build: import rai_interfaces with vcstool

.github/workflows/poetry-test.yml

@@ -49,6 +49,11 @@ jobs:
         run: |
           rosdep update
 
+      - name: Import ros2 dependencies
+        shell: bash
+        run: |
+          vcs import . < ros_deps.repos
+
       - name: Install ROS 2 package dependencies
         shell: bash
         run: |
@@ -64,6 +69,5 @@ jobs:
       - name: Run tests
         shell: bash
         run: |
-          source /opt/ros/${{ matrix.ros_distro }}/setup.bash
-          source install/setup.bash
-          poetry run pytest -m "not billable"
+          source setup_shell.sh
+          pytest -m "not billable"

.github/workflows/pre-commit.yml

@@ -9,14 +9,30 @@ on:
 
 jobs:
   pre-commit:
-    runs-on: ubuntu-24.04
+    runs-on:
+      - self-hosted
+
+    container:
+      image: osrf/ros:humble-desktop-full
 
     steps:
+      - name: Install pre-commit
+        run: |
+          apt update && apt install -y python3-pip shellcheck python-is-python3
+
       - name: Checkout code
         uses: actions/checkout@v4
         with:
           fetch-depth: 0
 
+      - run: |
+           git config --global --add safe.directory /__w/rai/rai
+
+      - name: Import ros2 dependencies
+        shell: bash
+        run: |
+          vcs import . < ros_deps.repos
+
       - name: Run pre-commit
         uses: pre-commit/[email protected]
         with:

.gitignore

@@ -15,8 +15,7 @@ log/
 # Distribution / packaging
 .Python
 build/
-develop-eggs/
-dist/
+develop-eggs/ dist/
 downloads/
 eggs/
 .eggs/
@@ -176,6 +175,7 @@ artifact_database.pkl
 imgui.ini
 
 src/rai_bench/rai_bench/experiments
+src/rai_interfaces
 
 # Demo assets
 demo_assets/

docs/demos/overview.md

@@ -16,4 +16,6 @@ All demos require:
 -   ROS 2 (Humble or Jazzy)
 -   RAI platform setup
 
+Make sure to follow the [installation instructions](../setup/install.md).
+
 For detailed setup and running instructions, please refer to the individual demo documentation linked above.

docs/setup/install.md

@@ -44,7 +44,13 @@ git clone https://github.com/RobotecAI/rai.git
 cd rai
 ```
 
-### 1.3 Create poetry virtual environment and install dependencies:
+### 1.3 Download [rai_interfaces](https://github.com/RobotecAI/rai_interfaces)
+
+```bash
+vcs import < ros_deps.repos
+```
+
+### 1.4 Create poetry virtual environment and install dependencies:
 
 ```bash
 poetry install
@@ -69,7 +75,7 @@ rosdep install --from-paths src --ignore-src -r -y
     | [nomad][nomad] | Visual Navigation - NoMaD integration | visualnav_transformer |
     | docs | Documentation-related dependencies | mkdocs, mkdocs-material, pymdown-extensions |
 
-### 1.4 Configure RAI
+### 1.5 Configure RAI
 
 Run the configuration tool to set up your LLM vendor and other settings:
 

ros_deps.repos

@@ -0,0 +1,5 @@
+repositories:
+  src/rai_interfaces:
+    type: git
+    url: https://github.com/RobotecAI/rai_interfaces.git
+    version: main