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Drop ROS 1 support; add ROS 2 Kilted #83

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Merged
merged 9 commits into from
Jun 18, 2025
Merged

Drop ROS 1 support; add ROS 2 Kilted #83

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acc79b3
Remove ROS 1 support and prepare for ROS 2 Kilted
lreiher Jun 5, 2025
469f1e7
Merge branch 'main' into codex/deprecate-ros-1-and-prepare-ros-2-for-…
lreiher Jun 18, 2025
9ed75f1
revert some codex changes for now
lreiher Jun 18, 2025
77ebcff
deprecate ros2 iron
lreiher Jun 18, 2025
24515f3
add docker-ros ci for all supported ros2 distros
lreiher Jun 18, 2025
3695a40
remove remaining ros2 references
lreiher Jun 18, 2025
924e49f
fix install of config and launch files
lreiher Jun 18, 2025
5ebdedb
adjust gitlab ci
lreiher Jun 18, 2025
a473d38
remove arm64 from github ci
lreiher Jun 18, 2025
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48 changes: 36 additions & 12 deletions .github/workflows/docker-ros.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -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
4 changes: 1 addition & 3 deletions .github/workflows/industrial_ci.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -9,13 +9,11 @@ jobs:
strategy:
matrix:
ROS_DISTRO:
- noetic
- humble
- iron
- jazzy
- kilted
- rolling
ROS_REPO:
- testing
- main
steps:
- uses: actions/checkout@v3
Expand Down
21 changes: 3 additions & 18 deletions .gitlab-ci.yml
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Original file line number Diff line number Diff line change
@@ -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
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