ci: build & smoke test

.github/workflows/build_and_push_docker.yaml

@@ -7,49 +7,45 @@ on:
       - development
   workflow_dispatch:
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   build-and-push:
-    runs-on: self-hosted
+    runs-on: [self-hosted, cpu, heavy, gpu]
     steps:
       - name: Checkout code
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
+        with:
+          lfs: true
 
       - name: Log in to Docker Hub
         uses: docker/login-action@v3
         with:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
           password: ${{ secrets.DOCKERHUB_TOKEN }}
 
-      - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v3
+      - name: Build and push all images
+        env:
+          AMM_IMG_SUFFIX: ${{ env.SUFFIX }}
+        run: |
+          docker compose -f docker/compose.yaml build
+          docker compose -f docker/compose.yaml push
 
-      - name: Build and push ROS 2 image
-        uses: docker/build-push-action@v6
-        with:
-          context: .
-          file: docker/Dockerfile.ros2
-          push: true
-          tags: |
-            robotecai/mobile-manipulator-demo-ros2${{ github.ref_name == 'development' && '-development' || '' }}:latest
-
-      - name: Build and push Agents image
-        uses: docker/build-push-action@v6
+  smoke-test:
+    needs: build-and-push
+    runs-on: [self-hosted, cpu, heavy, gpu]
+    steps:
+      - name: Log in to Docker Hub
+        uses: docker/login-action@v3
         with:
-          context: .
-          file: docker/Dockerfile.agents
-          push: true
-          build-args: |
-            ROS2_IMAGE=robotecai/mobile-manipulator-demo-ros2${{ github.ref_name == 'development' && '-development' || '' }}:latest
-          tags: |
-            robotecai/mobile-manipulator-demo-agents${{ github.ref_name == 'development' && '-development' || '' }}:latest
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
 
-      - name: Build and push O3DE image
-        uses: docker/build-push-action@v6
-        with:
-          context: .
-          file: docker/Dockerfile.o3de
-          push: true
-          build-args: |
-            ROS2_IMAGE=robotecai/mobile-manipulator-demo-ros2${{ github.ref_name == 'development' && '-development' || '' }}:latest
-          tags: |
-            robotecai/mobile-manipulator-demo-o3de${{ github.ref_name == 'development' && '-development' || '' }}:latest
+      - name: Headless sim smoke test (/clock)
+        run: |
+          IMAGE="robotecai/agentic-mobile-manipulator-o3de:latest"
+          docker pull "$IMAGE"
+          docker run --rm --entrypoint pixi "$IMAGE" run sim-smoke
+

docker/compose.yaml

@@ -10,7 +10,7 @@
 #
 # Build everything:   docker compose -f docker/compose.yaml build
 # Run the demo:        xhost +local:root && docker compose -f docker/compose.yaml up demo
-# Attach to a session: docker exec -it $(docker ps -qf ancestor=robotecai/mobile-manipulator-demo:latest) tmux attach -t agentic-mobile-manipulator-sim
+# Attach to a session: docker exec -it $(docker ps -qf ancestor=robotecai/agentic-mobile-manipulator:latest) tmux attach -t agentic-mobile-manipulator-sim
 #                      (sessions: -sim -stack -llm-servers -agents -hmi)
 #
 # Target is single-pc-gpu-and-npu (the default). For a GPU-only image — llama.cpp
@@ -28,14 +28,14 @@
 services:
   # ── Base: RoboStack ROS 2 + built workspace ────────────────────────────────
   ros2:
-    image: robotecai/mobile-manipulator-demo-ros2:latest
+    image: robotecai/agentic-mobile-manipulator-ros2:latest
     build:
       context: ..
       dockerfile: docker/Dockerfile.ros2
 
   # ── Base: + O3DE SDK and built simulation ──────────────────────────────────
   o3de:
-    image: robotecai/mobile-manipulator-demo-o3de:latest
+    image: robotecai/agentic-mobile-manipulator-o3de:latest
     build:
       context: ..
       dockerfile: docker/Dockerfile.o3de
@@ -44,7 +44,7 @@ services:
 
   # ── The demo: + agents, local inference engines; runs the whole stack ───────
   demo:
-    image: robotecai/mobile-manipulator-demo:latest
+    image: robotecai/agentic-mobile-manipulator:latest
     build:
       context: ..
       dockerfile: docker/Dockerfile.demo
@@ -68,7 +68,6 @@ services:
       - /dev/kfd:/dev/kfd            # AMD GPU compute (ROCm)
       - /dev/dri:/dev/dri            # AMD GPU render (Vulkan)
       - /dev/accel/accel0:/dev/accel/accel0  # Ryzen AI NPU (amdxdna)
-    # The NPU pins memory; without unlimited memlock FastFlowLM fails to allocate.
     ulimits:
       memlock:
         soft: -1
@@ -77,10 +76,5 @@ services:
       - /tmp/.X11-unix:/tmp/.X11-unix
       - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
       - ../config.toml:/root/MobileManipulatorDemo/config.toml
-      # All weights live under the repo's models/: llama ggufs in models/, NPU
-      # models in models/flm (FLM_MODEL_PATH below). `pixi run download-models`
-      # fetches both. No host-home (~/.config/flm) coupling.
       - ../models:/root/MobileManipulatorDemo/models
-    # Single host: ROS 2 DDS + every inference endpoint talk over localhost, and
-    # host networking lets RViz/ros2 on the host introspect the running demo.
     network_mode: host

docs/quickstart.md

@@ -17,14 +17,24 @@ git clone https://github.com/RobotecAI/agentic-mobile-manipulator.git
 cd agentic-mobile-manipulator
 ```
 
-## 2. Build the image
+## 2. Get the image: build _or_ pull
+
+**Build locally:**
 
 ```bash
 docker compose -f docker/compose.yaml build
 ```
 
 This builds three cacheable layers — `…-ros2` (RoboStack ROS 2 + workspace) → `…-o3de` (O3DE SDK + simulation) → `…demo` (Python agents + llama.cpp + FastFlowLM). The O3DE layer is large, so the first build takes a while; later rebuilds reuse the cached bases.
 
+**Or pull the prebuilt images:**
+
+```bash
+docker compose -f docker/compose.yaml pull
+```
+
+If you pull, remember to pass `--no-build` when starting the demo (see step 4).
+
 ## 3. Download the model weights
 
 Weights are **not** baked into the image. They are downloaded into the repo's `models/` directory, bind-mounted at run time. `config.toml` is the single source of truth for which models are fetched. Pull them once into `models/` by running:
@@ -44,9 +54,12 @@ Allow local connections to your X server, then start the `demo` service:
 
 ```bash
 xhost +local:root
-docker compose -f docker/compose.yaml up demo
+docker compose -f docker/compose.yaml up demo          # if you built (step 2)
+docker compose -f docker/compose.yaml up --no-build demo   # if you pulled (step 2)
 ```
 
+> [!IMPORTANT] > `docker compose up` rebuilds any service that has a `build:` section — even when the image is already present locally. So after `pull`, a bare `up demo` ignores the pulled image and rebuilds `ros2 → o3de → demo`. Pass `--no-build` to run the pulled image as-is.
+
 ## What to expect
 
 ![Demo Windows](demo_windows.jpg)
@@ -60,7 +73,7 @@ docker compose -f docker/compose.yaml up demo
 Each component runs in its own tmux session inside the container. Attach to one (e.g. the simulation) from the host:
 
 ```bash
-docker exec -it $(docker ps -qf ancestor=robotecai/mobile-manipulator-demo:latest) \
+docker exec -it $(docker ps -qf ancestor=robotecai/agentic-mobile-manipulator:latest) \
   tmux attach -t agentic-mobile-manipulator-sim
 ```
 

pixi.toml

@@ -162,6 +162,10 @@ description = "Launch O3DE simulation in its own tmux session"
 cmd = "$DEMO_ROOT/sim/build/linux/bin/profile/MobileManipulatorDemo.GameLauncher -bg_ConnectToAssetProcessor=0"
 description = "Launch O3DE simulation in the foreground (no tmux)"
 
+[feature.sim.tasks.sim-smoke]
+cmd = "bash scripts/sim_smoke.sh"
+description = "Headless sim smoke test: boot with --rhi=null, pass if /clock ticks (no GPU/display)"
+
 [feature.sim.tasks.editor]
 cmd = "$O3DE_ENGINE_PATH/bin/Linux/profile/Default/Editor --project-path $DEMO_ROOT/sim"
 description = "Launch O3DE Editor from SDK (project must be built first)"

scripts/sim_smoke.sh

@@ -0,0 +1,61 @@
+#!/usr/bin/env bash
+# Headless smoke test for the O3DE sim.
+#
+# Boots the GameLauncher with the null renderer (--rhi=null) — no GPU, no X
+# display needed — and passes if the simulation is actually *ticking*, proven by
+# catching a message on /clock within a timeout. That single check exercises the
+# whole cold path: binary runs, assets + level load, PhysX ticks, and the ROS 2
+# bridge publishes.
+#
+# NOT checked: camera / rendered sensors. Those need the Atom (Vulkan) renderer,
+# which headless needs a DRI3-capable display for — Xvfb doesn't provide DRI3, so
+# the GPU+Vulkan path wedges on swapchain creation. rhi=null has no renderer at
+# all, so camera topics are advertised but never publish. Verifying rendered
+# output headless is a separate, unsolved problem; keep it out of the fast gate.
+#
+# Run:        pixi run sim-smoke
+# In Docker:  docker run --rm --entrypoint pixi <o3de-image> run sim-smoke
+# Tune:       SIM_SMOKE_TIMEOUT=120 pixi run sim-smoke
+#             SIM_SMOKE_TOPIC=/joint_states SIM_SMOKE_TYPE=sensor_msgs/msg/JointState pixi run sim-smoke
+set -uo pipefail
+
+# Hermetic: only ever see our own sim on loopback, so a neighbouring sim on a
+# shared CI runner can't cause a false pass.
+export ROS_LOCALHOST_ONLY=1
+
+LAUNCHER="${DEMO_ROOT:-$PWD}/sim/build/linux/bin/profile/MobileManipulatorDemo.GameLauncher"
+TIMEOUT="${SIM_SMOKE_TIMEOUT:-90}"      # boot + first message; rhi=null is faster than Vulkan
+TOPIC="${SIM_SMOKE_TOPIC:-/clock}"
+# Type must be explicit: with no publisher up yet, `ros2 topic echo` can't infer
+# the type from the graph and bails instantly instead of waiting.
+TYPE="${SIM_SMOKE_TYPE:-rosgraph_msgs/msg/Clock}"
+LOG="$(mktemp)"
+
+[ -x "$LAUNCHER" ] || { echo "[FAIL] launcher not built: $LAUNCHER"; exit 1; }
+
+# GameLauncher ignores SIGINT (won't stop on Ctrl+C), so hard-kill on exit.
+# Kill the captured PID, plus a pkill by full command line as a fallback (the
+# comm name isn't reliably set during early boot). pkill -f is safe: this shell's
+# own argv is just "bash scripts/sim_smoke.sh", so it can't match itself.
+LAUNCHER_PID=""
+cleanup() {
+  [ -n "$LAUNCHER_PID" ] && kill -9 "$LAUNCHER_PID" 2>/dev/null
+  pkill -9 -f 'MobileManipulatorDemo.GameLauncher' 2>/dev/null
+}
+trap cleanup EXIT
+
+echo "[smoke] launching sim headless (--rhi=null)"
+env -u DISPLAY "$LAUNCHER" -bg_ConnectToAssetProcessor=0 --rhi=null >"$LOG" 2>&1 &
+LAUNCHER_PID=$!
+
+# /clock is published BEST_EFFORT; a default (reliable) subscriber gets nothing.
+echo "[smoke] waiting up to ${TIMEOUT}s for a message on ${TOPIC} (${TYPE})"
+if timeout "$TIMEOUT" ros2 topic echo --once --qos-reliability best_effort "$TOPIC" "$TYPE" >/dev/null 2>&1; then
+  echo "[PASS] ${TOPIC} is publishing — sim ticks headless"
+  exit 0
+fi
+
+echo "[FAIL] no message on ${TOPIC} within ${TIMEOUT}s"
+echo "----- last 30 log lines -----"
+tail -30 "$LOG"
+exit 1