Rename trailing suffix to use ROS names

.github/workflows/docker-focal.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 noetic-foxy folder or related files 
+name: Docker Noetic-Foxy build
 on:
   pull_request:
     types: [opened, synchronize, reopened]
     paths:
       - '**'
-      - '!jammy/**' # Exclude jammy folder
+      - '!humble/**' # Exclude humble folder
 jobs:
-  # Focal 20.04 (ROS1 Noetic/ ROS2 Foxy)
-  docker-build-focal:
+  # Ubuntu 20.04 (ROS1 Noetic/ ROS2 Foxy)
+  docker-build-noetic-foxy:
     uses: usdot-fhwa-stol/actions/.github/workflows/docker.yml@main
     with:
-      file: ./focal/Dockerfile
+      file: ./noetic-foxy/Dockerfile

.github/workflows/docker-jammy.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 humble folder or related files 
+name: Docker Humble build
 on:
   pull_request:
     types: [opened, synchronize, reopened]
     paths:
       - '**'
-      - '!focal/**' # Exclude focal folder
+      - '!noetic-foxy/**' # Exclude noetic-foxy folder
 jobs:
-  # Jammy 22.04 (ROS2 Humble)
-  docker-build-jammy:
+  # Ubuntu 22.04 (ROS2 Humble)
+  docker-build-humble:
     uses: usdot-fhwa-stol/actions/.github/workflows/docker.yml@main
     with:
-      file: ./jammy/Dockerfile 
+      file: ./humble/Dockerfile 

.github/workflows/dockerhub-focal.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-Foxy 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 Noetic-Foxy build
 on:
   push:
     branches:
@@ -10,16 +10,16 @@ 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 noetic-foxy folder or related files
+      - '!humble/**' # Exclude humble folder
 jobs:
-  # Focal 20.04 (ROS1 Noetic/ ROS2 Foxy)
-  dockerhub-focal:
+  # Ubuntu 20.04 (ROS1 Noetic/ ROS2 Foxy)
+  dockerhub-noetic-foxy:
     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
-      # TODO: add focal suffix when humble is migrated 
-      #tag_name_suffix: focal https://usdot-carma.atlassian.net/browse/ARC-227
+      file: ./noetic-foxy/Dockerfile
+      # TODO: add noetic-foxy suffix when humble is migrated 
+      #tag_name_suffix: noetic-foxy https://usdot-carma.atlassian.net/browse/ARC-227

.github/workflows/dockerhub-jammy.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-Foxy 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 Humble 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 humble folder or related files
+      - '!noetic-foxy/**' # Exclude noetic-foxy folder
 jobs:
-  # Jammy 22.04 (ROS2 Humble)
-  dockerhub-jammy:
+  # 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: ./jammy/Dockerfile
-      tag_name_suffix: jammy
+      file: ./humble/Dockerfile
+      tag_name_suffix: humble

README.md

@@ -1,13 +1,13 @@
-| Dockerhub Focal Build - Develop | Dockerhub Focal Build - Release | Dockerhub Jammy Build - Develop | Dockerhub Jammy Build - Release |
+| Dockerhub Noetic-Foxy Build - Develop | Dockerhub Noetic-Foxy 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-Foxy Build](https://github.com/usdot-fhwa-stol/carma-base/actions/workflows/dockerhub-noetic-foxy.yml/badge.svg?branch=develop)](https://github.com/usdot-fhwa-stol/carma-base/actions/workflows/dockerhub-noetic-foxy.yml) | [![Noetic-Foxy Build](https://github.com/usdot-fhwa-stol/carma-base/actions/workflows/dockerhub-noetic-foxy.yml/badge.svg?tag=carma-system-*)](https://github.com/usdot-fhwa-stol/carma-base/actions/workflows/dockerhub-noetic-foxy.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.
 
 Currently there are two CARMA Base image types. One is based on Ubuntu Focal Fossa (20.04 LTS) which supports ROS Noetic and ROS 2 Foxy. 
 The other is based on Ubuntu Jammy Jellyfish (22.04 LTS) which supports ROS 2 Humble.
-When ROS 2 Humble is the default ROS version for the CARMA Platform, CARMA Base Focal will only be used for ROS Noetic to support hybrid deployments.
+When ROS 2 Humble is the default ROS version for the CARMA Platform, CARMA Base Noetic-Foxy will only be used for ROS Noetic to support hybrid deployments.
 
 # 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_FOXY=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-foxy)
+            BUILD_NOETIC_FOXY=true
             shift
             ;;
-        --jammy)
-            BUILD_JAMMY=true
+        --humble)
+            BUILD_HUMBLE=true
             shift
             ;;
     esac
@@ -98,25 +98,25 @@ TAGS=()
 
 cd ..
 
-# If neither --focal nor --jammy is specified, build only focal for now.
-# Once all humble related changes are merged into develop, jammy should be enabled.
+# If neither --noetic-foxy nor --humble is specified, build only noetic-foxy for now.
+# Once all humble related changes are merged into develop, humble should be enabled.
 # https://usdot-carma.atlassian.net/browse/ARC-227
-if [ "$BUILD_FOCAL" = false ] && [ "$BUILD_JAMMY" = false ]; then
-    BUILD_FOCAL=true
-    BUILD_JAMMY=false
+if [ "$BUILD_NOETIC_FOXY" = false ] && [ "$BUILD_HUMBLE" = false ]; then
+    BUILD_NOETIC_FOXY=true
+    BUILD_HUMBLE=false
 fi
 
 # TODO, distinguish with suffix when Humble is fully integrated
-# until then focal will have no suffix and be the main image
+# until then noetic-foxy will have no suffix and be the main image
 # https://usdot-carma.atlassian.net/browse/ARC-227
-if [ "$BUILD_FOCAL" = true ]; then
-    echo "Building carma-base focal image"
-    build_image "focal/Dockerfile" "" #replace with "-focal"
+if [ "$BUILD_NOETIC_FOXY" = true ]; then
+    echo "Building carma-base noetic-foxy image"
+    build_image "noetic-foxy/Dockerfile" "" #replace with just "-noetic" after ros2 is migrated to humble 
 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-foxy/Dockerfile

@@ -18,7 +18,7 @@
 FROM nvidia/cudagl:11.2.0-devel-ubuntu20.04
 
 # Dockerfile directory relative to root
-ARG DOCKERFILE_DIR="focal"
+ARG DOCKERFILE_DIR="noetic-foxy"
 
 # Define arguments which are used in the following metadata definition
 ARG BUILD_DATE="NULL"
@@ -205,7 +205,7 @@ RUN sed -i 's|http://archive.ubuntu.com|http://us.archive.ubuntu.com|g' /etc/apt
         apt-get install --no-install-recommends --yes kvaser-canlib-dev can-utils && \
         # Download a cmake module for PROJ, needed for lanelet2_extension, autoware_lanelet2_ros_interface, and maybe more
         curl --output /usr/share/cmake-3.16/Modules/FindPROJ4.cmake https://raw.githubusercontent.com/mloskot/cmake-modules/master/modules/FindPROJ4.cmake && \
-        # Install version 45.2.0 for setuptools since that is the latest version available for ubuntu focal
+        # Install version 45.2.0 for setuptools since that is the latest version available for ubuntu noetic-foxy
         # Version match is needed to build some of the packages
         pip3 install --no-cache-dir setuptools==45.2.0 simple-pid && \
         ###

focal/README.md → noetic-foxy/README.md

@@ -1,4 +1,4 @@
-# CARMABase Focal (ROS Noetic / ROS 2 Foxy)
+# CARMABase Noetic-Foxy (ROS Noetic / ROS 2 Foxy)
 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 and ROS 2 Foxy.