Merge pull request #38 from ika-rwth-aachen/option-to-disable-ros-ins…

…tall

Add option to disable automatic ROS installation

.gitlab-ci/docker-ros.yml

@@ -30,6 +30,7 @@ variables:
   ENABLE_PUSH_AS_LATEST:      'false'                                 # Push images with tag `latest`/`latest-dev` in addition to the configured image names
   RMW_IMPLEMENTATION:         'rmw_cyclonedds_cpp'                    # RMW implementation to use (only for ROS 2)
   ROS_DISTRO:                 ''                                      # ROS Distro (required if ROS is not installed in `base-image`)
+  DISABLE_ROS_INSTALLATION:   'false'                                 # Disable automatic installation of `ros-$ROS_DISTRO-ros-core` package, e.g., if ROS is already installed in `base-image` and package is not available for the OS
   GIT_HTTPS_SERVER:           ${CI_SERVER_HOST}                       # Server URL (without protocol) for cloning private Git repositories via HTTPS
   GIT_HTTPS_USER:             gitlab-ci-token                         # Username for cloning private Git repositories via HTTPS
   GIT_HTTPS_PASSWORD:         ${CI_JOB_TOKEN}                         # Password for cloning private Git repositories via HTTPS

README.md

@@ -387,6 +387,10 @@ The password of the custom user is set to its username (`dockeruser:dockeruser`
 - **`dev-image-tag` | `DEV_IMAGE_TAG`**  
   Image tag of dev image  
   *default:* `<IMAGE_TAG>-dev`  
+- **`disable-ros-installation` | `DISABLE_ROS_INSTALLATION`**  
+  Disable automatic installation of `ros-$ROS_DISTRO-ros-core` package  
+  *e.g., if ROS is already installed in `base-image` and package is not available for the OS*  
+  *default:* `false`
 - **`-` | `DOCKER_ROS_GIT_REF`**  
   Git reference of *docker-ros* to run in CI  
   *default:* `main` 

action.yml

@@ -65,6 +65,10 @@ inputs:
   ros-distro:
     description: "ROS Distro (required if ROS is not installed in `base-image`)"
 
+  disable-ros-installation:
+    description: "Disable automatic installation of `ros-$ROS_DISTRO-ros-core` package, e.g., if ROS is already installed in `base-image` and package is not available for the OS"
+    default: false
+
   git-https-server:
     description: "Server URL (without protocol) for cloning private Git repositories via HTTPS"
     default: "github.com"
@@ -229,6 +233,7 @@ runs:
         SLIM_BUILD_ARGS: ${{ inputs.slim-build-args }}
         RMW_IMPLEMENTATION: ${{ inputs.rmw-implementation }}
         ROS_DISTRO: ${{ inputs.ros-distro }}
+        DISABLE_ROS_INSTALLATION: ${{ inputs.disable-ros-installation }}
         GIT_HTTPS_SERVER: ${{ inputs.git-https-server }}
         GIT_HTTPS_USER: ${{ inputs.git-https-user }}
         GIT_HTTPS_PASSWORD: ${{ inputs.git-https-password }}
@@ -291,6 +296,7 @@ runs:
         ENABLE_SINGLEARCH_PUSH: ${{ inputs.enable-singlearch-push }}
         RMW_IMPLEMENTATION: ${{ inputs.rmw-implementation }}
         ROS_DISTRO: ${{ inputs.ros-distro }}
+        DISABLE_ROS_INSTALLATION: ${{ inputs.disable-ros-installation }}
         GIT_HTTPS_SERVER: ${{ inputs.git-https-server }}
         GIT_HTTPS_USER: ${{ inputs.git-https-user }}
         GIT_HTTPS_PASSWORD: ${{ inputs.git-https-password }}
@@ -331,6 +337,7 @@ runs:
         ENABLE_SINGLEARCH_PUSH: ${{ inputs.enable-singlearch-push }}
         RMW_IMPLEMENTATION: ${{ inputs.rmw-implementation }}
         ROS_DISTRO: ${{ inputs.ros-distro }}
+        DISABLE_ROS_INSTALLATION: ${{ inputs.disable-ros-installation }}
         GIT_HTTPS_SERVER: ${{ inputs.git-https-server }}
         GIT_HTTPS_USER: ${{ inputs.git-https-user }}
         GIT_HTTPS_PASSWORD: ${{ inputs.git-https-password }}

docker/Dockerfile

@@ -28,13 +28,16 @@ RUN apt-get update && \
     rm -rf /var/lib/apt/lists/*
 
 # install ROS bootstrapping tools
+ARG DISABLE_ROS_INSTALLATION="false"
 RUN apt-get update && \
     apt-get install -y \
         git \
         python3-rosdep \
-        python3-vcstool \
-        ros-${ROS_DISTRO}-ros-core \
-    && rm -rf /var/lib/apt/lists/*
+        python3-vcstool && \
+    if [[ "$DISABLE_ROS_INSTALLATION" != "true" ]]; then \
+        apt-get install -y ros-${ROS_DISTRO}-ros-core; \
+    fi && \
+    rm -rf /var/lib/apt/lists/*
 
 # copy contents of repository
 COPY . src/target
@@ -178,14 +181,17 @@ ARG ADDITIONAL_FILES_DIR="docker/additional-files"
 ADD ${ADDITIONAL_FILES_DIR}* /docker-ros/additional-files/
 
 # install essential build tools and dependencies for install script
+ARG DISABLE_ROS_INSTALLATION="false"
 RUN apt-get update && \
     apt-get install -y \
         build-essential \
         gosu \
         python-is-python3 \
-        python3-pip \
-        ros-${ROS_DISTRO}-ros-core \
-    && rm -rf /var/lib/apt/lists/*
+        python3-pip && \
+    if [[ "$DISABLE_ROS_INSTALLATION" != "true" ]]; then \
+        apt-get install -y ros-${ROS_DISTRO}-ros-core; \
+    fi && \
+    rm -rf /var/lib/apt/lists/*
 
 # configure pip
 RUN python -m pip config --global set global.break-system-packages true
@@ -217,6 +223,9 @@ RUN source /opt/ros/$ROS_DISTRO/setup.bash && \
     if [[ "$RMW_IMPLEMENTATION" == "rmw_zenoh_cpp" ]]; then \
         mkdir -p /opt/ws_rmw_zenoh/src && \
         git clone https://github.com/ros2/rmw_zenoh.git /opt/ws_rmw_zenoh/src/rmw_zenoh && \
+        if [[ "$UBUNTU_VERSION" == "22.04" ]]; then \
+            git clone https://github.com/eProsima/Fast-CDR.git /opt/ws_rmw_zenoh/src/Fast-CDR ; \
+        fi && \
         rosdep init || true && \
         rosdep update --rosdistro $ROS_DISTRO && \
         apt-get update && \

scripts/build.sh

@@ -19,6 +19,7 @@ build_image() {
         --build-arg COMMAND="${COMMAND}" \
         $(if [[ -n "${RMW_IMPLEMENTATION}" ]]; then echo "--build-arg RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION}"; fi) \
         $(if [[ -n "${ROS_DISTRO}" ]]; then echo "--build-arg ROS_DISTRO=${ROS_DISTRO}"; fi) \
+        $(if [[ -n "${DISABLE_ROS_INSTALLATION}" ]]; then echo "--build-arg DISABLE_ROS_INSTALLATION=${DISABLE_ROS_INSTALLATION}"; fi) \
         $(if [[ -n "${GIT_HTTPS_SERVER}" ]]; then echo "--build-arg GIT_HTTPS_SERVER=${GIT_HTTPS_SERVER}"; fi) \
         $(if [[ -n "${GIT_HTTPS_USER}" ]]; then echo "--build-arg GIT_HTTPS_USER=${GIT_HTTPS_USER}"; fi) \
         $(if [[ -n "${GIT_HTTPS_PASSWORD}" ]]; then echo "--build-arg GIT_HTTPS_PASSWORD=${GIT_HTTPS_PASSWORD}"; fi) \

scripts/ci.sh

@@ -27,6 +27,7 @@ SLIM_BUILD_ARGS="${SLIM_BUILD_ARGS:-'--sensor-ipc-mode proxy --continue-after=10
 ENABLE_SINGLEARCH_PUSH="${ENABLE_SINGLEARCH_PUSH:-false}"
 RMW_IMPLEMENTATION="${RMW_IMPLEMENTATION:-}"
 ROS_DISTRO="${ROS_DISTRO:-}"
+DISABLE_ROS_INSTALLATION="${DISABLE_ROS_INSTALLATION:-}"
 GIT_HTTPS_SERVER="${GIT_HTTPS_SERVER:-}"
 GIT_HTTPS_USER="${GIT_HTTPS_USER:-}"
 GIT_HTTPS_PASSWORD="${GIT_HTTPS_PASSWORD:-}"