From be3fc6bb90348ebe10e351f447dd1ebfbab4f67f Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Fri, 3 Oct 2025 11:34:07 +0000 Subject: [PATCH 01/24] Add pinocchio to rhel and debian images --- ros2_debian/ros-controls.kilted.repos | 4 ++++ ros2_debian/ros-controls.rolling.repos | 4 ++++ ros2_rhel/ros-controls.kilted.repos | 5 +++++ ros2_rhel/ros-controls.rolling.repos | 4 ++++ 4 files changed, 17 insertions(+) diff --git a/ros2_debian/ros-controls.kilted.repos b/ros2_debian/ros-controls.kilted.repos index 2bbb5ce..5eb9567 100644 --- a/ros2_debian/ros-controls.kilted.repos +++ b/ros2_debian/ros-controls.kilted.repos @@ -67,3 +67,7 @@ repositories: type: git url: https://github.com/ros2-gbp/pal_statistics-release.git version: debian/kilted/bookworm/pal_statistics_msgs + pinocchio: + type: git + url: https://github.com/ros2-gbp/pinocchio-release.git + version: debian/kilted/bookworm/pinocchio diff --git a/ros2_debian/ros-controls.rolling.repos b/ros2_debian/ros-controls.rolling.repos index 76bc8dd..0afdb69 100644 --- a/ros2_debian/ros-controls.rolling.repos +++ b/ros2_debian/ros-controls.rolling.repos @@ -67,3 +67,7 @@ repositories: type: git url: https://github.com/ros2-gbp/pal_statistics-release.git version: debian/rolling/bookworm/pal_statistics_msgs + pinocchio: + type: git + url: https://github.com/ros2-gbp/pinocchio-release.git + version: debian/rolling/bookworm/pinocchio \ No newline at end of file diff --git a/ros2_rhel/ros-controls.kilted.repos b/ros2_rhel/ros-controls.kilted.repos index 56f46b6..c50100a 100644 --- a/ros2_rhel/ros-controls.kilted.repos +++ b/ros2_rhel/ros-controls.kilted.repos @@ -1 +1,6 @@ repositories: + pinocchio: + type: git + url: https://github.com/ros2-gbp/pinocchio-release.git + version: rpm/kilted/9/pinocchio + diff --git a/ros2_rhel/ros-controls.rolling.repos b/ros2_rhel/ros-controls.rolling.repos index 56f46b6..1b566ab 100644 --- a/ros2_rhel/ros-controls.rolling.repos +++ b/ros2_rhel/ros-controls.rolling.repos @@ -1 +1,5 @@ repositories: + pinocchio: + type: git + url: https://github.com/ros2-gbp/pinocchio-release.git + version: rpm/rolling/9/pinocchio From 09c0ad067e680c91d2dd356cf06f4604456002f0 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Fri, 3 Oct 2025 11:46:55 +0000 Subject: [PATCH 02/24] Run pre-commit --- ros2_debian/ros-controls.rolling.repos | 2 +- ros2_rhel/ros-controls.kilted.repos | 1 - 2 files changed, 1 insertion(+), 2 deletions(-) diff --git a/ros2_debian/ros-controls.rolling.repos b/ros2_debian/ros-controls.rolling.repos index 0afdb69..d4c313e 100644 --- a/ros2_debian/ros-controls.rolling.repos +++ b/ros2_debian/ros-controls.rolling.repos @@ -70,4 +70,4 @@ repositories: pinocchio: type: git url: https://github.com/ros2-gbp/pinocchio-release.git - version: debian/rolling/bookworm/pinocchio \ No newline at end of file + version: debian/rolling/bookworm/pinocchio diff --git a/ros2_rhel/ros-controls.kilted.repos b/ros2_rhel/ros-controls.kilted.repos index c50100a..01390fc 100644 --- a/ros2_rhel/ros-controls.kilted.repos +++ b/ros2_rhel/ros-controls.kilted.repos @@ -3,4 +3,3 @@ repositories: type: git url: https://github.com/ros2-gbp/pinocchio-release.git version: rpm/kilted/9/pinocchio - From b3476530de3abc1daf89a4fbd8436d5dcf24fe4d Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Fri, 3 Oct 2025 12:20:36 +0000 Subject: [PATCH 03/24] Add liborocos-kdl1.4 --- ros2_debian/Dockerfile.debian12 | 1 + 1 file changed, 1 insertion(+) diff --git a/ros2_debian/Dockerfile.debian12 b/ros2_debian/Dockerfile.debian12 index f5d7223..f6c1750 100644 --- a/ros2_debian/Dockerfile.debian12 +++ b/ros2_debian/Dockerfile.debian12 @@ -38,6 +38,7 @@ RUN apt-get update -y -qq && \ libeigen3-dev \ libfmt-dev \ liblttng-ust-dev lttng-tools python3-lttng \ + liborocos-kdl1.4 \ libssl-dev \ libtinyxml-dev \ libtinyxml2-dev \ From 0dad74bba5f1eb122870a1adadc665f5fa171afe Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Fri, 3 Oct 2025 12:29:19 +0000 Subject: [PATCH 04/24] Configure pinocchio build settings --- ros2_debian/Dockerfile.debian12 | 7 +++++++ ros2_rhel/Dockerfile.rhel9 | 9 ++++++++- 2 files changed, 15 insertions(+), 1 deletion(-) diff --git a/ros2_debian/Dockerfile.debian12 b/ros2_debian/Dockerfile.debian12 index f6c1750..c210fa9 100644 --- a/ros2_debian/Dockerfile.debian12 +++ b/ros2_debian/Dockerfile.debian12 @@ -164,6 +164,13 @@ RUN \ backward_ros pal_statistics \ ackermann_msgs trajectory_msgs tf2_msgs tf2_geometry_msgs sensor_msgs geometry_msgs nav_msgs \ sdformat_urdf && \ + # build pinocchio from source + . install/setup.sh && \ + colcon build \ + --mixin release build-testing-off \ + --cmake-args --no-warn-unused-cli -DBUILD_EXAMPLES=OFF -DBUILD_PYTHON_INTERFACE=OFF \ + --packages-select pinocchio && \ + # cleanup rm -rf log src build # add default.yaml to the image diff --git a/ros2_rhel/Dockerfile.rhel9 b/ros2_rhel/Dockerfile.rhel9 index b2f44a6..ced2006 100644 --- a/ros2_rhel/Dockerfile.rhel9 +++ b/ros2_rhel/Dockerfile.rhel9 @@ -83,7 +83,14 @@ RUN vcs import src < ros-controls.$ROS_DISTRO.repos && \ rosdep install -iyr --from-path src && \ colcon build \ --mixin release build-testing-off \ - --cmake-args --no-warn-unused-cli && \ + --cmake-args --no-warn-unused-cli --packages-skip pinocchio && + # build pinocchio from source + . install/setup.sh && \ + colcon build \ + --mixin release build-testing-off \ + --cmake-args --no-warn-unused-cli -DBUILD_EXAMPLES=OFF -DBUILD_PYTHON_INTERFACE=OFF \ + --packages-select pinocchio && \ + # cleanup rm -rf log src build # add default.yaml to the image From 654e42ed0b6ced0566e0b8f2feabd4fcda529460 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Fri, 3 Oct 2025 12:40:19 +0000 Subject: [PATCH 05/24] Don't setup workspace --- ros2_rhel/Dockerfile.rhel9 | 1 - 1 file changed, 1 deletion(-) diff --git a/ros2_rhel/Dockerfile.rhel9 b/ros2_rhel/Dockerfile.rhel9 index ced2006..1e8ccc2 100644 --- a/ros2_rhel/Dockerfile.rhel9 +++ b/ros2_rhel/Dockerfile.rhel9 @@ -85,7 +85,6 @@ RUN vcs import src < ros-controls.$ROS_DISTRO.repos && \ --mixin release build-testing-off \ --cmake-args --no-warn-unused-cli --packages-skip pinocchio && # build pinocchio from source - . install/setup.sh && \ colcon build \ --mixin release build-testing-off \ --cmake-args --no-warn-unused-cli -DBUILD_EXAMPLES=OFF -DBUILD_PYTHON_INTERFACE=OFF \ From 4aa57d7731a8505dc4a50229cf54df63fa8de786 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Fri, 3 Oct 2025 12:45:53 +0000 Subject: [PATCH 06/24] Bump orocos_kdl version --- ros2_debian/Dockerfile.debian12 | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ros2_debian/Dockerfile.debian12 b/ros2_debian/Dockerfile.debian12 index c210fa9..8639c4d 100644 --- a/ros2_debian/Dockerfile.debian12 +++ b/ros2_debian/Dockerfile.debian12 @@ -38,7 +38,7 @@ RUN apt-get update -y -qq && \ libeigen3-dev \ libfmt-dev \ liblttng-ust-dev lttng-tools python3-lttng \ - liborocos-kdl1.4 \ + liborocos-kdl1.5 \ libssl-dev \ libtinyxml-dev \ libtinyxml2-dev \ From 42b355cd794900b0d8d324f7e1b4f086dd2858a7 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Fri, 3 Oct 2025 12:49:11 +0000 Subject: [PATCH 07/24] Fix dockerfile syntax --- ros2_rhel/Dockerfile.rhel9 | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ros2_rhel/Dockerfile.rhel9 b/ros2_rhel/Dockerfile.rhel9 index 1e8ccc2..aced391 100644 --- a/ros2_rhel/Dockerfile.rhel9 +++ b/ros2_rhel/Dockerfile.rhel9 @@ -83,7 +83,7 @@ RUN vcs import src < ros-controls.$ROS_DISTRO.repos && \ rosdep install -iyr --from-path src && \ colcon build \ --mixin release build-testing-off \ - --cmake-args --no-warn-unused-cli --packages-skip pinocchio && + --cmake-args --no-warn-unused-cli --packages-skip pinocchio && \ # build pinocchio from source colcon build \ --mixin release build-testing-off \ From 829923fe934b939699fd2caca7bb9e1bac1e9e76 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Fri, 3 Oct 2025 15:35:09 +0000 Subject: [PATCH 08/24] Remove manual orocos installation --- ros2_debian/Dockerfile.debian12 | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/ros2_debian/Dockerfile.debian12 b/ros2_debian/Dockerfile.debian12 index 8639c4d..73f2afe 100644 --- a/ros2_debian/Dockerfile.debian12 +++ b/ros2_debian/Dockerfile.debian12 @@ -38,7 +38,6 @@ RUN apt-get update -y -qq && \ libeigen3-dev \ libfmt-dev \ liblttng-ust-dev lttng-tools python3-lttng \ - liborocos-kdl1.5 \ libssl-dev \ libtinyxml-dev \ libtinyxml2-dev \ @@ -155,7 +154,7 @@ RUN vcs import --input https://raw.githubusercontent.com/ros2/ros2/$ROS_DISTRO/r RUN \ : "build ROS core from source" && \ . "$HOME/.cargo/env" && \ - colcon build \ + colcon build \ --mixin release build-testing-off \ --cmake-args --no-warn-unused-cli -DCMAKE_CXX_FLAGS="-Wno-maybe-uninitialized" \ --packages-up-to robot_state_publisher tf2_ros tf2_eigen tf2_kdl tf2_eigen_kdl yaml_cpp_vendor filters \ @@ -164,7 +163,7 @@ RUN \ backward_ros pal_statistics \ ackermann_msgs trajectory_msgs tf2_msgs tf2_geometry_msgs sensor_msgs geometry_msgs nav_msgs \ sdformat_urdf && \ - # build pinocchio from source + # build pinocchio from source with different cmake args . install/setup.sh && \ colcon build \ --mixin release build-testing-off \ From 9db4d3c9dddeb735fe250b9bb72d773c21ac2b36 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Fri, 3 Oct 2025 15:40:43 +0000 Subject: [PATCH 09/24] Revert "Remove manual orocos installation" This reverts commit 829923fe934b939699fd2caca7bb9e1bac1e9e76. --- ros2_debian/Dockerfile.debian12 | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/ros2_debian/Dockerfile.debian12 b/ros2_debian/Dockerfile.debian12 index 73f2afe..8639c4d 100644 --- a/ros2_debian/Dockerfile.debian12 +++ b/ros2_debian/Dockerfile.debian12 @@ -38,6 +38,7 @@ RUN apt-get update -y -qq && \ libeigen3-dev \ libfmt-dev \ liblttng-ust-dev lttng-tools python3-lttng \ + liborocos-kdl1.5 \ libssl-dev \ libtinyxml-dev \ libtinyxml2-dev \ @@ -154,7 +155,7 @@ RUN vcs import --input https://raw.githubusercontent.com/ros2/ros2/$ROS_DISTRO/r RUN \ : "build ROS core from source" && \ . "$HOME/.cargo/env" && \ - colcon build \ + colcon build \ --mixin release build-testing-off \ --cmake-args --no-warn-unused-cli -DCMAKE_CXX_FLAGS="-Wno-maybe-uninitialized" \ --packages-up-to robot_state_publisher tf2_ros tf2_eigen tf2_kdl tf2_eigen_kdl yaml_cpp_vendor filters \ @@ -163,7 +164,7 @@ RUN \ backward_ros pal_statistics \ ackermann_msgs trajectory_msgs tf2_msgs tf2_geometry_msgs sensor_msgs geometry_msgs nav_msgs \ sdformat_urdf && \ - # build pinocchio from source with different cmake args + # build pinocchio from source . install/setup.sh && \ colcon build \ --mixin release build-testing-off \ From 343b916a9a257a76bd153a9d44e017e501218759 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Fri, 3 Oct 2025 15:43:44 +0000 Subject: [PATCH 10/24] Also install liborocos-kdl-dev --- ros2_debian/Dockerfile.debian12 | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/ros2_debian/Dockerfile.debian12 b/ros2_debian/Dockerfile.debian12 index 8639c4d..fbefb7e 100644 --- a/ros2_debian/Dockerfile.debian12 +++ b/ros2_debian/Dockerfile.debian12 @@ -39,6 +39,7 @@ RUN apt-get update -y -qq && \ libfmt-dev \ liblttng-ust-dev lttng-tools python3-lttng \ liborocos-kdl1.5 \ + liborocos-kdl-dev \ libssl-dev \ libtinyxml-dev \ libtinyxml2-dev \ @@ -155,7 +156,7 @@ RUN vcs import --input https://raw.githubusercontent.com/ros2/ros2/$ROS_DISTRO/r RUN \ : "build ROS core from source" && \ . "$HOME/.cargo/env" && \ - colcon build \ + colcon build \ --mixin release build-testing-off \ --cmake-args --no-warn-unused-cli -DCMAKE_CXX_FLAGS="-Wno-maybe-uninitialized" \ --packages-up-to robot_state_publisher tf2_ros tf2_eigen tf2_kdl tf2_eigen_kdl yaml_cpp_vendor filters \ @@ -164,7 +165,7 @@ RUN \ backward_ros pal_statistics \ ackermann_msgs trajectory_msgs tf2_msgs tf2_geometry_msgs sensor_msgs geometry_msgs nav_msgs \ sdformat_urdf && \ - # build pinocchio from source + # build pinocchio from source with different cmake args . install/setup.sh && \ colcon build \ --mixin release build-testing-off \ From 071204b4f59acf0b4875bc036c874247ec8c7a4f Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Fri, 3 Oct 2025 16:29:18 +0000 Subject: [PATCH 11/24] Install pybind11-dev --- ros2_debian/Dockerfile.debian12 | 1 + 1 file changed, 1 insertion(+) diff --git a/ros2_debian/Dockerfile.debian12 b/ros2_debian/Dockerfile.debian12 index fbefb7e..7ba8303 100644 --- a/ros2_debian/Dockerfile.debian12 +++ b/ros2_debian/Dockerfile.debian12 @@ -48,6 +48,7 @@ RUN apt-get update -y -qq && \ mlocate \ nlohmann-json3-dev \ pkg-config \ + pybind11-dev \ python3-dev \ python3-jinja2 \ python3-lxml \ From 788c711e61f0796e6dc9771c177cc6d3cf48fbab Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Thu, 16 Oct 2025 06:37:20 +0000 Subject: [PATCH 12/24] Remove liborocos-kdl1.5 --- ros2_debian/Dockerfile.debian12 | 1 - 1 file changed, 1 deletion(-) diff --git a/ros2_debian/Dockerfile.debian12 b/ros2_debian/Dockerfile.debian12 index e951c66..9c3a1ab 100644 --- a/ros2_debian/Dockerfile.debian12 +++ b/ros2_debian/Dockerfile.debian12 @@ -38,7 +38,6 @@ RUN apt-get update -y -qq && \ libeigen3-dev \ libfmt-dev \ liblttng-ust-dev lttng-tools python3-lttng \ - liborocos-kdl1.5 \ liborocos-kdl-dev \ libssl-dev \ libtinyxml-dev \ From 03187217dac3650234b7948f544b15e63370be3f Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Thu, 16 Oct 2025 08:14:10 +0000 Subject: [PATCH 13/24] Remove pybind11 --- ros2_debian/Dockerfile.debian12 | 1 - 1 file changed, 1 deletion(-) diff --git a/ros2_debian/Dockerfile.debian12 b/ros2_debian/Dockerfile.debian12 index 9c3a1ab..3d1f977 100644 --- a/ros2_debian/Dockerfile.debian12 +++ b/ros2_debian/Dockerfile.debian12 @@ -47,7 +47,6 @@ RUN apt-get update -y -qq && \ mlocate \ nlohmann-json3-dev \ pkg-config \ - pybind11-dev \ python3-dev \ python3-jinja2 \ python3-lxml \ From 08d7b1e8561fd098f55b05a3f55e2178e104321a Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Thu, 16 Oct 2025 16:53:20 +0000 Subject: [PATCH 14/24] Remove liborocos-kdl-dev --- ros2_debian/Dockerfile.debian12 | 1 - 1 file changed, 1 deletion(-) diff --git a/ros2_debian/Dockerfile.debian12 b/ros2_debian/Dockerfile.debian12 index 3d1f977..cc21206 100644 --- a/ros2_debian/Dockerfile.debian12 +++ b/ros2_debian/Dockerfile.debian12 @@ -38,7 +38,6 @@ RUN apt-get update -y -qq && \ libeigen3-dev \ libfmt-dev \ liblttng-ust-dev lttng-tools python3-lttng \ - liborocos-kdl-dev \ libssl-dev \ libtinyxml-dev \ libtinyxml2-dev \ From 53df9702d5d9bb68374cdb44a210be4c6a3f4924 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Thu, 16 Oct 2025 21:13:26 +0000 Subject: [PATCH 15/24] Build ros_environment --- ros2_debian/Dockerfile.debian12 | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ros2_debian/Dockerfile.debian12 b/ros2_debian/Dockerfile.debian12 index cc21206..386410b 100644 --- a/ros2_debian/Dockerfile.debian12 +++ b/ros2_debian/Dockerfile.debian12 @@ -160,7 +160,7 @@ RUN \ --packages-up-to robot_state_publisher tf2_ros tf2_eigen tf2_kdl tf2_eigen_kdl yaml_cpp_vendor filters \ ros2param ros2interface ros2topic ros2action ros2lifecycle ros2launch ros2run ros_testing \ xacro diagnostic_updater generate_parameter_library angles example_interfaces \ - backward_ros pal_statistics topic_tools \ + backward_ros pal_statistics topic_tools ros_environment \ ackermann_msgs trajectory_msgs tf2_msgs tf2_geometry_msgs sensor_msgs geometry_msgs nav_msgs \ sdformat_urdf && \ # build pinocchio from source with different cmake args From c50d11be7a4a8c8f310b5a58e6b010e2d4f6cdfb Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Fri, 17 Oct 2025 06:34:00 +0000 Subject: [PATCH 16/24] Install clang --- ros2_debian/Dockerfile.debian12 | 1 + 1 file changed, 1 insertion(+) diff --git a/ros2_debian/Dockerfile.debian12 b/ros2_debian/Dockerfile.debian12 index 386410b..1fa36b5 100644 --- a/ros2_debian/Dockerfile.debian12 +++ b/ros2_debian/Dockerfile.debian12 @@ -24,6 +24,7 @@ RUN apt-get update -y -qq && \ automake \ build-essential \ cmake \ + clang \ curl \ dnsutils \ git \ From 937f8a06f04e61a76261b04f6cebe03dcee1f4a0 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Fri, 17 Oct 2025 07:53:14 +0000 Subject: [PATCH 17/24] Add pinocchio to jazzy repos file --- ros2_debian/ros-controls.jazzy.repos | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/ros2_debian/ros-controls.jazzy.repos b/ros2_debian/ros-controls.jazzy.repos index d1c7513..f8b1546 100644 --- a/ros2_debian/ros-controls.jazzy.repos +++ b/ros2_debian/ros-controls.jazzy.repos @@ -67,6 +67,10 @@ repositories: type: git url: https://github.com/ros2-gbp/pal_statistics-release.git version: debian/jazzy/bookworm/pal_statistics_msgs + pinocchio: + type: git + url: https://github.com/ros2-gbp/pinocchio-release.git + version: debian/jazzy/bookworm/pinocchio topic_tools: type: git url: https://github.com/ros2-gbp/topic_tools-release.git From 4848b505d75d3969a2495458ff28b3ec99625da2 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Fri, 17 Oct 2025 08:09:24 +0000 Subject: [PATCH 18/24] Add coal dependency --- ros2_debian/ros-controls.jazzy.repos | 4 ++++ ros2_debian/ros-controls.kilted.repos | 4 ++++ ros2_debian/ros-controls.rolling.repos | 4 ++++ 3 files changed, 12 insertions(+) diff --git a/ros2_debian/ros-controls.jazzy.repos b/ros2_debian/ros-controls.jazzy.repos index f8b1546..9592740 100644 --- a/ros2_debian/ros-controls.jazzy.repos +++ b/ros2_debian/ros-controls.jazzy.repos @@ -71,6 +71,10 @@ repositories: type: git url: https://github.com/ros2-gbp/pinocchio-release.git version: debian/jazzy/bookworm/pinocchio + coal: + type: git + url: https://github.com/ros2-gbp/coal-release.git + version: debian/jazzy/bookworm/coal topic_tools: type: git url: https://github.com/ros2-gbp/topic_tools-release.git diff --git a/ros2_debian/ros-controls.kilted.repos b/ros2_debian/ros-controls.kilted.repos index edaff68..2ec0d1b 100644 --- a/ros2_debian/ros-controls.kilted.repos +++ b/ros2_debian/ros-controls.kilted.repos @@ -71,6 +71,10 @@ repositories: type: git url: https://github.com/ros2-gbp/pinocchio-release.git version: debian/kilted/bookworm/pinocchio + coal: + type: git + url: https://github.com/ros2-gbp/coal-release.git + version: debian/kilted/bookworm/coal topic_tools: type: git url: https://github.com/ros2-gbp/topic_tools-release.git diff --git a/ros2_debian/ros-controls.rolling.repos b/ros2_debian/ros-controls.rolling.repos index 8771f76..cdb8761 100644 --- a/ros2_debian/ros-controls.rolling.repos +++ b/ros2_debian/ros-controls.rolling.repos @@ -71,6 +71,10 @@ repositories: type: git url: https://github.com/ros2-gbp/pinocchio-release.git version: debian/rolling/bookworm/pinocchio + coal: + type: git + url: https://github.com/ros2-gbp/coal-release.git + version: debian/rolling/bookworm/coal topic_tools: type: git url: https://github.com/ros2-gbp/topic_tools-release.git From 85f5220024211f252ff45965dca442e419a1af50 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Fri, 17 Oct 2025 08:10:25 +0000 Subject: [PATCH 19/24] [TEMPORARY] use my fork with correct dependency --- ros2_debian/ros-controls.jazzy.repos | 4 ++-- ros2_debian/ros-controls.kilted.repos | 4 ++-- ros2_debian/ros-controls.rolling.repos | 4 ++-- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/ros2_debian/ros-controls.jazzy.repos b/ros2_debian/ros-controls.jazzy.repos index 9592740..78a18ad 100644 --- a/ros2_debian/ros-controls.jazzy.repos +++ b/ros2_debian/ros-controls.jazzy.repos @@ -69,8 +69,8 @@ repositories: version: debian/jazzy/bookworm/pal_statistics_msgs pinocchio: type: git - url: https://github.com/ros2-gbp/pinocchio-release.git - version: debian/jazzy/bookworm/pinocchio + url: https://github.com/christophfroehlich/pinocchio.git + version: patch-1 coal: type: git url: https://github.com/ros2-gbp/coal-release.git diff --git a/ros2_debian/ros-controls.kilted.repos b/ros2_debian/ros-controls.kilted.repos index 2ec0d1b..d62b5e1 100644 --- a/ros2_debian/ros-controls.kilted.repos +++ b/ros2_debian/ros-controls.kilted.repos @@ -69,8 +69,8 @@ repositories: version: debian/kilted/bookworm/pal_statistics_msgs pinocchio: type: git - url: https://github.com/ros2-gbp/pinocchio-release.git - version: debian/kilted/bookworm/pinocchio + url: https://github.com/christophfroehlich/pinocchio.git + version: patch-1 coal: type: git url: https://github.com/ros2-gbp/coal-release.git diff --git a/ros2_debian/ros-controls.rolling.repos b/ros2_debian/ros-controls.rolling.repos index cdb8761..d20b5b9 100644 --- a/ros2_debian/ros-controls.rolling.repos +++ b/ros2_debian/ros-controls.rolling.repos @@ -69,8 +69,8 @@ repositories: version: debian/rolling/bookworm/pal_statistics_msgs pinocchio: type: git - url: https://github.com/ros2-gbp/pinocchio-release.git - version: debian/rolling/bookworm/pinocchio + url: https://github.com/christophfroehlich/pinocchio.git + version: patch-1 coal: type: git url: https://github.com/ros2-gbp/coal-release.git From 3e9ca4713088494af3907586f11369cf2c361f43 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Fri, 17 Oct 2025 09:31:28 +0000 Subject: [PATCH 20/24] Build coal --- ros2_debian/Dockerfile.debian12 | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ros2_debian/Dockerfile.debian12 b/ros2_debian/Dockerfile.debian12 index 1fa36b5..5efc848 100644 --- a/ros2_debian/Dockerfile.debian12 +++ b/ros2_debian/Dockerfile.debian12 @@ -168,8 +168,8 @@ RUN \ . install/setup.sh && \ colcon build \ --mixin release build-testing-off \ - --cmake-args --no-warn-unused-cli -DBUILD_EXAMPLES=OFF -DBUILD_PYTHON_INTERFACE=OFF \ - --packages-select pinocchio && \ + --cmake-args --no-warn-unused-cli -DBUILD_EXAMPLES=OFF -DBUILD_PYTHON_INTERFACE=OFF -DCOAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL \ + --packages-select coal pinocchio && \ # cleanup rm -rf log src build From 1bec210a5c01e27a5ba78883f1aa4bce64828474 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Fri, 17 Oct 2025 10:53:10 +0000 Subject: [PATCH 21/24] Fix cmake args --- ros2_debian/Dockerfile.debian12 | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/ros2_debian/Dockerfile.debian12 b/ros2_debian/Dockerfile.debian12 index 5efc848..bb5076f 100644 --- a/ros2_debian/Dockerfile.debian12 +++ b/ros2_debian/Dockerfile.debian12 @@ -168,7 +168,8 @@ RUN \ . install/setup.sh && \ colcon build \ --mixin release build-testing-off \ - --cmake-args --no-warn-unused-cli -DBUILD_EXAMPLES=OFF -DBUILD_PYTHON_INTERFACE=OFF -DCOAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL \ + --cmake-args --no-warn-unused-cli -DBUILD_EXAMPLES=OFF -DBUILD_PYTHON_INTERFACE=OFF \ + -DCOAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL=TRUE \ --packages-select coal pinocchio && \ # cleanup rm -rf log src build From c7602f28439ddd673d88450c1c24bf042df5898d Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Fri, 17 Oct 2025 12:11:27 +0000 Subject: [PATCH 22/24] Install liboctomap-dev --- ros2_debian/Dockerfile.debian12 | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/ros2_debian/Dockerfile.debian12 b/ros2_debian/Dockerfile.debian12 index bb5076f..ec392b2 100644 --- a/ros2_debian/Dockerfile.debian12 +++ b/ros2_debian/Dockerfile.debian12 @@ -39,6 +39,7 @@ RUN apt-get update -y -qq && \ libeigen3-dev \ libfmt-dev \ liblttng-ust-dev lttng-tools python3-lttng \ + liboctomap-dev \ libssl-dev \ libtinyxml-dev \ libtinyxml2-dev \ @@ -161,7 +162,7 @@ RUN \ --packages-up-to robot_state_publisher tf2_ros tf2_eigen tf2_kdl tf2_eigen_kdl yaml_cpp_vendor filters \ ros2param ros2interface ros2topic ros2action ros2lifecycle ros2launch ros2run ros_testing \ xacro diagnostic_updater generate_parameter_library angles example_interfaces \ - backward_ros pal_statistics topic_tools ros_environment \ + backward_ros pal_statistics topic_tools ros_environment octomap \ ackermann_msgs trajectory_msgs tf2_msgs tf2_geometry_msgs sensor_msgs geometry_msgs nav_msgs \ sdformat_urdf && \ # build pinocchio from source with different cmake args From 9e51275e26dfd2a0fb154de583e64e488b219ce9 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Fri, 17 Oct 2025 12:21:19 +0000 Subject: [PATCH 23/24] Dont build octomap --- ros2_debian/Dockerfile.debian12 | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ros2_debian/Dockerfile.debian12 b/ros2_debian/Dockerfile.debian12 index ec392b2..7cef8c9 100644 --- a/ros2_debian/Dockerfile.debian12 +++ b/ros2_debian/Dockerfile.debian12 @@ -162,7 +162,7 @@ RUN \ --packages-up-to robot_state_publisher tf2_ros tf2_eigen tf2_kdl tf2_eigen_kdl yaml_cpp_vendor filters \ ros2param ros2interface ros2topic ros2action ros2lifecycle ros2launch ros2run ros_testing \ xacro diagnostic_updater generate_parameter_library angles example_interfaces \ - backward_ros pal_statistics topic_tools ros_environment octomap \ + backward_ros pal_statistics topic_tools ros_environment \ ackermann_msgs trajectory_msgs tf2_msgs tf2_geometry_msgs sensor_msgs geometry_msgs nav_msgs \ sdformat_urdf && \ # build pinocchio from source with different cmake args From d6ec2a84f5c96090529bdd939b60034c61b6de47 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Fri, 17 Oct 2025 13:11:32 +0000 Subject: [PATCH 24/24] Add libassimp-dev --- ros2_debian/Dockerfile.debian12 | 1 + 1 file changed, 1 insertion(+) diff --git a/ros2_debian/Dockerfile.debian12 b/ros2_debian/Dockerfile.debian12 index 7cef8c9..48e5d3d 100644 --- a/ros2_debian/Dockerfile.debian12 +++ b/ros2_debian/Dockerfile.debian12 @@ -32,6 +32,7 @@ RUN apt-get update -y -qq && \ intltool \ libacl1-dev \ libasio-dev \ + libassimp-dev \ libblosc1 \ libbondcpp-dev \ libcap-dev \