ROS 2 jazzy package

.docker/dev-container/docker-compose.yml

@@ -1,19 +1,23 @@
 version: '2'
 services:
   ros-rrc-dev:
-    image: compasrrc/compas_rrc_driver:v1.1.2
+    image: compasrrc/compas_rrc_driver:jazzy
     container_name: ros-rrc-dev
     environment:
       - ROS_HOSTNAME=ros-rrc-dev
       - ROS_MASTER_URI=http://ros-rrc-dev:11311
-      - ROS_LANG_DISABLE=genlisp:gennodejs:geneus
     ports:
       - "9090:9090"
       - "30101:30101"
       - "30201:30201"
     command:
-      - roslaunch
-      - /root/catkin_ws/scripts/main.launch
+      - ros2
+      - run
+      - compas_rrc_driver
+      - driver
+      - "--ros-args"
+      - "-p"
+      - "robot_ip_address:=host.docker.internal"
     volumes:
       - ./scripts:/root/catkin_ws/scripts
       - ./logs:/root/catkin_ws/logs

.docker/ros_catkin_entrypoint.sh → .docker/ros_entrypoint.sh

@@ -1,6 +1,6 @@
 #!/bin/bash
 
 # Source ROS distro environment and local catkin workspace
-source "/opt/ros/$ROS_DISTRO/setup.bash" && source "$CATKIN_WS/devel/setup.bash"
+source "/opt/ros/$ROS_DISTRO/setup.bash" && source "$WS/install/setup.bash"
 
 exec "$@"

.github/workflows/build-image.yml

@@ -4,6 +4,7 @@ on:
   push:
     branches:
       - "main"
+      - "ros2"
     tags:
       - "v*"
   pull_request:
@@ -36,8 +37,8 @@ jobs:
         uses: docker/setup-buildx-action@v2
 
       - name: Login to Docker Hub
-        if: github.event_name != 'pull_request'
         uses: docker/login-action@v2
+        continue-on-error: true
         with:
           username: ${{ secrets.DOCKER_USERNAME }}
           password: ${{ secrets.DOCKER_PASSWORD }}
@@ -46,6 +47,6 @@ jobs:
         uses: docker/build-push-action@v4
         with:
           context: .
-          push: ${{ github.event_name != 'pull_request' }}
+          push: ${{ github.repository_owner == 'compas-rrc' && github.event_name != 'pull_request' }}
           tags: ${{ steps.meta.outputs.tags }}
           labels: ${{ steps.meta.outputs.labels }}

.github/workflows/build-package.yml

@@ -0,0 +1,18 @@
+name: Build ROS packages
+
+on:
+  push:
+
+jobs:
+  build-pkg:
+    runs-on: ubuntu-latest
+    container:
+      image: ubuntu:noble
+    steps:
+      - uses: ros-tooling/setup-ros@v0.7
+        with:
+          required-ros-distributions: jazzy
+      - uses: ros-tooling/action-ros-ci@v0.3
+        with:
+          package-name: compas_rrc_driver
+          target-ros2-distro: jazzy

Dockerfile

@@ -6,20 +6,15 @@
 # Usage:
 #  docker pull compasrrc/compas_rrc_driver
 
-FROM ros:noetic-ros-core
+FROM ros:jazzy-ros-core
 LABEL maintainer="RRC Team <rrc@arch.ethz.ch>"
 
 SHELL ["/bin/bash","-c"]
 
-RUN apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654
-
 # Install packages
 RUN apt-get update && apt-get install -y \
-    # Basic utilities
     iputils-ping \
-    # ROS bridge server and related packages
     ros-${ROS_DISTRO}-rosbridge-server \
-    ros-${ROS_DISTRO}-tf2-web-republisher \
     --no-install-recommends \
     # Clear apt-cache to reduce image size
     && rm -rf /var/lib/apt/lists/*
@@ -28,29 +23,28 @@ RUN apt-get update && apt-get install -y \
 ENV RRC_BUILD=1
 
 # Create local catkin workspace
-ENV CATKIN_WS=/root/catkin_ws
+ENV WS=/root/ws
 # Add COMPAS RRC Driver package
-ADD . $CATKIN_WS/src/compas_rrc_driver
-WORKDIR $CATKIN_WS/src
+ADD . $WS/src/compas_rrc_driver
+WORKDIR $WS/src
 
 RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
     # Update apt-get because its cache is always cleared after installs to keep image size down
     && apt-get update \
-    && test $ROS_PYTHON_VERSION -eq 3 && ROSDEP_PKG="python3-rosdep" || ROSDEP_PKG="python-rosdep" \
-    ; apt-get install build-essential $ROSDEP_PKG -y  \
+    && apt-get install ros-dev-tools -y  \
     # Reconfigure rosdep
     && rm -rf /etc/ros/rosdep/sources.list.d/* \
-    && rosdep init && rosdep update --include-eol-distros \
+    && rosdep init && rosdep update \
     # Install dependencies
-    && cd $CATKIN_WS \
+    && cd $WS \
     && rosdep install -y --from-paths . --ignore-src --rosdistro ${ROS_DISTRO} \
     # Build catkin workspace
-    && ROS_LANG_DISABLE=geneus:genlisp:gennodejs catkin_make \
+    && colcon build \
     # Clear apt-cache to reduce image size
     && rm -rf /var/lib/apt/lists/*
 
-COPY ./.docker/ros_catkin_entrypoint.sh /
-RUN chmod +x /ros_catkin_entrypoint.sh
+COPY ./.docker/ros_entrypoint.sh /
+RUN chmod +x /ros_entrypoint.sh
 
-ENTRYPOINT ["/ros_catkin_entrypoint.sh"]
+ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["bash"]