Add ROSDISTRO_PKGS_SYNC_DATE environment variable

.github/workflows/ci.yml

@@ -196,6 +196,7 @@ jobs:
             ros/jazzy/ubuntu/noble: 'ros/jazzy/ubuntu/noble/**'
             ros/noetic/ubuntu/focal: 'ros/noetic/ubuntu/focal/**'
             ros/rolling/ubuntu/jammy: 'ros/rolling/ubuntu/jammy/**'
+            ros/rolling/ubuntu/noble: 'ros/rolling/ubuntu/noble/**'
             polymath-ros/humble/ubuntu/jammy: 'polymath-ros/humble/ubuntu/jammy/**'
             polymath-ros/iron/ubuntu/jammy: 'polymath-ros/iron/ubuntu/jammy/**'
             polymath-ros/jazzy/ubuntu/noble: 'polymath-ros/jazzy/ubuntu/noble/**'

ros/rolling/ubuntu/jammy/Containerfile

@@ -1,5 +1,5 @@
 # syntax=docker/dockerfile:1
-ARG BASE_IMAGE=docker.io/ubuntu:jammy-20240808
+ARG BASE_IMAGE=docker.io/ubuntu:jammy-20240911.1
 # hadolint ignore=DL3006
 FROM ${BASE_IMAGE} AS base
 
@@ -20,6 +20,7 @@ EOF
 FROM base AS ros-core
 
 ARG ROS_PACKAGES_URI
+ARG ROSDISTRO_PKGS_SYNC_DATE
 
 COPY --from=download /usr/share/keyrings/ros2-latest-archive-keyring.gpg /usr/share/keyrings/ros2-latest-archive-keyring.gpg
 
@@ -43,6 +44,7 @@ RUN echo "deb [ signed-by=/usr/share/keyrings/ros2-latest-archive-keyring.gpg ]
 ENV LANG=C.UTF-8
 ENV LC_ALL=C.UTF-8
 
+ENV ROSDISTRO_PKGS_SYNC_DATE=$ROSDISTRO_PKGS_SYNC_DATE
 ENV ROS_DISTRO=rolling
 
 # install ros2 packages

ros/rolling/ubuntu/jammy/docker-bake.hcl

@@ -15,6 +15,7 @@ target "_common" {
   args = {
     ROS_PACKAGES_URI = "http://packages.ros.org/ros2/ubuntu"
     RAW_GITHUBUSERCONTENT_BASE_URL = "https://raw.githubusercontent.com"
+    ROSDISTRO_PKGS_SYNC_DATE = "${formatdate("YYYY-MM-DD", timestamp())}"
   }
   dockerfile = "Containerfile"
   labels = {

ros/rolling/ubuntu/jammy/test/controls/ros_rolling.rb

@@ -6,6 +6,10 @@
   its('content') { should eq 'C.UTF-8' }
 end
 
+describe os_env('ROSDISTRO_PKGS_SYNC_DATE') do
+  its('content') { should match /^\d{4}-\d{2}-\d{2}$/ }
+end
+
 describe file('/usr/share/keyrings/ros2-latest-archive-keyring.gpg') do
   it { should exist }
 end

ros/rolling/ubuntu/noble/Containerfile

@@ -0,0 +1,104 @@
+# syntax=docker/dockerfile:1
+ARG BASE_IMAGE=docker.io/ubuntu:noble-20241015
+# hadolint ignore=DL3006
+FROM ${BASE_IMAGE} AS base
+
+FROM base AS download
+
+ARG RAW_GITHUBUSERCONTENT_BASE_URL
+
+# download gpg key
+RUN <<EOF
+  apt-get update
+  apt-get install -y --no-install-recommends \
+    ca-certificates \
+    curl
+  curl -sSL "${RAW_GITHUBUSERCONTENT_BASE_URL}/ros/rosdistro/master/ros.key" \
+    -o /usr/share/keyrings/ros2-latest-archive-keyring.gpg
+EOF
+
+FROM base AS ros-core
+
+ARG ROS_PACKAGES_URI
+ARG ROSDISTRO_PKGS_SYNC_DATE
+
+COPY --from=download /usr/share/keyrings/ros2-latest-archive-keyring.gpg /usr/share/keyrings/ros2-latest-archive-keyring.gpg
+
+# setup timezone
+RUN echo 'Etc/UTC' > /etc/timezone && \
+    ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime && \
+    apt-get update && \
+    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 \
+    && rm -rf /var/lib/apt/lists/*
+
+# setup sources.list
+RUN echo "deb [ signed-by=/usr/share/keyrings/ros2-latest-archive-keyring.gpg ] ${ROS_PACKAGES_URI} noble main" > /etc/apt/sources.list.d/ros2-latest.list
+
+# setup environment
+ENV LANG=C.UTF-8
+ENV LC_ALL=C.UTF-8
+
+ENV ROSDISTRO_PKGS_SYNC_DATE=$ROSDISTRO_PKGS_SYNC_DATE
+ENV ROS_DISTRO=rolling
+
+# install ros2 packages
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-rolling-ros-core=0.11.0-1* \
+    && rm -rf /var/lib/apt/lists/*
+
+# setup entrypoint
+COPY ./ros_entrypoint.sh /
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["bash"]
+
+FROM ros-core AS ros-base
+
+ARG RAW_GITHUBUSERCONTENT_BASE_URL
+
+# install bootstrap tools
+RUN apt-get update && apt-get install --no-install-recommends -y \
+    build-essential \
+    git \
+    python3-colcon-common-extensions \
+    python3-colcon-mixin \
+    python3-rosdep \
+    python3-vcstool \
+    && rm -rf /var/lib/apt/lists/*
+
+# bootstrap rosdep
+RUN rosdep init && \
+  rosdep update --rosdistro "${ROS_DISTRO}"
+
+# setup colcon mixin and metadata
+RUN colcon mixin add default \
+      "${RAW_GITHUBUSERCONTENT_BASE_URL}/colcon/colcon-mixin-repository/master/index.yaml" && \
+    colcon mixin update && \
+    colcon metadata add default \
+      "${RAW_GITHUBUSERCONTENT_BASE_URL}/colcon/colcon-metadata-repository/master/index.yaml" && \
+    colcon metadata update
+
+# install ros2 packages
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-rolling-ros-core=0.11.0-1* \
+    && rm -rf /var/lib/apt/lists/*
+
+FROM ros-base AS perception
+
+# install ros2 packages
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-rolling-ros-base=0.11.0-1* \
+    && rm -rf /var/lib/apt/lists/*
+
+FROM ros-base AS desktop
+
+# install ros2 packages
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-rolling-desktop=0.11.0-1* \
+    && rm -rf /var/lib/apt/lists/*

ros/rolling/ubuntu/noble/docker-bake.hcl

@@ -0,0 +1,55 @@
+variable "TAG_PREFIX" {
+  default = "docker.io/polymathrobotics/ros"
+}
+
+# There's no darwin-based Docker, so if we're running on macOS, change the platform to linux
+variable "LOCAL_PLATFORM" {
+  default = regex_replace("${BAKE_LOCAL_PLATFORM}", "^(darwin)", "linux")
+}
+
+variable "ROS_PACKAGE" {
+  default = ["ros-core", "ros-base", "perception", "desktop"]
+}
+
+target "_common" {
+  args = {
+    ROS_PACKAGES_URI = "http://packages.ros.org/ros2/ubuntu"
+    RAW_GITHUBUSERCONTENT_BASE_URL = "https://raw.githubusercontent.com"
+    ROSDISTRO_PKGS_SYNC_DATE = "${formatdate("YYYY-MM-DD", timestamp())}"
+  }
+  dockerfile = "Containerfile"
+  labels = {
+    "org.opencontainers.image.source" = "https://github.com/polymathrobotics/oci/blob/main/ros/jazzy/ubuntu/noble/Containerfile"
+    "org.opencontainers.image.licenses" = "Apache-2.0"
+    "org.opencontainers.image.description" = "The Robot Operating System (ROS) is an open source project for building robot applications."
+    "org.opencontainers.image.title" = "${TAG_PREFIX}"
+    "org.opencontainers.image.created" = "${timestamp()}"
+    "dev.polymathrobotics.image.readme-filepath" = "ros/README.md"
+  }
+}
+
+target "local" {
+  inherits = ["_common"]
+  name = "local-${ros_package}"
+  matrix = {
+    ros_package = ROS_PACKAGE
+  }
+  target = ros_package
+  tags = [
+    "${TAG_PREFIX}:rolling-${ros_package}-noble"
+  ]
+  platforms = ["${LOCAL_PLATFORM}"]
+}
+
+target "default" {
+  inherits = ["_common"]
+  name = "default-${ros_package}"
+  matrix = {
+    ros_package = ROS_PACKAGE
+  }
+  target = ros_package
+  tags = [
+    "${TAG_PREFIX}:rolling-${ros_package}-noble"
+  ]
+  platforms = ["linux/amd64", "linux/arm64/v8"]
+}

ros/rolling/ubuntu/noble/ros_entrypoint.sh

@@ -0,0 +1,6 @@
+#!/bin/bash
+set -e
+
+# setup ros2 environment
+source "/opt/ros/$ROS_DISTRO/setup.bash" --
+exec "$@"

ros/rolling/ubuntu/noble/test/controls/ros_rolling.rb

@@ -0,0 +1,78 @@
+describe os_env('ROS_DISTRO') do
+  its('content') { should eq 'rolling' }
+end
+
+describe os_env('LANG') do
+  its('content') { should eq 'C.UTF-8' }
+end
+
+describe os_env('ROSDISTRO_PKGS_SYNC_DATE') do
+  its('content') { should match /^\d{4}-\d{2}-\d{2}$/ }
+end
+
+describe file('/usr/share/keyrings/ros2-latest-archive-keyring.gpg') do
+  it { should exist }
+end
+
+describe file('/ros_entrypoint.sh') do
+  it { should exist }
+end
+
+describe command("su --login --command \"source /opt/ros/$ROS_DISTRO/setup.bash && ros2 -h\"") do
+  its('exit_status') { should cmp 0 }
+  its('stdout') { should match(/usage: ros2/) }
+end
+
+describe file('/ros_entrypoint.sh') do
+  it { should exist }
+  its('content') { should match %r{source "/opt/ros/\$ROS_DISTRO/setup\.bash"} }
+end
+
+# docker.io/polymathrobotics/ros:rolling-ros-core-noble
+control 'ros-core' do
+  only_if('ros-core') do
+    input('test_container_image').include?('ros:rolling-ros-core-noble')
+  end
+
+  %w(
+    colcon
+    rosdep
+  ).each do |cmd|
+    describe command(cmd) do
+      it { should_not exist }
+    end
+  end
+end
+
+# docker.io/polymathrobotics/ros:rolling-ros-base-noble
+control 'ros-base' do
+  only_if('ros-base') do
+    input('test_container_image').include?('ros:rolling-ros-base-noble')
+  end
+
+  describe command('colcon') do
+    it { should exist }
+  end
+end
+
+# docker.io/polymathrobotics/ros:rolling-perception-noble
+control 'perception' do
+  only_if('perception') do
+    input('test_container_image').include?('ros:rolling-perception-noble')
+  end
+
+  describe command('colcon') do
+    it { should exist }
+  end
+end
+
+# docker.io/polymathrobotics/ros:rolling-desktop-noble
+control 'desktop' do
+  only_if('desktop') do
+    input('test_container_image').include?('ros:rolling-desktop-noble')
+  end
+
+  describe command('colcon') do
+    it { should exist }
+  end
+end