Build Moveit without Jazzy Packages

moveit2/Dockerfile

@@ -109,7 +109,7 @@ RUN rosinstall_generator \
   --rosdistro ${ROS_DISTRO} \
   --deps \
   --exclude-path ${SPACEROS_DIR}/src \
-  --exclude $(cat /tmp/excluded-pkgs.txt) -- \
+  --exclude $(cat /tmp/excluded-pkgs.txt) \
   -- $(cat /tmp/moveit2-pkgs.txt) \
   > /tmp/moveit2_generated_pkgs.repos
 
@@ -122,14 +122,17 @@ RUN vcs import src < /tmp/moveit2_generated_pkgs.repos
 RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR}
 
 # Install system dependencies
+COPY --chown=${USERNAME}:${USERNAME} rosdep-skip.txt /tmp/
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
   --mount=type=cache,target=/var/lib/apt,sharing=locked \
-  /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash' \
- && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -r -y --skip-keys "console_bridge generate_parameter_library fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers rmw_connextdds ros_testing rmw_connextdds rmw_fastrtps_cpp rmw_fastrtps_dynamic_cpp composition demo_nodes_py lifecycle rosidl_typesupport_fastrtps_cpp rosidl_typesupport_fastrtps_c ikos diagnostic_aggregator diagnostic_updater joy qt_gui rqt_gui rqt_gui_py"
+  /bin/bash -c "source ${SPACEROS_DIR}/install/setup.bash \
+ && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -r -y --skip-keys \"$(cat /tmp/rosdep-skip.txt | tr '\n' ' ')\""
 
 # Build MoveIt2
+#
+# We temporarily disable OMPL's demos due to a build error.
 RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash \
-  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --event-handlers desktop_notification- status-'
+  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DOMPL_BUILD_DEMOS=OFF --event-handlers desktop_notification- status-'
 
 # Add a couple sample GUI apps for testing
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \

moveit2/moveit2-pkgs.txt

@@ -11,6 +11,7 @@ ignition/ignition_math6_vendor
 image_common
 interactive_markers
 joint_state_publisher
+joy
 laser_geometry
 launch_param_builder
 moveit_msgs
@@ -27,6 +28,7 @@ python_qt_binding
 random_numbers
 realtime_tools
 resource_retriever
+rmf_utils
 ros2_control
 ros2_controllers
 ruckig

moveit2/rosdep-skip.txt

@@ -0,0 +1,25 @@
+composition
+console_bridge
+demo_nodes_py
+diagnostic_aggregator
+diagnostic_updater
+fastcdr
+fastrtps
+generate_parameter_library
+google_benchmark_vendor
+ikos
+joy
+lifecycle
+qt_gui
+rmw_connextdds
+rmw_connextdds
+rmw_fastrtps_cpp
+rmw_fastrtps_dynamic_cpp
+ros_testing
+rosidl_typesupport_fastrtps_c
+rosidl_typesupport_fastrtps_cpp
+rqt_gui
+rqt_gui_py
+rti-connext-dds-5.3.1
+urdfdom
+urdfdom_headers