Adding humble CI

.github/workflows/ci_pr_ros2.yml

@@ -1,4 +1,4 @@
-name: Build and Test CI for Pull Requests
+name: Build and Test CI for Pull Requests in ROS2
 
 on:
  pull_request:
@@ -7,7 +7,7 @@ on:
 
 jobs:
 
- build-focal:
+ build-rolling:
 
  runs-on: ubuntu-20.04
 
@@ -20,4 +20,19 @@ jobs:
  run: git submodule update --init --depth 1 description/media
 
  - name: Build, test
- run: ./scripts/docker/build.sh --focal --remote rolling astrobee_ros2
+ run: ./scripts/docker/build.sh --focal --remote rolling 
+
+ build-humble:
+
+ runs-on: ubuntu-20.04
+
+ steps:
+ - uses: actions/checkout@v2
+ with:
+ fetch-depth: 0
+
+ - name: Checkout submodule
+ run: git submodule update --init --depth 1 description/media
+
+ - name: Build, test
+ run: ./scripts/docker/build.sh --focal --remote humble

scripts/docker/build.sh

@@ -76,10 +76,14 @@ os=`cat /etc/os-release | grep -oP "(?<=VERSION_CODENAME=).*"`
 build_astrobee_base="false"
 build_astrobee="false"
 build_test_astrobee="false"
+rolling_base="false"
+humble_base="false"
 rolling="false"
+humble="false"
 push_astrobee_base="false"
 push_astrobee="false"
 push_rolling="false"
+push_humble="false"
 
 remote="false"
 owner="nasa"
@@ -138,6 +142,10 @@ while [ "$1" != "" ]; do
  ;;
  rolling ) rolling="true"
  ;;
+ humble_base ) humble_base="true"
+ ;;
+ humble ) humble="true"
+ ;;
  push_astrobee_base ) push_astrobee_base="true"
  ;;
  push_astrobee ) push_astrobee="true"
@@ -146,6 +154,10 @@ while [ "$1" != "" ]; do
  ;;
  push_rolling ) push_rolling="true"
  ;;
+ push_rolling_base ) push_humble_base="true"
+ ;;
+ push_rolling ) push_humble="true"
+ ;;
  push_astrobee_ros2 ) push_astrobee_ros2="true"
  ;;
  * ) echo "unknown target '$1'"
@@ -272,13 +284,27 @@ if [ "$astrobee_quick" = "true" ]; then
  build astrobee_quick "${revision}-" "quick-"
 fi
 
+if [ "$rolling_base" = "true" ] | [ "$remote" = "false" ] & [ "$rolling" = "true" ]; then
+ ROS_VERSION=rolling
+ build ros2/ros2_base "${revision}-" "rolling_base-"
+ build ros2/ros2_rolling_deb "${revision}-" "rolling-"
+fi
+
 if [ "$rolling" = "true" ]; then
+ ROS_VERSION=rolling
  build ros2/ros2_base "${revision}-" "rolling_base-"
  build ros2/ros2_rolling_deb "${revision}-" "rolling-"
+ build ros2/ros2_astrobee "${revision}-" "ros2-rolling-"
+fi
+
+if [ "$humble_base" = "true" ] | [ "$remote" = "false" ] & [ "$humble" = "true" ]; then
+ ROS_VERSION=humble
+ build ros2/ros2_humble_deb "${revision}-" "humble-"
 fi
 
-if [ "$build_astrobee_ros2" = "true" ]; then
- build ros2/ros2_astrobee "${revision}-" "ros2-"
+if [ "$humble" = "true" ]; then
+ ROS_VERSION=humble
+ build ros2/ros2_astrobee "${revision}-" "ros2-humble-"
 fi
 
 if [ "$push_astrobee_base" = "true" ]; then
@@ -294,6 +320,10 @@ if [ "$push_rolling" = "true" ]; then
  push rolling "${revision}-" "rolling-"
 fi
 
+if [ "$push_rolling" = "true" ]; then
+ push [ "$remote" = "false" ] & "${revision}-" "humble-"
+fi
+
 if [ "$push_astrobee_ros2" = "true" ]; then
  push astrobee "${revision}-" "ros2-"
 fi

scripts/docker/ros2/ros2_astrobee.Dockerfile

@@ -1,7 +1,8 @@
 
 ARG UBUNTU_VERSION=20.04
 ARG REMOTE=astrobee
-FROM ${REMOTE}/astrobee:latest-rolling-ubuntu${UBUNTU_VERSION}
+ARG ROS_DISTRO=rolling
+FROM ${REMOTE}/astrobee:latest-${ROS_DISTRO}-ubuntu${UBUNTU_VERSION}
 
 ARG ROS_DISTRO=rolling
 

scripts/docker/ros2/ros2_humble_deb.Dockerfile

@@ -0,0 +1,37 @@
+
+ARG UBUNTU_VERSION=20.04
+ARG REMOTE=astrobee
+FROM osrf/ros:humble-desktop
+
+# setup timezone
+RUN echo 'Etc/UTC' > /etc/timezone \
+ ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime \
+ && apt-get update \
+ && apt-get install -q -y --no-install-recommends tzdata \
+ && rm -rf /var/lib/apt/lists/*
+
+# install gazebo and dependencies
+RUN apt-get update && apt-get install -q -y --fix-missing \
+ binutils \
+ mesa-utils \
+ x-window-system \
+ libgoogle-glog-dev libgflags-dev libgtest-dev \
+ libluajit-5.1-dev \
+ ros-humble-gazebo-ros-pkgs \
+ ros-humble-xacro \
+ ros-humble-ros-testing \
+ ros-humble-launch-pytest \
+ && rm -rf /var/lib/apt/lists/*
+
+# Install Astrobee----------------------------------------------------------------
+COPY ./scripts/setup/debians /setup/astrobee/debians
+
+RUN apt-get update \
+ && /bin/bash /setup/astrobee/debians/build_install_debians.sh \
+ && rm -rf /var/lib/apt/lists/* \
+ && rm -rf /setup/astrobee/debians
+
+# COPY ./scripts/setup/packages_*.lst /setup/astrobee/
+# note apt-get update is run within the following shell script
+# RUN /setup/astrobee/install_desktop_packages.sh \
+# && rm -rf /var/lib/apt/lists/*