
+        username: ${{ inputs.docker_username }}
+        password: ${{ inputs.docker_password }}
+        repository: wamvtan/auto_logger
+        short-description: "Docker Image for Virtual RobotX Challenge"
+        readme-filepath: ./.github/workflows/docker/auto_logger/README.md
+        enable-url-completion: true

.github/workflows/docker/auto_logger/entrypoint.sh

@@ -0,0 +1,10 @@
+#!/bin/bash
+set -e
+
+# setup ros environment.
+source "/opt/ros/$ROS_DISTRO/setup.bash"
+
+# exec "$@"
+
+# record all topics
+ros2 bag record -a -d 10 -s mcap -o /rosbag/$(date '+%Y-%m-%d-%H-%M-%S')

.github/workflows/docker/dev_container/action.yaml

@@ -1,4 +1,4 @@
-name: "Build dev-container image Action"
+name: "Build dev-container image action"
 description: "Build dev-container docker images"
 
 inputs:

.github/workflows/docker/l4t_opencv/action.yaml

@@ -1,4 +1,4 @@
-name: "Build L4T OpenCV image Action"
+name: "Build L4T OpenCV image action"
 description: "Build L4T OpenCV docker images"
 
 inputs:

.github/workflows/docker/vrx/action.yaml

@@ -1,4 +1,4 @@
-name: "Build VRX image Action"
+name: "Build VRX image action"
 description: "Build Virtual RobotX docker images"
 
 inputs:

.github/workflows/docker/yolox/action.yaml

@@ -1,4 +1,4 @@
-name: "Build YOLOX image Action"
+name: "Build YOLOX image action"
 description: "Build YOLOX docker images"
 
 inputs:

.github/workflows/docker/yolox_trainer/action.yaml

@@ -1,4 +1,4 @@
-name: "Build YOLOX tainer image Action"
+name: "Build YOLOX tainer image action"
 description: "Build YOLOX trainer docker images"
 
 inputs:

.github/workflows/docker_push.yaml

@@ -94,3 +94,14 @@ jobs:
         with:
           docker_username: ${{ secrets.DOCKER_USERNAME }}
           docker_password: ${{ secrets.DOCKER_PASSWORD }}
+  auto_logger:
+    name: build and push wamvtan/auto_logger
+    runs-on: ubuntu-22.04
+    timeout-minutes: 30
+    steps:
+      - uses: actions/checkout@v2
+      - uses: ./.github/workflows/actions/cleanup_runner
+      - uses: ./.github/workflows/docker/vrx
+        with:
+          docker_username: ${{ secrets.DOCKER_USERNAME }}
+          docker_password: ${{ secrets.DOCKER_PASSWORD }}

docs/docs/tools/tools.md

@@ -1,5 +1,29 @@
 # Tools
 
+## Automated logger
+
+Plug & play automated rosbag logging tools for robots.
+
+### Supported platform
+
+- [ASUSTOR FLASHSTOR 6 (FS6706T)](https://www.asustor.com/en/product?p_id=79)
+
+### How it works
+
+This tools is works on docker container, only you have to do is pull wamvtan/auto_logger image.
+
+### Setup
+
+#### Setup ASUSTOR FLASHSTOR 6 (FS6706T)
+
+Setup ASUSTOR FLASHSTOR 6 (FS6706T) using [asustor control center](https://www.asustor.com/en/service/download_acc/) or [AiMaster.](https://www.asustor.com/admv2?type=4&subject=19&sub=69&lan=en)
+
+#### Setup Portainer in ASUSTOR FLASHSTOR 6 (FS6706T)
+
+Please check these documentation.
+- [Introducing Portainer(EN)](https://www.asustor.com/en/online/College_topic?topic=145)
+- [Introducing Portainer(JP)](https://www.asustor.com/ja/online/College_topic?topic=145)
+
 ## Train yolox model
 ### Requirement
 - [docker](https://docs.docker.com/desktop/install/ubuntu/#install-docker-desktop)