Migration to jazzy (#83)

* First changes for the migration. still needs to be tested Signed-off-by: JesusSilvaUtrera <[email protected]> * Simulation is now working with Jazzy Signed-off-by: JesusSilvaUtrera <[email protected]> * Updated the version of the setup-ros step for testing Signed-off-by: JesusSilvaUtrera <[email protected]> * Slam is working now Signed-off-by: JesusSilvaUtrera <[email protected]> --------- Signed-off-by: JesusSilvaUtrera <[email protected]>
Ekumen-OS · Sep 16, 2024 · 030c8f3 · 030c8f3
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diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md
@@ -3,7 +3,7 @@ Please remove the appropriate section.
 For example, if this is a new feature, remove all sections except for the "New feature" section
 
 If this is your first time opening a PR, be sure to check the contribution guide:
-https://github.com/Ekumen-OS/andino_gz/blob/humble/CONTRIBUTING.md
+https://github.com/Ekumen-OS/andino_gz/blob/jazzy/CONTRIBUTING.md
 -->
 
 # 🦟 Bug fix
@@ -40,4 +40,3 @@ context (e.g., screenshots, gifs) if appropriate.-->
 - [ ] Added example and/or tutorial
 - [ ] Updated documentation (as needed)
 - [ ] Updated migration guide (as needed)
-
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -3,14 +3,14 @@ name: colcon build & test
 on:
   push:
     branches:
-      - humble
+      - jazzy
   pull_request:
     branches:
-      - humble
+      - jazzy
   workflow_dispatch:
 
 env:
-  ROS_DISTRO: humble
+  ROS_DISTRO: jazzy
 
 # Cancel previously running PR jobs
 concurrency:
@@ -22,10 +22,10 @@ jobs:
     name: Compile and test
     runs-on: ubuntu-latest
     container:
-      image: ubuntu:22.04
+      image: ubuntu:24.04
     steps:
     - uses: actions/checkout@v3
-    - uses: ros-tooling/setup-ros@v0.6
+    - uses: ros-tooling/setup-ros@v0.7
     - uses: ros-tooling/[email protected]
       id: action_ros_ci_step
       with:

diff --git a/README.md b/README.md
@@ -9,9 +9,9 @@ This package provides a simulation environment for [Andino](https://github.com/E
 
 ## :clamp: Platforms
 
-- ROS 2: Humble Hawksbill
+- ROS 2: Jazzy Hawksbill
 - OS:
-  - Ubuntu 22.04 Jammy Jellyfish
+  - Ubuntu 24.04 Noble Numbat
 - Gazebo:
   - Harmonic
 
@@ -172,7 +172,7 @@ Also, consider using looking at the translation entries under `andino_gz/config/
     ros2 launch andino_gz slam_toolbox_online_async.launch.py
     ```
 
-    Configuration can be forwarded to the `slam_toolbox_node`. By default, the configuration parameters are obtained from [andino's configuration file](https://github.com/Ekumen-OS/andino/blob/humble/andino_slam/config/slam_toolbox_online_async.yaml). In case a custom file is wanted to be passed, simply use the launch file argument for indicating the path to a new file.
+    Configuration can be forwarded to the `slam_toolbox_node`. By default, the configuration parameters are obtained from [andino's configuration file](https://github.com/Ekumen-OS/andino/blob/jazzy/andino_slam/config/slam_toolbox_online_async.yaml). In case a custom file is wanted to be passed, simply use the launch file argument for indicating the path to a new file.
 
     ```
     ros2 launch andino_gz slam_toolbox_online_async.launch.py slams_param_file:=<my_path>

diff --git a/andino_gz/launch/slam_toolbox_online_async.launch.py b/andino_gz/launch/slam_toolbox_online_async.launch.py
@@ -31,10 +31,11 @@
 import os
 
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 from ament_index_python.packages import get_package_share_directory
+from launch.launch_description_sources import PythonLaunchDescriptionSource
 
 
 def generate_launch_description():
@@ -46,21 +47,19 @@ def generate_launch_description():
                                    'config', 'slam_toolbox_online_async.yaml'),
         description='Full path to the ROS 2 parameters file to use for the slam_toolbox node')
 
-    start_async_slam_toolbox_node = Node(
-        parameters=[
-          slam_params_file,
-          {
-            'use_sim_time': True
-          }
-        ],
-        package='slam_toolbox',
-        executable='async_slam_toolbox_node',
-        name='slam_toolbox',
-        output='screen')
+    async_slam_toolbox_launch = IncludeLaunchDescription(
+      PythonLaunchDescriptionSource(
+        os.path.join(get_package_share_directory("slam_toolbox"),
+                       'launch', 'online_async_launch.py')
+      ),
+      launch_arguments={
+        'slam_params_file': slam_params_file
+      }.items(),
+    )
 
     ld = LaunchDescription()
 
     ld.add_action(declare_slam_params_file_cmd)
-    ld.add_action(start_async_slam_toolbox_node)
+    ld.add_action(async_slam_toolbox_launch)
 
     return ld
diff --git a/andino_gz/package.xml b/andino_gz/package.xml
@@ -12,7 +12,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <!-- 'gz-sim8' for Gazebo Harmonic isn't added as it can't get its keys resolved -->
+  <exec_depend>gz-sim8</exec_depend>
   <exec_depend>andino_description</exec_depend>
   <exec_depend>andino_slam</exec_depend>
   <exec_depend>nav2_bringup</exec_depend>

diff --git a/docker/README.md b/docker/README.md
@@ -17,7 +17,7 @@ For NVIDIA GPU support, `nvidia-container-toolkit` should be installed. *Skip th
 
 #### Building image and running container
 
-- Build the docker image whose default name is `ros2_humble_andino_gz`:
+- Build the docker image whose default name is `ros2_jazzy_andino_gz`:
 
 ```sh
 ./docker/build.sh
@@ -29,7 +29,7 @@ You can also try to set a specific image name:
 ./docker/build.sh -i my_fancy_image_name
 ```
 
-- Run a docker container from `ros2_humble_andino_gz` called `ros2_humble_andino_gz_container`:
+- Run a docker container from `ros2_jazzy_andino_gz` called `ros2_jazzy_andino_gz_container`:
 
 ```sh
 ./docker/run.sh
@@ -47,19 +47,8 @@ You can also try to set specific image and container names:
 ./docker/run.sh --use_nvidia -i my_fancy_image_name -c my_fancy_container_name
 ```
 
-- Inside the container, install dependencies via `rosdep`:
+With this, you can just source the workspace and start testing it out, as the dependencies and the workspace have been already installed during the building process:
 
-  ```sh
-  rosdep install -i -y --rosdistro humble --from-paths src
-  ```
-
-Note that the repository is mounted into a workspace. That is convenient if you
-are working in a single repository project. Note that for multi-repository
-workspace you should use another tool like vcs-tool to control via a `.repos`
-file the repositories in your workspace.
-
-- To build:
-
-  ```sh
-  colcon build
-  ```
+```sh
+source ./install/setup.bash
+```
diff --git a/docker/build.sh b/docker/build.sh
@@ -36,12 +36,12 @@ set -e
 function show_help() {
   echo $'\nUsage:\t build.sh [OPTIONS] \n
   Options:\n
-  \t-i --image_name\t\t Name of the image to be built (default ros2_humble_andino_gz).\n
+  \t-i --image_name\t\t Name of the image to be built (default ros2_jazzy_andino_gz).\n
   Example:\n
   \tbuild.sh --image_name custom_image_name\n'
 }
 
-echo "Building the docker image for ros2 humble andino gazebo development."
+echo "Building the docker image for ros2 jazzy andino gazebo development."
 
 SCRIPT_FOLDER_PATH="$(cd "$(dirname "$0")"; pwd)"
 CONTEXT_FOLDER_PATH="$(cd "$(dirname "$0")"; cd .. ; pwd)"
@@ -57,15 +57,13 @@ while [[ "$#" -gt 0 ]]; do
 done
 
 # Update the arguments to default values if needed.
-OS_VERSION="focal"
-IMAGE_NAME=${IMAGE_NAME:-ros2_humble_andino_gz}
+OS_VERSION="noble"
+IMAGE_NAME=${IMAGE_NAME:-ros2_jazzy_andino_gz}
 DOCKERFILE_PATH=$SCRIPT_FOLDER_PATH/Dockerfile
 
-USERID=$(id -u)
-USER=$(whoami)
+USER=ubuntu
 
 sudo docker build -t $IMAGE_NAME \
      --file $DOCKERFILE_PATH \
-     --build-arg USERID=$USERID \
      --build-arg USER=$USER \
      $CONTEXT_FOLDER_PATH
diff --git a/docker/dockerfile b/docker/dockerfile
@@ -1,8 +1,7 @@
-FROM osrf/ros:humble-desktop-full
+FROM osrf/ros:jazzy-desktop-full
 
 # Arguments for building
-ARG USERID
-ARG USER
+ARG USER=ubuntu
 
 # Setup environment
 ENV TERM=linux
@@ -14,43 +13,61 @@ COPY docker/requirements.txt .
 RUN apt-get update && apt-get install --no-install-recommends -y $(cat requirements.txt)
 RUN rm requirements.txt
 
+#####################################
+# ROS2 dependencies built from source
+#####################################
+
+# Prepare worksapce for ros2 packages built in the container
+RUN mkdir -p /home/$USER/ros_deps_ws/src
+WORKDIR /home/$USER/ros_deps_ws/src
+# Clone andino main repo
+RUN git clone https://github.com/Ekumen-OS/andino.git -b jazzy
+WORKDIR /home/$USER/ros_deps_ws
+# Rosdep install
+RUN . /opt/ros/jazzy/setup.sh && rosdep install -y -i --from-paths src
+# Build
+RUN . /opt/ros/jazzy/setup.sh && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
+# Adds overlay to the bashrc
+RUN echo "source /home/$USER/ros_deps_ws/install/setup.bash" >> /home/$USER/.bashrc
+
 # Add the Gazebo repository and install Gazebo Harmonic
 RUN sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" > /etc/apt/sources.list.d/gazebo-stable.list' && \
     wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg && \
     sudo apt update && \
-    sudo apt install -y gz-harmonic && \
-    sudo apt remove -y ros-humble-ros-gz* && \
-    sudo apt autoremove -y && \
-    sudo apt update && \
-    sudo apt install -y ros-humble-ros-gzharmonic && \
-    sudo rm -rf /var/lib/apt/lists/*
+    sudo apt install -y gz-harmonic
 
 # Create a user with passwordless sudo
-RUN adduser --uid $USERID --gecos "ekumen developer" --disabled-password $USER
-RUN adduser $USER sudo
 RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
 RUN echo "export QT_X11_NO_MITSHM=1" >> /home/$USER/.bashrc
-RUN echo "export GZ_IP=127.0.0.1" >> /home/$USER/.bashrc
-USER $USER
+
+# Install fixuid and configure it
+RUN curl -SsL https://github.com/boxboat/fixuid/releases/download/v0.6.0/fixuid-0.6.0-linux-amd64.tar.gz | tar -C /usr/local/bin -xzf - && \
+    chown root:root /usr/local/bin/fixuid && \
+    chmod 4755 /usr/local/bin/fixuid && \
+    mkdir -p /etc/fixuid && \
+    printf "user: $USER\ngroup: $USER\n" > /etc/fixuid/config.yml
 
 # Adds USER to dialout and plugdev group.
 # This is needed to access the serial ports, for further references check
 # the libserial documentation.
 RUN sudo usermod -a -G dialout $USER
 RUN sudo usermod -a -G plugdev $USER
 
+USER $USER
+
 # Creates the src folder of the workspace.
 RUN mkdir -p /home/$USER/ws/src
 
-# Adds to bashrc the ros humble overlay sourcing.
-RUN echo "source /opt/ros/humble/setup.bash" >> /home/$USER/.bashrc
-# Adds colcon autocomplete
-RUN echo "source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash" >> /home/$USER/.bashrc
+# Adds to bashrc the ros jazzy overlay sourcing.
+RUN echo "source /opt/ros/jazzy/setup.bash" >> /home/$USER/.bashrc
 
 # Updates
 RUN sudo apt upgrade -y && sudo apt update && rosdep update
 
 # Defines a workspace folder.
 WORKDIR /home/$USER/ws
 
+# Use fixuid as the entrypoint in quiet mode
+ENTRYPOINT ["fixuid", "-q"]
+
 CMD ["/bin/bash"]
diff --git a/docker/requirements.txt b/docker/requirements.txt
@@ -19,10 +19,6 @@ openssh-server
 python3
 python3-pip
 python3-setuptools
-ros-humble-andino-description
-ros-humble-andino-slam
-ros-humble-nav2-bringup
-ros-humble-nav2-common
 software-properties-common
 sudo
 tmux

diff --git a/docker/run.sh b/docker/run.sh
@@ -36,8 +36,8 @@ set +e
 function show_help() {
   echo $'\nUsage:\t run.sh [OPTIONS] \n
   Options:\n
-  \t-i --image_name\t\t Name of the image to be run (default ros2_humble_andino_gz).\n
-  \t-c --container_name\t Name of the container(default ros2_humble_andino_gz_container).\n
+  \t-i --image_name\t\t Name of the image to be run (default ros2_jazzy_andino_gz).\n
+  \t-c --container_name\t Name of the container(default ros2_jazzy_andino_gz_container).\n
   \t--use_nvidia\t\t Use nvidia runtime.\n
   Examples:\n
   \trun.sh\n
@@ -79,21 +79,23 @@ done
 
 # Update the arguments to default values if needed.
 
-IMAGE_NAME=${IMAGE_NAME:-ros2_humble_andino_gz}
-CONTAINER_NAME=${CONTAINER_NAME:-ros2_humble_andino_gz_container}
+IMAGE_NAME=${IMAGE_NAME:-ros2_jazzy_andino_gz}
+CONTAINER_NAME=${CONTAINER_NAME:-ros2_jazzy_andino_gz_container}
+
+USER=ubuntu
 
 SSH_PATH=/home/$USER/.ssh
-WORKSPACE_SRC_CONTAINER=/home/$(whoami)/ws/src/$REPOSITORY_FOLDER_NAME
-WORKSPACE_ROOT_CONTAINER=/home/$(whoami)/ws
+WORKSPACE_SRC_CONTAINER=/home/$USER/ws/src/$REPOSITORY_FOLDER_NAME
+WORKSPACE_ROOT_CONTAINER=/home/$USER/ws
 SSH_AUTH_SOCK_USER=$SSH_AUTH_SOCK
 
 # Create cache folders to store colcon build files
 mkdir -p ${REPOSITORY_FOLDER_PATH}/.build
 mkdir -p ${REPOSITORY_FOLDER_PATH}/.install
 
 # Transfer the ownership to the user
-chown -R "$USER" ${REPOSITORY_FOLDER_PATH}/.build
-chown -R "$USER" ${REPOSITORY_FOLDER_PATH}/.install
+# chown -R "$USER" ${REPOSITORY_FOLDER_PATH}/.build
+# chown -R "$USER" ${REPOSITORY_FOLDER_PATH}/.install
 
 # Check if name container is already taken.
 if sudo -g docker docker container ls -a | grep "${CONTAINER_NAME}$" -c &> /dev/null; then