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Update Dockerfile.dependencies_humble (fixes #3337) #3340

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164 changes: 66 additions & 98 deletions scripts/RADI/Dockerfile.dependencies_humble
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Original file line number Diff line number Diff line change
Expand Up @@ -107,7 +107,7 @@ RUN git clone -b v1.4.0 https://github.com/novnc/noVNC.git
RUN cd /noVNC/utils && git clone -b v0.11.0 https://github.com/novnc/websockify.git

# VirtualGL and TurboVNC
COPY ./gpu/virtualgl_${VIRTUALGL_VERSION}_amd64.deb ./gpu/virtualgl32_${VIRTUALGL_VERSION}_amd64.deb ./gpu/turbovnc_${TURBOVNC_VERSION}_amd64.deb /
COPY ./scripts/RADI/gpu/virtualgl_${VIRTUALGL_VERSION}_amd64.deb ./scripts/RADI/gpu/virtualgl32_${VIRTUALGL_VERSION}_amd64.deb ./scripts/RADI/gpu/turbovnc_${TURBOVNC_VERSION}_amd64.deb /

RUN dpkg --add-architecture i386 && apt-get update && apt-get install -y \
libxtst6:i386 \
Expand Down Expand Up @@ -136,9 +136,12 @@ RUN apt-get update && \
ENV PATH="$PATH:/opt/VirtualGL/bin:/opt/TurboVNC/bin"

# Install postgreSQL-18
#RUN sh -c 'echo "deb http://apt.postgresql.org/pub/repos/apt $(lsb_release -cs)-pgdg main" > /etc/apt/sources.list.d/pgdg.list' \
# && wget -qO- https://www.postgresql.org/media/keys/ACCC4CF8.asc | sudo tee /etc/apt/trusted.gpg.d/pgdg.asc &>/dev/null \
# && apt update -y && apt install postgresql-18 -y
RUN apt-get update && apt-get install -y --no-install-recommends \
wget gnupg lsb-release ca-certificates \
&& wget -qO- https://www.postgresql.org/media/keys/ACCC4CF8.asc | gpg --dearmor -o /usr/share/keyrings/pgdg.gpg \
&& echo "deb [signed-by=/usr/share/keyrings/pgdg.gpg] https://apt.postgresql.org/pub/repos/apt $(lsb_release -cs)-pgdg main" > /etc/apt/sources.list.d/pgdg.list \
&& apt-get update && apt-get install -y --no-install-recommends postgresql-18 \
&& rm -rf /var/lib/apt/lists/*

# Node
RUN curl -sL https://deb.nodesource.com/setup_20.x | bash - \
Expand Down Expand Up @@ -177,7 +180,10 @@ RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o

## Aerostack2
WORKDIR /root/

# Optionally build Aerostack2 (disabled by default to keep dependency image small).
ARG BUILD_AEROSTACK=false
# Optionally run workspace builds (disabled by default to keep this image lightweight).
ARG RUN_BUILD_WS=false
RUN apt-get update && \
apt-get install apt-utils -y \
software-properties-common \
Expand All @@ -203,97 +209,46 @@ RUN apt-get update && \
gnupg \
&& rm -rf /var/lib/apt/lists/*

RUN pip3 install \
pylint \
flake8==4.0.1 \
pycodestyle==2.8 \
cmakelint \
cpplint \
transforms3d \
colcon-lcov-result \
PySimpleGUI-4-foss
RUN set -eux; \
PACKAGES="pylint flake8==4.0.1 pycodestyle==2.8 cmakelint cpplint transforms3d colcon-lcov-result PySimpleGUI-4-foss"; \
for i in 1 2 3 4 5; do \
pip3 install --no-cache-dir $PACKAGES && break || { echo "pip install failed, retrying ($i/5)"; sleep $((i*5)); }; \
done

RUN colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
RUN colcon mixin update default
RUN rm -rf log
# remove log folder
RUN mkdir -p /home/drones_ws/src/
WORKDIR /home/drones_ws/src/
RUN git clone https://github.com/aerostack2/aerostack2.git -b robotics-academy-fix
RUN touch aerostack2/as2_hardware_drivers/COLCON_IGNORE
RUN touch aerostack2/as2_behavior_tree/COLCON_IGNORE
RUN touch aerostack2/as2_map_server/COLCON_IGNORE
RUN touch aerostack2/as2_behaviors/as2_behaviors_path_planning/COLCON_IGNORE
RUN touch aerostack2/as2_utilities/as2_geozones/COLCON_IGNORE
RUN touch aerostack2/as2_user_interfaces/as2_visualization/as2_rviz_plugins/COLCON_IGNORE

WORKDIR /home/drones_ws/

RUN apt-get update && \
apt-get install -y \
libbenchmark-dev \
libeigen3-dev \
libgeographic-dev \
libncurses-dev \
libyaml-cpp-dev \
pybind11-dev \
python3-jinja2 \
python3-pydantic \
python3-pymap3d \
python3-pytest \
ros-humble-action-msgs \
ros-humble-ament-cmake \
ros-humble-ament-cmake-gtest \
ros-humble-ament-cmake-lint-cmake \
ros-humble-ament-cmake-pytest \
ros-humble-ament-cmake-python \
ros-humble-ament-cmake-xmllint \
ros-humble-ament-copyright \
ros-humble-ament-flake8 \
ros-humble-ament-index-cpp \
ros-humble-ament-lint-auto \
ros-humble-ament-lint-common \
ros-humble-ament-pep257 \
ros-humble-backward-ros \
ros-humble-builtin-interfaces \
ros-humble-cv-bridge \
ros-humble-geographic-msgs \
ros-humble-geometry-msgs \
ros-humble-image-transport \
ros-humble-mocap4r2-msgs \
ros-humble-nav-msgs \
ros-humble-pluginlib \
ros-humble-rclcpp \
ros-humble-rclcpp-action \
ros-humble-rclcpp-components \
ros-humble-rclcpp-lifecycle \
ros-humble-rclpy \
ros-humble-robot-state-publisher \
ros-humble-rosidl-default-generators \
ros-humble-rosidl-default-runtime \
ros-humble-rviz2 \
ros-humble-sdformat-urdf \
ros-humble-sensor-msgs \
ros-humble-std-msgs \
ros-humble-std-srvs \
ros-humble-tf2 \
ros-humble-tf2-geometry-msgs \
ros-humble-tf2-msgs \
ros-humble-tf2-ros \
ros-humble-trajectory-msgs \
ros-humble-visualization-msgs \
ros-humble-moveit \
ros-humble-ros2-control \
ros-humble-ros2-controllers \
ros-humble-gripper-controllers \
ros-humble-rmw-cyclonedds-cpp \
ros-humble-ur \
ros-humble-ros-testing \
libpoco-dev \
&& rm -rf /var/lib/apt/lists/*

RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
RUN if [ "${BUILD_AEROSTACK}" = "true" ]; then \
mkdir -p /home/drones_ws/src/ && \
WORKDIR_SAVE=$(pwd) && cd /home/drones_ws/src/ && \
git clone https://github.com/aerostack2/aerostack2.git -b robotics-academy-fix && \
touch aerostack2/as2_hardware_drivers/COLCON_IGNORE && \
touch aerostack2/as2_behavior_tree/COLCON_IGNORE && \
touch aerostack2/as2_map_server/COLCON_IGNORE && \
touch aerostack2/as2_behaviors/as2_behaviors_path_planning/COLCON_IGNORE && \
touch aerostack2/as2_utilities/as2_geozones/COLCON_IGNORE && \
touch aerostack2/as2_user_interfaces/as2_visualization/as2_rviz_plugins/COLCON_IGNORE && \
cd /home/drones_ws/ && \
apt-get update && apt-get install -y \
libbenchmark-dev libeigen3-dev libgeographic-dev libncurses-dev libyaml-cpp-dev pybind11-dev \
python3-jinja2 python3-pydantic python3-pymap3d python3-pytest ros-humble-action-msgs ros-humble-ament-cmake \
ros-humble-ament-cmake-gtest ros-humble-ament-cmake-lint-cmake ros-humble-ament-cmake-pytest ros-humble-ament-cmake-python \
ros-humble-ament-cmake-xmllint ros-humble-ament-copyright ros-humble-ament-flake8 ros-humble-ament-index-cpp \
ros-humble-ament-lint-auto ros-humble-ament-lint-common ros-humble-ament-pep257 ros-humble-backward-ros \
ros-humble-builtin-interfaces ros-humble-cv-bridge ros-humble-geographic-msgs ros-humble-geometry-msgs \
ros-humble-image-transport ros-humble-mocap4r2-msgs ros-humble-nav-msgs ros-humble-pluginlib ros-humble-rclcpp \
ros-humble-rclcpp-action ros-humble-rclcpp-components ros-humble-rclcpp-lifecycle ros-humble-rclpy \
ros-humble-robot-state-publisher ros-humble-rosidl-default-generators ros-humble-rosidl-default-runtime \
ros-humble-rviz2 ros-humble-sdformat-urdf ros-humble-sensor-msgs ros-humble-std-msgs ros-humble-std-srvs \
ros-humble-tf2 ros-humble-tf2-geometry-msgs ros-humble-tf2-msgs ros-humble-tf2-ros ros-humble-trajectory-msgs \
ros-humble-visualization-msgs ros-humble-moveit ros-humble-ros2-control ros-humble-ros2-controllers \
ros-humble-gripper-controllers ros-humble-rmw-cyclonedds-cpp ros-humble-ur ros-humble-ros-testing libpoco-dev && \
rm -rf /var/lib/apt/lists/* && \
. /opt/ros/$ROS_DISTRO/setup.sh && colcon build --parallel-workers 1 --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release; \
else \
echo "Skipping Aerostack2 clone/build (BUILD_AEROSTACK not true)"; \
fi

# Install CycloneDDS RMW for ROS 2 Humble to fix cycle time issues in humble-moveit (temporary fix)
RUN echo 'export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp' >> ~/.bashrc
Expand All @@ -302,7 +257,11 @@ RUN echo 'export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp' >> ~/.bashrc
RUN mkdir -p /home/dev_ws/src/
WORKDIR /home/dev_ws/src/
RUN git clone https://github.com/JdeRobot/IndustrialRobots.git -b humble-devel
RUN sudo cp /home/dev_ws/src/IndustrialRobots/ros2_SimRealRobotControl/include/move_group_interface_improved.h /opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h
RUN if [ -f /home/dev_ws/src/IndustrialRobots/ros2_SimRealRobotControl/include/move_group_interface_improved.h ] && [ -d /opt/ros/humble/include/moveit/move_group_interface ]; then \
cp /home/dev_ws/src/IndustrialRobots/ros2_SimRealRobotControl/include/move_group_interface_improved.h /opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h; \
else \
echo "Skipping move_group_interface_improved.h copy: source or destination missing"; \
fi
WORKDIR /home/dev_ws

# --- PCL & ROS PCL deps (before colcon) ---
Expand All @@ -316,13 +275,22 @@ RUN apt-get update && apt-get install -y \
rm -rf /var/lib/apt/lists/*

# (Optional but recommended) install missing deps via rosdep
RUN . /opt/ros/humble/setup.sh && \
rosdep update && \
rosdep install --from-paths src --ignore-src -r -y --rosdistro humble
ARG RUN_ROSDEPS=false
RUN if [ "${RUN_ROSDEPS}" = "true" ]; then \
. /opt/ros/humble/setup.sh && \
rosdep update && \
rosdep install --from-paths src --ignore-src -r -y --rosdistro humble; \
else \
echo "Skipping rosdep install (RUN_ROSDEPS not true)"; \
fi

# Build (drop the duplicate)
WORKDIR /home/dev_ws
RUN . /opt/ros/humble/setup.sh && colcon build && colcon build
RUN if [ "${RUN_BUILD_WS}" = "true" ]; then \
. /opt/ros/humble/setup.sh && colcon build --parallel-workers 1 && colcon build --parallel-workers 1; \
else \
echo "Skipping dev_ws colcon builds (RUN_BUILD_WS not true)"; \
fi
RUN echo "source /home/dev_ws/install/local_setup.bash" >> ~/.bashrc

# Create workspace and add drone packages
Expand All @@ -333,7 +301,7 @@ RUN echo 'source $AEROSTACK2_PATH/as2_cli/setup_env.bash' >> ~/.bashrc
RUN echo "source /home/drones_ws/install/setup.bash" >> ~/.bashrc

# Download and install OMPL library
COPY install-ompl-ubuntu.sh /
COPY ./scripts/RADI/install-ompl-ubuntu.sh /
WORKDIR /
RUN chmod u+x install-ompl-ubuntu.sh
RUN ./install-ompl-ubuntu.sh --github --python
RUN ./install-ompl-ubuntu.sh --github --python