From 1bf08f0d0053c9d918186902c5944b3cfe89ff43 Mon Sep 17 00:00:00 2001
From: Dominic Reber <71256590+domire8@users.noreply.github.com>
Date: Mon, 29 Jul 2024 17:23:28 +0200
Subject: [PATCH] fix(jazzy): correct backward_ros tag and release rc2 (#115)

* fix: switch to jazzy and avoid docker warnings

* fix: version of backward_ros

* release: rc2
---
 .github/workflows/build-push.yml          |  2 +-
 .github/workflows/reusable-build-push.yml | 10 +++++--
 ros2_ws/Dockerfile                        | 36 +++++++++++------------
 ros2_ws/VERSION.jazzy                     |  2 +-
 ros2_ws/build.sh                          |  4 +--
 5 files changed, 30 insertions(+), 24 deletions(-)

diff --git a/.github/workflows/build-push.yml b/.github/workflows/build-push.yml
index c8d17b5..3d93359 100644
--- a/.github/workflows/build-push.yml
+++ b/.github/workflows/build-push.yml
@@ -15,7 +15,7 @@ jobs:
   build-ws:
     strategy:
       matrix:
-        ros2_distro: [ iron, jazzy ]
+        ros2_distro: [ jazzy ]
 
     name: Build and publish ros2-ws:${{ matrix.ros2_distro }}
     uses: ./.github/workflows/reusable-build-push.yml
diff --git a/.github/workflows/reusable-build-push.yml b/.github/workflows/reusable-build-push.yml
index 7807cdb..91a6dc0 100644
--- a/.github/workflows/reusable-build-push.yml
+++ b/.github/workflows/reusable-build-push.yml
@@ -86,8 +86,13 @@ jobs:
           BUILD_FLAGS+=(--build-arg BASE_TAG=${BASE_TAG})
 
           VERSION_TAG="v${{ needs.check-version.outputs.version }}"
-          IMAGE_TAGS="${VERSION_TAG},${VERSION_TAG}-${ROS_DISTRO}","${ROS_DISTRO}"
-          GIT_TAG="${VERSION_TAG}-${{ inputs.ros_distro}}"
+          if [[ "${VERSION_TAG}" == *"-"* ]]; then
+            IMAGE_TAGS="${VERSION_TAG},${VERSION_TAG}-${ROS_DISTRO}"
+            GIT_TAG=""
+          else
+            IMAGE_TAGS="${VERSION_TAG},${VERSION_TAG}-${ROS_DISTRO}","${ROS_DISTRO}"
+            GIT_TAG="${VERSION_TAG}-${{ inputs.ros_distro}}"
+          fi
           BUILD_FLAGS+=(--build-arg VERSION=${GIT_TAG})
 
           echo "::debug::Using base image tag ${BASE_TAG}"
@@ -147,6 +152,7 @@ jobs:
           token: ${{ secrets.GITHUB_TOKEN }}
 
       - name: Create git tag
+        if: ${{ needs.metadata.outputs.git_tag }} != ""
         uses: aica-technology/.github/.github/actions/git-tag@v0.8.1
         with:
           tag: ${{ needs.metadata.outputs.git_tag }}
diff --git a/ros2_ws/Dockerfile b/ros2_ws/Dockerfile
index d455877..f80d726 100644
--- a/ros2_ws/Dockerfile
+++ b/ros2_ws/Dockerfile
@@ -1,22 +1,22 @@
 ARG BASE_IMAGE=docker.io/library/ros
-ARG BASE_TAG=iron
-ARG ROS_DISTRO=iron
+ARG BASE_TAG=jazzy
+ARG ROS_DISTRO=jazzy
 ARG VERSION=v0.0.0
 
-FROM ${BASE_IMAGE}:${BASE_TAG} as environment-variables
+FROM ${BASE_IMAGE}:${BASE_TAG} AS environment-variables
 ENV DEBIAN_FRONTEND=noninteractive
 ENV PYTHONWARNINGS=ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources
-ENV PIP_NO_CACHE_DIR 1
-ENV USER ros2
-ENV HOME /home/${USER}
-ENV ROS2_WORKSPACE /home/${USER}/ros2_ws
-ENV COLCON_HOME ${HOME}/.colcon
-ENV COLCON_DEFAULTS_FILE ${COLCON_HOME}/defaults.yaml
+ENV PIP_NO_CACHE_DIR=1
+ENV USER=ros2
+ENV HOME=/home/${USER}
+ENV ROS2_WORKSPACE=/home/${USER}/ros2_ws
+ENV COLCON_HOME=${HOME}/.colcon
+ENV COLCON_DEFAULTS_FILE=${COLCON_HOME}/defaults.yaml
 ENV COLCON_WORKSPACE=${ROS2_WORKSPACE}
 ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib
 
 
-FROM environment-variables as base-dependencies
+FROM environment-variables AS base-dependencies
 
 # disable suggested and recommended install
 RUN apt-config dump | grep -we Recommends -e Suggests | sed s/1/0/ \
@@ -56,13 +56,13 @@ RUN ( \
   ) > /etc/ssh/sshd_config_development \
   && mkdir /run/sshd
 
-FROM base-dependencies as base-user-iron
+FROM base-dependencies AS base-user-iron
 
 # create and configure a new user
 RUN addgroup --gid 1000 ${USER}
 RUN adduser --gecos "ROS2 User" --uid 1000 --gid 1000 ${USER} && yes | passwd ${USER}
 
-FROM base-dependencies as base-user-jazzy
+FROM base-dependencies AS base-user-jazzy
 
 # rename existing ubuntu user
 RUN usermod -l ${USER} ubuntu
@@ -70,7 +70,7 @@ RUN groupmod -n ${USER} ubuntu
 RUN usermod -d ${HOME} -m ros2
 RUN chfn -f "ROS2 User" ros2
 
-FROM base-user-${ROS_DISTRO} as base-workspace
+FROM base-user-${ROS_DISTRO} AS base-workspace
 
 RUN usermod -a -G dialout ${USER}
 RUN echo "${USER} ALL=(ALL) NOPASSWD: ALL" > /etc/sudoers.d/99_aptget
@@ -111,7 +111,7 @@ USER root
 RUN mkdir -p /root/.ssh/ && ssh-keyscan github.com | tee -a /root/.ssh/known_hosts
 RUN echo "session required pam_limits.so" | tee --append /etc/pam.d/common-session > /dev/null
 
-FROM base-workspace as ros2-control-iron
+FROM base-workspace AS ros2-control-iron
 
 RUN apt-get update && apt-get install --no-install-recommends -y \
   doxygen \
@@ -145,7 +145,7 @@ WORKDIR ${ROS2_WORKSPACE}
 RUN /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; colcon build"
 RUN rm -rf ./src
 
-FROM base-workspace as ros2-control-jazzy
+FROM base-workspace AS ros2-control-jazzy
 RUN apt-get update && apt-get install --no-install-recommends -y \
   # doxygen \
   # librange-v3-dev \
@@ -161,7 +161,7 @@ RUN git clone -b 4.11.0 --depth 1 https://github.com/ros-controls/ros2_control.g
 RUN git clone -b 4.8.0 --depth 1 https://github.com/ros-controls/ros2_controllers.git
 # get additional interface dependencies manually
 RUN git clone -b 5.1.0 --depth 1 https://github.com/ros-controls/control_msgs.git
-RUN git clone -b 1.0.5 --depth 1 https://github.com/pal-robotics/backward_ros.git
+RUN git clone -b 1.0.3 --depth 1 https://github.com/pal-robotics/backward_ros.git
 RUN git clone -b 4.0.0 --depth 1 https://github.com/ros/diagnostics.git
 RUN git clone -b 2.5.0 --depth 1 https://github.com/ros-controls/realtime_tools.git
 RUN git clone -b 2.1.0 --depth 1 https://github.com/ros2/rcl_interfaces.git
@@ -179,9 +179,9 @@ WORKDIR ${ROS2_WORKSPACE}
 RUN /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; colcon build"
 RUN rm -rf ./src
 
-FROM ros2-control-${ROS_DISTRO} as ros2-control
+FROM ros2-control-${ROS_DISTRO} AS ros2-control
 
-FROM environment-variables as final
+FROM environment-variables AS final
 COPY --from=ros2-control / /
 RUN rm -rf /home/ubuntu
 
diff --git a/ros2_ws/VERSION.jazzy b/ros2_ws/VERSION.jazzy
index 8a9ecc2..d816485 100644
--- a/ros2_ws/VERSION.jazzy
+++ b/ros2_ws/VERSION.jazzy
@@ -1 +1 @@
-0.0.1
\ No newline at end of file
+2.0.0-rc2
\ No newline at end of file
diff --git a/ros2_ws/build.sh b/ros2_ws/build.sh
index ab911aa..5a1bb1b 100755
--- a/ros2_ws/build.sh
+++ b/ros2_ws/build.sh
@@ -1,8 +1,8 @@
 #!/bin/bash
 
 IMAGE_NAME=ghcr.io/aica-technology/ros2-ws
-BASE_TAG=iron
-ROS_DISTRO=iron
+BASE_TAG=jazzy
+ROS_DISTRO=jazzy
 
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" &>/dev/null && pwd)"
 if [[ ! -f "${SCRIPT_DIR}"/config/sshd_entrypoint.sh ]]; then