Simulation is now working with Jazzy

Signed-off-by: JesusSilvaUtrera <[email protected]>

.github/pull_request_template.md

@@ -3,9 +3,8 @@ 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
 -->
-<!-- TODO change links to jazzy when the branch on main repo is ready -->
 
 # 🦟 Bug fix
 

README.md

@@ -148,7 +148,7 @@ 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>

docker/README.md

@@ -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 jazzy --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
+```

docker/build.sh

@@ -57,15 +57,13 @@ while [[ "$#" -gt 0 ]]; do
 done
 
 # Update the arguments to default values if needed.
-OS_VERSION="focal"
+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

docker/dockerfile

@@ -13,6 +13,23 @@ 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 && \

docker/requirements.txt

@@ -19,11 +19,6 @@ openssh-server
 python3
 python3-pip
 python3-setuptools
-# TODO change this packages when jazzy debains are ready
-ros-humble-andino-description
-ros-humble-andino-slam
-ros-humble-nav2-bringup
-ros-humble-nav2-common
 software-properties-common
 sudo
 tmux

docker/run.sh

@@ -82,18 +82,20 @@ done
 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