Fix the CI: pin third-party repositories and fix package dependencies

.github/workflows/main.yaml

@@ -8,36 +8,29 @@ on:
     branches:
       - main
   workflow_dispatch:
+
 jobs:
   build-and-test:
-    runs-on: ${{ matrix.os }}
-    env:
-      # Tests cannot create ~/.ros/log in the runner
-      ROS_LOG_DIR: /tmp/ros_log
-    strategy:
-      matrix:
-        os: [ubuntu-22.04]
-      fail-fast: false
+    runs-on: ubuntu-22.04
+    # Run in the ROS 2 Humble image of ros-tooling
+    container:
+      image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest
     steps:
-      - name: Setup ROS 2
-        uses: ros-tooling/setup-ros@0.7.19
-        with:
-          required-ros-distributions: humble
-      - name: Install nlohmann
-        run: sudo apt -y install nlohmann-json3-dev
-      - name: Install ceres dependencies
-        run: sudo apt -y install libunwind-dev libgoogle-glog-dev libatlas-base-dev libsuitesparse-dev libgflags-dev
-      - name: Install ceres
-        run: sudo apt -y install libceres-dev
+      - uses: actions/checkout@v4
+      - name: Install system dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y nlohmann-json3-dev libunwind-dev libgoogle-glog-dev \
+            libatlas-base-dev libsuitesparse-dev libgflags-dev libceres-dev
       - name: build and test
         uses: ros-tooling/action-ros-ci@0.4.8
         with:
-          package-name: arm bt_test hri motion perception robocup_bringup cs4home_core
+          package-name: arm bt_test hri motion perception robocup_bringup
           target-ros2-distro: humble
           colcon-defaults: |
             {
               "test": {
                 "parallel-workers" : 1
               }
             }
-          vcs-repo-file-url: https://raw.githubusercontent.com/CoreSenseEU/CoreSense4Home/main/robocup_bringup/thirdparty.repos
+          vcs-repo-file-url: ${{ github.workspace }}/robocup_bringup/thirdparty.repos

bt_nodes/arm/package.xml

@@ -13,6 +13,9 @@
   <depend>rclcpp_action</depend>
   <depend>rclcpp_cascade_lifecycle</depend>
   <depend>manipulation_interfaces</depend>
+  <depend>geometry_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>tf2_ros</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

bt_nodes/bt_test/CMakeLists.txt

@@ -175,7 +175,7 @@ target_link_libraries(set_perception_model_test
 # music tests
 add_executable(music_test src/music_test.cpp)
 ament_target_dependencies(music_test ${dependencies})
-target_link_libraries(music_test 
+target_link_libraries(music_test
   hri::start_music_bt_node
   hri::stop_music_bt_node
   configuration::sleep_bt_node
@@ -202,7 +202,10 @@ target_link_libraries(filter_object_test perception::filter_object_bt_node)
 # extract the description of the person test
 add_executable(extract_person_description_test src/extract_person_description_test.cpp)
 ament_target_dependencies(extract_person_description_test ${dependecies})
-target_link_libraries(extract_person_description_test perception::extract_person_description_bt_node perception::is_detected_bt_node hri::speak_bt_node)
+target_link_libraries(extract_person_description_test
+  perception::extract_person_description_bt_node
+  perception::is_detected_bt_node
+  hri::speak_bt_node)
 
 # gpsr test
 add_executable(gpsr_test src/gpsr_test.cpp)
@@ -400,7 +403,7 @@ install(TARGETS
   extract_person_description_test
   music_test
   set_blackboard_test
-  
+
   gpsr_test
   gpsr_answerquiz_test
   gpsr_countobject_test

bt_nodes/bt_test/package.xml

@@ -25,6 +25,8 @@
   <depend>tf2_ros</depend>
   <depend>hri</depend>
   <depend>perception_system_interfaces</depend>
+  <depend>backward_ros</depend>
+  <depend>gpsr_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

bt_nodes/configuration/package.xml

@@ -16,6 +16,9 @@
   <depend>behaviortree_cpp_v3</depend>
   <depend>geometry_msgs</depend>
   <depend>tf2_geometry_msgs</depend>
+  <depend>tf2</depend>
+  <depend>tf2_ros</depend>
+  <depend>yolov8_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

bt_nodes/hri/package.xml

@@ -19,6 +19,8 @@
   <depend>shape_msgs</depend>
   <depend>std_msgs</depend>
   <depend>gpsr_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>std_srvs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

bt_nodes/motion/package.xml

@@ -19,11 +19,20 @@
   <depend>nav2_behavior_tree</depend>
   <depend>nav2_costmap_2d</depend>
   <depend>navigation_system_interfaces</depend>
-  <depend>manipultaion_interfaces</depend>
+  <depend>manipulation_interfaces</depend>
   <depend>slam_toolbox</depend>
 
   <depend>attention_system</depend>
   <depend>attention_system_msgs</depend>
+  <depend>action_msgs</depend>
+  <depend>ament_index_cpp</depend>
+  <depend>lifecycle_msgs</depend>
+  <depend>pluginlib</depend>
+  <depend>sensor_msgs</depend>
+  <depend>tf2</depend>
+  <depend>tf2_geometry_msgs</depend>
+  <depend>tf2_ros</depend>
+  <depend>trajectory_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

bt_nodes/perception/package.xml

@@ -28,6 +28,9 @@
   <depend>perception_system</depend>
   <depend>perception_system_interfaces</depend>
   <depend>sensor_msgs</depend>
+  <depend>backward_ros</depend>
+  <depend>libopencv-dev</depend>
+  <depend>std_srvs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

robocup_bringup/launch/dialog.launch.py

@@ -59,7 +59,7 @@ def generate_launch_description():
 
             prefix='\n\n### Instruction:\n',
             suffix='\n\n### Response:\n',
-            stopping_words=["\n\n\n\n"],
+            stopping_words=['\n\n\n\n'],
     )
 
     whisper_cmd = IncludeLaunchDescription(

robocup_bringup/launch/storing_dependencies.launch.py

@@ -97,17 +97,17 @@ def generate_launch_description():
 
             prefix='\n\n### Instruction:\n',
             suffix='\n\n### Response:\n',
-            stopping_words=["\n\n\n\n"],
+            stopping_words=['\n\n\n\n'],
     )
 
-    yolo_model = package_dir + "/config/storing_groceries/yolo_groceries.pt"
+    yolo_model = package_dir + '/config/storing_groceries/yolo_groceries.pt'  # noqa: F841
     yolo3d = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(yolo3d_dir, 'launch', 'yolov8_3d.launch.py')
         ),
         launch_arguments={
             # 'namespace': 'perception_system',
-            'model': "yolov8x-seg.pt",  # change to pretrained
+            'model': 'yolov8x-seg.pt',  # change to pretrained
             'input_image_topic': '/head_front_camera/rgb/image_raw',
             'input_depth_topic': '/head_front_camera/depth/image_raw',
             'input_depth_info_topic': '/head_front_camera/depth/camera_info',

robocup_bringup/package.xml

@@ -18,6 +18,9 @@
   <exec_depend>hri</exec_depend>
   <exec_depend>motion</exec_depend>
   <exec_depend>perception</exec_depend>
+  <depend>attention_system</depend>
+  <depend>nav2_behavior_tree</depend>
+  <depend>perception_system</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

robocup_bringup/thirdparty.repos

@@ -2,75 +2,75 @@ repositories:
   ThirdParty/pointcloud_to_laserscan:
     type: git
     url: https://github.com/Juancams/pointcloud_to_laserscan.git
-    version: humble
+    version: fe51151f1b4cccbd136abd64b819ae95e8214be8
   ThirdParty/small_objects_detector:
     type: git
     url: https://github.com/gentlebots/small_objects_detector.git
-    version: robocup
+    version: 9332a60cc388541c1281d4bf0fe602d262e76b5d
   ThirdParty/audio_common:
     type: git
     url: https://github.com/mgonzs13/audio_common.git
-    version: main
+    version: b3c67da12cdb52aba3ae6f7187ca5ca5f252be3b
   ThirdParty/whisper_ros:
     type: git
     url: https://github.com/mgonzs13/whisper_ros.git
-    version: main
+    version: d581098a772fdfcf77602fb955263ba3eb993eee
   ThirdParty/llama_ros:
     type: git
     url: https://github.com/mgonzs13/llama_ros.git
-    version: main
+    version: 4facfa54229b65e2938c335ccad7cc2235295c10
   ThirdParty/moveit_task_constructor:
     type: git
     url: https://github.com/juandpenan/moveit_task_constructor.git
-    version: humble
+    version: d0a990071e00740e2b516406898cea076a073da1
   ThirdParty/tiago_mtc_examples:
     type: git
     url: https://github.com/juandpenan/tiago_mtc_examples.git
-    version: main
+    version: 2e817246e6f70c6fe31cd157c3c1ea955c3f4fec
   ThirdParty/yolov8_ros:
     type: git
     url: https://github.com/jmguerreroh/yolov8_ros.git
-    version: main
+    version: 40f538bdcfe7435336193fa47ef23bdbddf769e8
   ThirdParty/rclcpp_cascade_lifecycle:
     type: git
     url: https://github.com/fmrico/cascade_lifecycle.git
-    version: rolling
+    version: 29b2d9c8c6cff72f0f21f1e5552ff2c7b6c8a260
   ThirdParty/tts_ros:
     type: git
     url: https://github.com/mgonzs13/tts_ros
-    version: main
+    version: fb372c092e5736d2077f5dc8b516085f339fb6f2
   ThirdParty/slam_toolbox:
     type: git
     url: https://github.com/SteveMacenski/slam_toolbox.git
-    version: ros2
+    version: 19a66904c648a174220be1a1b98e81a9ef0e6758
   ThirdParty/tiago_robot:
     type: git
     url: https://github.com/juandpenan/tiago_robot.git 
-    version: steamdeck
+    version: ae93c1b421506a5f1ed213b911e6558a99a0724d
   ThirdParty/gpd:
     type: git
     url: https://github.com/atenpas/gpd.git
-    version: master
+    version: 6327f20eabfcba41a05fdd2e2ba408153dc2e958
   systems/manipulation_server:
     type: git
     url: https://github.com/rodperex/manipulation_server.git
-    version: main
+    version: 10304bff17e012ae9a37ea689b1e65f608eb18e3
   systems/perception_system:
     type: git
     url: https://github.com/jmguerreroh/perception_system.git
-    version: main
+    version: dfbf2cfdb5d1c647290412b50789616ab92c3351
   systems/attention_system:
     type: git
     url: https://github.com/aaggj/attention_system
-    version: humble
+    version: 4dd113b3d54f355f34e28ef340d7b8de81e44b99
   systems/navigation_system:
     type: git
     url: https://github.com/Juancams/navigation_system.git
-    version: main
+    version: f10f0feeb8809b731ce5813a899e051b332250a2
   ThirdParty/gpsr_planning:
     type: git
     url: https://github.com/igonzf/GPSR_planning
-    version: main
+    version: 1e482f31bedd569e244eeb1c2c6700d26b753a59