From 7f3419e16b43f4e294c722284cef074bb812a78b Mon Sep 17 00:00:00 2001
From: Hirokazu Ishida <38597814+HiroIshida@users.noreply.github.com>
Date: Sat, 1 Feb 2025 09:42:35 +0900
Subject: [PATCH] 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 |  4 +++-
 Dockerfile                         |  6 +++++-
 mypy.ini                           |  2 ++
 node_script/node.py                | 15 +++++++++++----
 4 files changed, 21 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/docker_build.yml b/.github/workflows/docker_build.yml
index 16094b1..5e31330 100644
--- a/.github/workflows/docker_build.yml
+++ b/.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"
diff --git a/Dockerfile b/Dockerfile
index 9a34800..31ec2fd 100644
--- a/Dockerfile
+++ b/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 #########
diff --git a/mypy.ini b/mypy.ini
index 71dddd3..7158086 100644
--- a/mypy.ini
+++ b/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]
diff --git a/node_script/node.py b/node_script/node.py
index 1638c0a..e1dc7ec 100755
--- a/node_script/node.py
+++ b/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()