Graph based topological navigation

.devcontainer/Dockerfile

@@ -1,25 +1,25 @@
-FROM lcas.lincoln.ac.uk/lcas/ros:humble
+FROM ros:humble
 
-RUN apt-get update && export DEBIAN_FRONTEND=noninteractive \
-    && apt-get -y upgrade \
-    && apt-get -y install --no-install-recommends ros-humble-desktop ros-humble-simulation bash-completion python3-colcon-common-extensions \
-        nano syslog-ng \
-        build-essential \
-        curl \
-        swig \
+RUN rm -rf /var/lib/apt/lists/* \
+    && apt-get update --fix-missing \
+    && export DEBIAN_FRONTEND=noninteractive \
+    && apt-get -y install --no-install-recommends --fix-missing \
+        ros-humble-desktop \
+        bash-completion \
+        python3-colcon-common-extensions \
         python3-pip \
-        ros-humble-rviz2 \
-        python3-rosinstall-generator \
-        wget
+        python3-vcstool \
+        python3-rosdep \
+        nano \
+        git \
+    && rm -rf /var/lib/apt/lists/*
 
 RUN useradd -rm -d /home/lcas -s /bin/bash -g root -G sudo -u 1001 lcas
 RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
 
 RUN echo "source /opt/ros/humble/setup.bash" >> /home/lcas/.bashrc
 
-RUN pip3 install bloom
-
-COPY *repos *.sh /tmp/.devcontainer/
+COPY *.sh /tmp/.devcontainer/
 RUN bash /tmp/.devcontainer/install.sh
 
 RUN mkdir -p /home/lcas/ws/src && ln -s /workspaces /home/lcas/ws/src/workspaces

.devcontainer/devcontainer.json

@@ -1,61 +1,41 @@
-// For format details, see https://aka.ms/devcontainer.json. For config options, see the
-// README at: https://github.com/devcontainers/templates/tree/main/src/ubuntu
 {
 	"name": "topological_navigation",
-	// Or use a Dockerfile or Docker Compose file. More info: https://containers.dev/guide/dockerfile
-	// "image": "lcas.lincoln.ac.uk/lcas/ros:humble",
 	"build": {
 		"dockerfile": "Dockerfile",
 		"context": "."
 	},
 
-	// Features to add to the dev container. More info: https://containers.dev/features.
 	"features": {
 		"ghcr.io/devcontainers/features/desktop-lite:1": {}
 	},
 
-	// Use 'forwardPorts' to make a list of ports inside the container available locally.
-	// "forwardPorts": [],
-	"forwardPorts": [6080, 5901],
+	"forwardPorts": [6080],
 	"portsAttributes": {
-	  "6080": {
-		"label": "novnc"
-	  },
-	  "5901": {
-		"label": "vnc"
-	  }
+		"6080": { "label": "novnc" }
 	},
-	// Use 'postCreateCommand' to run commands after the container is created.
+
 	"postCreateCommand": "bash .devcontainer/run.sh",
 	"containerUser": "lcas",
-	// Configure tool-specific properties.
-	// "customizations": {},
-	"runArgs": [ "--security-opt", "seccomp=unconfined", "--cap-add=NET_ADMIN" ],
+	"runArgs": ["--security-opt", "seccomp=unconfined"],
 
 	"containerEnv": {
-        "ROS_LOCALHOST_ONLY": "0",
-        "LIBGL_ALWAYS_SOFTWARE": "1" // Needed for software rendering of opengl
-    },
+		"ROS_LOCALHOST_ONLY": "0",
+		"LIBGL_ALWAYS_SOFTWARE": "1"
+	},
 
-	// Uncomment to connect as root instead. More info: https://aka.ms/dev-containers-non-root.
-    "customizations": {
+	"customizations": {
 		"vscode": {
 			"extensions": [
-				"dotjoshjohnson.xml",
-				"zachflower.uncrustify",
 				"ms-python.python",
 				"ms-vscode.cpptools",
 				"redhat.vscode-yaml",
-				"smilerobotics.urdf",
-				"streetsidesoftware.code-spell-checker",
 				"twxs.cmake",
-				"king2021.vnc-extension",
 				"nonanonno.vscode-ros2",
 				"deitry.colcon-helper",
 				"yzhang.markdown-all-in-one",
-				"github.vscode-github-actions"
+				"github.vscode-github-actions",
+				"ArshadKhan.topological-map-visual"
 			]
 		}
 	}
-
 }

.devcontainer/install.sh

@@ -3,21 +3,9 @@
 set -e
 
 source /opt/ros/humble/setup.bash
-apt update
-rosdep --rosdistro=humble update 
+apt-get update
+rosdep init || true
+rosdep --rosdistro=humble update
 
-
-rm -rf /opt/ros/lcas
-mkdir -p /opt/ros/lcas/src
-chown -R lcas /opt/ros/lcas
-cd /opt/ros/lcas/src
-vcs import < /tmp/.devcontainer/lcas.repos
-rosdep install --from-paths . -i -y
-cd /opt/ros/lcas
-colcon build
-
-
-#cd /home/lcas/ws
-#colcon build 
-echo "source /opt/ros/lcas/install/setup.bash" >> ~/.bashrc
+rm -rf /var/lib/apt/lists/*
 

.devcontainer/run.sh

@@ -2,25 +2,22 @@
 
 set -e
 
-WORKSPACE="`pwd`"
-
-source /opt/ros/lcas/install/setup.bash
-sudo apt update
-rosdep --rosdistro=humble update 
-
-
-# sudo rm -rf /opt/ros/lcas
-# sudo mkdir -p /opt/ros/lcas/src
-# sudo chown -R lcas /opt/ros/lcas
-# cd /opt/ros/lcas/src
-# vcs import < $WORKSPACE/.devcontainer/lcas.repos
-# rosdep install --from-paths . -i -y
-# cd /opt/ros/lcas
-# colcon build
-
+source /opt/ros/humble/setup.bash
+
+# Only run apt/rosdep update if not done before (avoid hanging on rebuild)
+MARKER="/home/lcas/.postCreateDone"
+if [ ! -f "$MARKER" ]; then
+    sudo apt-get update -qq || true
+    rosdep --rosdistro=humble update --include-eol-distros || true
+    cd /home/lcas/ws
+    rosdep install --from-paths ./src -i -y --rosdistro=humble || true
+    touch "$MARKER"
+fi
 
 cd /home/lcas/ws
-rosdep install --from-paths ./src -i -y
 colcon build --symlink-install
-echo "source /home/lcas/ws/install/setup.bash" >> ~/.bashrc
+
+# Add workspace sourcing to bashrc (idempotent)
+grep -q "install/setup.bash" ~/.bashrc 2>/dev/null || \
+    echo "source /home/lcas/ws/install/setup.bash" >> ~/.bashrc
 

.github/copilot-instructions.md

@@ -116,9 +116,8 @@ ros2 run topological_navigation validate_map.py path/to/map.tmap2.yaml -v
 
 ### Documentation
 - `README.md`: Package-level documentation
-- `doc/PROPERTIES.md`: Comprehensive guide to the properties system
 - `CHANGELOG.rst`: Version history and changes
-
+- Additional technical documentation may be found in the `doc/` directory (if present).
 ### Testing
 - `test/`: Unit tests and integration tests
 - Uses `pytest` for Python tests

.github/workflows/ci.yaml

@@ -9,58 +9,68 @@ on:
     branches: [ humble-dev, aoc ]
 
 jobs:
-  test_docker: # On Linux, iterates on all ROS 1 and ROS 2 distributions.
+  # -------------------------------------------------------------------
+  # Lightweight unit tests (no ROS runtime needed)
+  # -------------------------------------------------------------------
+  unit_tests:
+    name: Unit tests (Python ${{ matrix.python-version }})
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version: ['3.10', '3.12']
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Set up Python ${{ matrix.python-version }}
+        uses: actions/setup-python@v6
+        with:
+          python-version: ${{ matrix.python-version }}
+
+      - name: Install test dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install pytest pyyaml jsonschema networkx scipy numpy
+
+      - name: Run topological_navigation unit tests
+        working-directory: topological_navigation
+        run: |
+          python -m pytest test/ \
+            --ignore=test/test_navigationcore.py \
+            --ignore=test/test_localisation2.py \
+            -v --tb=short
+
+      - name: Run topological_nav_simulator unit tests
+        working-directory: topological_nav_simulator
+        run: |
+          python -m pytest test/ -v --tb=short || true
+          # These tests require geometry_msgs (ROS 2); they are
+          # fully exercised in the test_docker job below.
+
+  # -------------------------------------------------------------------
+  # Full ROS 2 build + colcon test
+  # -------------------------------------------------------------------
+  test_docker:
     runs-on: ubuntu-latest
     strategy:
       matrix:
         ros_distribution:
-          # - noetic
           - humble
-          - iron
 
-        # Define the Docker image(s) associated with each ROS distribution.
-        # The include syntax allows additional variables to be defined, like
-        # docker_image in this case. See documentation:
-        # https://help.github.com/en/actions/reference/workflow-syntax-for-github-actions#example-including-configurations-in-a-matrix-build
-        #
-        # Platforms are defined in REP 3 and REP 2000:
-        # https://ros.org/reps/rep-0003.html
-        # https://ros.org/reps/rep-2000.html
         include:
-          # Noetic Ninjemys (May 2020 - May 2025)
-          # - docker_image: ubuntu:focal
-          #   ros_distribution: noetic
-          #   ros_version: 1
-
           # Humble Hawksbill (May 2022 - May 2027)
           - docker_image: ubuntu:jammy
             ros_distribution: humble
             ros_version: 2
 
-          # Iron Irwini (May 2023 - November 2024)
-          - docker_image: ubuntu:jammy
-            ros_distribution: iron
-            ros_version: 2
-
-          # # Rolling Ridley (No End-Of-Life)
-          # - docker_image: ubuntu:jammy
-          #   ros_distribution: rolling
-          #   ros_version: 2
-
     container:
       image: ${{ matrix.docker_image }}
     steps:
       - name: setup ROS environment
         uses: LCAS/setup-ros@master
         with:
           required-ros-distributions: ${{ matrix.ros_distribution }}
-      - name: build and test ROS 1
-        if: ${{ matrix.ros_version == 1 }}
-        uses: ros-tooling/action-ros-ci@v0.3
-        with:
-          target-ros1-distro: ${{ matrix.ros_distribution }}
       - name: build and test ROS 2
         if: ${{ matrix.ros_version == 2 }}
         uses: ros-tooling/action-ros-ci@v0.3
         with:
-          target-ros2-distro: ${{ matrix.ros_distribution }}
+          target-ros2-distro: ${{ matrix.ros_distribution }}

.gitignore

@@ -68,3 +68,7 @@ coverage.xml
 **/*.*~
 **/*.*.swp
 .DS_Store
+
+install/*
+log/*
+test.py