Simplified SDK

.copier/answers.docs.yml

@@ -1,5 +0,0 @@
-# Changes here will be overwritten by Copier; NEVER EDIT MANUALLY
-_commit: v1.0.2
-_src_path: https://git.spirirobotics.com/Spiri/template-docs.git
-author_name: Spiri Robotics
-project_name: spiri-sdk

.github/workflows/build-docker.yaml

@@ -1,72 +0,0 @@
-name: Create and publish a Docker image
-
-on:
-  push:
-
-# Defines two custom environment variables for the workflow. These are used for the Container registry domain, and a name for the Docker image that this workflow builds.
-env:
-  REGISTRY: git.spirirobotics.com
-  IMAGE_NAME: ${{ github.repository }}
-
-# There is a single job in this workflow. It's configured to run on the latest available version of Ubuntu.
-jobs:
-  build-and-push-image:
-    runs-on: ubuntu-latest
-    container: ghcr.io/catthehacker/ubuntu:act-latest
-
-    # Sets the permissions granted to the `GITHUB_TOKEN` for the actions in this job.
-    permissions:
-      contents: read
-      packages: write
-      # 
-    steps:
-      #- name: install docker
-      #  run: apt install moby-cli -y    
-      - name: Checkout repository
-        uses: actions/checkout@v4
-        with:
-          lfs: true
-      # Uses the `docker/login-action` action to log in to the Container registry registry using the account and password that will publish the packages. Once published, the packages are scoped to the account defined here.
-      - name: Log in to the Container registry
-        uses: docker/login-action@65b78e6e13532edd9afa3aa52ac7964289d1a9c1
-        with:
-          registry: ${{ env.REGISTRY }}
-          username: ${{ github.actor }}
-          password: ${{ secrets.WORKFLOW_REGISTRY_TOKEN }}
-      # This step uses [docker/metadata-action](https://github.com/docker/metadata-action#about) to extract tags and labels that will be applied to the specified image. The `id` "meta" allows the output of this step to be referenced in a subsequent step. The `images` value provides the base name for the tags and labels.
-      - name: Extract metadata (tags, labels) for Docker
-        id: meta
-        uses: docker/metadata-action@9ec57ed1fcdbf14dcef7dfbe97b2010124a938b7
-        with:
-          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
-
-      # - name: Set up QEMU
-      #   uses: docker/setup-qemu-action@v2
-      - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v3
-
-      # This step uses the `docker/build-push-action` action to build the image, based on your repository's `Dockerfile`. If the build succeeds, it pushes the image to GitHub Packages.
-      # It uses the `context` parameter to define the build's context as the set of files located in the specified path. For more information, see "[Usage](https://github.com/docker/build-push-action#usage)" in the README of the `docker/build-push-action` repository.
-      # It uses the `tags` and `labels` parameters to tag and label the image with the output from the "meta" step.
-      - name: Build Docker image
-        uses: docker/build-push-action@v5
-        env:
-          #Hack for gitea/github weirdness.
-          ACTIONS_RUNTIME_TOKEN: ''
-        with:
-          context: .
-          # push: true
-          load: true
-          tags: ${{ steps.meta.outputs.tags }}
-          labels: ${{ steps.meta.outputs.labels }}
-
-      - name: Push Docker image
-        uses: docker/build-push-action@v5
-        env:
-          #Hack for gitea/github weirdness.
-          ACTIONS_RUNTIME_TOKEN: ''
-        with:
-          context: .
-          push: true
-          tags: ${{ steps.meta.outputs.tags }}
-          labels: ${{ steps.meta.outputs.labels }}

.github/workflows/build-docs.yaml

@@ -1,44 +0,0 @@
-name: Build Docs
-
-on:
-  push:
-
-env:
-  REGISTRY: git.spirirobotics.com
-  IMAGE_NAME: ${{ github.repository }}
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: sphinxdoc/sphinx-latexpdf
-
-    steps:
-    - name: Install sphinx-rtd-theme
-      run: pip install sphinx-rtd-theme
-    - name: Install node so that custom actions work.
-      run : apt-get update && apt-get --yes install nodejs git
-
-    - name: Checkout Repository
-      uses: actions/checkout@v4
-
-    - name: Build Docs
-      run: make html latexpdf
-      working-directory: docs  # assuming your documentation is in a 'docs' folder
-
-    - name: Save PDF Artifacts
-      run: mv docs/build/latex/*.pdf ${{ github.workspace }}/docs.pdf
-
-    - name: Compress HTML
-      run: tar -czvf docs_html.tar.gz -C docs/build/html .
-
-    - name: Upload Docs
-      uses: actions/upload-artifact@v3
-      with:
-        name: docs_html.tar.gz
-        path: docs_html.tar.gz
-
-    - name: Upload PDF
-      uses: actions/upload-artifact@v3
-      with:
-        name: docs.pdf
-        path: docs.pdf

docker-compose.yml

@@ -48,7 +48,7 @@ services:
     image: git.spirirobotics.com/spiri/services-ros1-core:main
     command: stdbuf -o L roscore
     environment:
-      - "ROS_MASTER_URI=http://ros-master:11311"
+      - "ROS_MASTER_URI=http://localhost:11311"
     restart: always
     ports:
       - "127.0.0.1:11311:11311"