Jazzy ROS image is now based on "noble" (backport #220)

.devcontainer/nouveau/Dockerfile

@@ -1,9 +1,9 @@
-FROM ghcr.io/robotic-decision-making-lab/blue:rolling-desktop
+FROM ghcr.io/robotic-decision-making-lab/blue:jazzy-desktop
 
 # 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 USERNAME=ubuntu
 ENV USER_WORKSPACE=/home/$USERNAME/ws_blue
 WORKDIR $USER_WORKSPACE
 

.devcontainer/nouveau/devcontainer.json

@@ -2,9 +2,9 @@
   "name": "Nouveau Dev Container",
   "dockerFile": "Dockerfile",
   "context": "../..",
-  "workspaceMount": "source=${localWorkspaceFolder},target=/home/blue/ws_blue/src/blue,type=bind",
-  "workspaceFolder": "/home/blue/ws_blue/src/blue",
-  "remoteUser": "blue",
+  "workspaceMount": "source=${localWorkspaceFolder},target=/home/ubuntu/ws_blue/src/blue,type=bind",
+  "workspaceFolder": "/home/ubuntu/ws_blue/src/blue",
+  "remoteUser": "ubuntu",
   "runArgs": [
     "--network=host",
     "--cap-add=SYS_PTRACE",

.devcontainer/nvidia/Dockerfile

@@ -1,9 +1,9 @@
-FROM ghcr.io/robotic-decision-making-lab/blue:rolling-desktop-nvidia
+FROM ghcr.io/robotic-decision-making-lab/blue:jazzy-desktop-nvidia
 
 # 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 USERNAME=ubuntu
 ENV USER_WORKSPACE=/home/$USERNAME/ws_blue
 WORKDIR $USER_WORKSPACE
 

.devcontainer/nvidia/devcontainer.json

@@ -2,9 +2,9 @@
   "name": "NVIDIA Dev Container",
   "dockerFile": "Dockerfile",
   "context": "../..",
-  "workspaceMount": "source=${localWorkspaceFolder},target=/home/blue/ws_blue/src/blue,type=bind",
-  "workspaceFolder": "/home/blue/ws_blue/src/blue",
-  "remoteUser": "blue",
+  "workspaceMount": "source=${localWorkspaceFolder},target=/home/ubuntu/ws_blue/src/blue,type=bind",
+  "workspaceFolder": "/home/ubuntu/ws_blue/src/blue",
+  "remoteUser": "ubuntu",
   "runArgs": [
     "--network=host",
     "--cap-add=SYS_PTRACE",

.devcontainer/robot/Dockerfile

@@ -0,0 +1,31 @@
+#
+# Dockerfile for *-robot development container
+#
+ARG BLUE_GITHUB_REPO=Robotic-Decision-Making-Lab/blue
+ARG ROS_DISTRO=jazzy
+FROM ${BLUE_GITHUB_REPO}:${ROS_DISTRO}-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=ubuntu
+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 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 +1,40 @@
+{
+  "name": "Robot Dev Container",
+  "build": {
+    "dockerfile": "Dockerfile",
+    "context": "../..",
+    "args": {
+      "BLUE_GITHUB_REPO": "ghcr.io/robotic-decision-making-lab/blue",
+      "ROS_DISTRO": "jazzy"
+    }
+  },
+  "workspaceMount": "source=${localWorkspaceFolder},target=/home/ubuntu/ws_blue/src/blue,type=bind",
+  "workspaceFolder": "/home/ubuntu/ws_blue/src/blue",
+  "remoteUser": "ubuntu",
+  "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": {},
+  "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

@@ -1,5 +1,5 @@
-ARG ROS_DISTRO=rolling
-FROM ros:$ROS_DISTRO-ros-base as ci
+ARG ROS_DISTRO=jazzy
+FROM ros:$ROS_DISTRO-ros-base AS ci
 
 ENV DEBIAN_FRONTEND=noninteractive
 
@@ -18,6 +18,7 @@ RUN apt-get -q update \
     clang-tools \
     python3-pip \
     python3-dev \
+    python3-venv \
     lsb-release \
     wget \
     gnupg \
@@ -26,7 +27,8 @@ RUN apt-get -q update \
     && apt-get clean -y \
     && rm -rf /var/lib/apt/lists/*
 
-# Install all ROS dependencies
+# Install all ROS dependencies for _just_ blue
+# (we have not imported other repos from .repos files)
 RUN apt-get -q update \
     && apt-get -q -y upgrade \
     && rosdep update \
@@ -36,16 +38,24 @@ RUN apt-get -q update \
     && apt-get clean -y \
     && rm -rf /var/lib/apt/lists/*
 
-FROM ci as robot
-
-# Configure a new non-root user
-ARG USERNAME=blue
+# This stage includes
+#   - Switching to the non-root user
+#   - Copying 'blue' source from this repo into the non-root user's workspace
+#   - Installing blue deps using pip, apt and rosdep
+#   - Installs the remaining blue dependencies from blue_robot.repos
+#   - Installs deps from rosdep for all src dependencies
+#   - colcon build
+#
+FROM ci AS robot
+
+#
+# Ubuntu 24.04 "Noble", which is used as the base image for
+# jazzy and rolling images, now includes a user "ubuntu" at UID 1000
+ARG USERNAME=ubuntu
 ARG USER_UID=1000
 ARG USER_GID=$USER_UID
 
-RUN groupadd --gid $USER_GID $USERNAME \
-    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
-    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+RUN echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
     && chmod 0440 /etc/sudoers.d/$USERNAME \
     && usermod -a -G dialout $USERNAME \
     && echo "source /usr/share/bash-completion/completions/git" >> /home/$USERNAME/.bashrc
@@ -56,6 +66,16 @@ ENV DEBIAN_FRONTEND=noninteractive
 USER $USERNAME
 ENV USER=$USERNAME
 
+# Python in Ubuntu is now marked as a "Externally managed environment",
+# Per best practice, create a venv for local python packages
+#
+# These two ENVs effectively "activate" the venv for subsequent calls to
+# python/pip in the Dockerfile
+WORKDIR /home/$USERNAME
+ENV VIRTUAL_ENV=/home/$USERNAME/.venv/blue
+RUN python3 -m venv --system-site-packages --symlinks $VIRTUAL_ENV
+ENV PATH="$VIRTUAL_ENV/bin:$PATH"
+
 # Install MAVROS dependencies
 WORKDIR /home/$USERNAME
 RUN wget https://raw.githubusercontent.com/mavlink/mavros/ros2/mavros/scripts/install_geographiclib_datasets.sh \
@@ -81,58 +101,100 @@ RUN sudo apt-get -q update \
     gstreamer1.0-plugins-ugly \
     gstreamer1.0-plugins-bad \
     gstreamer1.0-libav \
+    libgstreamer1.0-dev \
+    gstreamer1.0-gl \
+    libgstreamer-plugins-base1.0-dev \
     && sudo apt-get autoremove -y \
     && sudo apt-get clean -y \
     && sudo rm -rf /var/lib/apt/lists/*
 
+# Manually install MAVROS from source in the ws_blue/ workspace
+WORKDIR $USER_WORKSPACE/src/
+ARG MAVROS_RELEASE=ros2
+# mavlink-gdp-release has not been released for Jazzy, so we use the Rolling release
+ARG MAVLINK_RELEASE=release/rolling/mavlink
+RUN git clone --depth 1 -b ${MAVROS_RELEASE} https://github.com/mavlink/mavros.git
+RUN git clone --depth 1 --recursive -b ${MAVLINK_RELEASE} https://github.com/mavlink/mavlink-gbp-release.git mavlink
+# - mavgen uses future.standard_library for backwards compatibility with Python2;
+#   However, this caused issues with Python 3.12 installed in "noble".
+#   Comment those lines out in mavlink.
+#
+# - Fix linkage for yaml-cpp in mavros_extra_plugins
+RUN sed -i -e 's/^from future import standard_library/#from future import standard_library/' \
+    -e 's/standard_library.install_aliases()/#standard_library.install_aliases()/' \
+    mavlink/pymavlink/generator/mavgen.py && \
+    sed -i -e 's/^# find_package(yaml_cpp REQUIRED)/find_package(yaml-cpp REQUIRED)/' \
+    -e '/^ament_target_dependencies(mavros_extras_plugins$/i target_link_libraries(mavros_extras_plugins yaml-cpp::yaml-cpp)' \
+    -e '/^ament_target_dependencies(mavros_extras$/i target_link_libraries(mavros_extras yaml-cpp::yaml-cpp)' \
+    mavros/mavros_extras/CMakeLists.txt
+
+WORKDIR $USER_WORKSPACE
 RUN sudo apt-get -q update \
     && sudo apt-get -q -y upgrade \
+    && vcs import src < src/blue/blue.repos \
     && rosdep update \
     && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} \
     && sudo apt-get autoremove -y \
     && sudo apt-get clean -y \
     && sudo rm -rf /var/lib/apt/lists/*
 
+# Actually build workspace
+RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \
+    && colcon build
+
 RUN echo "source ${USER_WORKSPACE}/install/setup.bash" >> /home/$USERNAME/.bashrc \
-    && echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/$USERNAME/.bashrc
+    && echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/$USERNAME/.bashrc \
+    && echo "source $VIRTUAL_ENV/bin/activate" >> /home/$USERNAME/.bashrc \
+    && echo "\n# Ensure colcon is run in the venv\nalias colcon='python3 -m colcon'" >> /home/$USERNAME/.bashrc
 
-FROM robot as desktop
+FROM robot AS desktop
 
 ENV DEBIAN_FRONTEND=noninteractive
-ENV GZ_VERSION=garden
-
-# Install Gazebo Garden: https://gazebosim.org/docs/garden/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 $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null \
-    && sudo apt-get -q update \
-    && sudo apt-get -y --quiet --no-install-recommends install \
-    gz-garden \
-    && sudo apt-get autoremove -y \
-    && sudo apt-get clean -y \
-    && sudo rm -rf /var/lib/apt/lists/*
-
-# Install ArduPilot and ardupilot_gazebo dependencies
-RUN sudo apt-get -q update \
-    && sudo apt-get -q -y upgrade \
-    && sudo apt-get -q install --no-install-recommends -y \
+ENV GZ_VERSION=harmonic
+
+# Install Gazebo Harmonic: https://gazebosim.org/docs/harmonic/install_ubuntu
+# Per DL3004, use "USER root" rather than "sudo"
+#    https://github.com/hadolint/hadolint/wiki/DL3004
+USER root
+# Install custom rosdep list
+ADD --chown=root:root --chmod=0644 https://raw.githubusercontent.com/osrf/osrf-rosdep/master/gz/00-gazebo.list /etc/ros/rosdep/sources.list.d/00-gazebo.list
+RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
+    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" |  tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null \
+    && apt-get -q update \
+    && apt-get -y --quiet --no-install-recommends install \
+    cppzmq-dev \
+    gz-${GZ_VERSION} \
+    python3-pexpect \
     python3-wxgtk4.0 \
+    python3-future \
     rapidjson-dev \
     xterm \
-    && sudo apt-get autoremove -y \
-    && sudo apt-get clean -y \
-    && sudo rm -rf /var/lib/apt/lists/*
+    rapidjson-dev \
+    libopencv-dev \
+    && apt-get autoremove -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/*
+USER $USERNAME
 
 # Clone ArduSub
 # ArduSub is installed for simulation purposes ONLY
 # When deployed onto hardware, the native installation of ArduSub
 # (on the FCU) will be used.
 WORKDIR /home/$USERNAME
-RUN git clone https://github.com/ArduPilot/ardupilot.git --recurse-submodules
+# Really should do version pinning but Sub-4.5 is waaaay behind master
+# (e.g. it doesn't know about "noble" yet)
+ARG ARDUPILOT_RELEASE=master
+RUN git clone -b ${ARDUPILOT_RELEASE} https://github.com/ArduPilot/ardupilot.git --recurse-submodules
 
 # Install ArduSub dependencies
 WORKDIR /home/$USERNAME/ardupilot
 ENV SKIP_AP_EXT_ENV=1 SKIP_AP_GRAPHIC_ENV=1 SKIP_AP_COV_ENV=1 SKIP_AP_GIT_CHECK=1
-RUN Tools/environment_install/install-prereqs-ubuntu.sh -y
+# Do not install the STM development tools
+ENV DO_AP_STM_ENV=0
+# Do not activate the Ardupilot venv by default
+ENV DO_PYTHON_VENV_ENV=0
+RUN echo "\n# Below from ardupilot script \"install-prereqs-ubuntu.sh\"\n" >> /home/$USERNAME/.bashrc && \
+    Tools/environment_install/install-prereqs-ubuntu.sh -y
 
 # Build ArduSub
 WORKDIR /home/$USERNAME/ardupilot
@@ -155,7 +217,7 @@ RUN [ "/bin/bash" , "-c" , " \
 WORKDIR $USER_WORKSPACE
 RUN sudo apt-get -q update \
     && sudo apt-get -q -y upgrade \
-    && vcs import src < src/blue/blue.repos \
+    && vcs import src < src/blue/sim.repos \
     && rosdep update \
     && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} \
     && sudo apt-get autoremove -y \
@@ -171,7 +233,7 @@ RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \
 # Setup the simulation environment variables
 RUN echo "source ${USER_WORKSPACE}/src/blue/.docker/entrypoints/sim.sh" >> /home/$USERNAME/.bashrc
 
-FROM desktop as desktop-nvidia
+FROM desktop AS desktop-nvidia
 
 # Install NVIDIA software
 RUN sudo apt-get update \

.docker/compose/nouveau-desktop.yaml

@@ -1,7 +1,7 @@
 version: "3"
 services:
   blue:
-    image: ghcr.io/robotic-decision-making-lab/blue:rolling-desktop
+    image: ghcr.io/robotic-decision-making-lab/blue:jazzy-desktop
     environment:
       - DISPLAY=${DISPLAY}
       - XDG_RUNTIME_DIR=${XDG_RUNTIME_DIR}

.docker/compose/nvidia-desktop.yaml

@@ -1,7 +1,7 @@
 version: "3"
 services:
   blue:
-    image: ghcr.io/robotic-decision-making-lab/blue:rolling-desktop-nvidia
+    image: ghcr.io/robotic-decision-making-lab/blue:jazzy-desktop-nvidia
     environment:
       - DISPLAY=${DISPLAY}
       - XDG_RUNTIME_DIR=${XDG_RUNTIME_DIR}

.docker/compose/robot.yaml

@@ -0,0 +1,21 @@
+services:
+  blue:
+    image: ghcr.io/robotic-decision-making-lab/blue:jazzy-robot
+    build:
+      dockerfile: .docker/Dockerfile
+      target: robot
+      context: ../../
+    network_mode: host
+    privileged: true
+    cap_add:
+      - SYS_PTRACE
+    security_opt:
+      - seccomp:unconfined
+      - apparmor:unconfined
+    volumes:
+      - /dev:/dev
+      - /run/user/1000:/run/user/1000
+      - type: bind
+        source: ../../
+        target: /home/blue/ws_blue/src/blue
+    command: tail -f /dev/null

.dockerignore

@@ -7,5 +7,6 @@
 !blue_description
 !blue_demos
 !blue.repos
+!sim.repos
 !.docker/entrypoints
 !requirements-build.txt