Update dev-environment; add helm support

.github/workflows/compose-oci.yml

@@ -3,9 +3,12 @@ name: compose-oci
 on:
   push:
     branches:
-      - '**'
+      - main
     tags:
-      - '**'
+      - 'v[0-9]+.[0-9]+.[0-9]+'
+  pull_request:
+    branches:
+      - main
   workflow_dispatch:
 
 jobs:

.github/workflows/ghcr-cleanup.yml

@@ -0,0 +1,11 @@
+name: ghcr-cleanup
+
+on:
+  schedule:
+    - cron: "0 0 * * *" # every day at 00:00
+  workflow_dispatch:
+
+jobs:
+  ghcr-cleanup:
+    uses: openads-project/openads-dev-environment/.github/workflows/ghcr-cleanup.yml@main
+    secrets: inherit

.github/workflows/helm-oci.yml

@@ -0,0 +1,17 @@
+name: helm-oci
+
+on:
+  push:
+    branches:
+      - main
+    tags:
+      - 'v[0-9]+.[0-9]+.[0-9]+'
+  pull_request:
+    branches:
+      - main
+  workflow_dispatch:
+
+jobs:
+  helm-oci:
+    uses: openads-project/openads-dev-environment/.github/workflows/helm-oci.yml@main
+    secrets: inherit

.gitlab-ci.yml

@@ -1,5 +1,7 @@
 stages:
   - docker-ros
+  - compose-oci
+  - helm-oci
   - consistency
   - docs
 
@@ -18,13 +20,63 @@ docker-ros:
     ENABLE_INDUSTRIAL_CI: 'true'
     TARGET_CMAKE_ARGS: '-DCMAKE_EXPORT_COMPILE_COMMANDS=1'
 
+compose-oci:
+  stage: compose-oci
+  image: docker:28-cli
+  rules:
+    - if: '$CI_COMMIT_BRANCH || $CI_COMMIT_TAG'
+      exists:
+        - deployment/compose/docker-compose.yml
+  variables:
+    COMPOSE_FILE: deployment/compose/docker-compose.yml
+    COMPOSE_IMAGE_NAME: $CI_REGISTRY_IMAGE/compose
+    COMPOSE_IMAGE_TAG: $CI_COMMIT_REF_SLUG
+  script:
+    - test -f "$COMPOSE_FILE"
+    - echo "$CI_REGISTRY_PASSWORD" | docker login "$CI_REGISTRY" -u "$CI_REGISTRY_USER" --password-stdin
+    - docker compose -f "$COMPOSE_FILE" publish --yes "$COMPOSE_IMAGE_NAME:$COMPOSE_IMAGE_TAG"
+
+helm-oci:
+  stage: helm-oci
+  image:
+    name: alpine/helm:3.18.4
+    entrypoint: [""]
+  rules:
+    - if: '$CI_COMMIT_BRANCH || $CI_COMMIT_TAG'
+      exists:
+        - deployment/helm/Chart.yaml
+  variables:
+    CHART_FOLDER: deployment/helm
+    HELM_OCI_REGISTRY: $CI_REGISTRY_IMAGE/helm
+  before_script:
+    - echo "$CI_REGISTRY_PASSWORD" | helm registry login "$CI_REGISTRY" --username "$CI_REGISTRY_USER" --password-stdin
+  script:
+    - test -f "$CHART_FOLDER/Chart.yaml"
+    - |
+      if [ -z "$CI_COMMIT_TAG" ]; then
+        chart_file="$CHART_FOLDER/Chart.yaml"
+        base_version=$(sed -nE 's/^version:[[:space:]]*([^[:space:]#]+).*$/\1/p' "$chart_file")
+        ref_name=${CI_MERGE_REQUEST_SOURCE_BRANCH_NAME:-$CI_COMMIT_REF_NAME}
+        ref_slug=$(echo "$ref_name" | sed -E 's/[^a-zA-Z0-9-]+/-/g; s/^-+//; s/-+$//')
+        if [ -z "$base_version" ] || [ -z "$ref_slug" ]; then
+          echo "Could not determine a valid chart version or Git ref slug" >&2
+          exit 1
+        fi
+        chart_version="$base_version-$ref_slug"
+        sed -i -E "s/^version:.*$/version: $chart_version/" "$chart_file"
+        echo "Publishing chart version $chart_version"
+      fi
+    - helm dependency update "$CHART_FOLDER"
+    - helm package "$CHART_FOLDER" --destination .
+    - helm push *.tgz "oci://$HELM_OCI_REGISTRY"
+
 consistency:
   stage: consistency
   needs: []
   image: python:3.12-bookworm
   variables:
     GIT_SUBMODULE_STRATEGY: recursive
-    CONSISTENCY_CHECKS_SKIP: "readme_generator_is_idempotent,compose_generator_is_idempotent"
+    CONSISTENCY_CHECKS_SKIP: "readme_generator_is_idempotent,compose_generator_is_idempotent,helm_generator_is_idempotent"
   before_script:
     - apt-get update && apt-get install -y doxygen
     - python3 -m pip install -r .openads-dev-environment/scripts/requirements.txt

README.md

@@ -1,13 +1,14 @@
 # trajectory_optimization
 
 <p align="center">
-  <a href="https://openads-project.github.io"><img src="https://img.shields.io/badge/OpenADS-f5ff01"/></a>
+  <a href="https://openads-project.github.io"><img src="https://img.shields.io/badge/OpenADS-45ccc6"/></a>
   <a href="https://www.ros.org"><img src="https://img.shields.io/badge/ROS 2-jazzy-22314e"/></a>
   <a href="https://github.com/openads-project/trajectory_optimization/releases/latest"><img src="https://img.shields.io/github/v/release/openads-project/trajectory_optimization"/></a>
   <a href="https://github.com/openads-project/trajectory_optimization/blob/main/LICENSE"><img src="https://img.shields.io/github/license/openads-project/trajectory_optimization"/></a>
   <br>
   <a href="https://github.com/openads-project/trajectory_optimization/actions/workflows/docker-ros.yml"><img src="https://github.com/openads-project/trajectory_optimization/actions/workflows/docker-ros.yml/badge.svg"/></a>
   <a href="https://github.com/openads-project/trajectory_optimization/actions/workflows/compose-oci.yml"><img src="https://github.com/openads-project/trajectory_optimization/actions/workflows/compose-oci.yml/badge.svg"/></a>
+  <a href="https://github.com/openads-project/trajectory_optimization/actions/workflows/helm-oci.yml"><img src="https://github.com/openads-project/trajectory_optimization/actions/workflows/helm-oci.yml/badge.svg"/></a>
   <a href="https://openads-project.github.io/trajectory_optimization"><img src="https://github.com/openads-project/trajectory_optimization/actions/workflows/docs.yml/badge.svg"/></a>
   <a href="https://github.com/openads-project/trajectory_optimization/actions/workflows/consistency.yml"><img src="https://github.com/openads-project/trajectory_optimization/actions/workflows/consistency.yml/badge.svg"/></a>
 </p>

deployment/helm/Chart.yaml

@@ -0,0 +1,9 @@
+apiVersion: v2
+name: trajectory-optimization
+version: 1.4.0
+appVersion: 1.4.0
+description: ROS 2 Trajectory Optimization for Automated Driving based on an Optimal Control Problem (OCP).
+dependencies:
+  - repository: oci://ghcr.io/openads-project/openads-helm
+    name: openadservice
+    version: 1.0.0

deployment/helm/values.yaml

@@ -0,0 +1,45 @@
+openadservice:
+  name: trajectory-optimization
+  image: ghcr.io/openads-project/trajectory_optimization:v1.4.0
+  env:
+    # --- name ------
+    NAMESPACE: /
+    NAME: trajectory_optimization
+    # --- inputs ----
+    EGO_DATA_TOPIC: ~/ego_data
+    OBJECT_LIST_TOPIC: ~/object_list
+    REFERENCE_TRAJECTORY_TOPIC: ~/reference_trajectory
+    ROUTE_TOPIC: ~/route
+    # --- outputs ---
+    TRAJECTORY_TOPIC: ~/trajectory
+    BOUNDARY_MARKER_TOPIC: ~/visualization/boundaries
+    EGO_CIRCLES_TOPIC: ~/visualization/ego_circles
+    OBJECT_CIRCLES_TOPIC: ~/visualization/object_circles
+    # --- other -----
+    LOG_LEVEL: info
+    USE_SIM_TIME: false
+    PARAMS: /docker-ros/ws/install/trajectory_optimization/share/trajectory_optimization/config/params.yml
+    ROS_TRACING: false
+    DRIVING_MODE: ackermann
+  args:
+  - /bin/bash
+  - -ic
+  - |
+    ros2 launch trajectory_optimization trajectory_optimization.launch.py \
+      namespace:=${NAMESPACE} \
+      name:=${NAME} \
+      log_level:=${LOG_LEVEL} \
+      use_sim_time:=${USE_SIM_TIME} \
+      params:=${PARAMS} \
+      ros_tracing:=${ROS_TRACING} \
+      driving_mode:=${DRIVING_MODE} \
+      ego_data_topic:=${EGO_DATA_TOPIC} \
+      object_list_topic:=${OBJECT_LIST_TOPIC} \
+      reference_trajectory_topic:=${REFERENCE_TRAJECTORY_TOPIC} \
+      route_topic:=${ROUTE_TOPIC} \
+      trajectory_topic:=${TRAJECTORY_TOPIC} \
+      boundary_marker_topic:=${BOUNDARY_MARKER_TOPIC} \
+      ego_circles_topic:=${EGO_CIRCLES_TOPIC} \
+      object_circles_topic:=${OBJECT_CIRCLES_TOPIC}
+  rosParamFileMountPath: /docker-ros/ws/install/trajectory_optimization/share/trajectory_optimization/config/params.yml
+  rosParamFileData: null