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Jazzy ROS image is now based on "noble" (backport #220) #243

Merged
merged 20 commits into from
Aug 17, 2024
Merged

Jazzy ROS image is now based on "noble" (backport #220) #243

merged 20 commits into from
Aug 17, 2024

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evan-palmer
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@evan-palmer evan-palmer commented Aug 17, 2024 •
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Changes Made

I am not tracking the underlying changes to the ROS image in great detail, @evan-palmer, you may have more info or a better perspective on how to resolve this issue.

However, it looks like Docker images for "rolling" are now built on Ubuntu "noble."

This brings a few major changes, some of which were also addressed when porting to "jazzy"

This PR pulls out the elements specific to "noble" without the jazzy-specific adaptations (particularly building MAVROS from source).

Specifically:

  • Use the existing non-root user "ubuntu" (uid/gid 1000) which already exists in the image.
  • Python packages installed with pip are placed in a venv

Please note: this image must use Gazebo "harmonic," so it is based on #223 . Complete and merge that PR before merging this PR.

Issues Closed

Fixes #168

dependabot bot and others added 19 commits June 5, 2024 15:49
@dependabot
Bump docker/login-action from 3.1.0 to 3.2.0 (#172)
c8e46b7 
Bumps [docker/login-action](https://github.com/docker/login-action) from 3.1.0 to 3.2.0.
- [Release notes](https://github.com/docker/login-action/releases)
- [Commits](docker/login-action@v3.1.0...v3.2.0)

---
updated-dependencies:
- dependency-name: docker/login-action
  dependency-type: direct:production
  update-type: version-update:semver-minor
...

Signed-off-by: dependabot[bot] <[email protected]>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
@dependabot
Bump docker/build-push-action from 5.3.0 to 5.4.0 (#175)
880a2d6 
Bumps [docker/build-push-action](https://github.com/docker/build-push-action) from 5.3.0 to 5.4.0.
- [Release notes](https://github.com/docker/build-push-action/releases)
- [Commits](docker/build-push-action@v5.3.0...v5.4.0)

---
updated-dependencies:
- dependency-name: docker/build-push-action
  dependency-type: direct:production
  update-type: version-update:semver-minor
...

Signed-off-by: dependabot[bot] <[email protected]>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
@dependabot
Bump braces from 3.0.2 to 3.0.3 in /docs (#182)
107fe4c 
Bumps [braces](https://github.com/micromatch/braces) from 3.0.2 to 3.0.3.
- [Changelog](https://github.com/micromatch/braces/blob/master/CHANGELOG.md)
- [Commits](micromatch/braces@3.0.2...3.0.3)

---
updated-dependencies:
- dependency-name: braces
  dependency-type: indirect
...

Signed-off-by: dependabot[bot] <[email protected]>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
@dependabot
Bump docker/build-push-action from 5.4.0 to 6.0.0 (#179)
4efc645 
Bumps [docker/build-push-action](https://github.com/docker/build-push-action) from 5.4.0 to 6.0.0.
- [Release notes](https://github.com/docker/build-push-action/releases)
- [Commits](docker/build-push-action@v5.4.0...v6.0.0)

---
updated-dependencies:
- dependency-name: docker/build-push-action
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <[email protected]>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
@dependabot
Bump docker/build-push-action from 6.0.0 to 6.1.0 (#187)
3c1a0e6 
Bumps [docker/build-push-action](https://github.com/docker/build-push-action) from 6.0.0 to 6.1.0.
- [Release notes](https://github.com/docker/build-push-action/releases)
- [Commits](docker/build-push-action@v6.0.0...v6.1.0)

---
updated-dependencies:
- dependency-name: docker/build-push-action
  dependency-type: direct:production
  update-type: version-update:semver-minor
...

Signed-off-by: dependabot[bot] <[email protected]>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
@evan-palmer
Resolved bug in BlueROV2 Heavy and Heavy Reach launch configurations (#…
9ddb154 
…193)

* Fixed ardusub_gazebo install and mavros configurations

* Remapped controller manager topic to robot state publisher topic

* Added missing gstreamer dependency
@evan-palmer
Added additional resources for USB/IP tutorial (#196)
531ed83
@dependabot
Bump docker/build-push-action from 6.1.0 to 6.2.0 (#200)
8639c41 
Bumps [docker/build-push-action](https://github.com/docker/build-push-action) from 6.1.0 to 6.2.0.
- [Release notes](https://github.com/docker/build-push-action/releases)
- [Commits](docker/build-push-action@v6.1.0...v6.2.0)

---
updated-dependencies:
- dependency-name: docker/build-push-action
  dependency-type: direct:production
  update-type: version-update:semver-minor
...

Signed-off-by: dependabot[bot] <[email protected]>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
@dependabot
Bump docker/build-push-action from 6.2.0 to 6.3.0 (#203)
ba4425b 
Bumps [docker/build-push-action](https://github.com/docker/build-push-action) from 6.2.0 to 6.3.0.
- [Release notes](https://github.com/docker/build-push-action/releases)
- [Commits](docker/build-push-action@v6.2.0...v6.3.0)

---
updated-dependencies:
- dependency-name: docker/build-push-action
  dependency-type: direct:production
  update-type: version-update:semver-minor
...

Signed-off-by: dependabot[bot] <[email protected]>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
@dependabot
Bump docker/setup-qemu-action from 3.0.0 to 3.1.0 (#204)
e1d86cc 
Bumps [docker/setup-qemu-action](https://github.com/docker/setup-qemu-action) from 3.0.0 to 3.1.0.
- [Release notes](https://github.com/docker/setup-qemu-action/releases)
- [Commits](docker/setup-qemu-action@v3.0.0...v3.1.0)

---
updated-dependencies:
- dependency-name: docker/setup-qemu-action
  dependency-type: direct:production
  update-type: version-update:semver-minor
...

Signed-off-by: dependabot[bot] <[email protected]>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
@dependabot
Bump docker/setup-qemu-action from 3.1.0 to 3.2.0 (#205)
73f77b8 
Bumps [docker/setup-qemu-action](https://github.com/docker/setup-qemu-action) from 3.1.0 to 3.2.0.
- [Release notes](https://github.com/docker/setup-qemu-action/releases)
- [Commits](docker/setup-qemu-action@v3.1.0...v3.2.0)

---
updated-dependencies:
- dependency-name: docker/setup-qemu-action
  dependency-type: direct:production
  update-type: version-update:semver-minor
...

Signed-off-by: dependabot[bot] <[email protected]>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
@dependabot
Bump docker/build-push-action from 6.3.0 to 6.5.0 (#206)
d7120bd 
Bumps [docker/build-push-action](https://github.com/docker/build-push-action) from 6.3.0 to 6.5.0.
- [Release notes](https://github.com/docker/build-push-action/releases)
- [Commits](docker/build-push-action@v6.3.0...v6.5.0)

---
updated-dependencies:
- dependency-name: docker/build-push-action
  dependency-type: direct:production
  update-type: version-update:semver-minor
...

Signed-off-by: dependabot[bot] <[email protected]>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
@dependabot
Bump docker/login-action from 3.2.0 to 3.3.0 (#207)
1434edd 
Bumps [docker/login-action](https://github.com/docker/login-action) from 3.2.0 to 3.3.0.
- [Release notes](https://github.com/docker/login-action/releases)
- [Commits](docker/login-action@v3.2.0...v3.3.0)

---
updated-dependencies:
- dependency-name: docker/login-action
  dependency-type: direct:production
  update-type: version-update:semver-minor
...

Signed-off-by: dependabot[bot] <[email protected]>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
@amarburg
Fix case on "as" in Dockerfile (#214)
8bbb19e 
Co-authored-by: Aaron Marburg <[email protected]>
@amarburg
Add xacro as an exec_depend for blue_description (#215)
506be06 
Co-authored-by: Aaron Marburg <[email protected]>
@amarburg
Add "robot" container (#221)
ba77c25 
* Initial commit of _robot container and devcontainer

* Add xacro as an exec_depend for blue_description

* Update comments

* Remove unused Docker stage "blue_src_and_deps"

Renamed *.repos --> blue.repos and sim.repos

---------

Co-authored-by: Aaron Marburg <[email protected]>
@amarburg
Use Gazebo Harmonic (#223)
8a4e05a 
* Update to use Harmonic

* Add "third-party" rosdep from OSRF for gazebo deps.

* Added comment on "user ROOT" rather than sudo, joined two adjacent apt-get install steps.

* Correct error in comment

---------

Co-authored-by: Aaron Marburg <[email protected]>
@amarburg
Rolling ROS image is now based on "noble" (#220)
fe3861d 
* Update to use Harmonic

* Update main Dockerfile for "noble" base images:

- Use the provided user "ubuntu" at UID 1000
- Use a venv for user-installed python packages

* Add "third-party" rosdep from OSRF for gazebo deps.

* Install cppzmq-dev for Gazebo

* Allow pushing to apl-ocean-engineering

* Build mavros from source.

* Build mavros from source, with patch to fix yaml-cpp linkage

* ardupilot script should not activate venv by default.  Activate blue venv instead.

* Reverse change in docker.yaml action.

* Insert comment before arduplot additions to .bashrc

* Update username in .devcontainer/

* Replace patches for mavros/mavlink with sed one-liners.

* Extend Docker build timeout in github actions to allow for extended arm64 build times.

* timeout_minutes should be at job level?

* Disabled arm64 build for "robot"

Also:

* Set python in venv as default Python in dev container
* Remove build timeout in github action (which was ignored)

* Correctly disable arm64 build.

---------

Co-authored-by: Aaron Marburg <[email protected]>
@evan-palmer
Backport #220 into Jazzy
4b4e695
@evan-palmer evan-palmer changed the base branch from main to jazzy August 17, 2024 20:52
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mergify bot commented Aug 17, 2024

Please target the main branch for development, we will backport the changes to jazzy for you if approved and if they don't break API.

evan-palmer
evan-palmer commented Aug 17, 2024
View reviewed changes
.docker/Dockerfile
WORKDIR $USER_WORKSPACE/src/
ARG MAVROS_RELEASE=ros2
# mavlink-gdp-release has not been released for Jazzy, so we use the Rolling release
ARG MAVLINK_RELEASE=release/rolling/mavlink
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@amarburg Wanted to point this out to you

@evan-palmer evan-palmer mentioned this pull request Aug 17, 2024
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The jazzy-ci pipeline will fail until this is merged because the CI image has not been pushed for Jazzy.

@evan-palmer evan-palmer merged commit 771f678 into jazzy Aug 17, 2024
7 of 8 checks passed
@evan-palmer evan-palmer deleted the backport-220-jazzy branch August 17, 2024 23:06
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@evan-palmer @amarburg