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Fix remaining issues in applications and demos from the updated spaceros base image #162

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Fix remaining issues in applications and demos from the updated spaceros base image #162

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0089740
Remove reference to spaceros dir in home directory (issue #161)
eholum Aug 11, 2024
ba66a53
Replace ROSDISTRO with ROS_DISTRO (issue #161)
eholum Aug 11, 2024
a8ccdb1
Do not install rosdeps from non-existent src in moveit2 build (issue …
eholum Aug 11, 2024
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8 changes: 4 additions & 4 deletions moveit2/Dockerfile
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Expand Up @@ -91,9 +91,9 @@ RUN python3 -m pip install -U \

# Get the MoveIt2 source code
WORKDIR ${HOME_DIR}
RUN sudo git clone https://github.com/ros-planning/moveit2.git -b ${ROSDISTRO} moveit2/src
RUN sudo git clone https://github.com/ros-planning/moveit2.git -b ${ROS_DISTRO} moveit2/src
RUN cd ${MOVEIT2_DIR}/src \
&& sudo git clone https://github.com/ros-planning/moveit2_tutorials.git -b ${ROSDISTRO}
&& sudo git clone https://github.com/ros-planning/moveit2_tutorials.git -b ${ROS_DISTRO}

# Update the ownership of the source files (had to use sudo above to work around
# a possible inherited 'insteadof' from the host that forces use of ssh
Expand All @@ -108,7 +108,7 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
COPY --chown=${USERNAME}:${USERNAME} moveit2-pkgs.txt /tmp/
COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/
RUN rosinstall_generator \
--rosdistro ${ROSDISTRO} \
--rosdistro ${ROS_DISTRO} \
--deps \
--exclude-path ${SPACEROS_DIR}/src \
--exclude $(cat /tmp/excluded-pkgs.txt) -- \
Expand All @@ -129,7 +129,7 @@ RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR}
RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
--mount=type=cache,target=/var/lib/apt,sharing=locked \
/bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash' \
&& rosdep install --from-paths ../spaceros/src src --ignore-src --rosdistro ${ROSDISTRO} -r -y --skip-keys "console_bridge generate_parameter_library fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers rmw_connextdds ros_testing rmw_connextdds rmw_fastrtps_cpp rmw_fastrtps_dynamic_cpp composition demo_nodes_py lifecycle rosidl_typesupport_fastrtps_cpp rosidl_typesupport_fastrtps_c ikos diagnostic_aggregator diagnostic_updater joy qt_gui rqt_gui rqt_gui_py"
&& rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -r -y --skip-keys "console_bridge generate_parameter_library fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers rmw_connextdds ros_testing rmw_connextdds rmw_fastrtps_cpp rmw_fastrtps_dynamic_cpp composition demo_nodes_py lifecycle rosidl_typesupport_fastrtps_cpp rosidl_typesupport_fastrtps_c ikos diagnostic_aggregator diagnostic_updater joy qt_gui rqt_gui rqt_gui_py"

# Apply a patch to octomap_msgs to work around a build issue
COPY --chown=${USERNAME}:${USERNAME} octomap_fix.diff ./src/octomap_msgs
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2 changes: 1 addition & 1 deletion navigation2/Dockerfile
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Expand Up @@ -62,7 +62,7 @@ RUN mkdir ${SPACEROS_DIR}/src \

# Generate repos file for nav2 dependencies, exclude packages from Space ROS src
RUN rosinstall_generator \
--rosdistro ${ROSDISTRO} \
--rosdistro ${ROS_DISTRO} \
--deps \
--exclude-path ${SPACEROS_DIR}/src -- \
-- $(cat ${NAVIGATION2_WS}/nav2_dep_keys.txt) \
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4 changes: 2 additions & 2 deletions space_robots/Dockerfile
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Expand Up @@ -55,7 +55,7 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
# COPY --chown=${USERNAME}:${USERNAME} demo-pkgs.txt /tmp/
# COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/
# RUN rosinstall_generator \
# --rosdistro ${ROSDISTRO} \
# --rosdistro ${ROS_DISTRO} \
# --deps \
# --exclude-path ${SPACEROS_DIR}/src \
# --exclude-path ${MOVEIT2_DIR}/src \
Expand Down Expand Up @@ -90,7 +90,7 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
sudo apt-get update -y \
&& /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \
&& /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \
&& rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROSDISTRO}
&& rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROS_DISTRO}

# Build the demo
RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash && source ${MOVEIT2_DIR}/install/setup.bash \
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2 changes: 1 addition & 1 deletion space_robots/README.md
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Expand Up @@ -57,7 +57,7 @@ docker exec -it <container-name> bash
Make sure packages are sourced:

```bash
source ~/spaceros/install/setup.bash
source ${SPACEROS_DIR}/install/setup.bash
```

```bash
Expand Down
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