Build Moveit without Jazzy Packages

[Bckempa]

Fixes incorrect dependency resolution causing rosdep to install a second ROS distro on the system.

This is only a patch to make it easier to get #229 resolved and CI back to green. Longer term solutions to the underlying issues are tracked in #230, #231, and #232. Development notes posted to issue #228.

[Bckempa]

I'm getting an error in CI I don't get when running build.sh on my dev machine, and the results of that seem to be different than when I copy the commands into a container on my own anyway so I'm marking this as still needing work.

@EzraBrooks, is there an easy way to clear the cache and get a clean build?

[ivanperez-keera]

@Bckempa here? https://github.com/space-ros/docker/actions/caches

[EzraBrooks]

Yes, I believe the GHA cache type in Docker Buildx will create and restore cache for the current branch and also restore cache from the base branch, so you might need to delete both this branch's cache and main to get a clean build.

If you track down the thing that's being erroneously cached, definitely file a bug, because a correctly-implemented Dockerfile should be idempotent..

[ivanperez-keera]

@Bckempa Clearing some of the cache and re-building got the moveit2 image to complete.

space_robots doesn't yet complete, right now due to an error in mongo-cxx that was fixed in a more modern version.

The following patch to space_robots/Dockerfile should let things continue:

 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
   --mount=type=cache,target=/var/lib/apt,sharing=locked \
   sudo apt-get install libssl-dev build-essential devscripts debian-keyring fakeroot debhelper cmake libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen -y
-RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.6.7/mongo-cxx-driver-r3.6.7.tar.gz
-RUN tar -xzf mongo-cxx-driver-r3.6.7.tar.gz
-RUN cd mongo-cxx-driver-r3.6.7/build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local && sudo cmake --build . --target EP_mnmlstc_core && cmake --build . && sudo cmake --build . --target install
+RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.7.2/mongo-cxx-driver-r3.7.2.tar.gz
+RUN tar -xzf mongo-cxx-driver-r3.7.2.tar.gz
+RUN cd mongo-cxx-driver-r3.7.2/build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local && sudo cmake --build . --target EP_mnmlstc_core && cmake --build . && sudo cmake --build . --target install

[Bckempa]

@ivanperez-keera I'm only cleaning up the Moveit install in this PR, tracking space_robots build issues in #229

[Bckempa]

Ugh, the logs don't show if it installed the ros-jazzy packages or not, it just says everything was cached

[Bckempa]

Ok, when I run the ./build.sh file, rosdep installs ros-jazzy packages, but when I paste in all the commands manually from the Dockerfile it doesn't (as is intended). Here's a log of a manual run for comparison, any Docker gurus know what is different in the build context?
dev-moveit-deps_manual_run.log

[ivanperez-keera]

@Bckempa Is this log more informative or not quite? https://github.com/space-ros/docker/actions/runs/14567922377/attempts/3?pr=233

[Bckempa]

@Bckempa Is this log more informative or not quite? https://github.com/space-ros/docker/actions/runs/14567922377/attempts/3?pr=233

Still not quite - I was looking for the list of the packages apt install-ed by rosdep in the moveit build which is elided after the build is successful as far as I can tell.

Ok, when I run the ./build.sh file, rosdep installs ros-jazzy packages, but when I paste in all the commands manually from the Dockerfile it doesn't (as is intended). Here's a log of a manual run for comparison, any Docker gurus know what is different in the build context? dev-moveit-deps_manual_run.log

I had the idea that it might be a different between how bash (when I paste the commands in line-by-line) and sh (when run via the Dockerfile RUN directive) handle the arguments, but looking closer, that whole idiom might have been broken before I even modified the line.

[Bckempa]

Ok, spurious CI failure now (apt install not working) but it tries to install the correct package list this time.

[Bckempa]

Ok, it is finally working. Current build did not install any ros-jazzy packages during rosdep. Once this completes (CI will still be red due to space_robots, but moveit should build) we can merge.

[ivanperez-keera]

The Moveit2 image is not building at the moment due to a problem in the demos in ompl:

https://github.com/space-ros/docker/actions/runs/14583334310/job/40952108248?pr=233#step:6:14079

This commit 8d30817 works around that issue.