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evan-palmerevan-palmer
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Upgrade from Iron to Jazzy (#15)
* Added Jazzy and virtualenv configurations * Testing groups * Fixed gid and pip * Fixed venv install * Another attempt * Using ros binary install for gazebo * Testing ubuntu user * Adding ubuntu to sudoers list * Fixed cpp compiler install * Added venv to path * Fix python version in ruff config * Switched back to main for pipelines * Addressed PR comments * Attempt at fixing format workflow * Update to use 24.04 runner * Addressed comment about codespell config * removed unneccessary flag * Removed apt update
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‎.codespellrc‎

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[codespell]
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# Uncomment and populate the following so that codespell ignores the specified words/files
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# skip =
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# ignore-words-list =

‎.devcontainer/nouveau/Dockerfile‎

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FROM ghcr.io/robotic-decision-making-lab/ros2-template:iron-desktop
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FROM ghcr.io/robotic-decision-making-lab/ros2-template:jazzy-desktop
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# Install ROS dependencies
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# This is done in a previous stage, but we include it again here in case anyone wants to
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# add new dependencies during development
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ENV USERNAME=ros
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ENV USER_WORKSPACE=/home/$USERNAME/ws_ros
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WORKDIR $USER_WORKSPACE
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COPY --chown=$USER_UID:$USER_GID . src/$PROJECT_NAME
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&& sudo rm -rf /var/lib/apt/lists/*
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# Install debugging/linting Python packages
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COPY --chown=$USER_UID:$USER_GID requirements-dev.txt .
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RUN python3 -m pip install -r requirements-dev.txt \
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&& rm -rf requirements-dev.txt
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RUN pip install \
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pre-commit \
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mypy
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# Install debugging/linting C++ packages
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RUN sudo apt-get -q update \
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&& sudo apt-get -q -y upgrade \
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&& sudo apt-get install -y \
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clang-format-18 \
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clang-tidy \
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clang-tools \
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&& sudo apt-get autoremove -y \
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&& sudo apt-get clean -y \
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&& sudo rm -rf /var/lib/apt/lists/*
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# Disable the setuputils installation warning
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# This prevents us from needing to pin the setuputils version (which doesn't always work)

‎.devcontainer/nouveau/devcontainer.json‎

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"name": "ROS 2 Dev Container",
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"dockerFile": "Dockerfile",
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"context": "../..",
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"workspaceMount": "source=${localWorkspaceFolder},target=/home/ros/ws_ros/src/ros2-template,type=bind",
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"workspaceFolder": "/home/ros/ws_ros/src/ros2-template",
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"remoteUser": "ros",
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"workspaceMount": "source=${localWorkspaceFolder},target=/home/ubuntu/ws_ros/src/ros2-template,type=bind",
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"workspaceFolder": "/home/ubuntu/ws_ros/src/ros2-template",
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"remoteUser": "ubuntu",
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"runArgs": [
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"--network=host",
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"--cap-add=SYS_PTRACE",

‎.devcontainer/nvidia/Dockerfile‎

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FROM ghcr.io/robotic-decision-making-lab/ros2-template:iron-desktop-nvidia
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FROM ghcr.io/robotic-decision-making-lab/ros2-template:jazzy-desktop-nvidia
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# Install ROS dependencies
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# This is done in a previous stage, but we include it again here in case anyone wants to
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# add new dependencies during development
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ENV USERNAME=ros
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ENV USER_WORKSPACE=/home/$USERNAME/ws_ros
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WORKDIR $USER_WORKSPACE
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COPY --chown=$USER_UID:$USER_GID . src/$PROJECT_NAME
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&& sudo rm -rf /var/lib/apt/lists/*
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# Install debugging/linting Python packages
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COPY --chown=$USER_UID:$USER_GID requirements-dev.txt .
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RUN python3 -m pip install -r requirements-dev.txt \
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&& rm -rf requirements-dev.txt
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RUN pip install \
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pre-commit \
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mypy
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# Install debugging/linting C++ packages
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RUN sudo apt-get -q update \
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&& sudo apt-get -q -y upgrade \
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&& sudo apt-get install -y \
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clang-format-18 \
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clang-tidy \
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clang-tools \
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&& sudo apt-get autoremove -y \
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&& sudo apt-get clean -y \
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&& sudo rm -rf /var/lib/apt/lists/*
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# Disable the setuputils installation warning
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# This prevents us from needing to pin the setuputils version (which doesn't always work)

‎.devcontainer/nvidia/devcontainer.json‎

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"name": "ROS 2 NVIDIA Dev Container",
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"dockerFile": "Dockerfile",
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"context": "../..",
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"workspaceMount": "source=${localWorkspaceFolder},target=/home/ros/ws_ros/src/ros2-template,type=bind",
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"workspaceFolder": "/home/ros/ws_ros/src/ros2-template",
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"remoteUser": "ros",
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"workspaceMount": "source=${localWorkspaceFolder},target=/home/ubuntu/ws_ros/src/ros2-template,type=bind",
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"workspaceFolder": "/home/ubuntu/ws_ros/src/ros2-template",
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"remoteUser": "ubuntu",
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"runArgs": [
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"--network=host",
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"--cap-add=SYS_PTRACE",

‎.docker/Dockerfile‎

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ARG ROS_DISTRO=iron
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ARG ROS_DISTRO=jazzy
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FROM ros:$ROS_DISTRO-ros-base as ci
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ENV DEBIAN_FRONTEND=noninteractive
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git \
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sudo \
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clang \
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clang-format-14 \
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clang-tidy \
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clang-tools \
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python3-pip \
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python3-dev \
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python3-venv \
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apt-utils \
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software-properties-common \
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&& apt-get autoremove -y \
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FROM ci as robot
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# Configure a new non-root user
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ARG USERNAME=ros
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ENV DEBIAN_FRONTEND=noninteractive
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# Configure the ubuntu non-root user
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ARG USERNAME=ubuntu
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ARG USER_UID=1000
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ARG USER_GID=$USER_UID
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RUN groupadd --gid $USER_GID $USERNAME \
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&& useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
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&& echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
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RUN echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
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&& chmod 0440 /etc/sudoers.d/$USERNAME \
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&& usermod -a -G dialout $USERNAME \
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&& echo "source /usr/share/bash-completion/completions/git" >> /home/$USERNAME/.bashrc
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&& usermod -a -G dialout $USERNAME
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# Switch to the non-root user
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# Switch to the ubuntu non-root user
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USER $USERNAME
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ENV USER=$USERNAME
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ENV DEBIAN_FRONTEND=noninteractive
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ENV USER_WORKSPACE=/home/$USERNAME/ws_ros
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WORKDIR $USER_WORKSPACE
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COPY --chown=$USER_UID:$USER_GID . src/$PROJECT_NAME
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# Create a new virtual environment for Python
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ENV VIRTUAL_ENV=$USER_WORKSPACE/.venv/$PROJECT_NAME
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RUN python3 -m venv --system-site-packages $VIRTUAL_ENV \
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&& echo "source ${VIRTUAL_ENV}/bin/activate" >> /home/$USERNAME/.bashrc \
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&& touch .venv/COLCON_IGNORE
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ENV PATH="$VIRTUAL_ENV/bin:$PATH"
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# Uncomment to download and install external repos used by the project
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# RUN vcs import src < src/$PROJECT_NAME/ros2.repos
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RUN sudo apt-get -q update \
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&& sudo apt-get -q -y upgrade \
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&& rosdep update \
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&& rosdep install -y --from-paths src --ignore-src -r --rosdistro ${ROS_DISTRO} \
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&& rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} \
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&& sudo apt-get autoremove -y \
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&& sudo apt-get clean -y \
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&& sudo rm -rf /var/lib/apt/lists/*
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ENV USER_WORKSPACE=/home/$USERNAME/ws_ros
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WORKDIR $USER_WORKSPACE
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# Install tools needed for Gazebo installation
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# Install Gazebo
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RUN sudo apt-get -q update \
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&& sudo apt-get -q -y upgrade \
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&& sudo apt-get install -y \
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lsb-release \
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wget \
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gnupg \
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&& sudo apt-get autoremove -y \
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&& sudo apt-get clean -y \
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&& sudo rm -rf /var/lib/apt/lists/*
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# Set to the desired version of Gazebo
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# Refer to the official documentation for the recommended pairings:
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# https://gazebosim.org/docs/harmonic/ros_installation
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ENV GAZEBO_VERSION=harmonic
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RUN sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
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&& echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null \
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&& sudo apt-get -q update \
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&& sudo apt-get -q -y upgrade \
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&& sudo apt-get install -y \
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gz-$GAZEBO_VERSION \
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ros-$ROS_DISTRO-ros-gz$GAZEBO_VERSION \
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ros-$ROS_DISTRO-ros-gz \
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&& sudo apt-get autoremove -y \
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&& sudo apt-get clean -y \
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&& sudo rm -rf /var/lib/apt/lists/*

‎.github/workflows/ci.yml‎

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fail-fast: false
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matrix:
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env:
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- IMAGE: iron-ci
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ROS_DISTRO: iron
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- IMAGE: jazzy-ci
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ROS_DISTRO: jazzy
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steps:
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- name: Checkout repository
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uses: actions/checkout@v4

‎.github/workflows/docker.yml‎

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strategy:
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fail-fast: false
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matrix:
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ROS_DISTRO: [iron]
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ROS_DISTRO: [jazzy]
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runs-on: ubuntu-latest
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permissions:
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packages: write
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strategy:
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fail-fast: false
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matrix:
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ROS_DISTRO: [iron]
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ROS_DISTRO: [jazzy]
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runs-on: ubuntu-latest
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permissions:
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packages: write
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strategy:
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fail-fast: false
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matrix:
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ROS_DISTRO: [iron]
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ROS_DISTRO: [jazzy]
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runs-on: ubuntu-latest
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permissions:
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packages: write
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strategy:
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fail-fast: false
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matrix:
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ROS_DISTRO: [iron]
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ROS_DISTRO: [jazzy]
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runs-on: ubuntu-latest
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permissions:
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packages: write

‎.github/workflows/format.yml‎

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jobs:
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pre-commit:
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name: Format
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runs-on: ubuntu-latest
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runs-on: ubuntu-24.04
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steps:
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- name: Checkout repository
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uses: actions/checkout@v4
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- name: Setup Python
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uses: actions/setup-python@v5
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with:
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python-version: "3.10"
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python-version: "3.12"
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- name: Install clang-format-14
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run: sudo apt-get install clang-format-14
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- name: Install clang-format-18
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run: sudo apt-get install clang-format-18
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- name: Run pre-commit
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uses: pre-commit/[email protected]

‎.gitignore‎

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build
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install
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log
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# virtualenv
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.venv

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