ci: utilize prebuilt stonefish image for simulator test (#595)

* Verify reusable workflow reference for simulator tests

* Comment out Stonefish installation in setup.sh

Comment out the installation of Stonefish in setup script.

* test: publish killswitch and auto mode 5 times to ensure it arrives

* remove duplicate installations, which are already present in the stonefish image

* remove executor sequential from build in setup.sh

* revert to using vortex-ci@main for reusable simulator test

Author: Andeshog

tests/setup.sh

@@ -1,8 +1,6 @@
 #!/bin/bash
 set -e
 
-# ----------------------------- GLOBAL VARIABLES -----------------------------
-STONEFISH_DIR="$HOME/opt/stonefish"
 ROS_WORKSPACE="${WORKSPACE:-$HOME/ros2_ws}"
 LOG_PREFIX="[$(date +%T)]"
 
@@ -15,64 +13,6 @@ log_error() {
     echo -e "$LOG_PREFIX [ERROR] $1" >&2
 }
 
-# ----------------------------- PYTHON DEPENDENCIES -----------------------------
-install_python_dependencies() {
-    log_info "Installing/upgrading Python dependencies..."
-    pip3 install --upgrade pip
-    pip3 install --upgrade 'numpy<1.25' 'scipy<1.12'
-    log_info "Python dependencies installed."
-}
-
-# ----------------------------- C++ DEPENDENCIES -----------------------------
-install_cpp_dependencies() {
-    log_info "Installing required C++ dependencies..."
-    sudo apt-get update -qq
-    sudo apt-get install -y \
-        build-essential \
-        cmake \
-        git \
-        libglm-dev \
-        libsdl2-dev \
-        libfreetype6-dev \
-        ros-humble-rosbag2-storage-mcap
-    log_info "C++ dependencies installed."
-}
-
-install_gcc13_compiler() {
-    log_info "Installing GCC 13 compiler..."
-    sudo apt-get update -qq
-    sudo apt-get install -y --no-install-recommends software-properties-common
-    sudo add-apt-repository ppa:ubuntu-toolchain-r/test -y
-    sudo apt-get update -qq
-
-    sudo apt-get install -y --no-install-recommends gcc-13 g++-13
-    sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-13 100
-    sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-13 100
-}
-
-# ----------------------------- STONEFISH INSTALLATION -----------------------------
-install_stonefish() {
-    if [ -d "$STONEFISH_DIR" ]; then
-        log_info "Stonefish is already installed at $STONEFISH_DIR. Skipping clone."
-    else
-        log_info "Cloning Stonefish repository..."
-        mkdir -p "$STONEFISH_DIR"
-        git clone https://github.com/vortexntnu/stonefish.git "$STONEFISH_DIR"
-        sed -i '30i#include <cstdint>' /github/home/opt/stonefish/Library/include/sensors/Sample.h
-    fi
-
-    log_info "Building Stonefish..."
-    mkdir -p "$STONEFISH_DIR/build"
-    cd "$STONEFISH_DIR/build"
-
-    cmake ..
-    make -j"$(nproc)"
-    sudo make install
-
-    log_info "Stonefish installation complete."
-}
-
-# ----------------------------- BUILD ROS 2 PACKAGES -----------------------------
 build_ros_workspace() {
     log_info "Setting up ROS 2 workspace..."
     cd "$ROS_WORKSPACE"
@@ -92,12 +32,4 @@ build_ros_workspace() {
     log_info "ROS 2 workspace build complete."
 }
 
-# ----------------------------- EXECUTE INSTALLATION -----------------------------
-log_info "Starting manual installation of extra dependencies..."
-install_python_dependencies
-install_cpp_dependencies
-install_gcc13_compiler
-install_stonefish
 build_ros_workspace
-
-log_info "All dependencies installed successfully."

tests/simulator_tests/waypoint_navigation/simulator_test.sh

@@ -79,8 +79,8 @@ fi
 
 # Set operation mode
 echo "Turning off killswitch and setting operation mode to autonomous mode"
-ros2 topic pub /orca/killswitch std_msgs/msg/Bool "{data: false}" -1
-ros2 topic pub /orca/operation_mode std_msgs/msg/String "{data: 'autonomous mode'}" -1
+ros2 topic pub /orca/killswitch std_msgs/msg/Bool "{data: false}" -t 5 # Ensure the message arrives
+ros2 topic pub /orca/operation_mode std_msgs/msg/String "{data: 'autonomous mode'}" -t 5 # Ensure the message arrives
 
 # Send waypoint goal
 echo "Sending goal"