Build for Jazzy with mavros from source

.devcontainer/robot/Dockerfile

@@ -0,0 +1,29 @@
+#
+# Dockerfile for *-robot development container
+#
+FROM ghcr.io/robotic-decision-making-lab/blue:jazzy-robot
+
+# Install ROS dependencies
+# This is done in a previous stage, but we include it again here in case anyone wants to
+# add new dependencies during development
+ENV USERNAME=blue
+ENV USER_WORKSPACE=/home/$USERNAME/ws_blue
+WORKDIR $USER_WORKSPACE
+
+COPY --chown=$USER_UID:$USER_GID . src/blue
+RUN sudo apt-get -q update \
+    && sudo apt-get -q -y upgrade \
+    && rosdep update \
+    && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --skip-keys="gz-transport12 gz-sim7 gz-math7 gz-msgs9 gz-plugin2" \
+    && sudo apt-get autoremove -y \
+    && sudo apt-get clean -y \
+    && sudo rm -rf /var/lib/apt/lists/*
+
+# Install debugging/linting Python packages
+RUN /home/$USERNAME/.venv/blue/bin/python3 -m pip install \
+    pre-commit \
+    mypy
+
+# Disable the setuputils installation warning
+# This prevents us from needing to pin the setuputils version (which doesn't always work)
+ENV PYTHONWARNINGS="ignore"

.devcontainer/robot/devcontainer.json

@@ -0,0 +1,39 @@
+{
+  "name": "Robot Dev Container",
+  "dockerFile": "Dockerfile",
+  "context": "../..",
+  "workspaceMount": "source=${localWorkspaceFolder},target=/home/blue/ws_blue/src/blue,type=bind",
+  "workspaceFolder": "/home/blue/ws_blue/src/blue",
+  "remoteUser": "blue",
+  "runArgs": [
+    "--network=host",
+    "--cap-add=SYS_PTRACE",
+    "--security-opt=seccomp:unconfined",
+    "--security-opt=apparmor:unconfined",
+    "--volume=/dev:/dev",
+    "--privileged",
+    "--volume=/run/user/1000:/run/user/1000"
+  ],
+  "containerEnv": {
+    "DISPLAY": "${localEnv:DISPLAY}",
+    "WAYLAND_DISPLAY": "${localEnv:WAYLAND_DISPLAY}",
+    "XDG_RUNTIME_DIR": "${localEnv:XDG_RUNTIME_DIR}",
+    "PULSE_SERVER": "${localEnv:PULSE_SERVER}"
+  },
+  "customizations": {
+    "vscode": {
+      "extensions": [
+        "ms-azuretools.vscode-docker",
+        "ms-python.python",
+        "njpwerner.autodocstring",
+        "redhat.vscode-xml",
+        "redhat.vscode-yaml",
+        "smilerobotics.urdf",
+        "esbenp.prettier-vscode",
+        "charliermarsh.ruff",
+        "josetr.cmake-language-support-vscode",
+        "unifiedjs.vscode-mdx"
+      ]
+    }
+  }
+}

.docker/Dockerfile

@@ -18,6 +18,7 @@ RUN apt-get -q update \
     clang-tools \
     python3-pip \
     python3-dev \
+    python3-venv \
     lsb-release \
     wget \
     gnupg \
@@ -27,10 +28,11 @@ RUN apt-get -q update \
     && rm -rf /var/lib/apt/lists/*
 
 # Install all ROS dependencies
+#  Don't try to resolve "mavros" or "mavros_extras", we will install those manually
 RUN apt-get -q update \
     && apt-get -q -y upgrade \
     && rosdep update \
-    && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false \
+    && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false --skip-keys="mavros mavros_extras" \
     && rm -rf src \
     && apt-get autoremove -y \
     && apt-get clean -y \
@@ -40,7 +42,7 @@ FROM ci as robot
 
 # Configure a new non-root user
 ARG USERNAME=blue
-ARG USER_UID=1000
+ARG USER_UID=1001   # ros image now includes a user "ubuntu" at UID 1000
 ARG USER_GID=$USER_UID
 
 RUN groupadd --gid $USER_GID $USERNAME \
@@ -56,8 +58,19 @@ ENV DEBIAN_FRONTEND=noninteractive
 USER $USERNAME
 ENV USER=$USERNAME
 
-# Install MAVROS dependencies
+# Given Ubuntu is now marked as a "Externally managed environment",
+# Create venv for local python packages install by "$USERNAME" with pip
+# Is there a more elegant way to handle this?
+#
+# These two ENVs effectively "activate" the venv for all subsequent calls to python
 WORKDIR /home/$USERNAME
+ENV VIRTUAL_ENV=/home/$USERNAME/.venv/blue
+RUN python3 -m venv --system-site-packages $VIRTUAL_ENV
+ENV PATH="$VIRTUAL_ENV/bin:$PATH"
+
+RUN echo "source /home/$USERNAME/.venv/blue/bin/activate" >> /home/$USERNAME/.bashrc
+
+# Install MAVROS dependencies
 RUN wget https://raw.githubusercontent.com/mavlink/mavros/ros2/mavros/scripts/install_geographiclib_datasets.sh \
     && chmod +x install_geographiclib_datasets.sh \
     && sudo ./install_geographiclib_datasets.sh
@@ -67,7 +80,7 @@ WORKDIR $USER_WORKSPACE
 COPY --chown=$USER_UID:$USER_GID . src/blue
 
 # Install the Python requirements that aren't available as rosdeps
-RUN python3 -m pip install -r $(pwd)/src/blue/requirements-build.txt
+RUN pip install -r $(pwd)/src/blue/requirements-build.txt
 
 # Install gstreamer
 RUN sudo apt-get -q update \
@@ -85,10 +98,18 @@ RUN sudo apt-get -q update \
     && sudo apt-get clean -y \
     && sudo rm -rf /var/lib/apt/lists/*
 
+# Manually install MAVROS source
+WORKDIR $USER_WORKSPACE/src/
+RUN git clone --depth 1 -b ros2 https://github.com/mavlink/mavros.git
+RUN git clone --depth 1 --recursive -b release/rolling/mavlink https://github.com/mavlink/mavlink-gbp-release.git mavlink
+RUN ls -al $USER_WORKSPACE/src/blue/**
+RUN patch -d mavlink -p 1 < $USER_WORKSPACE/src/blue/.docker/patches/mavlink_standard_library.patch
+WORKDIR $USER_WORKSPACE
+
 RUN sudo apt-get -q update \
     && sudo apt-get -q -y upgrade \
     && rosdep update \
-    && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} \
+    && rosdep install -y --from-paths src --ignore-src --as-root=pip:false --rosdistro ${ROS_DISTRO} \
     && sudo apt-get autoremove -y \
     && sudo apt-get clean -y \
     && sudo rm -rf /var/lib/apt/lists/*
@@ -99,14 +120,14 @@ RUN echo "source ${USER_WORKSPACE}/install/setup.bash" >> /home/$USERNAME/.bashr
 FROM robot as desktop
 
 ENV DEBIAN_FRONTEND=noninteractive
-ENV GZ_VERSION=garden
+ENV GZ_VERSION=harmonic
 
-# Install Gazebo Garden: https://gazebosim.org/docs/garden/install_ubuntu
+# Install Gazebo Hamonic: https://gazebosim.org/docs/harmonic/install_ubuntu
 RUN sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
     && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null \
     && sudo apt-get -q update \
     && sudo apt-get -y --quiet --no-install-recommends install \
-    gz-garden \
+    gz-${GZ_VERSION} \
     && sudo apt-get autoremove -y \
     && sudo apt-get clean -y \
     && sudo rm -rf /var/lib/apt/lists/*
@@ -115,6 +136,8 @@ RUN sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrin
 RUN sudo apt-get -q update \
     && sudo apt-get -q -y upgrade \
     && sudo apt-get -q install --no-install-recommends -y \
+    cppzmq-dev \
+    python3-pexpect \
     python3-wxgtk4.0 \
     rapidjson-dev \
     xterm \

.docker/patches/mavlink_standard_library.patch

@@ -0,0 +1,15 @@
+diff --git a/pymavlink/generator/mavgen.py b/pymavlink/generator/mavgen.py
+index ea62c961..35353184 100755
+--- a/pymavlink/generator/mavgen.py
++++ b/pymavlink/generator/mavgen.py
+@@ -23,8 +23,8 @@ General process:
+ '''
+
+ from __future__ import print_function
+-from future import standard_library
+-standard_library.install_aliases()
++#from future import standard_library
++#standard_library.install_aliases()
+ from builtins import object
+ import os
+ import re

.dockerignore

@@ -8,4 +8,5 @@
 !blue_demos
 !blue.repos
 !.docker/entrypoints
+!.docker/patches
 !requirements-build.txt

.github/workflows/ci.yaml

@@ -19,8 +19,8 @@ jobs:
       fail-fast: false
       matrix:
         env:
-          - IMAGE: rolling-ci
-            ROS_DISTRO: rolling
+          - IMAGE: jazzy-ci
+            ROS_DISTRO: jazzy
     steps:
       - name: Checkout repository
         uses: actions/checkout@v4

.github/workflows/docker.yaml

@@ -22,7 +22,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [jazzy]
     runs-on: ubuntu-latest
     permissions:
       packages: write
@@ -63,7 +63,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [jazzy]
     runs-on: ubuntu-latest
     permissions:
       packages: write
@@ -111,7 +111,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [jazzy]
     runs-on: ubuntu-latest
     permissions:
       packages: write
@@ -152,7 +152,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [jazzy]
     runs-on: ubuntu-latest
     permissions:
       packages: write

blue.repos

@@ -3,7 +3,7 @@ repositories:
   ros_gz:
     type: git
     url: https://github.com/gazebosim/ros_gz
-    version: ros2
+    version: jazzy
 
   hydrodynamics:
     type: git