Arm64 fixes

.devcontainer/Dockerfile

@@ -89,31 +89,52 @@ RUN wget -c https://github.com/Neargye/magic_enum/archive/refs/tags/v0.8.0.tar.g
     sudo make install &&\
     sudo ldconfig &&\
     cd ../.. && rm -r magic_enum*
-RUN git clone https://github.com/libuvc/libuvc.git &&\
+RUN git clone --depth 1 https://github.com/libuvc/libuvc.git &&\
     cd libuvc &&\
     mkdir build && cd build &&\
     cmake .. && make -j4 &&\
     sudo make install &&\
     sudo ldconfig  &&\
     cd ../.. && rm -r libuvc*
 
+# install Zenoh
+RUN mkdir -p /tmp/zenoh-build && \ 
+    cd /tmp/zenoh-build && \
+    (curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y) && \
+    git clone --depth 1 -b 1.0.4 https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds.git && \
+    cd /tmp/zenoh-build/zenoh-plugin-ros2dds && \
+    /bin/bash -c "source '$HOME/.cargo/env'; cargo build --release -p zenoh-bridge-ros2dds" && \
+    install target/release/zenoh-bridge-ros2dds /usr/local/bin/
 
-RUN mkdir -p /opt/lcas/extensions 
-WORKDIR /opt/lcas/extensions 
-RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y 
-RUN git clone https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds.git
-WORKDIR /opt/lcas/extensions/zenoh-plugin-ros2dds
-RUN bash -c "source '$HOME/.cargo/env'; cargo build --release -p zenoh-bridge-ros2dds"
-RUN install target/release/zenoh-bridge-ros2dds /usr/local/bin/
-WORKDIR /
 
 ENV NVIDIA_VISIBLE_DEVICES all
 ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
 ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
-COPY *repos *.sh /tmp/.devcontainer/
-RUN bash /tmp/.devcontainer/install.sh
+COPY .devcontainer/*repos .devcontainer/*.sh /tmp/.devcontainer/
+
+ARG TARGETARCH
+ENV TARGETARCH=${TARGETARCH}
+
+
+COPY . /opt/ros/lcas/src/limo
+RUN apt update && \
+    rosdep init && \
+    rosdep --rosdistro=humble update && \
+    pip install -U argcomplete
+
+RUN cd /opt/ros/lcas && \
+    . /opt/ros/humble/setup.sh && \
+    echo "target: $TARGETARCH" && \
+    if [ ${TARGETARCH} = "arm64" ]; then \
+        # no support for gazebo on arm64 (see https://github.com/LCAS/limo_ros2/pull/28)
+        rm -rvf src/limo/src/limo_gazebosim; \
+    fi; \
+    rosdep install --from-paths src/ -i -y && \    
+    colcon build
 
 RUN echo "source /opt/ros/humble/setup.bash" >> /etc/bash.bashrc
+RUN echo "source /opt/ros/lcas/install/setup.bash" >> /etc/bash.bashrc
+
 RUN cat /tmp/.devcontainer/setup-router.sh >> /etc/bash.bashrc
 

.github/workflows/docker-build.yml

@@ -2,52 +2,23 @@ name: Docker Image CI
 
 on:
   push:
-    paths: 
-    - .devcontainer/**
     branches: [ humble ]
     tags:
-      - '*'
+      - 'v*'
   pull_request:
     branches: [ humble ]
-    paths: 
-    - .devcontainer/**
 
 jobs:
 
-  trigger:
-    runs-on: ubuntu-latest
-    # only do this if we don't have a pull request
-    if: ${{ github.event_name != 'pull_request' }} 
-    steps:
-    - uses: lasith-kg/dispatch-workflow@v1
-      id: workflow-dispatch_develop
-      name: 'Trigger re-build of desktop docker image "develop"'
-      with:
-        dispatch-method: workflow_dispatch
-        repo: kasm-workspaces-core-images
-        owner: LCAS
-        ref: refs/heads/develop # or main
-        workflow: docker-latest.yml # Or Workflow ID
-        token: ${{ secrets.ORGA_GH_TOKEN }} # GitHub Token With Relevant Permissions
-    - uses: lasith-kg/dispatch-workflow@v1
-      id: workflow-dispatch_nvidia_develop
-      name: 'Trigger re-build of desktop docker image "nvidia_develop"'
-      with:
-        dispatch-method: workflow_dispatch
-        repo: kasm-workspaces-core-images
-        owner: LCAS
-        ref: refs/heads/nvidia_develop # or main
-        workflow: docker-latest.yml # Or Workflow ID
-        token: ${{ secrets.ORGA_GH_TOKEN }} # GitHub Token With Relevant Permissions
-
-  build:
+  build_amd64:
 
     runs-on: lcas
 
     steps:
     - uses: actions/checkout@v3
     - name: What
       run: echo "BRANCH=${GITHUB_REF##*/}" >> $GITHUB_ENV
+
     - name: Docker Login LCAS
       # don't attempt to login for PRs
       if: ${{ github.event_name != 'pull_request' }} 
@@ -61,37 +32,50 @@ jobs:
         username: ${{ secrets.LCAS_REGISTRY_PUSHER }}
         # Password or personal access token used to log against the Docker registry
         password: ${{ secrets.LCAS_REGISTRY_TOKEN }}
-    - name: Docker Login dockerhub
+
+    - name: Build and push limo_ros2 for amd64
+      uses: docker/build-push-action@v5
+      with:
+        context: .
+        file: .devcontainer/Dockerfile
+        platforms: linux/amd64
+        push: ${{ github.event_name != 'pull_request' }}
+        tags: lcas.lincoln.ac.uk/lcas/limo_ros_amd64:${{ env.BRANCH }}
+        build-args: |
+            BRANCH=${{ env.BRANCH }}
+
+  build_arm64:
+
+    runs-on: lcas
+
+    steps:
+    - uses: actions/checkout@v3
+    - name: What
+      run: echo "BRANCH=${GITHUB_REF##*/}" >> $GITHUB_ENV
+
+    - name: Docker Login LCAS
       # don't attempt to login for PRs
       if: ${{ github.event_name != 'pull_request' }} 
+      # You may pin to the exact commit or the version.
+      # uses: docker/login-action@f054a8b539a109f9f41c372932f1ae047eff08c9
       uses: docker/login-action@v2
       with:
+        # Server address of Docker registry. If not set then will default to Docker Hub
+        registry: lcas.lincoln.ac.uk
         # Username used to log against the Docker registry
-        username: ${{ secrets.DOCKERHUB_USER }}
+        username: ${{ secrets.LCAS_REGISTRY_PUSHER }}
         # Password or personal access token used to log against the Docker registry
-        password: ${{ secrets.DOCKERHUB_TOKEN }}
+        password: ${{ secrets.LCAS_REGISTRY_TOKEN }}
+
     - name: Set up QEMU
       uses: docker/setup-qemu-action@v3  
     - name: Build and push limo_ros2 for arm64
-      # only build for arm if not PR to speed things up
-      if: ${{ github.event_name != 'pull_request' }} 
       uses: docker/build-push-action@v5
       with:
-        context: .devcontainer
+        context: .
         file: .devcontainer/Dockerfile
         platforms: linux/arm64
         push: ${{ github.event_name != 'pull_request' }}
         tags: lcas.lincoln.ac.uk/lcas/limo_ros_arm64:${{ env.BRANCH }}
         build-args: |
             BRANCH=${{ env.BRANCH }}
-    - name: Build and push limo_ros2 for amd64
-      uses: docker/build-push-action@v5
-      with:
-        context: .devcontainer
-        file: .devcontainer/Dockerfile
-        platforms: linux/amd64
-        push: ${{ github.event_name != 'pull_request' }}
-        tags: lcas.lincoln.ac.uk/lcas/limo_ros_amd64:${{ env.BRANCH }}
-        build-args: |
-            BRANCH=${{ env.BRANCH }}
-

src/limo_bringup/package.xml

@@ -21,6 +21,12 @@
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
 
+  <exec_depend>limo_base</exec_depend>
+  <exec_depend>limo_description</exec_depend>
+  <exec_depend>limo_navigation</exec_depend>
+  <exec_depend>astra_camera</exec_depend>
+  <exec_depend>ydlidar_ros2_driver</exec_depend>
+
   <exec_depend>nav2_amcl</exec_depend>
   <exec_depend>nav2_lifecycle_manager</exec_depend>
   <exec_depend>nav2_map_server</exec_depend>