From 4848708a35f870b4ee42ad269202af1bc6ca0dc3 Mon Sep 17 00:00:00 2001
From: Andrew Jong <ajong@andrew.cmu.edu>
Date: Tue, 8 Oct 2024 19:38:28 -0400
Subject: [PATCH 01/15] Add an automatic check to see if the docker image
 version is updated when the dockerfile changes (#83)

* Rename dockerfiles

* First attempt at github action for docker version check
---
 .../workflows/dockerfile_version_check.yaml   | 81 +++++++++++++++++++
 ...dev.dockerfile => Dockerfile.airstack-dev} |  2 -
 .../Dockerfile => Dockerfile.isaac-ros}       |  0
 docker/docker-compose.yaml                    | 12 +--
 4 files changed, 87 insertions(+), 8 deletions(-)
 create mode 100644 .github/workflows/dockerfile_version_check.yaml
 rename docker/{airstack-dev.dockerfile => Dockerfile.airstack-dev} (98%)
 rename docker/{isaac-sim/Dockerfile => Dockerfile.isaac-ros} (100%)

diff --git a/.github/workflows/dockerfile_version_check.yaml b/.github/workflows/dockerfile_version_check.yaml
new file mode 100644
index 00000000..97f7a9cc
--- /dev/null
+++ b/.github/workflows/dockerfile_version_check.yaml
@@ -0,0 +1,81 @@
+name: Dockerfile Version Check
+
+on:
+  pull_request:
+    paths:
+      - "docker/Dockerfile.*"
+      - "docker/docker-compose.yaml"
+
+jobs:
+  check-docker-version:
+    runs-on: ubuntu-latest
+
+    steps:
+      # Checkout the code
+      - name: Checkout code
+        uses: actions/checkout@v3
+
+      # Fetch base branch (e.g., 'main') for comparison
+      - name: Fetch base branch for comparison
+        run: |
+          git fetch origin +refs/heads/${{ github.base_ref }}:refs/remotes/origin/${{ github.base_ref }}
+
+      # Define a function to check version increment for a given service
+      - name: Check Dockerfile changes and version increment for each service
+        run: |
+          # List the services and their corresponding Dockerfiles
+          cd docker/
+          declare -A services
+          services=( 
+            ["isaac-sim"]="Dockerfile.isaac-ros"
+            ["robot"]="Dockerfile.airstack-dev"
+            # Add more mappings here for other services
+          )
+
+          # Compare the current branch with the base branch
+          changes=$(git diff --name-only origin/${{ github.base_ref }}...HEAD)
+
+          # Loop through each service and its Dockerfile
+          for service in "${!services[@]}"; do
+            dockerfile="${services[$service]}"
+
+            # If the Dockerfile for this service has been changed
+            if echo "$changes" | grep -q "$dockerfile"; then
+              echo "Dockerfile for $service has changed."
+
+              # Check if the docker-compose.yaml contains an image version for this service (vX.Y.Z)
+              if grep -qE "image: .*/$service:.*v[0-9]+\.[0-9]+\.[0-9]+" docker-compose.yaml; then
+                # Extract the full version (vX.Y.Z)
+                current_version=$(grep -oP "image: .*/$service:v\K[0-9]+\.[0-9]+\.[0-9]+" docker-compose.yaml)
+
+                # Split current version into major, minor, patch
+                IFS='.' read -r current_major current_minor current_patch <<< "$current_version"
+
+                # Check if the image version for this service has been incremented in this PR
+                new_version=$(git diff origin/${{ github.base_ref }}...HEAD -- docker-compose.yaml | grep -oP "image: .*/$service:v\K[0-9]+\.[0-9]+\.[0-9]+")
+
+                if [ -z "$new_version" ]; then
+                  echo "::error::Dockerfile for $service was modified but image version in docker-compose.yaml was not updated."
+                  exit 1
+                fi
+
+                # Split new version into major, minor, patch
+                IFS='.' read -r new_major new_minor new_patch <<< "$new_version"
+
+                # Check if the new version is higher than the current one
+                if [ "$new_major" -gt "$current_major" ] || \
+                  ([ "$new_major" -eq "$current_major" ] && [ "$new_minor" -gt "$current_minor" ]) || \
+                  ([ "$new_major" -eq "$current_major" ] && [ "$new_minor" -eq "$current_minor" ] && [ "$new_patch" -gt "$current_patch" ]); then
+                  echo "Image version for $service has been incremented in docker-compose.yaml."
+                else
+                  echo "::error::Dockerfile for $service was modified but the image version in docker-compose.yaml was not correctly incremented."
+                  exit 1
+                fi
+              else
+                echo "::error::No valid image version (vX.Y.Z) found in docker-compose.yaml for $service."
+                exit 1
+              fi
+            else
+              echo "No changes to Dockerfile for $service."
+            fi
+          done
diff --git a/docker/airstack-dev.dockerfile b/docker/Dockerfile.airstack-dev
similarity index 98%
rename from docker/airstack-dev.dockerfile
rename to docker/Dockerfile.airstack-dev
index f3e6eff0..c3b2bb12 100644
--- a/docker/airstack-dev.dockerfile
+++ b/docker/Dockerfile.airstack-dev
@@ -11,8 +11,6 @@ RUN apt install -y \
     less htop jq \
     python3-pip
 
-# Install ROS2 packages
-
 # Package dependencies
 # perform ROS dependency installation for our workspace.
 COPY ros_ws/src /tmp/ros_ws/src
diff --git a/docker/isaac-sim/Dockerfile b/docker/Dockerfile.isaac-ros
similarity index 100%
rename from docker/isaac-sim/Dockerfile
rename to docker/Dockerfile.isaac-ros
diff --git a/docker/docker-compose.yaml b/docker/docker-compose.yaml
index f7b83cf8..ad5042d0 100644
--- a/docker/docker-compose.yaml
+++ b/docker/docker-compose.yaml
@@ -4,10 +4,10 @@ services:
   isaac-sim:
     build:
       context: ../
-      dockerfile: docker/isaac-sim/Dockerfile
+      dockerfile: docker/Dockerfile.isaac-ros
       tags:
-        - airlab-storage.andrew.cmu.edu:5001/shared/isaac-sim-4.1.0_ros-humble:latest
-    image: airlab-storage.andrew.cmu.edu:5001/shared/isaac-sim-4.1.0_ros-humble:latest
+        - airlab-storage.andrew.cmu.edu:5001/shared/isaac-sim-4.1.0_ros-humble:v1.0.0
+    image: airlab-storage.andrew.cmu.edu:5001/shared/isaac-sim-4.1.0_ros-humble:v1.0.0
     container_name: isaac-sim
     entrypoint: bash
     # Interactive shell
@@ -93,11 +93,11 @@ services:
   robot:
     build:
       context: ../
-      dockerfile: docker/airstack-dev.dockerfile
+      dockerfile: docker/Dockerfile.airstack-dev
       tags:
         - airlab-storage.andrew.cmu.edu:5001/shared/airstack-dev:latest
-        - airlab-storage.andrew.cmu.edu:5001/shared/airstack-dev:0.3.0
-    image: airlab-storage.andrew.cmu.edu:5001/shared/airstack-dev:latest
+        - airlab-storage.andrew.cmu.edu:5001/shared/airstack-dev:v0.5.0
+    image: airlab-storage.andrew.cmu.edu:5001/shared/airstack-dev:v0.5.0
     # container_name: robot-1
     entrypoint: bash -c "service ssh restart && bash"
     # Interactive shell

From bf35a008ffb464a484ccf3b3085d13e63ab887cd Mon Sep 17 00:00:00 2001
From: Andrew Jong <ajong@andrew.cmu.edu>
Date: Tue, 8 Oct 2024 19:43:37 -0400
Subject: [PATCH 02/15] Add greater fetch depth (#85)

---
 .github/workflows/dockerfile_version_check.yaml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.github/workflows/dockerfile_version_check.yaml b/.github/workflows/dockerfile_version_check.yaml
index 97f7a9cc..1c35f9a0 100644
--- a/.github/workflows/dockerfile_version_check.yaml
+++ b/.github/workflows/dockerfile_version_check.yaml
@@ -14,6 +14,8 @@ jobs:
       # Checkout the code
       - name: Checkout code
         uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
 
       # Fetch base branch (e.g., 'main') for comparison
       - name: Fetch base branch for comparison

From c68c7d33b440cc618f6133347357fa36d8dabb7b Mon Sep 17 00:00:00 2001
From: Andrew Jong <ajong@andrew.cmu.edu>
Date: Tue, 8 Oct 2024 19:58:01 -0400
Subject: [PATCH 03/15] Fix checking (#87)

---
 .../workflows/dockerfile_version_check.yaml   | 46 +++++++++----------
 docker/docker-compose.yaml                    |  4 +-
 2 files changed, 25 insertions(+), 25 deletions(-)

diff --git a/.github/workflows/dockerfile_version_check.yaml b/.github/workflows/dockerfile_version_check.yaml
index 1c35f9a0..8866c8aa 100644
--- a/.github/workflows/dockerfile_version_check.yaml
+++ b/.github/workflows/dockerfile_version_check.yaml
@@ -22,42 +22,42 @@ jobs:
         run: |
           git fetch origin +refs/heads/${{ github.base_ref }}:refs/remotes/origin/${{ github.base_ref }}
 
-      # Define a function to check version increment for a given service
-      - name: Check Dockerfile changes and version increment for each service
+      # Define a function to check version increment for a given image_name
+      - name: Check Dockerfile changes and version increment for each image_name
         run: |
-          # List the services and their corresponding Dockerfiles
+          # List the image_names and their corresponding Dockerfiles
           cd docker/
-          declare -A services
-          services=( 
-            ["isaac-sim"]="Dockerfile.isaac-ros"
-            ["robot"]="Dockerfile.airstack-dev"
-            # Add more mappings here for other services
+          declare -A image_name_to_dockerfile
+          image_name_to_dockerfile=( 
+            ["isaac-sim_ros-humble"]="Dockerfile.isaac-ros"
+            ["airstack-dev"]="Dockerfile.airstack-dev"
+            # Add more mappings here
           )
 
           # Compare the current branch with the base branch
           changes=$(git diff --name-only origin/${{ github.base_ref }}...HEAD)
 
-          # Loop through each service and its Dockerfile
-          for service in "${!services[@]}"; do
-            dockerfile="${services[$service]}"
+          # Loop through each image_name and its Dockerfile
+          for image_name in "${!image_name_to_dockerfile[@]}"; do
+            dockerfile="${image_name_to_dockerfile[$image_name]}"
 
-            # If the Dockerfile for this service has been changed
+            # If the Dockerfile for this image_name has been changed
             if echo "$changes" | grep -q "$dockerfile"; then
-              echo "Dockerfile for $service has changed."
+              echo "Dockerfile for $image_name has changed."
 
-              # Check if the docker-compose.yaml contains an image version for this service (vX.Y.Z)
-              if grep -qE "image: .*/$service:.*v[0-9]+\.[0-9]+\.[0-9]+" docker-compose.yaml; then
+              # Check if the docker-compose.yaml contains an image version for this image_name (vX.Y.Z)
+              if grep -qE "image: .*/$image_name:.*v[0-9]+\.[0-9]+\.[0-9]+" docker-compose.yaml; then
                 # Extract the full version (vX.Y.Z)
-                current_version=$(grep -oP "image: .*/$service:v\K[0-9]+\.[0-9]+\.[0-9]+" docker-compose.yaml)
+                current_version=$(grep -oP "image: .*/$image_name:v\K[0-9]+\.[0-9]+\.[0-9]+" docker-compose.yaml)
 
                 # Split current version into major, minor, patch
                 IFS='.' read -r current_major current_minor current_patch <<< "$current_version"
 
-                # Check if the image version for this service has been incremented in this PR
-                new_version=$(git diff origin/${{ github.base_ref }}...HEAD -- docker-compose.yaml | grep -oP "image: .*/$service:v\K[0-9]+\.[0-9]+\.[0-9]+")
+                # Check if the image version for this image_name has been incremented in this PR
+                new_version=$(git diff origin/${{ github.base_ref }}...HEAD -- docker-compose.yaml | grep -oP "image: .*/$image_name:v\K[0-9]+\.[0-9]+\.[0-9]+")
 
                 if [ -z "$new_version" ]; then
-                  echo "::error::Dockerfile for $service was modified but image version in docker-compose.yaml was not updated."
+                  echo "::error::Dockerfile for $image_name was modified but image version in docker-compose.yaml was not updated."
                   exit 1
                 fi
 
@@ -68,16 +68,16 @@ jobs:
                 if [ "$new_major" -gt "$current_major" ] || \
                   ([ "$new_major" -eq "$current_major" ] && [ "$new_minor" -gt "$current_minor" ]) || \
                   ([ "$new_major" -eq "$current_major" ] && [ "$new_minor" -eq "$current_minor" ] && [ "$new_patch" -gt "$current_patch" ]); then
-                  echo "Image version for $service has been incremented in docker-compose.yaml."
+                  echo "Image version for $image_name has been incremented in docker-compose.yaml."
                 else
-                  echo "::error::Dockerfile for $service was modified but the image version in docker-compose.yaml was not correctly incremented."
+                  echo "::error::Dockerfile for $image_name was modified but the image version in docker-compose.yaml was not correctly incremented."
                   exit 1
                 fi
               else
-                echo "::error::No valid image version (vX.Y.Z) found in docker-compose.yaml for $service."
+                echo "::error::No valid image version (vX.Y.Z) found in docker-compose.yaml for $image_name."
                 exit 1
               fi
             else
-              echo "No changes to Dockerfile for $service."
+              echo "No changes to Dockerfile for $image_name."
             fi
           done
diff --git a/docker/docker-compose.yaml b/docker/docker-compose.yaml
index ad5042d0..96fe9e0c 100644
--- a/docker/docker-compose.yaml
+++ b/docker/docker-compose.yaml
@@ -6,8 +6,8 @@ services:
       context: ../
       dockerfile: docker/Dockerfile.isaac-ros
       tags:
-        - airlab-storage.andrew.cmu.edu:5001/shared/isaac-sim-4.1.0_ros-humble:v1.0.0
-    image: airlab-storage.andrew.cmu.edu:5001/shared/isaac-sim-4.1.0_ros-humble:v1.0.0
+        - airlab-storage.andrew.cmu.edu:5001/shared/isaac-sim_ros-humble:v1.0.0
+    image: airlab-storage.andrew.cmu.edu:5001/shared/isaac-sim_ros-humble:v1.0.0
     container_name: isaac-sim
     entrypoint: bash
     # Interactive shell

From f40382b36e6742edafbc89d45ebe137693442bfa Mon Sep 17 00:00:00 2001
From: Andrew Jong <ajong@andrew.cmu.edu>
Date: Tue, 8 Oct 2024 20:03:16 -0400
Subject: [PATCH 04/15] Add debug echo

---
 .github/workflows/dockerfile_version_check.yaml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.github/workflows/dockerfile_version_check.yaml b/.github/workflows/dockerfile_version_check.yaml
index 8866c8aa..2a22027a 100644
--- a/.github/workflows/dockerfile_version_check.yaml
+++ b/.github/workflows/dockerfile_version_check.yaml
@@ -49,12 +49,14 @@ jobs:
               if grep -qE "image: .*/$image_name:.*v[0-9]+\.[0-9]+\.[0-9]+" docker-compose.yaml; then
                 # Extract the full version (vX.Y.Z)
                 current_version=$(grep -oP "image: .*/$image_name:v\K[0-9]+\.[0-9]+\.[0-9]+" docker-compose.yaml)
+                echo "current_version=$current_version"
 
                 # Split current version into major, minor, patch
                 IFS='.' read -r current_major current_minor current_patch <<< "$current_version"
 
                 # Check if the image version for this image_name has been incremented in this PR
                 new_version=$(git diff origin/${{ github.base_ref }}...HEAD -- docker-compose.yaml | grep -oP "image: .*/$image_name:v\K[0-9]+\.[0-9]+\.[0-9]+")
+                echo "new_version=$new_version"
 
                 if [ -z "$new_version" ]; then
                   echo "::error::Dockerfile for $image_name was modified but image version in docker-compose.yaml was not updated."

From 41860aefcc8d8e2faa172646b443be7cf680d35f Mon Sep 17 00:00:00 2001
From: Andrew Jong <ajong@andrew.cmu.edu>
Date: Tue, 8 Oct 2024 20:12:36 -0400
Subject: [PATCH 05/15] Fix early exit

---
 .github/workflows/dockerfile_version_check.yaml | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/dockerfile_version_check.yaml b/.github/workflows/dockerfile_version_check.yaml
index 2a22027a..2f716186 100644
--- a/.github/workflows/dockerfile_version_check.yaml
+++ b/.github/workflows/dockerfile_version_check.yaml
@@ -55,14 +55,15 @@ jobs:
                 IFS='.' read -r current_major current_minor current_patch <<< "$current_version"
 
                 # Check if the image version for this image_name has been incremented in this PR
-                new_version=$(git diff origin/${{ github.base_ref }}...HEAD -- docker-compose.yaml | grep -oP "image: .*/$image_name:v\K[0-9]+\.[0-9]+\.[0-9]+")
-                echo "new_version=$new_version"
+                new_version=$(git diff origin/${{ github.base_ref }}...HEAD -- docker-compose.yaml | grep -oP "image: .*/$image_name:v\K[0-9]+\.[0-9]+\.[0-9]+") || echo "No new version found."
 
                 if [ -z "$new_version" ]; then
                   echo "::error::Dockerfile for $image_name was modified but image version in docker-compose.yaml was not updated."
                   exit 1
                 fi
 
+                echo "new_version=$new_version"
+
                 # Split new version into major, minor, patch
                 IFS='.' read -r new_major new_minor new_patch <<< "$new_version"
 

From 5ceef15a597b486fda4c9ea86210a9c1de500351 Mon Sep 17 00:00:00 2001
From: Andrew Jong <ajong@andrew.cmu.edu>
Date: Tue, 8 Oct 2024 20:23:54 -0400
Subject: [PATCH 06/15] More tuning

---
 .../workflows/dockerfile_version_check.yaml   | 20 +++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/.github/workflows/dockerfile_version_check.yaml b/.github/workflows/dockerfile_version_check.yaml
index 2f716186..012f2fdf 100644
--- a/.github/workflows/dockerfile_version_check.yaml
+++ b/.github/workflows/dockerfile_version_check.yaml
@@ -48,24 +48,24 @@ jobs:
               # Check if the docker-compose.yaml contains an image version for this image_name (vX.Y.Z)
               if grep -qE "image: .*/$image_name:.*v[0-9]+\.[0-9]+\.[0-9]+" docker-compose.yaml; then
                 # Extract the full version (vX.Y.Z)
-                current_version=$(grep -oP "image: .*/$image_name:v\K[0-9]+\.[0-9]+\.[0-9]+" docker-compose.yaml)
-                echo "current_version=$current_version"
+                version_on_main=$(git show main:docker/docker-compose.yaml | grep -oP "image: .*/$image_name:v\K[0-9]+\.[0-9]+\.[0-9]+")
+                echo "version_on_main=$version_on_main"
 
                 # Split current version into major, minor, patch
-                IFS='.' read -r current_major current_minor current_patch <<< "$current_version"
+                IFS='.' read -r current_major current_minor current_patch <<< "$version_on_main"
 
                 # Check if the image version for this image_name has been incremented in this PR
-                new_version=$(git diff origin/${{ github.base_ref }}...HEAD -- docker-compose.yaml | grep -oP "image: .*/$image_name:v\K[0-9]+\.[0-9]+\.[0-9]+") || echo "No new version found."
+                version_this_branch=$(grep -oP "image: .*/$image_name:v\K[0-9]+\.[0-9]+\.[0-9]+" docker-compose.yaml)
 
-                if [ -z "$new_version" ]; then
-                  echo "::error::Dockerfile for $image_name was modified but image version in docker-compose.yaml was not updated."
-                  exit 1
-                fi
+                # if [ -z "$version_this_branch" ]; then
+                #   echo "::error::Dockerfile for $image_name was modified but image version in docker-compose.yaml was not updated."
+                #   exit 1
+                # fi
 
-                echo "new_version=$new_version"
+                echo "version_this_branch=$new_version"
 
                 # Split new version into major, minor, patch
-                IFS='.' read -r new_major new_minor new_patch <<< "$new_version"
+                IFS='.' read -r new_major new_minor new_patch <<< "$version_this_branch"
 
                 # Check if the new version is higher than the current one
                 if [ "$new_major" -gt "$current_major" ] || \

From 4bac603bf0b5a1e25e77382f3664d41ab6708e69 Mon Sep 17 00:00:00 2001
From: Andrew Jong <ajong@andrew.cmu.edu>
Date: Tue, 8 Oct 2024 20:25:48 -0400
Subject: [PATCH 07/15] Fix thing

---
 .github/workflows/dockerfile_version_check.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/dockerfile_version_check.yaml b/.github/workflows/dockerfile_version_check.yaml
index 012f2fdf..20b60f10 100644
--- a/.github/workflows/dockerfile_version_check.yaml
+++ b/.github/workflows/dockerfile_version_check.yaml
@@ -48,7 +48,7 @@ jobs:
               # Check if the docker-compose.yaml contains an image version for this image_name (vX.Y.Z)
               if grep -qE "image: .*/$image_name:.*v[0-9]+\.[0-9]+\.[0-9]+" docker-compose.yaml; then
                 # Extract the full version (vX.Y.Z)
-                version_on_main=$(git show main:docker/docker-compose.yaml | grep -oP "image: .*/$image_name:v\K[0-9]+\.[0-9]+\.[0-9]+")
+                version_on_main=$(git show origin/${{ github.base_ref }}:docker/docker-compose.yaml | grep -oP "image: .*/$image_name:v\K[0-9]+\.[0-9]+\.[0-9]+")
                 echo "version_on_main=$version_on_main"
 
                 # Split current version into major, minor, patch

From 36d08497a4a2a19ad916c054f6eaea16ebd07f13 Mon Sep 17 00:00:00 2001
From: Andrew Jong <ajong@andrew.cmu.edu>
Date: Tue, 8 Oct 2024 20:33:25 -0400
Subject: [PATCH 08/15] Tune again

---
 .github/workflows/dockerfile_version_check.yaml | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/dockerfile_version_check.yaml b/.github/workflows/dockerfile_version_check.yaml
index 20b60f10..ff4f1b01 100644
--- a/.github/workflows/dockerfile_version_check.yaml
+++ b/.github/workflows/dockerfile_version_check.yaml
@@ -55,12 +55,12 @@ jobs:
                 IFS='.' read -r current_major current_minor current_patch <<< "$version_on_main"
 
                 # Check if the image version for this image_name has been incremented in this PR
-                version_this_branch=$(grep -oP "image: .*/$image_name:v\K[0-9]+\.[0-9]+\.[0-9]+" docker-compose.yaml)
+                version_this_branch=$(git diff origin/${{ github.base_ref }}...HEAD -- docker-compose.yaml | grep -oP "image: .*/$image_name:v\K[0-9]+\.[0-9]+\.[0-9]+")
 
-                # if [ -z "$version_this_branch" ]; then
-                #   echo "::error::Dockerfile for $image_name was modified but image version in docker-compose.yaml was not updated."
-                #   exit 1
-                # fi
+                if [ -z "$version_this_branch" ]; then
+                  echo "::error::Dockerfile for $image_name was modified but image version in docker-compose.yaml was not updated."
+                  exit 1
+                fi
 
                 echo "version_this_branch=$new_version"
 

From a17ee4545902e1c265baa14575bc4f5e3899c8b9 Mon Sep 17 00:00:00 2001
From: Andrew Jong <ajong@andrew.cmu.edu>
Date: Tue, 8 Oct 2024 20:34:56 -0400
Subject: [PATCH 09/15] Tune again

---
 .github/workflows/dockerfile_version_check.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/dockerfile_version_check.yaml b/.github/workflows/dockerfile_version_check.yaml
index ff4f1b01..ea472b79 100644
--- a/.github/workflows/dockerfile_version_check.yaml
+++ b/.github/workflows/dockerfile_version_check.yaml
@@ -55,7 +55,7 @@ jobs:
                 IFS='.' read -r current_major current_minor current_patch <<< "$version_on_main"
 
                 # Check if the image version for this image_name has been incremented in this PR
-                version_this_branch=$(git diff origin/${{ github.base_ref }}...HEAD -- docker-compose.yaml | grep -oP "image: .*/$image_name:v\K[0-9]+\.[0-9]+\.[0-9]+")
+                version_this_branch=$(git diff origin/${{ github.base_ref }}...HEAD -- docker-compose.yaml | grep -oP "image: .*/$image_name:v\K[0-9]+\.[0-9]+\.[0-9]+") || echo "No version increment found."
 
                 if [ -z "$version_this_branch" ]; then
                   echo "::error::Dockerfile for $image_name was modified but image version in docker-compose.yaml was not updated."

From 1ce6c3e582824318559714661508ec0d1d54f3f7 Mon Sep 17 00:00:00 2001
From: Andrew Jong <ajong@andrew.cmu.edu>
Date: Tue, 8 Oct 2024 20:39:40 -0400
Subject: [PATCH 10/15] Try again

---
 .github/workflows/dockerfile_version_check.yaml | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/dockerfile_version_check.yaml b/.github/workflows/dockerfile_version_check.yaml
index ea472b79..2ba1c55a 100644
--- a/.github/workflows/dockerfile_version_check.yaml
+++ b/.github/workflows/dockerfile_version_check.yaml
@@ -13,9 +13,10 @@ jobs:
     steps:
       # Checkout the code
       - name: Checkout code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           fetch-depth: 0
+          sparse-checkout: docker/
 
       # Fetch base branch (e.g., 'main') for comparison
       - name: Fetch base branch for comparison
@@ -55,7 +56,8 @@ jobs:
                 IFS='.' read -r current_major current_minor current_patch <<< "$version_on_main"
 
                 # Check if the image version for this image_name has been incremented in this PR
-                version_this_branch=$(git diff origin/${{ github.base_ref }}...HEAD -- docker-compose.yaml | grep -oP "image: .*/$image_name:v\K[0-9]+\.[0-9]+\.[0-9]+") || echo "No version increment found."
+                # version_this_branch=$(git diff origin/${{ github.base_ref }}...HEAD -- docker-compose.yaml | grep -oP "image: .*/$image_name:v\K[0-9]+\.[0-9]+\.[0-9]+") || echo "No version increment found."
+                version_this_branch=$(grep -oP "image: .*/$image_name:v\K[0-9]+\.[0-9]+\.[0-9]+" docker-compose.yaml)
 
                 if [ -z "$version_this_branch" ]; then
                   echo "::error::Dockerfile for $image_name was modified but image version in docker-compose.yaml was not updated."

From 9c2982c3ee7fc2e075fbbedebb0de9c7b29f3886 Mon Sep 17 00:00:00 2001
From: Andrew Jong <ajong@andrew.cmu.edu>
Date: Tue, 8 Oct 2024 20:41:16 -0400
Subject: [PATCH 11/15] Debug

---
 .github/workflows/dockerfile_version_check.yaml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/dockerfile_version_check.yaml b/.github/workflows/dockerfile_version_check.yaml
index 2ba1c55a..9e044ca0 100644
--- a/.github/workflows/dockerfile_version_check.yaml
+++ b/.github/workflows/dockerfile_version_check.yaml
@@ -55,6 +55,7 @@ jobs:
                 # Split current version into major, minor, patch
                 IFS='.' read -r current_major current_minor current_patch <<< "$version_on_main"
 
+                echo $(ls -l)
                 # Check if the image version for this image_name has been incremented in this PR
                 # version_this_branch=$(git diff origin/${{ github.base_ref }}...HEAD -- docker-compose.yaml | grep -oP "image: .*/$image_name:v\K[0-9]+\.[0-9]+\.[0-9]+") || echo "No version increment found."
                 version_this_branch=$(grep -oP "image: .*/$image_name:v\K[0-9]+\.[0-9]+\.[0-9]+" docker-compose.yaml)

From 277090e1fd7852e074839e8f732ff7370a0e9c0f Mon Sep 17 00:00:00 2001
From: Andrew Jong <ajong@andrew.cmu.edu>
Date: Tue, 8 Oct 2024 20:45:13 -0400
Subject: [PATCH 12/15] Fix debug message

---
 .github/workflows/dockerfile_version_check.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/dockerfile_version_check.yaml b/.github/workflows/dockerfile_version_check.yaml
index 9e044ca0..40c7c370 100644
--- a/.github/workflows/dockerfile_version_check.yaml
+++ b/.github/workflows/dockerfile_version_check.yaml
@@ -65,7 +65,7 @@ jobs:
                   exit 1
                 fi
 
-                echo "version_this_branch=$new_version"
+                echo "version_this_branch=$version_this_branch"
 
                 # Split new version into major, minor, patch
                 IFS='.' read -r new_major new_minor new_patch <<< "$version_this_branch"

From b3c8b161b850484d1cfc99b3107650486d9de7ee Mon Sep 17 00:00:00 2001
From: Andrew Jong <ajong@andrew.cmu.edu>
Date: Tue, 8 Oct 2024 20:45:35 -0400
Subject: [PATCH 13/15] Delete stuff

---
 docker/Dockerfile.airstack-dev | 25 -------------------------
 docker/Dockerfile.isaac-ros    | 17 -----------------
 2 files changed, 42 deletions(-)

diff --git a/docker/Dockerfile.airstack-dev b/docker/Dockerfile.airstack-dev
index c3b2bb12..2185597c 100644
--- a/docker/Dockerfile.airstack-dev
+++ b/docker/Dockerfile.airstack-dev
@@ -25,31 +25,6 @@ RUN apt update -y && apt install -y \
     ros-humble-tf2* \
     ros-humble-stereo-image-proc \
     ros-humble-image-view \
-    ros-humble-topic-tools \
-    ros-humble-grid-map
-
-RUN /opt/ros/humble/lib/mavros/install_geographiclib_datasets.sh
-
-
-# Install Python dependencies
-RUN pip3 install \
-    empy \
-    future \
-    lxml \
-    matplotlib \
-    numpy \
-    pkgconfig \
-    psutil \
-    pygments \
-    wheel \
-    pymavlink \
-    pyyaml \
-    requests \
-    setuptools \
-    six \
-    toml \
-    scipy
-
 
 # Override install newer openvdb 8.2.0 for compatibility with Ubuntu 22.04  https://bugs.launchpad.net/bugs/1970108
 RUN apt remove -y libopenvdb*; \
diff --git a/docker/Dockerfile.isaac-ros b/docker/Dockerfile.isaac-ros
index 8a6a733e..067afab7 100644
--- a/docker/Dockerfile.isaac-ros
+++ b/docker/Dockerfile.isaac-ros
@@ -10,23 +10,6 @@ RUN echo 'Etc/UTC' > /etc/timezone && \
     apt-get install -q -y --no-install-recommends tzdata && \
     rm -rf /var/lib/apt/lists/*
 
-# install packages
-RUN apt-get update && apt-get install -q -y --no-install-recommends \
-    dirmngr \
-    gnupg2 \
-    unzip \
-    && rm -rf /var/lib/apt/lists/*
-
-# setup keys
-RUN set -eux; \
-       key='C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654'; \
-       export GNUPGHOME="$(mktemp -d)"; \
-       gpg --batch --keyserver keyserver.ubuntu.com --recv-keys "$key"; \
-       mkdir -p /usr/share/keyrings; \
-       gpg --batch --export "$key" > /usr/share/keyrings/ros2-latest-archive-keyring.gpg; \
-       gpgconf --kill all; \
-       rm -rf "$GNUPGHOME"
-
 # setup sources.list
 RUN echo "deb [ signed-by=/usr/share/keyrings/ros2-latest-archive-keyring.gpg ] http://packages.ros.org/ros2/ubuntu jammy main" > /etc/apt/sources.list.d/ros2-latest.list
 

From 874dc3bf64b49c0f33569c49e912739b645de9fe Mon Sep 17 00:00:00 2001
From: Andrew Jong <ajong@andrew.cmu.edu>
Date: Tue, 8 Oct 2024 20:46:33 -0400
Subject: [PATCH 14/15] Try increment and decrement

---
 docker/docker-compose.yaml | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/docker/docker-compose.yaml b/docker/docker-compose.yaml
index 96fe9e0c..f6176f79 100644
--- a/docker/docker-compose.yaml
+++ b/docker/docker-compose.yaml
@@ -6,8 +6,8 @@ services:
       context: ../
       dockerfile: docker/Dockerfile.isaac-ros
       tags:
-        - airlab-storage.andrew.cmu.edu:5001/shared/isaac-sim_ros-humble:v1.0.0
-    image: airlab-storage.andrew.cmu.edu:5001/shared/isaac-sim_ros-humble:v1.0.0
+        - airlab-storage.andrew.cmu.edu:5001/shared/isaac-sim_ros-humble:v1.1.0
+    image: airlab-storage.andrew.cmu.edu:5001/shared/isaac-sim_ros-humble:v1.1.0
     container_name: isaac-sim
     entrypoint: bash
     # Interactive shell
@@ -96,8 +96,8 @@ services:
       dockerfile: docker/Dockerfile.airstack-dev
       tags:
         - airlab-storage.andrew.cmu.edu:5001/shared/airstack-dev:latest
-        - airlab-storage.andrew.cmu.edu:5001/shared/airstack-dev:v0.5.0
-    image: airlab-storage.andrew.cmu.edu:5001/shared/airstack-dev:v0.5.0
+        - airlab-storage.andrew.cmu.edu:5001/shared/airstack-dev:v0.4.0
+    image: airlab-storage.andrew.cmu.edu:5001/shared/airstack-dev:v0.4.0
     # container_name: robot-1
     entrypoint: bash -c "service ssh restart && bash"
     # Interactive shell

From 455918f2da8a14dfc45fe56c50a61c8b3c199411 Mon Sep 17 00:00:00 2001
From: Andrew Jong <ajong@andrew.cmu.edu>
Date: Tue, 8 Oct 2024 20:47:13 -0400
Subject: [PATCH 15/15] Try proper increment

---
 docker/docker-compose.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/docker/docker-compose.yaml b/docker/docker-compose.yaml
index f6176f79..3fd42aae 100644
--- a/docker/docker-compose.yaml
+++ b/docker/docker-compose.yaml
@@ -96,8 +96,8 @@ services:
       dockerfile: docker/Dockerfile.airstack-dev
       tags:
         - airlab-storage.andrew.cmu.edu:5001/shared/airstack-dev:latest
-        - airlab-storage.andrew.cmu.edu:5001/shared/airstack-dev:v0.4.0
-    image: airlab-storage.andrew.cmu.edu:5001/shared/airstack-dev:v0.4.0
+        - airlab-storage.andrew.cmu.edu:5001/shared/airstack-dev:v0.5.1
+    image: airlab-storage.andrew.cmu.edu:5001/shared/airstack-dev:v0.5.1
     # container_name: robot-1
     entrypoint: bash -c "service ssh restart && bash"
     # Interactive shell