Update README to include Jazzy (#479)

* Add jazzy to supported distros Signed-off-by: Yadunund <[email protected]> * Update DOCKERFILE to build for Rolling Signed-off-by: Yadunund <[email protected]> * Remove link to rmf_demos_panel which is now removed from rmf_demos Signed-off-by: Yadunund <[email protected]> * Update nightly Signed-off-by: Yadunund <[email protected]> * gz and python modules are resolved via rosdep Signed-off-by: Yadunund <[email protected]> * Build docker image with jazzy as underlay Signed-off-by: Yadunund <[email protected]> --------- Signed-off-by: Yadunund <[email protected]>
open-rmf · Jun 20, 2024 · 1244642 · 1244642
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diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
@@ -12,6 +12,8 @@ jobs:
       - uses: actions/checkout@v2
       - name: build rmf image and push to gh registry
         uses: docker/build-push-action@v1
+        env:
+          PIP_BREAK_SYSTEM_PACKAGES: 1
         with:
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}

diff --git a/.github/workflows/nightly.yaml b/.github/workflows/nightly.yaml
@@ -6,12 +6,12 @@ on:
 jobs:
   build_and_test:
     name: Nightly build and test
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
       - name: deps
-        uses: ros-tooling/setup-ros@v0.4
+        uses: ros-tooling/setup-ros@v0.7
         with:
-          required-ros-distributions: humble
+          required-ros-distributions: jazzy
       - name: setup clang
         run: |
           sudo apt update && sudo apt install -y clang lldb lld
@@ -21,8 +21,9 @@ jobs:
         uses: ros-tooling/[email protected]
         env:
           QT_QPA_PLATFORM: offscreen
+          PIP_BREAK_SYSTEM_PACKAGES: 1
         with:
-          target-ros2-distro: humble
+          target-ros2-distro: jazzy
           # build all packages listed in the meta package
           package-name: |
             rmf_utils

diff --git a/Dockerfile b/Dockerfile
@@ -2,29 +2,14 @@
 # Stage 1 - Dependencies
 #-----------------------
 
-FROM ros:humble AS builder
+FROM ros:jazzy AS builder
 
-RUN apt-get update \
-  && apt-get install -y \
-    cmake \
-    curl \
-    git \
-    python3-colcon-common-extensions \
-    python3-vcstool \
-    wget \
-    python3-pip \
-    clang lldb lld \
-  && pip3 install flask-socketio fastapi uvicorn \
-  && update-alternatives --install /usr/bin/c++ c++ /usr/bin/clang++ 100 \
-  && rm -rf /var/lib/apt/lists/*
+ENV PIP_BREAK_SYSTEM_PACKAGES=1
+RUN apt-get update && apt-get install -y ros-dev-tools
 
 # setup keys
 RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys D2486D2DD83DB69272AFE98867170598AF249743
 
-# setup sources.list
-RUN . /etc/os-release \
-    && echo "deb http://packages.osrfoundation.org/gazebo/$ID-stable `lsb_release -sc` main" > /etc/apt/sources.list.d/gazebo-latest.list
-
 RUN mkdir $HOME/rmf_demos_ws
 WORKDIR $HOME/rmf_demos_ws
 RUN mkdir src
@@ -44,11 +29,6 @@ RUN vcs import src < rmf.repos \
 # Stage 2 - build
 #-----------------
 
-# compile rmf_demo_panel gui
-# use wget
-# RUN npm install --prefix src/demonstrations/rmf_demos/rmf_demos_panel/rmf_demos_panel/static/ \
-  # && npm run build --prefix src/demonstrations/rmf_demos/rmf_demos_panel/rmf_demos_panel/static/
-
 # colcon compilation
 RUN . /opt/ros/$ROS_DISTRO/setup.sh \
   && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

diff --git a/README.md b/README.md
@@ -13,11 +13,12 @@ The Open-RMF platform for multi-fleet robot management.
 
 Open-RMF is a collection of packages, some of which have ROS 2 dependencies.
 For convenience, we distribute and install Open-RMF along with ROS 2 and is currently supported for the following ROS 2 distributions:
-* [Iron Irwini](https://docs.ros.org/en/iron/index.html) (`iron`)
 * [Humble Hawksbill](https://docs.ros.org/en/humble/index.html) (`humble`)
+* [Iron Irwini](https://docs.ros.org/en/iron/index.html) (`iron`)
+* [Jazzy Jalisco](https://docs.ros.org/en/jazzy/index.html) (`jazzy`)
 * [Rolling Ridley](https://docs.ros.org/en/rolling/index.html) (`rolling`)
 
-We primarily support Debian packages on `Ubuntu Linux - Jammy Jellyfish (22.04)` and select RPM packages for `RHEL/Fedora` for both `amd64` and `aarch64` architectures.
+We primarily support Debian packages on `Ubuntu` and select RPM packages for `RHEL/Fedora` for both `amd64` and `aarch64` architectures.
 
 Options for installing Open-RMF:
 * [Binary installation (recommended)](#binary-installation)
@@ -26,7 +27,7 @@ Options for installing Open-RMF:
 If you want to try Open-RMF we recommend installing the binaries. Building from source is better suited for developers who wish to add new features or fix bugs.
 
 ### Setup
-Instruction below are aimed at `Ubuntu 22.04`.
+Instruction below are aimed at `Ubuntu`.
 
 First please follow the installation instructions to install ROS 2 for the `distro` of choice from supported versions listed above.
 It is recommended to install ROS 2 via binary debians.
@@ -36,18 +37,7 @@ It is recommended to install ROS 2 via binary debians.
 Install all non-ROS dependencies of Open-RMF packages,
 
 ```bash
-sudo apt update && sudo apt install \
-  python3-pip \
-  curl \
-  python3-colcon-mixin \
-  ros-dev-tools \
-  -y
-
-sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
-wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
-
-# These pip packages are only used by rmf_demos which are not released as binaries
-python3 -m pip install flask-socketio fastapi uvicorn
+sudo apt update && sudo apt install ros-dev-tools -y
 ```
 
 `rosdep` helps install dependencies for ROS packages across various distros and will be installed along with `ros-dev-tools`.
@@ -168,7 +158,7 @@ Run it!
 docker run -it --network host rmf:latest bash -c "export ROS_DOMAIN_ID=9; ros2 launch rmf_demos_gz office.launch.xml headless:=1"
 ```
 
-This will run `rmf_demos` in headless mode. Open [this link](https://open-rmf.github.io/rmf-panel-js/) with a browser to start a task.
+This will run `rmf_demos` in headless mode.
 
 (Experimental) User can also run `rmf_demos` in “non-headless” graphical form, via [rocker](https://github.com/osrf/rocker).