Ros2 jazzy devel

.github/workflows/ros-docker-image.yaml

@@ -45,19 +45,11 @@ jobs:
           - dockerfile: Dockerfile.hardware
             repo_name: ''
             platforms: linux/amd64, linux/arm64
-            ros_distro: humble
+            ros_distro: jazzy
           - dockerfile: Dockerfile.gazebo
             repo_name: rosbot-gazebo
             platforms: linux/amd64
-            ros_distro: humble
-          - dockerfile: Dockerfile.hardware
-            repo_name: ''
-            platforms: linux/amd64, linux/arm64
-            ros_distro: iron
-                    # - dockerfile: Dockerfile.gazebo
-                    #   repo_name: rosbot-gazebo
-                    #   platforms: linux/amd64
-                    #   ros_distro: iron
+            ros_distro: jazzy
 
     steps:
 

Dockerfile.gazebo

@@ -32,7 +32,7 @@ RUN MYDISTRO=${PREFIX:-ros}; MYDISTRO=${MYDISTRO//-/} && \
     rm -rf build log src
 
 ## =========================== ROS builder ===============================
-FROM husarnet/ros:${PREFIX}${ROS_DISTRO}-ros-base AS ros_builder
+FROM husarnet/ros:${PREFIX}${ROS_DISTRO}-ros-base  AS ros_builder
 
 ARG PREFIX
 
@@ -52,12 +52,11 @@ RUN apt-get update --fix-missing && apt-get install -y \
         ros-dev-tools && \
     apt-get upgrade -y && \
     # Clone source
-    git clone --depth 1 -b humble https://github.com/husarion/rosbot_ros.git src && \
+    git clone --depth 1 -b jazzy-devel https://github.com/husarion/rosbot_ros.git src && \
     vcs import src < src/rosbot/rosbot_hardware.repos && \
     vcs import src < src/rosbot/rosbot_simulation.repos && \
-    cp -r src/ros2_controllers/diff_drive_controller src/ && \
-    cp -r src/ros2_controllers/imu_sensor_broadcaster src/ && \
-    rm -rf src/ros2_controllers && \
+    # it is necessary to remove simulation - otherwise rosdep tries to install dependencies
+    rm -r src/rosbot_utils && \
     # Install dependencies
     rm -rf /etc/ros/rosdep/sources.list.d/20-default.list && \
     rosdep init && \
@@ -66,7 +65,7 @@ RUN apt-get update --fix-missing && apt-get install -y \
 
 RUN MYDISTRO=${PREFIX:-ros}; MYDISTRO=${MYDISTRO//-/} && \
     source /opt/$MYDISTRO/$ROS_DISTRO/setup.bash && \
-    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release && \
+    colcon build --packages-up-to rosbot --cmake-args -DCMAKE_BUILD_TYPE=Release && \
     rm -rf build log
 
 ## =========================== Final Stage ===============================

Dockerfile.hardware

@@ -1,4 +1,5 @@
-ARG ROS_DISTRO=humble
+ARG ROS_DISTRO=jazzy
+ARG MYDISTRO=ros
 ARG PREFIX=
 
 ## =========================== Healthcheck builder ===============================
@@ -7,6 +8,8 @@ FROM husarnet/ros:${PREFIX}${ROS_DISTRO}-ros-base AS healthcheck_builder
 
 ARG ROS_DISTRO
 ARG PREFIX
+ARG MYDISTRO
+ENV HUSARION_ROS_BUILD=hardware
 
 SHELL ["/bin/bash", "-c"]
 
@@ -36,6 +39,8 @@ FROM husarnet/ros:${PREFIX}${ROS_DISTRO}-ros-base AS ros_builder
 
 ARG ROS_DISTRO
 ARG PREFIX
+ARG MYDISTRO
+ENV HUSARION_ROS_BUILD=hardware
 
 SHELL ["/bin/bash", "-c"]
 
@@ -47,11 +52,8 @@ COPY ./healthcheck.cpp /
 RUN apt-get update && apt-get install -y \
         python3-pip
 
-RUN git clone --depth 1 -b humble https://github.com/husarion/rosbot_ros.git src && \
+RUN git clone --depth 1 -b jazzy-devel https://github.com/husarion/rosbot_ros.git src && \
     vcs import src < src/rosbot/rosbot_hardware.repos && \
-    cp -r src/ros2_controllers/diff_drive_controller src/ && \
-    cp -r src/ros2_controllers/imu_sensor_broadcaster src/ && \
-    rm -rf src/ros2_controllers && \
     # it is necessary to remove simulation - otherwise rosdep tries to install dependencies
     rm -r src/rosbot_gazebo && \
     # without this line (using vulcanexus base image) rosdep init throws error: "ERROR: default sources list file already exists:"
@@ -61,7 +63,7 @@ RUN git clone --depth 1 -b humble https://github.com/husarion/rosbot_ros.git src
     rosdep install --from-paths src --ignore-src -y && \
     MYDISTRO=${PREFIX:-ros}; MYDISTRO=${MYDISTRO//-/} && \
     source /opt/$MYDISTRO/$ROS_DISTRO/setup.bash && \
-    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release  && \
+    colcon build --packages-up-to rosbot --cmake-args -DCMAKE_BUILD_TYPE=Release  && \
     echo $(cat /ros2_ws/src/rosbot/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') >> /version.txt && \
     rm -rf build log
 
@@ -70,6 +72,8 @@ FROM husarnet/ros:${PREFIX}${ROS_DISTRO}-ros-core
 
 ARG ROS_DISTRO
 ARG PREFIX
+ARG MYDISTRO
+ENV HUSARION_ROS_BUILD=hardware
 
 SHELL ["/bin/bash", "-c"]
 
@@ -86,11 +90,12 @@ RUN cp src/rosbot_utils/rosbot_utils/flash-firmware.py /usr/bin/ && \
 
 RUN apt-get update && apt-get install -y \
         python3-pip \
+        python3-periphery \
+        python3-ftdi \
         python3-rosdep \
         stm32flash \
         gosu \
         ros-$ROS_DISTRO-teleop-twist-keyboard && \
-    pip3 install pyftdi && \
     rm -rf /etc/ros/rosdep/sources.list.d/20-default.list && \
     rosdep init && \
     rosdep update --rosdistro $ROS_DISTRO && \

run_healthcheck_node.sh

@@ -1,2 +1,15 @@
-source "/ros2_ws_healthcheck/install/setup.bash"
-gosu $USER bash -c "ros2 run healthcheck_pkg healthcheck_node &"
+if [ ! -z "$USER" ] && [ "$USER" != "root" ] && [ "$USER" != "$(whoami)" ]; then
+    # Check if the user already exists; if not, create the user
+    if ! id "$USER" &>/dev/null; then
+        useradd -ms /bin/bash "$USER"
+        echo "[ \"\$(whoami)\" != \"$USER\" ] && su - \"$USER\"" >> /etc/bash.bashrc
+    fi
+
+    source "/ros2_ws_healthcheck/install/setup.bash"
+
+    exec gosu $USER /bin/bash -c "ros2 run healthcheck_pkg healthcheck_node &"
+
+else
+    source "/ros2_ws_healthcheck/install/setup.bash"
+    ros2 run healthcheck_pkg healthcheck_node &
+fi