Merge pull request #83 from ika-rwth-aachen/codex/deprecate-ros-1-and-prepare-ros-2-for-kilted-release

Drop ROS 1 support; add ROS 2 Kilted

Author: lreiher

.github/workflows/docker-ros.yml

@@ -4,27 +4,51 @@ on: push
 
 jobs:
 
-  ros:
+  ros2-humble:
     runs-on: ubuntu-latest
     steps:
       - uses: ika-rwth-aachen/docker-ros@main
         with:
-          platform: amd64,arm64
+          platform: amd64
           target: run
-          image-tag: ros
-          base-image: rwthika/ros:latest
-          command: roslaunch mqtt_client standalone.launch
-          enable-industrial-ci: 'true'
+          base-image: rwthika/ros2:humble
+          command: ros2 launch mqtt_client standalone.launch.xml
+          image-tag: humble
+          rmw-implementation: rmw_zenoh_cpp
 
-  ros2:
+  ros2-jazzy:
     runs-on: ubuntu-latest
     steps:
       - uses: ika-rwth-aachen/docker-ros@main
         with:
-          platform: amd64,arm64
+          platform: amd64
           target: run
-          image-tag: ros2
+          base-image: rwthika/ros2:jazzy
+          command: ros2 launch mqtt_client standalone.launch.xml
+          image-tag: jazzy
           enable-push-as-latest: 'true'
-          base-image: rwthika/ros2:latest
-          command: ros2 launch mqtt_client standalone.launch.ros2.xml
-          enable-industrial-ci: 'true'
+          rmw-implementation: rmw_zenoh_cpp
+
+  ros2-kilted:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: ika-rwth-aachen/docker-ros@main
+        with:
+          platform: amd64
+          target: run
+          base-image: rwthika/ros2:kilted
+          command: ros2 launch mqtt_client standalone.launch.xml
+          image-tag: kilted
+          rmw-implementation: rmw_zenoh_cpp
+
+  ros2-rolling:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: ika-rwth-aachen/docker-ros@main
+        with:
+          platform: amd64
+          target: run
+          base-image: rwthika/ros2:rolling
+          command: ros2 launch mqtt_client standalone.launch.xml
+          image-tag: rolling
+          rmw-implementation: rmw_zenoh_cpp

.github/workflows/industrial_ci.yml

@@ -9,13 +9,11 @@ jobs:
     strategy:
       matrix:
         ROS_DISTRO:
-          - noetic
           - humble
-          - iron
           - jazzy
+          - kilted
           - rolling
         ROS_REPO:
-          - testing
           - main
     steps:
       - uses: actions/checkout@v3

.gitlab-ci.yml

@@ -1,26 +1,11 @@
-ros:
-  trigger:
-    include:
-      - remote: https://raw.githubusercontent.com/ika-rwth-aachen/docker-ros/main/.gitlab-ci/docker-ros.yml
-    strategy: depend
-  variables:
-    IMAGE_TAG: ros
-    BASE_IMAGE: rwthika/ros:latest
-    COMMAND: roslaunch mqtt_client standalone.launch
-    PLATFORM: amd64,arm64
-    TARGET: dev,run
-    ENABLE_INDUSTRIAL_CI: 'true'
-
 ros2:
   trigger:
     include:
       - remote: https://raw.githubusercontent.com/ika-rwth-aachen/docker-ros/main/.gitlab-ci/docker-ros.yml
     strategy: depend
   variables:
-    IMAGE_TAG: ros2
-    BASE_IMAGE: rwthika/ros2:latest
-    COMMAND: ros2 launch mqtt_client standalone.launch.ros2.xml
     PLATFORM: amd64,arm64
     TARGET: dev,run
-    ENABLE_INDUSTRIAL_CI: 'true'
-    ENABLE_PUSH_AS_LATEST: 'true'
+    BASE_IMAGE: rwthika/ros2:jazzy
+    COMMAND: ros2 launch mqtt_client standalone.launch.xml
+    RMW_IMPLEMENTATION: rmw_zenoh_cpp