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Fix rosdep install for non-ROS base images #8

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merged 6 commits into from
Sep 15, 2023
Merged

Fix rosdep install for non-ROS base images #8

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df7180f
install minimal ros package
jpbusch Sep 7, 2023
4976b2f
source before rosdep
jpbusch Sep 7, 2023
ffefc69
remove unnecessary source
jpbusch Sep 7, 2023
0b5d294
bump version
jpbusch Sep 7, 2023
417e381
source only ros_version.sh out of ros_environment
jpbusch Sep 12, 2023
3928367
install ros-core instead of ros-environment
jpbusch Sep 14, 2023
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18 changes: 9 additions & 9 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -98,7 +98,7 @@ jobs:
docker-ros:
runs-on: ubuntu-latest
steps:
- uses: ika-rwth-aachen/[email protected].3
- uses: ika-rwth-aachen/[email protected].5
with:
base-image: rwthika/ros2:humble
command: ros2 run my_pkg my_node
Expand All @@ -110,7 +110,7 @@ jobs:

```yml
include:
- remote: https://raw.githubusercontent.com/ika-rwth-aachen/docker-ros/v1.2.3/.gitlab-ci/docker-ros.yml
- remote: https://raw.githubusercontent.com/ika-rwth-aachen/docker-ros/v1.2.5/.gitlab-ci/docker-ros.yml

variables:
BASE_IMAGE: rwthika/ros2:humble
Expand All @@ -129,7 +129,7 @@ jobs:
docker-ros:
runs-on: ubuntu-latest
steps:
- uses: ika-rwth-aachen/[email protected].3
- uses: ika-rwth-aachen/[email protected].5
with:
base-image: rwthika/ros2:humble
command: ros2 run my_pkg my_node
Expand All @@ -142,7 +142,7 @@ jobs:

```yml
include:
- remote: https://raw.githubusercontent.com/ika-rwth-aachen/docker-ros/v1.2.3/.gitlab-ci/docker-ros.yml
- remote: https://raw.githubusercontent.com/ika-rwth-aachen/docker-ros/v1.2.5/.gitlab-ci/docker-ros.yml

variables:
BASE_IMAGE: rwthika/ros2:humble
Expand All @@ -162,7 +162,7 @@ jobs:
docker-ros:
runs-on: ubuntu-latest
steps:
- uses: ika-rwth-aachen/[email protected].3
- uses: ika-rwth-aachen/[email protected].5
with:
base-image: rwthika/ros2:humble
command: ros2 run my_pkg my_node
Expand All @@ -176,7 +176,7 @@ jobs:

```yml
include:
- remote: https://raw.githubusercontent.com/ika-rwth-aachen/docker-ros/v1.2.3/.gitlab-ci/docker-ros.yml
- remote: https://raw.githubusercontent.com/ika-rwth-aachen/docker-ros/v1.2.5/.gitlab-ci/docker-ros.yml

variables:
BASE_IMAGE: rwthika/ros2:humble
Expand All @@ -197,7 +197,7 @@ jobs:
docker-ros:
runs-on: ubuntu-latest
steps:
- uses: ika-rwth-aachen/[email protected].3
- uses: ika-rwth-aachen/[email protected].5
with:
base-image: rwthika/ros2:humble
command: ros2 run my_pkg my_node
Expand All @@ -210,7 +210,7 @@ jobs:

```yml
include:
- remote: https://raw.githubusercontent.com/ika-rwth-aachen/docker-ros/v1.2.3/.gitlab-ci/docker-ros.yml
- remote: https://raw.githubusercontent.com/ika-rwth-aachen/docker-ros/v1.2.5/.gitlab-ci/docker-ros.yml

variables:
BASE_IMAGE: rwthika/ros2:humble
Expand All @@ -234,7 +234,7 @@ jobs:
platform: [amd64, arm64]
runs-on: [self-hosted, "${{ matrix.platform }}"]
steps:
- uses: ika-rwth-aachen/[email protected].3
- uses: ika-rwth-aachen/[email protected].5
with:
base-image: rwthika/ros2:humble
command: ros2 run my_pkg my_node
Expand Down
3 changes: 3 additions & 0 deletions docker/Dockerfile
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Expand Up @@ -30,6 +30,7 @@ RUN apt-get update && \
git \
python3-rosdep \
python3-vcstool \
ros-${ROS_DISTRO}-ros-core \
&& rm -rf /var/lib/apt/lists/*

# copy contents of repository
Expand Down Expand Up @@ -60,6 +61,7 @@ RUN /usr/local/bin/recursive_vcs_import.py src src/upstream

# create install script with list of rosdep dependencies
RUN echo "set -e" >> $WORKSPACE/.install-dependencies.sh && \
source /opt/ros/$ROS_DISTRO/setup.bash && \
apt-get update && \
rosdep init || true && \
rosdep update --rosdistro ${ROS_DISTRO} && \
Expand Down Expand Up @@ -154,6 +156,7 @@ RUN apt-get update && \
gosu \
python-is-python3 \
python3-pip \
ros-${ROS_DISTRO}-ros-core \
&& rm -rf /var/lib/apt/lists/*

# copy install script from dependencies stage
Expand Down
8 changes: 4 additions & 4 deletions docker/recursive_vcs_import.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
from typing import List, Optional


def findDotRepos(search_path: str, clone_path: Optional[str]=None) -> List[pathlib.Path]:
def findDotRepos(search_path: str, clone_path: Optional[str] = None) -> List[pathlib.Path]:

repos = list(pathlib.Path(search_path).glob("**/*.repos"))
if clone_path is not None:
Expand All @@ -32,11 +32,11 @@ def main():
proc = subprocess.run(["vcs", "import", clone_path, "--recursive"], stdin=f)
if proc.returncode != 0:
raise RuntimeError("vcs import failed")

cloned_repos.append(next_repo)

print(" ".join([str(repo) for repo in set(found_repos)]))


if __name__ == "__main__":
main()
main()