Update gazebo to ubuntujammy and comment probably unneeded parts

icub-tech-iit · Jan 3, 2024 · f3638e3 · f3638e3
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commit f3638e3
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diff --git a/dockerfile_images/basic/superbuild-gazebo/Dockerfile b/dockerfile_images/basic/superbuild-gazebo/Dockerfile
@@ -17,21 +17,22 @@ ENV DEBIAN_FRONTEND=noninteractive
 
     # Some definitions
 ARG CMAKE_GENERATOR="Unix Makefiles"
-ARG SOURCES_BUILD_TYPE=RelWithDebInfo
+# ARG SOURCES_BUILD_TYPE=RelWithDebInfo
 ARG CMAKE_EXTRA_OPTIONS=-j4
 ARG BUILD_TYPE=Release
-    # Variables defined before the first FROM can be accessed in all stages but they need to be re-declared
+
+# Variables defined before the first FROM can be accessed in all stages but they need to be re-declared
 ARG GAZEBO_VER
 ARG release
 ARG sbtag
 ARG PROJECTS_DIR
 ARG INSTALL_DIR
 
 
-    # Create a new runtimeusers group 
+# Create a new runtimeusers group  (why we are doing this)
 RUN groupadd -K GID_MIN=100 -K GID_MAX=499 runtimeusers
 
-    # Install dependencies given in documentation in superbuild
+# Install dependencies given in documentation in superbuild
 RUN mkdir -p /etc/bash_completion.d/ && \
     # apt-get update and apt-get install should always be in the same layer to prevent caching errors
     apt-get update && \
@@ -47,24 +48,21 @@ RUN mkdir -p /etc/bash_completion.d/ && \
         lsb-release \
         vim
 
-    # Get gazebo from the osrf repo
-RUN echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" \
-        > /etc/apt/sources.list.d/gazebo-stable.list &&\
-    wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add - &&\
-    apt-get update &&\
-    apt install -y gazebo${GAZEBO_VER} libgazebo${GAZEBO_VER}-dev
+# Get gazebo from apt
+RUN apt-get update &&\
+    apt install -y gazebo libgazebo-dev libgazebo${GAZEBO_VER}
 
 RUN mkdir ${PROJECTS_DIR} && cd ${PROJECTS_DIR} &&\
     # Clone relevant repos
     git clone https://github.com/robotology/robotology-superbuild.git &&\
-    git clone https://github.com/robotology/cer.git &&\
-    git clone https://github.com/robotology/cer-sim.git &&\
-    git clone https://github.com/robotology/navigation.git &&\
+    # git clone https://github.com/robotology/cer.git &&\
+    # git clone https://github.com/robotology/cer-sim.git &&\
+    # git clone https://github.com/robotology/navigation.git &&\
     git clone https://github.com/icub-tech-iit/appsAway.git &&\
-    git clone https://github.com/robotology/icub-models.git --depth 1 --branch devel &&\
+    # git clone https://github.com/robotology/icub-models.git --depth 1 --branch devel &&\
     chmod -R g+rw ${PROJECTS_DIR}
 
-    # Build robotology-superbuild
+# Build robotology-superbuild
 RUN cd ${PROJECTS_DIR}/robotology-superbuild &&\
     git checkout ${release} &&\
     # Add no-install-recommends to robotology libraries
@@ -88,7 +86,7 @@ RUN cd ${PROJECTS_DIR}/robotology-superbuild &&\
     # Remove build directory
     rm -rf /projects/robotology-superbuild/build/src
 
-    # Build checkRobotInterface
+# Build checkRobotInterface
 RUN cd ${PROJECTS_DIR}/appsAway/modules/checkRobotInterface && \ 
     mkdir build && cd build && \
     cmake .. \
@@ -100,44 +98,44 @@ RUN cd ${PROJECTS_DIR}/appsAway/modules/checkRobotInterface && \
     # Remove build directory
     rm -rf ${PROJECTS_DIR}/appsAway/modules/checkRobotInterface/build 
 
-    # Build icub-models
-RUN cd ${PROJECTS_DIR}/icub-models && mkdir build && cd build && \
-    cmake .. \
-    -DCMAKE_BUILD_TYPE=${SOURCES_BUILD_TYPE} && \
-    make install && \
-    # Remove build directory
-    rm -rf ${PROJECTS_DIR}/icub-models/build 
-
-    # Build CER
-RUN cd ${PROJECTS_DIR}/cer && \
-    git checkout devel &&\
-    mkdir build && cd build &&\
-    cmake .. \
-    -G "$CMAKE_GENERATOR" \
-    -DCMAKE_BUILD_TYPE=${BUILD_TYPE} \
-    -D ENABLE_cermod_cerDoubleLidar=ON \
-    -DENABLE_faceExpressionImage=ON \
-    -DGAZEBO_TRIPOD_PLUGIN=ON && \
-    cmake --build . -- ${CMAKE_EXTRA_OPTIONS} 
-    # Remove build directory
-    # rm -rf ${PROJECTS_DIR}/cer/build
+#     # Build icub-models
+# RUN cd ${PROJECTS_DIR}/icub-models && mkdir build && cd build && \
+#     cmake .. \
+#     -DCMAKE_BUILD_TYPE=${SOURCES_BUILD_TYPE} && \
+#     make install && \
+#     # Remove build directory
+#     rm -rf ${PROJECTS_DIR}/icub-models/build 
+
+#     # Build CER
+# RUN cd ${PROJECTS_DIR}/cer && \
+#     git checkout devel &&\
+#     mkdir build && cd build &&\
+#     cmake .. \
+#     -G "$CMAKE_GENERATOR" \
+#     -DCMAKE_BUILD_TYPE=${BUILD_TYPE} \
+#     -D ENABLE_cermod_cerDoubleLidar=ON \
+#     -DENABLE_faceExpressionImage=ON \
+#     -DGAZEBO_TRIPOD_PLUGIN=ON && \
+#     cmake --build . -- ${CMAKE_EXTRA_OPTIONS} 
+#     # Remove build directory
+#     # rm -rf ${PROJECTS_DIR}/cer/build
 
-    # Build Navigation
-RUN cd ${PROJECTS_DIR}/navigation && \
-    mkdir build && cd build &&\
-    cmake .. \
-    -G "$CMAKE_GENERATOR" \
-    &&\
-    cmake --build . -- ${CMAKE_EXTRA_OPTIONS} &&\
-    make install && \
-    rm -rf ${PROJECTS_DIR}/navigation/build
-
-    # Using Multi-Stage Builds
-    # We use a middle stage because several COPY commands with hardlinks and softlinks generate duplication
+#     # Build Navigation
+# RUN cd ${PROJECTS_DIR}/navigation && \
+#     mkdir build && cd build &&\
+#     cmake .. \
+#     -G "$CMAKE_GENERATOR" \
+#     &&\
+#     cmake --build . -- ${CMAKE_EXTRA_OPTIONS} &&\
+#     make install && \
+#     rm -rf ${PROJECTS_DIR}/navigation/build
+
+# Using Multi-Stage Builds
+# We use a middle stage because several COPY commands with hardlinks and softlinks generate duplication
 FROM $START_IMG as middlestage
 
 
-    # Variables defined before the first FROM can be accessed in all stages but they need to be re-declared
+# Variables defined before the first FROM can be accessed in all stages but they need to be re-declared
 ARG PROJECTS_DIR
 ARG ROBOTOLOGY_INITIALIZATION_FILE
 ARG INSTALL_DIR
@@ -163,13 +161,12 @@ RUN echo "source ${INSTALL_DIR}/share/robotology-superbuild/setup.sh" >> $ROBOTO
 
 FROM scratch
 
-    # Variables defined before the first FROM can be accessed in all stages but they need to be re-declared
+# Variables defined before the first FROM can be accessed in all stages but they need to be re-declared
 ARG PROJECTS_DIR
 ARG INSTALL_DIR
-ARG GAZEBO_VER
+ARG ROBOTOLOGY_INITIALIZATION_FILE
 ARG release
 ARG sbtag
-ARG ROBOTOLOGY_INITIALIZATION_FILE
 ARG metadata
 
 COPY --from=middlestage / /
@@ -181,7 +178,7 @@ ENV GAZEBO_MODEL_PATH=/usr/local/share/gazebo/models:/usr/local/share/iCub/robot
 ENV GAZEBO_MODEL_DATABASE_URI=http://gazebosim.org/models 
 ENV GAZEBO_RESOURCE_PATH=/usr/local/share/gazebo/worlds 
 ENV GAZEBO_MASTER_URI=http://localhost:11345 
-ENV YARP_DATA_DIRS=${PROJECTS_DIR}/cer/build/share/CER:${PROJECTS_DIR}/cer/build/share/CER/robots/CER01:/usr/local/share/navigation 
+# ENV YARP_DATA_DIRS=${PROJECTS_DIR}/cer/build/share/CER:${PROJECTS_DIR}/cer/build/share/CER/robots/CER01:/usr/local/share/navigation 
 ENV QT_X11_NO_MITSHM=1 
 ENV YARP_COLORED_OUTPUT=1 
 ENV img_metadata=${metadata}

diff --git a/dockerfile_images/basic/superbuild-gazebo/conf_build.ini b/dockerfile_images/basic/superbuild-gazebo/conf_build.ini
@@ -1,12 +1,12 @@
 [sources]
-START_IMG=ubuntu:focal
+START_IMG=ubuntu:jammy
 metadata={{steps.get_date.outputs.DATE_HOUR}}
 release={{steps.get_version.outputs.VERSION}}
 sbtag={{matrix.tag}}
 
 [binaries]
 SOURCE_IMG={{env.DEFAULT_USER}}/{{matrix.apps}}:{{steps.get_version.outputs.VERSION}}{{steps.get_version.outputs.TAG}}_sources
-START_IMG=ubuntu:focal
+START_IMG=ubuntu:jammy
 
 [tag]
 {{matrix.apps}}:{{steps.get_version.outputs.VERSION}}{{steps.get_version.outputs.TAG}}