Merge branch 'develop' into humble-develop

.github/workflows/docker-focal.yml → .github/workflows/docker-humble.yml

@@ -1,15 +1,15 @@
 # This workflow will only build for Pull Requests which are opened, changed , merged 
-# that has changes in focal folder or related files 
-name: Docker Focal build
+# that has changes in humble folder or related files 
+name: Docker Humble build
 on:
   pull_request:
     types: [opened, synchronize, reopened]
     paths:
       - '**'
-      - '!jammy/**' # Exclude jammy folder
+      - '!noetic/**' # Exclude noetic folder
 jobs:
-  # Focal 20.04 (ROS1 Noetic/ ROS2 Foxy)
-  docker-build-focal:
+  # Ubuntu 22.04 (ROS2 Humble)
+  docker-build-humble:
     uses: usdot-fhwa-stol/actions/.github/workflows/docker.yml@main
     with:
-      file: ./focal/Dockerfile
+      file: ./humble/Dockerfile 

.github/workflows/docker-jammy.yml → .github/workflows/docker-noetic.yml

@@ -1,15 +1,15 @@
 # This workflow will only build for Pull Requests which are opened, changed , merged 
-# that has changes in jammy folder or related files 
-name: Docker Jammy build
+# that has changes in noetic folder or related files 
+name: Docker Noetic build
 on:
   pull_request:
     types: [opened, synchronize, reopened]
     paths:
       - '**'
-      - '!focal/**' # Exclude focal folder
+      - '!humble/**' # Exclude humble folder
 jobs:
-  # Jammy 22.04 (ROS2 Humble)
-  docker-build-jammy:
+  # Ubuntu 20.04 (ROS1 Noetic)
+  docker-build-noetic:
     uses: usdot-fhwa-stol/actions/.github/workflows/docker.yml@main
     with:
-      file: ./jammy/Dockerfile 
+      file: ./noetic/Dockerfile

.github/workflows/dockerhub-focal.yml → .github/workflows/dockerhub-humble.yml

@@ -1,6 +1,6 @@
-# This workflow will build and push official docker images for Focal OS when new push occurs 
+# This workflow will build and push official docker images for Noetic OS when new push occurs 
 # to develop, master, release branches but doesn't run any unit test or sonar scanner
-name: Docker Hub Focal build
+name: Docker Hub Humble build
 on:
   push:
     branches:
@@ -10,15 +10,15 @@ on:
     tags:
       - "carma-system-*"
     paths:
-      - '**'  # Build when there are changes in focal folder or related files
-      - '!jammy/**' # Exclude jammy folder
+      - '**' # Build when there are changes in humble folder or related files
+      - '!noetic/**' # Exclude noetic folder
 jobs:
-  # Focal 20.04 (ROS1 Noetic/ ROS2 Foxy)
-  dockerhub-focal:
+  # Ubuntu 22.04 (ROS2 Humble)
+  dockerhub-humble:
     uses: usdot-fhwa-stol/actions/.github/workflows/dockerhub.yml@main
     secrets:
       DOCKERHUB_USERNAME: ${{ secrets.DOCKERHUB_USERNAME }}
       DOCKERHUB_TOKEN: ${{ secrets.DOCKERHUB_TOKEN }}
     with:
-      file: ./focal/Dockerfile
-      tag_name_suffix: focal
+      file: ./humble/Dockerfile
+      tag_name_suffix: humble

.github/workflows/dockerhub-jammy.yml → .github/workflows/dockerhub-noetic.yml

@@ -1,6 +1,6 @@
-# This workflow will build and push official docker images for Focal OS when new push occurs 
+# This workflow will build and push official docker images for Noetic OS when new push occurs 
 # to develop, master, release branches but doesn't run any unit test or sonar scanner
-name: Docker Hub Jammy build
+name: Docker Hub Noetic build
 on:
   push:
     branches:
@@ -10,15 +10,15 @@ on:
     tags:
       - "carma-system-*"
     paths:
-      - '**' # Build when there are changes in jammy folder or related files
-      - '!focal/**' # Exclude focal folder
+      - '**'  # Build when there are changes in noetic folder or related files
+      - '!humble/**' # Exclude humble folder
 jobs:
-  # Jammy 22.04 (ROS2 Humble)
-  dockerhub-jammy:
+  # Ubuntu 20.04 (ROS1 Noetic)
+  dockerhub-noetic:
     uses: usdot-fhwa-stol/actions/.github/workflows/dockerhub.yml@main
     secrets:
       DOCKERHUB_USERNAME: ${{ secrets.DOCKERHUB_USERNAME }}
       DOCKERHUB_TOKEN: ${{ secrets.DOCKERHUB_TOKEN }}
     with:
-      file: ./jammy/Dockerfile
-      tag_name_suffix: jammy
+      file: ./noetic/Dockerfile
+      tag_name_suffix: noetic

README.md

@@ -1,13 +1,12 @@
-| Dockerhub Focal Build - Develop | Dockerhub Focal Build - Release | Dockerhub Jammy Build - Develop | Dockerhub Jammy Build - Release |
+| Dockerhub Noetic Build - Develop | Dockerhub Noetic Build - Release | Dockerhub Humble Build - Develop | Dockerhub Humble Build - Release |
 |-------------------------------|------------------------------|------------------------------|------------------------------|
-[![Focal Build](https://github.com/usdot-fhwa-stol/carma-base/actions/workflows/dockerhub-focal.yml/badge.svg?branch=develop)](https://github.com/usdot-fhwa-stol/carma-base/actions/workflows/dockerhub-focal.yml) | [![Focal Build](https://github.com/usdot-fhwa-stol/carma-base/actions/workflows/dockerhub-focal.yml/badge.svg?tag=carma-system-*)](https://github.com/usdot-fhwa-stol/carma-base/actions/workflows/dockerhub-focal.yml) | [![Jammy Build](https://github.com/usdot-fhwa-stol/carma-base/actions/workflows/dockerhub-jammy.yml/badge.svg?branch=develop)](https://github.com/usdot-fhwa-stol/carma-base/actions/workflows/dockerhub-jammy.yml) | [![Jammy Build](https://github.com/usdot-fhwa-stol/carma-base/actions/workflows/dockerhub-jammy.yml/badge.svg?tag=carma-system-*)](https://github.com/usdot-fhwa-stol/carma-base/actions/workflows/dockerhub-jammy.yml)
+[![Noetic Build](https://github.com/usdot-fhwa-stol/carma-base/actions/workflows/dockerhub-noetic.yml/badge.svg?branch=develop)](https://github.com/usdot-fhwa-stol/carma-base/actions/workflows/dockerhub-noetic.yml) | [![Noetic Build](https://github.com/usdot-fhwa-stol/carma-base/actions/workflows/dockerhub-noetic.yml/badge.svg?tag=carma-system-*)](https://github.com/usdot-fhwa-stol/carma-base/actions/workflows/dockerhub-noetic.yml) | [![Humble Build](https://github.com/usdot-fhwa-stol/carma-base/actions/workflows/dockerhub-humble.yml/badge.svg?branch=develop)](https://github.com/usdot-fhwa-stol/carma-base/actions/workflows/dockerhub-humble.yml) | [![Humble Build](https://github.com/usdot-fhwa-stol/carma-base/actions/workflows/dockerhub-humble.yml/badge.svg?tag=carma-system-*)](https://github.com/usdot-fhwa-stol/carma-base/actions/workflows/dockerhub-humble.yml)
 
 # CARMABase
 CARMA Base is the Docker base image for Dockerized releases and deployments of the CARMA Platform. All CARMA images should inherit from this and any dependencies of those images should be instaled in this base image to minimize system build time and final image size.
 
-There are two CARMA Base image types. One is based on Ubuntu Focal Fossa (20.04 LTS) which supports ROS Noetic (not available on 22.04 LTS). 
+Currently there are two CARMA Base image types. One is based on Ubuntu Focal Fossa (20.04 LTS) which supports ROS Noetic. 
 The other is based on Ubuntu Jammy Jellyfish (22.04 LTS) which supports ROS 2 Humble.
-CARMA runs hybrid ROS1/ROS2 because some of the vehicle controller drivers are in ROS Noetic, and there is no plan to upgrade them in the foreseeable future.
 
 # CARMAPlatform
 The primary CARMAPlatform repository can be found [here](https://github.com/usdot-fhwa-stol/carma-platform) and is part of the [USDOT FHWA STOL](https://github.com/usdot-fhwa-stol/)

docker/build-image.sh

@@ -16,8 +16,8 @@
 
 USERNAME=usdotfhwastol
 BRANCH=$(git rev-parse --abbrev-ref HEAD)
-BUILD_FOCAL=false
-BUILD_JAMMY=false
+BUILD_NOETIC=false
+BUILD_HUMBLE=false
 
 cd "$(dirname "$0")"
 IMAGE=$(basename `git rev-parse --show-toplevel`)
@@ -58,12 +58,12 @@ while [[ $# -gt 0 ]]; do
             fi
             shift
             ;;
-        --focal)
-            BUILD_FOCAL=true
+        --noetic)
+            BUILD_NOETIC=true
             shift
             ;;
-        --jammy)
-            BUILD_JAMMY=true
+        --humble)
+            BUILD_HUMBLE=true
             shift
             ;;
     esac
@@ -98,21 +98,19 @@ TAGS=()
 
 cd ..
 
-# If neither --focal nor --jammy is specified, build both.
-if [ "$BUILD_FOCAL" = false ] && [ "$BUILD_JAMMY" = false ]; then
-    echo "No specific OS specified. Building both carma-base focal and jammy images"
-    BUILD_FOCAL=true
-    BUILD_JAMMY=true
+if [ "$BUILD_NOETIC" = false ] && [ "$BUILD_HUMBLE" = false ]; then
+    BUILD_NOETIC=true
+    BUILD_HUMBLE=true
 fi
 
-if [ "$BUILD_FOCAL" = true ]; then
-    echo "Building carma-base focal image"
-    build_image "focal/Dockerfile" "focal"
+if [ "$BUILD_NOETIC" = true ]; then
+    echo "Building carma-base noetic image"
+    build_image "noetic/Dockerfile" "noetic"
 fi
 
-if [ "$BUILD_JAMMY" = true ]; then
-    echo "Building carma-base jammy image"
-    build_image "jammy/Dockerfile" "jammy"
+if [ "$BUILD_HUMBLE" = true ]; then
+    echo "Building carma-base humble image"
+    build_image "humble/Dockerfile" "humble"
 fi
 
 if [ "$PUSH" = true ]; then

jammy/Dockerfile → humble/Dockerfile

@@ -6,23 +6,7 @@ FROM nvidia/cuda:11.7.1-devel-ubuntu22.04
 ARG DEBIAN_FRONTEND="noninteractive"
 
 # Dockerfile directory relative to root
-ARG DOCKERFILE_DIR="jammy"
-
-# Define arguments which are used in the following metadata definition
-ARG BUILD_DATE="NULL"
-ARG VERSION="NULL"
-ARG VCS_REF="NULL"
-
-# Specify docker image metadata
-LABEL org.label-schema.schema-version="1.0"
-LABEL org.label-schema.name="carma-base"
-LABEL org.label-schema.description="Base operating system install for the CARMA Platform"
-LABEL org.label-schema.vendor="Leidos"
-LABEL org.label-schema.version=${VERSION}
-LABEL org.label-schema.url="https://highways.dot.gov/research/research-programs/operations/CARMA"
-LABEL org.label-schema.vcs-url="https://github.com/usdot-fhwa-stol/carma-base"
-LABEL org.label-schema.vcs-ref=${VCS_REF}
-LABEL org.label-schema.build-date=${BUILD_DATE}
+ARG DOCKERFILE_DIR="humble"
 
 # Specify which platform GPUs are available inside the container
 ENV NVIDIA_VISIBLE_DEVICES=${NVIDIA_VISIBLE_DEVICES:-all}
@@ -89,6 +73,22 @@ COPY --chown=carma ${DOCKERFILE_DIR}/package.xml /home/carma/.base-image/workspa
 COPY --chown=carma ./entrypoint.sh ${DOCKERFILE_DIR}/init-env.sh /home/carma/.base-image/
 COPY --chown=carma ./code_coverage /home/carma/.ci-image/engineering_tools/code_coverage
 
+# Define arguments which are used in the following metadata definition
+ARG BUILD_DATE="NULL"
+ARG VERSION="NULL"
+ARG VCS_REF="NULL"
+
+# Specify docker image metadata
+LABEL org.label-schema.schema-version="1.0"
+LABEL org.label-schema.name="carma-base"
+LABEL org.label-schema.description="Base operating system install for the CARMA Platform"
+LABEL org.label-schema.vendor="Leidos"
+LABEL org.label-schema.version=${VERSION}
+LABEL org.label-schema.url="https://highways.dot.gov/research/research-programs/operations/CARMA"
+LABEL org.label-schema.vcs-url="https://github.com/usdot-fhwa-stol/carma-base"
+LABEL org.label-schema.vcs-ref=${VCS_REF}
+LABEL org.label-schema.build-date=${BUILD_DATE}
+
 USER carma
 WORKDIR /home/carma
 

humble/README.md

@@ -0,0 +1,4 @@
+# CARMABase Humble (ROS 2 Humble)
+CARMA Base Humble is the Docker base image for Dockerized releases and deployments of the CARMA Platform. All CARMA images should inherit from this and any dependencies of those images should be instaled in this base image to minimize system build time and final image size.
+
+Currently this CARMA Base image is built on Ubuntu 22.04 LTS (Jammy Jellyfish). It supports ROS 2 Humble.

focal/Dockerfile → noetic/Dockerfile

@@ -2,7 +2,7 @@
 
 FROM nvidia/cudagl:11.2.0-devel-ubuntu20.04
 
-ARG DOCKERFILE_DIR="focal"
+ARG DOCKERFILE_DIR="noetic"
 
 ENV NVIDIA_VISIBLE_DEVICES=${NVIDIA_VISIBLE_DEVICES:-all}
 ENV NVIDIA_DRIVER_CAPABILITIES=${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
@@ -136,4 +136,4 @@ LABEL org.label-schema.vcs-url="https://github.com/usdot-fhwa-stol/carma-base"
 LABEL org.label-schema.vcs-ref=${VCS_REF}
 LABEL org.label-schema.build-date=${BUILD_DATE}
 
-ENTRYPOINT [ "/home/carma/.base-image/entrypoint.sh" ]
+ENTRYPOINT [ "/home/carma/.base-image/entrypoint.sh" ]

focal/README.md → noetic/README.md

@@ -1,4 +1,4 @@
-# CARMABase Focal (ROS Noetic)
+# CARMABase Noetic (ROS Noetic)
 CARMA Base is the Docker base image for Dockerized releases and deployments of the CARMA Platform. All CARMA images should inherit from this and any dependencies of those images should be instaled in this base image to minimize system build time and final image size.
 
 Currently this CARMA Base image is built on Ubuntu 20.04 LTS (Focal Fossa). It supports ROS Noetic.