Complete jazzy integration

Also changes towards more robust and easy integration of future distributions

README.md

@@ -71,3 +71,4 @@ TODO
   - Introduced a the `kill-container` or `kc` flag to forcefully kill the `rosez*` container.
   - Now sharing `/media` between host and container.
   - Fixed a bug that occured when the output of the build command was too long.
+- [For versions >= `v2.4.0`] Added support for ROS2 Jazzy. **NOTE**: The `ros2ez` command has now been disabled, since currently two ROS2 LTS versions are supported. ROS2 Humble can now been used with the `ros2ezh` command, following the typical `rosez*`/`ros2ez*` scheme. **WARNING**: This versions breaks humble installations. In order to migrate, your best bet is to rename `ros2ez-volume*` volumes to their equivalent `ros2ezh-volume*`.

includes/ros2j_ws.txt

@@ -0,0 +1 @@
+/home/$USER/ros2_ws/

internal/entrypoint.bash

@@ -24,7 +24,7 @@ trap 'signal_handler' $signal_list
 if [ "$rosversion" != "unknown" ]; then
   # sudo touch $lockation/$lock_file
   . /opt/ros/$rosversion/setup.bash
-  if [ "$rosversion" == "humble" ] || [ "$rosversion" == "foxy" ]; then
+  if [ "$rosversion" == "humble" ] || [ "$rosversion" == "foxy" ] || [ "$rosversion" == "jazzy" ]; then
     export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
   fi
   while read -r line; do
@@ -40,7 +40,7 @@ if [ "$rosversion" != "unknown" ]; then
       script --flush --quiet --return /tmp/rosez-build-output.txt --command "rosdep install -ir --from-path src --rosdistro $rosversion -y" | tee /dev/fd/2
       intermediate_error_handler $?
     fi
-    if [ "$rosversion" == "humble" ] || [ "$rosversion" == "foxy" ]; then
+    if [ "$rosversion" == "humble" ] || [ "$rosversion" == "foxy" ] || [ "$rosversion" == "jazzy" ]; then
       if [ $skip_compilation -ne 1 ]; then
         script --flush --quiet --return /tmp/rosez-build-output.txt --command "colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo" | tee /dev/fd/2
         intermediate_error_handler $?
@@ -59,7 +59,9 @@ if [ "$rosversion" != "unknown" ]; then
   if [ "$rosversion" == "melodic" ]; then
     . /usr/share/gazebo/setup.sh
   else
-    . /usr/share/gazebo/setup.bash
+    if [ "$rosversion" != "jazzy" ]; then
+      . /usr/share/gazebo/setup.bash
+    fi
   fi
   intermediate_error_handler $?
   echo -e "${colour_green}Unlocking my lock file ($lock_file) for other processes...$colour_end"

internal/ros2-ezj/ros2ezj

@@ -0,0 +1,3 @@
+#!/bin/bash
+SCRIPT_DIR=$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" &>/dev/null && pwd)
+$SCRIPT_DIR/../rosez_exec.bash "5" $*

internal/ros2_jazzy_Dockerfile

@@ -0,0 +1,76 @@
+FROM nvidia/opengl:1.2-glvnd-devel-ubuntu24.04 AS nvidia
+
+FROM osrf/ros:jazzy-desktop-full
+
+COPY --from=nvidia /usr/local /usr/local
+
+ENV NVIDIA_VISIBLE_DEVICES=all NVIDIA_DRIVER_CAPABILITIES=all
+
+FROM osrf/ros:jazzy-desktop-full
+
+LABEL maintainer="George Stavrinos <[email protected]>"
+
+RUN mkdir -p /opt/ros/ros2_ws/src && apt-get update && apt-get full-upgrade -y && DEBIAN_FRONTEND=noninteractive apt-get install -y \
+git \
+gdb \
+vim \
+xterm \
+libgl1 \
+valgrind \
+pre-commit \
+pulseaudio \
+mesa-utils \
+libuvc-dev \
+clang-tidy \
+catkin-lint \
+python3-pip \
+libglx-mesa0 \
+openssh-client \
+clang-format-14 \
+clang-format-18 \
+ros-jazzy-ros-gz \
+python3-catkin-pkg \
+ros-jazzy-navigation2 \
+ros-jazzy-nav2-bringup \
+ros-jazzy-ros2-control \
+ros-jazzy-slam-toolbox \
+ros-jazzy-ros2controlcli \
+ros-jazzy-gz-ros2-control \
+ros-jazzy-control-toolbox \
+ros-jazzy-gz-utils-vendor \
+ros-jazzy-gz-plugin-vendor \
+ros-jazzy-ros2-controllers \
+ros-jazzy-gz-physics-vendor \
+ros-jazzy-rmw-cyclonedds-cpp \
+ros-jazzy-controller-manager \
+ros-jazzy-effort-controllers \
+ros-jazzy-robot-localization \
+ros-jazzy-velocity-controllers \
+ros-jazzy-position-controllers \
+ros-jazzy-joint-state-publisher \
+ros-jazzy-transmission-interface \
+ros-jazzy-joint-state-publisher-gui
+
+ARG USER_ID=16661
+ARG GROUP_ID=16661
+
+RUN getent group $GROUP_ID | cut -d: -f1 | xargs -r groupdel >/dev/null 2>&1 && getent passwd $USER_ID | cut -d: -f1 | xargs -r userdel -r >/dev/null 2>&1 && addgroup --gid $GROUP_ID rosez_user && useradd --create-home --password '' --comment '' --uid $USER_ID --gid $GROUP_ID rosez_user && usermod -aG sudo rosez_user && echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers && touch /home/rosez_user/.sudo_as_admin_successful
+
+USER rosez_user
+RUN sudo chown -R rosez_user:rosez_user /home/rosez_user && rosdep update && pip3 install bloom --break-system-packages
+
+VOLUME /opt/ros/jazzy\
+/bin\
+/etc\
+/home\
+/lib\
+/lib64\
+/mnt\
+/opt\
+/root\
+/run\
+/sbin\
+/srv\
+/sys\
+/usr\
+/var

internal/rosez_exec.bash

@@ -19,12 +19,12 @@ clear_locks=0
 skip_compilation=0
 non_interactive=0
 no_sound=0
-# lockdir=""
+kill_container=0
 userid=$(id -u)
-rosws_file=${workspaces[$($1-1)]}
-rosez_vol="${volumes[$($1-1)]}"
-ros="${distros[$($1-1)]}"
-ros_image="${image_names[$($1-1)]}"
+rosws_file=${workspaces[$(($1 - 1))]}
+rosez_vol=${volumes[$(($1 - 1))]}
+ros=${distros[$(($1 - 1))]}
+ros_image=${image_names[$(($1 - 1))]}
 shift
 trap 'signal_handler' $signal_list
 rosez_volumes=""
@@ -70,10 +70,8 @@ done
 if [ -z "$gpu_param" ]; then
   if grep -q "nvidia" <<<"$gpu_string" || grep -q "Nvidia" <<<"$gpu_string" || grep -q "NVIDIA" <<<"$gpu_string"; then
     gpu_param="--gpus all"
-  elif grep -q "intel" <<<"$gpu_string" || grep -q "Intel" <<<"$gpu_string" || grep -q "INTEL" <<<"$gpu_string"; then
-    gpu_param="--device /dev/dri/card0"
   else
-    echo "No Nvidia or Intel GPU found. This case has not been investigated yet. GUI integration might be broken. (Good luck!)"
+    gpu_param="--device /dev/dri/card0"
   fi
 fi
 if [ $clear_locks -gt 0 ]; then
@@ -84,7 +82,6 @@ if [ $kill_container -gt 0 ]; then
   echo -e "${colour_orange}I was passed the kill-container flag. Killing (and deleting) my container ($ros_image)...$colour_end"
   docker rm -f $ros_image >/dev/null 2>&1
 fi
-echo $gpu_param
 touch $lockation/$read_lock_file
 locked=1
 while [ $locked -gt 0 ]; do
@@ -95,7 +92,6 @@ while [ $locked -gt 0 ]; do
   # ---
   # A new lock_file is created, since the other rosez
   # process will instantly get priority with the cl flag.
-  echo $found_lock
   if [[ -z "$found_lock" ]]; then
     now="$(date +'%Y-%m-%d_%H_%M_%S_%N')"
     read_lock_file="$read_lock_prefix$now$read_lock_suffix"
@@ -141,20 +137,22 @@ touch $xauthf
 intermediate_error_handler $?
 /bin/bash -c "xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $xauthf nmerge -"
 intermediate_error_handler $?
-x="docker run --ulimit nofile=1024:524288 --rm $it -u $userid --ipc=host --privileged --network host $gpu_param $sound --group-add dialout --group-add video --group-add audio -v $rosez_vol-bin:/bin -v $rosez_vol-etc:/etc/ -v $rosez_vol-home:/home/ -v $rosez_vol-lib:/lib/ -v $rosez_vol-lib64:/lib64/ -v /media:/media -v /mnt:/mnt -v $rosez_vol-opt:/opt/ -v $rosez_vol-root:/root/ -v /run:/run -v $rosez_vol-sbin:/sbin/ -v $rosez_vol-srv:/srv/ -v $rosez_vol-usr:/usr -v $rosez_vol-var:/var -v $rosez_vol:/opt/ros/$ros -v $SCRIPT_DIR/../includes/$rosws_file:/opt/ros/$rosws_file $volumes -v $SCRIPT_DIR/entrypoint.bash:/home/rosez_user/.bashrc -v /sys:/sys -v /proc:/proc -v /dev:/dev -v $bloom_file:/home/rosez_user/.config/bloom -v $gitconfig_file:/home/rosez_user/.gitconfig -v $ssh_folder:/home/rosez_user/.ssh -v $SCRIPT_DIR/supported_versions.txt:/home/rosez_user/supported_versions.txt -v $SCRIPT_DIR/helpers.bash:/home/rosez_user/helpers.bash -v /:$HOME/.$rosez_vol -e DISPLAY -e TERM -e QT_X11_NO_MITSHM=1 -e XAUTHORITY=$xauthf -v $xauthf:$xauthf -v /tmp/.X11-unix:/tmp/.X11-unix -v /etc/localtime:/etc/localtime:ro $ros_image:latest"
 container_id=$(docker ps -q --filter "name=$ros_image")
 found_lock="$(find $lockation -maxdepth 1 -name "$exec_lock_prefix*$exec_lock_suffix" -print | sort | head -1)"
 fl="$(basename "$found_lock")"
 if [[ -z "$container_id" || "$fl" < "$earliest_possible_exec_lock_file" ]]; then
   docker rm -f $ros_image >/dev/null 2>&1
   intermediate_error_handler $?
-  x="docker run --name $ros_image --ulimit nofile=1024:524288 -d -u $userid --ipc=host --privileged --network host $gpu_param $sound --group-add dialout --group-add video --group-add audio -v $rosez_vol-bin:/bin -v $rosez_vol-etc:/etc/ -v $rosez_vol-home:/home/ -v $rosez_vol-lib:/lib/ -v $rosez_vol-lib64:/lib64/ -v /media:/media -v /mnt:/mnt -v $rosez_vol-opt:/opt/ -v $rosez_vol-root:/root/ -v /run:/run -v $rosez_vol-sbin:/sbin/ -v $rosez_vol-srv:/srv/ -v $rosez_vol-usr:/usr -v $rosez_vol-var:/var -v $rosez_vol:/opt/ros/$ros -v $SCRIPT_DIR/../includes/$rosws_file:/opt/ros/$rosws_file $volumes -v $SCRIPT_DIR/entrypoint.bash:/home/rosez_user/.bashrc -v /sys:/sys -v /dev:/dev -v $bloom_file:/home/rosez_user/.config/bloom -v $gitconfig_file:/home/rosez_user/.gitconfig -v $ssh_folder:/home/rosez_user/.ssh -v $SCRIPT_DIR/supported_versions.txt:/home/rosez_user/supported_versions.txt -v $SCRIPT_DIR/helpers.bash:/home/rosez_user/helpers.bash -v /:$HOME/.$rosez_vol -e DISPLAY -e TERM -e QT_X11_NO_MITSHM=1 -e XAUTHORITY=$xauthf -v $xauthf:$xauthf -v /tmp/.X11-unix:/tmp/.X11-unix -v /etc/localtime:/etc/localtime:ro $ros_image:latest tail -f /dev/null"
+  x="docker run --name $ros_image --ulimit nofile=1024:524288 -d -u $userid --ipc=host --privileged --network host $gpu_param $sound --group-add dialout --group-add video --group-add audio -v $rosez_vol-bin:/bin -v $rosez_vol-etc:/etc/ -v $rosez_vol-home:/home/ -v $rosez_vol-lib:/lib/ -v $rosez_vol-lib64:/lib64/ -v /media:/media -v /mnt:/mnt -v $rosez_vol-opt:/opt/ -v $rosez_vol-root:/root/ -v /run:/run -v $rosez_vol-sbin:/sbin/ -v $rosez_vol-srv:/srv/ -v $rosez_vol-usr:/usr -v $rosez_vol-var:/var -v $rosez_vol:/opt/ros/$ros -v $SCRIPT_DIR/../includes/$rosws_file:/opt/ros/$rosws_file $rosez_volumes -v $SCRIPT_DIR/entrypoint.bash:/home/rosez_user/.bashrc -v /sys:/sys -v /dev:/dev -v $bloom_file:/home/rosez_user/.config/bloom -v $gitconfig_file:/home/rosez_user/.gitconfig -v $ssh_folder:/home/rosez_user/.ssh -v $SCRIPT_DIR/supported_versions.txt:/home/rosez_user/supported_versions.txt -v $SCRIPT_DIR/helpers.bash:/home/rosez_user/helpers.bash -v /:$HOME/.$rosez_vol -e DISPLAY -e TERM -e QT_X11_NO_MITSHM=1 -e XAUTHORITY=$xauthf -v $xauthf:$xauthf -v /tmp/.X11-unix:/tmp/.X11-unix -v /etc/localtime:/etc/localtime:ro $ros_image:latest tail -f /dev/null"
   intermediate_error_handler $?
   echo -e "${colour_blue}$ros_image daemon not found.${colour_end}\nExecuting:\n---\n$x\n---"
   eval "$x"
   container_id=$(docker ps -q --filter "name=$ros_image")
   intermediate_error_handler $?
 fi
+if [[ -z "$container_id" ]]; then
+  intermediate_error_handler 1
+fi
 x="docker exec $it $container_id"
 intermediate_error_handler $?
 extras="env $ENV LOCKFILE=$read_lock_file SKIPCOMPILATION=$skip_compilation /bin/bash"