splitting out some 22.04 docker builds, adding SUBDIR so additional w…

…orkspace will be built in 20.04 and 24.04

.github/workflows/ubuntu_20_04.yml

@@ -17,9 +17,6 @@ jobs:
 
       - name: local apt dependencies
         run: |
-          sudo apt-get install -y python3-pip
-          pip install vcstool
-
           mkdir staging
           cd staging
           mkdir -p underlay_ws/src
@@ -46,14 +43,4 @@ jobs:
       - name: docker build from source 20.04
         run: |
           cd ros_from_src
-          docker build --build-arg IMAGE=ubuntu:20.04 --build-arg ROSCONSOLE=https://github.com/ros/rosconsole --build-arg PYTHON_MINOR_VERSION=8 . -t ros2004
-
-      - name: docker build from source 22.04
-        run: |
-          cd ros_from_src
-          docker build --build-arg IMAGE=ubuntu:22.04 --build-arg PYTHON_MINOR_VERSION=10 . -t ros2204
-
-      - name: docker build from source and debian 22.04
-        run: |
-          cd ros_from_src/ubuntu_2204
-          docker build  . -t ros_debian_2204
+          docker build --build-arg IMAGE=ubuntu:20.04 --build-arg SUBDIR=ubuntu_2004 . -t ros2004

.github/workflows/ubuntu_22_04_docker.yml

@@ -0,0 +1,27 @@
+name: Ubuntu 22.04 Noetic ROS build from source in docker
+
+on:
+  push:
+  workflow_dispatch:
+
+jobs:
+  ubuntu2204docker:
+    runs-on: ubuntu-22.04
+    # env:
+    steps:
+      - name: git clone [email protected]:lucasw/ros_from_src
+        uses: actions/checkout@v2
+        with:
+          path: ros_from_src
+          submodules: recursive
+
+      # TODO(lucasw) move these 22.04 builds into separate action
+      - name: docker build from source 22.04
+        run: |
+          cd ros_from_src
+          docker build --build-arg IMAGE=ubuntu:22.04 --build-arg PYTHON_MINOR_VERSION=10 . -t ros2204
+
+      - name: docker build from source and debian 22.04
+        run: |
+          cd ros_from_src/ubuntu_2204
+          docker build  . -t ros_debian_2204

.github/workflows/ubuntu_24_04.yaml

@@ -43,7 +43,7 @@ jobs:
       - name: docker build from source 24.04
         run: |
           cd ros_from_src
-          docker build --build-arg IMAGE=ubuntu:24.04 . -t ros2404
+          docker build --build-arg IMAGE=ubuntu:24.04 --build-arg SUBDIR=ubuntu_2404 . -t ros2404
 
           # TODO(lucasw) ubuntu_2404/Dockerfile doesn't work, was depending on the now-removed
           # apt debian science ros packages

Dockerfile

@@ -2,6 +2,7 @@ ARG IMAGE=ubuntu:24.04
 FROM ${IMAGE}
 ARG IMAGE
 RUN echo ${IMAGE}
+ARG SUBDIR
 
 ENV DEBIAN_FRONTEND="noninteractive"
 
@@ -41,15 +42,15 @@ RUN $SRC/ros_from_src/catkin.sh
 
 # WORKDIR $SRC/ros_from_src
 RUN mkdir -p base_ws/src
-COPY ubuntu_2404/base_repos.yaml base_ws/src
-COPY ubuntu_2404/base_git_clone.sh $SRC/ros_from_src
+COPY ${SUBDIR}/base_repos.yaml base_ws/src
+COPY ${SUBDIR}/base_git_clone.sh $SRC/ros_from_src
 # RUN ROS_CONSOLE=$ROSCONSOLE $SRC/ros_from_src/git_clone.sh
 RUN $SRC/ros_from_src/base_git_clone.sh
 
-COPY ubuntu_2404/dependencies.sh $SRC/ros_from_src/base_dependencies.sh
+COPY ${SUBDIR}/dependencies.sh $SRC/ros_from_src/base_dependencies.sh
 RUN $SRC/ros_from_src/base_dependencies.sh
 
-COPY ubuntu_2404/base_catkin.sh $SRC/ros_from_src
+COPY ${SUBDIR}/base_catkin.sh $SRC/ros_from_src
 RUN $SRC/ros_from_src/base_catkin.sh
 
 WORKDIR $WS/..

build.sh

@@ -42,12 +42,13 @@ python3 setup.py install --prefix=$DEST --record install_manifest.txt --single-v
 mkdir -p $BUILD/catkin
 cd $BUILD/catkin
 cmake $WS/catkin -DCATKIN_BUILD_BINARY_PACKAGE=ON -DCMAKE_INSTALL_PREFIX=$DEST -DPYTHON_EXECUTABLE=/usr/bin/python -DSETUPTOOLS_DEB_LAYOUT=OFF -DCATKIN_INSTALL_INTO_PREFIX_ROOT=true && make && make install
+echo $PATH
 ls -l $DEST/local/bin
-PATH=$PATH:$DEST/bin
-PATH=$PATH:$DEST/local/bin
+ls -l $DEST/bin
 which catkin
-catkin --version
 echo $PYTHONPATH
+# ls -l $DEST/local/lib/python3.8/dist-packages/ || ls -l $DEST/lib/python3.8/site-packages/
+catkin --version
 python -c "import catkin; print(catkin)"
 
 # console_bridge
@@ -132,6 +133,8 @@ python3 setup.py install --prefix=$DEST --record install_manifest.txt --single-v
 
 cd $WS/rosdep
 python3 setup.py install --prefix=$DEST --record install_manifest.txt --single-version-externally-managed
+echo $PATH
+which rosdep
 rosdep init || true
 rosdep update
 

dependencies.sh

@@ -2,6 +2,10 @@
 
 # build apt installs
 apt-get update
+
+apt-get install -y python3-pip
+apt-get install -y vcstool || pip install vcstool  # vcs is in apt 24.04 but only pip in 20.04
+
 apt-get install -y build-essential
 apt-get install -y bzip2 libbz2-dev
 apt-get install -y cmake
@@ -49,4 +53,3 @@ apt-get install -y python3-gnupg
 
 apt-get install -y catkin-tools || true  # not available in 20.04
 apt-get install -y libbullet-dev
-apt-get install -y vcstool || true  # this is in 24.04 but not 20.04

env.sh

@@ -1,14 +1,14 @@
 #!/usr/bin/bash
 # ROS_DEST=`pwd`/ros source ros_from_src/env.sh
 # export ROS_DEST=`pwd`/ros
-export PATH=$PATH:$ROS_DEST/bin
+export PATH=$PATH:$ROS_DEST/bin:$ROS_DEST/local/bin
 export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$ROS_DEST/lib
 # export PATH=$PATH:$ROS_DEST/local/bin
 
 # python --version | awk  '{print $2}' | cut -d'.' -f1
 PYTHON_MAJOR_VERSION=`python --version | awk  '{print $2}' | cut -d'.' -f1`
 PYTHON_MINOR_VERSION=`python --version | awk  '{print $2}' | cut -d'.' -f2`
-OPT_PYTHONPATH0=$ROS_DEST/local/lib/python$PYTHON_MAJOR_VERSION.$PYTHON_MINOR_VERSION/site-packages/
+OPT_PYTHONPATH0=$ROS_DEST/lib/python$PYTHON_MAJOR_VERSION.$PYTHON_MINOR_VERSION/site-packages/
 OPT_PYTHONPATH1=$ROS_DEST/local/lib/python$PYTHON_MAJOR_VERSION.$PYTHON_MINOR_VERSION/dist-packages/
 
 export PYTHONPATH=$PYTHONPATH:$OPT_PYTHONPATH0:$OPT_PYTHONPATH1

ubuntu_2004/base_catkin.sh

@@ -0,0 +1,25 @@
+#!/bin/bash
+set -e
+set -x
+
+ls -l
+ls -l ros/bin
+ROS_DEST=`pwd`/ros source underlay_ws/env.sh
+
+WS=`pwd`/base_ws/src
+echo $WS
+
+cd $WS/..
+echo "#####################"
+pwd
+source ../underlay_ws/install/setup.bash
+catkin init
+catkin config --install --cmake-args -DCMAKE_BUILD_TYPE=Release -Wno-deprecated -DCATKIN_ENABLE_TESTING=False
+echo $PATH
+echo $LD_LIBRARY_PATH
+rospack list
+
+catkin build ros_comm
+source install/setup.bash
+rospack list
+# TODO(lucasw) run tests

ubuntu_2004/base_git_clone.sh

@@ -0,0 +1,17 @@
+#!/bin/bash
+# TODO(lucasw) replace the below with submodules
+# export PATH=$PATH:/usr/local/bin
+set -e
+set -x
+
+WS=`pwd`/base_ws/src
+echo $WS
+mkdir $WS -p
+
+# TODO(lucasw) replace these git clones with vcs
+# packages that need to be cmake installed, and are ros packages in a catkin workspace
+cd $WS
+vcs import --input base_repos.yaml --retry 10
+
+# ROSCONSOLE1=${ROSCONSOLE:-https://github.com/ros-o/rosconsole}
+# git clone $ROSCONSOLE1