ci: fix broken ci (#57)

* chore: fix mypi.ini and format

* docker: add option to keep launch file

* ci: dont remove launch file from image in ci

* ci: fix github yaml indentation

.github/workflows/docker_build.yml

@@ -28,7 +28,9 @@ jobs:
           with:
               push: false
               tags: detic_ros:latest
-              build_args: INSTALL_JSK_PCL=false
+              build-args: | # for testing purposes only
+                INSTALL_JSK_PCL=false
+                KEEP_LAUNCH_FILES=true
         - name: rostest
           run: |
               docker run --rm detic_ros:latest /bin/bash -i -c "source ~/.bashrc; rostest detic_ros test_node.test"

Dockerfile

@@ -1,4 +1,5 @@
 FROM nvidia/cuda:11.2.2-runtime-ubuntu20.04
+ARG KEEP_LAUNCH_FILES=false
 ENV DEBIAN_FRONTEND=noninteractive
 RUN rm /etc/apt/sources.list.d/cuda.list
 
@@ -98,7 +99,10 @@ RUN cd ~/detic_ws/src &&\
     cd ~/detic_ws && catkin init && catkin build
 
 # to avoid conflcit when mounting
-RUN rm -rf ~/detic_ws/src/detic_ros/launch
+RUN if [ "$KEEP_LAUNCH_FILES" = "false" ]; then \
+        rm -rf ~/detic_ws/src/detic_ros/launch; \
+    fi
+
 
 ########################################
 ########### ENV VARIABLE STUFF #########

mypy.ini

@@ -29,6 +29,8 @@ ignore_missing_imports = True
 ignore_missing_imports = True
 [mypy-std_msgs.*]
 ignore_missing_imports = True
+[mypy-std_srvs.*]
+ignore_missing_imports = True
 [mypy-jsk_recognition_msgs.*]
 ignore_missing_imports = True
 [mypy-cv2]

node_script/node.py

@@ -2,17 +2,23 @@
 from typing import Optional
 
 import rospy
+import torch
 from jsk_recognition_msgs.msg import LabelArray, VectorArray
 from node_config import NodeConfig
 from rospy import Publisher, Subscriber
 from sensor_msgs.msg import Image
-import torch
+from std_srvs.srv import Empty, EmptyRequest, EmptyResponse
 from wrapper import DeticWrapper
 
 from detic_ros.msg import SegmentationInfo
-from detic_ros.srv import DeticSeg, DeticSegRequest, DeticSegResponse
-from detic_ros.srv import CustomVocabulary, CustomVocabularyRequest, CustomVocabularyResponse
-from std_srvs.srv import Empty, EmptyRequest, EmptyResponse
+from detic_ros.srv import (
+    CustomVocabulary,
+    CustomVocabularyRequest,
+    CustomVocabularyResponse,
+    DeticSeg,
+    DeticSegRequest,
+    DeticSegResponse,
+)
 
 
 class DeticRosNode:
@@ -129,6 +135,7 @@ def default_vocab_srv(self, req: EmptyRequest) -> EmptyResponse:
         res = EmptyResponse()
         return res
 
+
 if __name__ == '__main__':
     rospy.init_node('detic_node', anonymous=True)
     node = DeticRosNode()