try from base image

Author: sgillen

.github/workflows/debian-packages.yml

@@ -59,10 +59,7 @@ jobs:
     runs-on: ubuntu-latest
     needs: [determine-distros]
     container:
-      image: ros:${{ matrix.ros_distro }}-ros-base-${{ matrix.ubuntu_distro }}
-      credentials:
-        username: ${{ secrets.DOCKERHUB_USERNAME }}
-        password: ${{ secrets.DOCKERHUB_TOKEN }}
+      image: ubuntu:${{ matrix.ubuntu_distro }}
 
     strategy:
       fail-fast: false
@@ -84,11 +81,24 @@ jobs:
     - name: Checkout code
       uses: actions/checkout@v4
 
+    - name: Setup ROS repository
+      run: |
+        apt-get update -qq
+        apt-get install -y curl gnupg lsb-release
+        curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2.list
+        apt-get update -qq
+      shell: bash
+      env:
+        DEBIAN_FRONTEND: noninteractive
+
     - name: Build Debian packages
       run: |
         chmod +x scripts/build_debian_packages.sh
         ./scripts/build_debian_packages.sh ${{ matrix.ros_distro }} ${{ matrix.ubuntu_distro }}
       shell: bash
+      env:
+        DEBIAN_FRONTEND: noninteractive
 
     - name: Upload Debian packages
       uses: actions/upload-artifact@v4
@@ -102,10 +112,7 @@ jobs:
     runs-on: ubuntu-latest
     needs: [determine-distros, generate-debian]
     container:
-      image: ros:${{ matrix.ros_distro }}-ros-base-${{ matrix.ubuntu_distro }}
-      credentials:
-        username: ${{ secrets.DOCKERHUB_USERNAME }}
-        password: ${{ secrets.DOCKERHUB_TOKEN }}
+      image: ubuntu:${{ matrix.ubuntu_distro }}
 
     strategy:
       fail-fast: false
@@ -124,9 +131,16 @@ jobs:
             ubuntu_distro: noble
 
     steps:
-    - name: Setup environment
+    - name: Setup ROS repository
       run: |
         apt-get update -qq
+        apt-get install -y curl gnupg lsb-release
+        curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2.list
+        apt-get update -qq
+      shell: bash
+      env:
+        DEBIAN_FRONTEND: noninteractive
 
     - name: Download Debian packages
       uses: actions/download-artifact@v4
@@ -140,12 +154,14 @@ jobs:
         echo "Smoke testing install on ROS2 ${{ matrix.ros_distro }}"
         ls -la debian_packages/${{ matrix.ros_distro }}/
 
-        # Install the debian packages
+        # Install the debian packages (apt will pull in ROS dependencies automatically)
         apt-get install -y ./debian_packages/${{ matrix.ros_distro }}/ros-${{ matrix.ros_distro }}-greenwave-monitor-interfaces_*.deb ./debian_packages/${{ matrix.ros_distro }}/ros-${{ matrix.ros_distro }}-greenwave-monitor_*.deb ./debian_packages/${{ matrix.ros_distro }}/ros-${{ matrix.ros_distro }}-r2s-gw_*.deb
 
         # Verify packages are installed
         dpkg -s ros-${{ matrix.ros_distro }}-r2s-gw ros-${{ matrix.ros_distro }}-greenwave-monitor ros-${{ matrix.ros_distro }}-greenwave-monitor-interfaces
       shell: bash
+      env:
+        DEBIAN_FRONTEND: noninteractive
 
     - name: Test ncurses_dashboard execution (no extra dependencies)
       run: |

.github/workflows/ros-tests.yml

@@ -30,10 +30,7 @@ jobs:
     name: Test ROS2 ${{ matrix.ros_distro }}
     runs-on: ubuntu-latest
     container:
-      image: ros:${{ matrix.ros_distro }}-ros-base-${{ matrix.ubuntu_distro }}
-      credentials:
-        username: ${{ secrets.DOCKERHUB_USERNAME }}
-        password: ${{ secrets.DOCKERHUB_TOKEN }}
+      image: ubuntu:${{ matrix.ubuntu_distro }}
 
     strategy:
       fail-fast: false
@@ -54,11 +51,24 @@ jobs:
     - name: Checkout code
       uses: actions/checkout@v4
 
-    - name: Setup ROS environment
+    - name: Setup ROS repository and install rosdep
       run: |
-        source /opt/ros/${{ matrix.ros_distro }}/setup.bash
-        apt-get update -qq && apt-get install -y build-essential python3-pip
+        apt-get update -qq
+        apt-get install -y curl gnupg lsb-release
+        curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2.list
+        apt-get update -qq
+        apt-get install -y python3-rosdep python3-colcon-common-extensions build-essential cmake git python3-pip
+      shell: bash
+
+    - name: Initialize rosdep and install dependencies
+      run: |
+        rosdep init
+        rosdep update --include-eol-distros
+        rosdep install --from-paths . --rosdistro ${{ matrix.ros_distro }} --ignore-src -r -y
       shell: bash
+      env:
+        DEBIAN_FRONTEND: noninteractive
 
     - name: Install Python dependencies
       run: |

scripts/build_debian_packages.sh

@@ -29,7 +29,7 @@
 #
 # Docker Usage (Recommended):
 #   docker run -it --rm -v $(pwd):/workspace -w /workspace \
-#     ros:humble-ros-base-jammy ./scripts/build_debian_packages.sh humble jammy
+#     ubuntu:jammy ./scripts/build_debian_packages.sh humble jammy
 #
 # Supported combinations:
 #   humble/jammy, iron/jammy, jazzy/noble, kilted/noble, rolling/noble
@@ -71,19 +71,17 @@ esac
 
 echo "Building Debian packages for ROS $ROS_DISTRO on Ubuntu $UBUNTU_DISTRO"
 
-# Check if running in ROS container or local system
-if [ ! -f "/opt/ros/$ROS_DISTRO/setup.bash" ]; then
-    echo "Error: ROS $ROS_DISTRO not found at /opt/ros/$ROS_DISTRO/setup.bash"
-    echo "Please run this script in a ROS $ROS_DISTRO container or install ROS $ROS_DISTRO locally"
+# Check if running in a container (recommended) or warn user
+if [ ! -f "/.dockerenv" ] && [ ! -f "/run/.containerenv" ]; then
+    echo "WARNING: Not running in a container. This script is designed to run in a clean Ubuntu container."
     echo ""
-    echo "To run in Docker:"
-    echo "  docker run -it --rm -v \$(pwd):/workspace -w /workspace ros:$ROS_DISTRO-ros-base-$UBUNTU_DISTRO ./scripts/build_debian_packages.sh $ROS_DISTRO $UBUNTU_DISTRO"
-    exit 1
+    echo "Recommended: Run in Docker with:"
+    echo "  docker run -it --rm -v \$(pwd):/workspace -w /workspace ubuntu:$UBUNTU_DISTRO ./scripts/build_debian_packages.sh $ROS_DISTRO $UBUNTU_DISTRO"
+    echo ""
+    echo "Press Ctrl+C to cancel, or Enter to continue anyway (not recommended)..."
+    read -r
 fi
 
-# Source ROS environment
-source /opt/ros/$ROS_DISTRO/setup.bash
-
 # Install dependencies
 echo "Installing build dependencies..."
 apt-get update -qq
@@ -95,7 +93,8 @@ if [[ "$ROS_DISTRO" == "jazzy" || "$ROS_DISTRO" == "kilted" || "$ROS_DISTRO" ==
 fi
 
 # Install system dependencies
-apt-get install -y build-essential python3-pip python3-bloom python3-rosdep git lsb-release devscripts debhelper fakeroot
+export DEBIAN_FRONTEND=noninteractive
+apt-get install -y build-essential python3-pip python3-bloom python3-rosdep git lsb-release devscripts debhelper fakeroot python3-colcon-common-extensions cmake
 
 # Install Python dependencies
 if [ -f "requirements.txt" ]; then
@@ -108,6 +107,20 @@ if [ -f "requirements.txt" ]; then
     fi
 fi
 
+# Initialize rosdep and install all build dependencies
+echo "Initializing rosdep and resolving dependencies..."
+rosdep init 2>/dev/null || true
+rosdep update --include-eol-distros
+rosdep install --from-paths . --rosdistro "$ROS_DISTRO" --ignore-src -r -y
+
+# Source ROS environment (now installed via rosdep)
+if [ ! -f "/opt/ros/$ROS_DISTRO/setup.bash" ]; then
+    echo "Error: ROS $ROS_DISTRO not found after rosdep install"
+    echo "This should have been installed by rosdep. Check package.xml dependencies."
+    exit 1
+fi
+source /opt/ros/$ROS_DISTRO/setup.bash
+
 # Build workspace first
 echo "Building workspace..."
 colcon build --packages-up-to r2s_gw