Merge remote-tracking branch 'upstream/iron' into dev/rosgz_from_binary

Author: amarburg

.devcontainer/nouveau/Dockerfile

@@ -1,4 +1,4 @@
-FROM ghcr.io/robotic-decision-making-lab/blue:rolling-desktop
+FROM ghcr.io/robotic-decision-making-lab/blue:iron-desktop
 
 # Install ROS dependencies
 # This is done in a previous stage, but we include it again here in case anyone wants to

.devcontainer/nvidia/Dockerfile

@@ -1,4 +1,4 @@
-FROM ghcr.io/robotic-decision-making-lab/blue:rolling-desktop-nvidia
+FROM ghcr.io/robotic-decision-making-lab/blue:iron-desktop-nvidia
 
 # Install ROS dependencies
 # This is done in a previous stage, but we include it again here in case anyone wants to

.docker/Dockerfile

@@ -1,4 +1,4 @@
-ARG ROS_DISTRO=rolling
+ARG ROS_DISTRO=iron
 FROM ros:$ROS_DISTRO-ros-base AS ci
 
 ENV DEBIAN_FRONTEND=noninteractive
@@ -120,6 +120,8 @@ ENV DEBIAN_FRONTEND=noninteractive
 ENV GZ_VERSION=harmonic
 
 # Install Gazebo Harmonic: https://gazebosim.org/docs/harmonic/install_ubuntu
+# Per DL3004, use "USER root" rather than "sudo"
+#    https://github.com/hadolint/hadolint/wiki/DL3004
 USER root
 # Install custom rosdep list
 ADD --chown=root:root --chmod=0644 https://raw.githubusercontent.com/osrf/osrf-rosdep/master/gz/00-gazebo.list /etc/ros/rosdep/sources.list.d/00-gazebo.list
@@ -128,19 +130,11 @@ RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pk
     && apt-get -q update \
     && apt-get -y --quiet --no-install-recommends install \
     gz-${GZ_VERSION} \
-    ros-${ROS_DISTRO}-ros-gz${GZ_VERSION} \
-    && apt-get autoremove -y \
-    && apt-get clean -y \
-    && rm -rf /var/lib/apt/lists/*
-
-# Install ArduPilot and ardupilot_gazebo dependencies
-RUN apt-get -q update \
-    && apt-get -q -y upgrade \
-    && apt-get -q install --no-install-recommends -y \
     python3-pexpect \
     python3-wxgtk4.0 \
     python3-future \
     rapidjson-dev \
+    ros-${ROS_DISTRO}-ros-gz${GZ_VERSION} \
     xterm \
     rapidjson-dev \
     libopencv-dev \
@@ -186,7 +180,7 @@ WORKDIR $USER_WORKSPACE
 RUN sudo apt-get -q update \
     && sudo apt-get -q -y upgrade \
     && rosdep update \
-    && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} \
+    && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --skip-keys="gz-transport12 gz-sim7 gz-math7 gz-msgs9 gz-plugin2" \
     && sudo apt-get autoremove -y \
     && sudo apt-get clean -y \
     && sudo rm -rf /var/lib/apt/lists/*

.docker/compose/nouveau-desktop.yaml

@@ -1,7 +1,7 @@
 version: "3"
 services:
   blue:
-    image: ghcr.io/robotic-decision-making-lab/blue:rolling-desktop
+    image: ghcr.io/robotic-decision-making-lab/blue:iron-desktop
     environment:
       - DISPLAY=${DISPLAY}
       - XDG_RUNTIME_DIR=${XDG_RUNTIME_DIR}

.docker/compose/nvidia-desktop.yaml

@@ -1,7 +1,7 @@
 version: "3"
 services:
   blue:
-    image: ghcr.io/robotic-decision-making-lab/blue:rolling-desktop-nvidia
+    image: ghcr.io/robotic-decision-making-lab/blue:iron-desktop-nvidia
     environment:
       - DISPLAY=${DISPLAY}
       - XDG_RUNTIME_DIR=${XDG_RUNTIME_DIR}

.github/workflows/ci.yaml

@@ -3,7 +3,7 @@ name: Check Implementation
 on:
   push:
     branches:
-      - main
+      - iron
   pull_request:
   workflow_dispatch:
 
@@ -19,8 +19,8 @@ jobs:
       fail-fast: false
       matrix:
         env:
-          - IMAGE: rolling-ci
-            ROS_DISTRO: rolling
+          - IMAGE: iron-ci
+            ROS_DISTRO: iron
     steps:
       - name: Checkout repository
         uses: actions/checkout@v4

.github/workflows/docker.yaml

@@ -5,7 +5,7 @@ on:
     - cron: "0 17 * * 6"
   push:
     branches:
-      - main
+      - iron
   pull_request:
     paths:
       - .docker/**
@@ -22,7 +22,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [iron]
     runs-on: ubuntu-latest
     permissions:
       packages: write
@@ -63,7 +63,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [iron]
     runs-on: ubuntu-latest
     permissions:
       packages: write
@@ -111,7 +111,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [iron]
     runs-on: ubuntu-latest
     permissions:
       packages: write
@@ -152,7 +152,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [iron]
     runs-on: ubuntu-latest
     permissions:
       packages: write

.github/workflows/format.yaml

@@ -4,7 +4,7 @@ on:
   pull_request:
   push:
     branches:
-      - main
+      - iron
   workflow_dispatch:
 
 jobs: