Added foxy support (#28)

* Added foxy support

* Updated README for ros2 foxy and v1.6

README.md

@@ -37,7 +37,7 @@ or
 * [For versions >= `v1.3.0`] A ROS Melodic version is now available (with the `rosezm` command) and a much more robust locking mechanism is now in effect. If you experienced frequent lockouts or race conditions, this version should be more stable.
 * [For versions >= `v1.4.0`] All supported ROS versions (melodic/noetic/humble) now work on a completely persistent filesystem to save apt, library and other installations + all other user-defined changes on the container. Additionally, this version also supports audio, enabling users to play sounds through the `rosez` containers.
 * [For versions >= `v1.5.0`] The `sc` or `skip-compilation` flag is now supported, which completely bypasses rosdep and catkin/colcon builds for faster startup.
-
+* [For versions >= `v1.6.0`] A ROS2 Foxy version is now available (with the `ros2ezf` command). Its image comes with built-in `ros1_bridge` support for *ez* ROS1-ROS2 integration.
 ## Tested platforms
 * EndeavourOS
 * Fedora 35

includes/ros2f_ws.txt

@@ -0,0 +1 @@
+/home/$USER/ros2_foxy_ws/

internal/entrypoint.bash

@@ -6,6 +6,9 @@ lockation=""
 wstxt="ros2_ws.txt"
 if [ -f /opt/ros/humble/setup.bash ]; then
     rosversion="humble"
+elif [ -f /opt/ros/foxy/setup.bash ]; then
+    rosversion="foxy"
+    wstxt="ros2f_ws.txt"
 elif [ -f /opt/ros/noetic/setup.bash ]; then
     rosversion="noetic"
     wstxt="ros_ws.txt"
@@ -41,7 +44,7 @@ if [ "$rosversion" != "unknown" ]; then
             output=$(script --flush --quiet --return /tmp/ansible-output.txt --command "rosdep install -ir --from-path src --rosdistro $rosversion -y" | tee /dev/fd/2)
             intermediate_error_handler $?
         fi
-        if [ "$rosversion" == "humble" ]; then
+        if [ "$rosversion" == "humble" ] || [ "$rosversion" == "foxy" ]; then
             if [ $skip_compilation -ne 1 ]; then
                 output=$(script --flush --quiet --return /tmp/ansible-output.txt --command "colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo" | tee /dev/fd/2)
                 intermediate_error_handler $?

internal/installer.bash

@@ -15,6 +15,11 @@ elif [ "$1" == "3" ]; then
     volume="rosezm-volume"
     executable_folder_name="ros-ezm"
     dockerfile="ros_melodic_Dockerfile"
+elif [ "$1" == "4" ]; then
+    image_name="ros2_ezf"
+    volume="ros2ezf-volume"
+    executable_folder_name="ros2-ezf"
+    dockerfile="ros2_foxy_Dockerfile"
 fi
 sudo pip install rocker==0.2.10
 cd $SCRIPT_DIR

internal/ros2-ezf/ros2ezf

@@ -0,0 +1,3 @@
+#!/bin/bash
+SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+$SCRIPT_DIR/../rosez_exec.bash "4" $*

internal/ros2_Dockerfile

@@ -2,7 +2,7 @@ FROM osrf/ros:humble-desktop-full
 
 LABEL maintainer="George Stavrinos <gstavrinos@protonmail.com>"
 
-RUN mkdir -p /opt/ros/ros2_ws/src && apt-get update && apt-get full-upgrade -y && apt-get install -y \
+RUN mkdir -p /opt/ros/ros2_ws/src && apt-get update && apt-get full-upgrade -y && DEBIAN_FRONTEND=noninteractive apt-get install -y \
 gdb \
 xterm \
 valgrind \

internal/ros2_foxy_Dockerfile

@@ -0,0 +1,60 @@
+FROM osrf/ros:foxy-ros1-bridge
+
+LABEL maintainer="George Stavrinos <gstavrinos@protonmail.com>"
+
+RUN apt-get update --allow-insecure-repositories && apt-get install -y curl && curl http://repo.ros2.org/repos.key | apt-key add - && apt-get update && apt-get full-upgrade -y && DEBIAN_FRONTEND=noninteractive apt-get install -y \
+gdb \
+xterm \
+valgrind \
+pulseaudio \
+mesa-utils \
+libuvc-dev \
+python3-bloom \
+openssh-client \
+libgl1-mesa-glx \
+ros-foxy-desktop \
+python3-catkin-pkg \
+ros-foxy-gazebo-ros \
+ros-foxy-navigation2 \
+ros-foxy-nav2-bringup \
+ros-foxy-ros2-control \
+ros-foxy-slam-toolbox \
+ros-foxy-gazebo-plugins \
+ros-foxy-ros2controlcli \
+ros-foxy-gazebo-ros-pkgs \
+ros-foxy-control-toolbox \
+ros-foxy-ros2-controllers \
+ros-foxy-rmw-cyclonedds-cpp \
+ros-foxy-controller-manager \
+ros-foxy-effort-controllers \
+ros-foxy-robot-localization \
+ros-foxy-gazebo-ros2-control \
+ros-foxy-velocity-controllers \
+ros-foxy-position-controllers \
+ros-foxy-joint-state-publisher \
+ros-foxy-transmission-interface \
+ros-foxy-joint-state-publisher-gui
+
+ARG USER_ID=16661
+ARG GROUP_ID=16661
+
+RUN addgroup --gid $GROUP_ID rosez_user && adduser --disabled-password --gecos '' --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 rosdep update
+
+VOLUME /opt/ros/foxy
+VOLUME /bin
+VOLUME /etc
+VOLUME /home
+VOLUME /lib
+VOLUME /lib64
+VOLUME /mnt
+VOLUME /opt
+VOLUME /root
+VOLUME /run
+VOLUME /sbin
+VOLUME /srv
+VOLUME /sys
+VOLUME /usr
+VOLUME /var

internal/ros_Dockerfile

@@ -2,7 +2,7 @@ FROM osrf/ros:noetic-desktop-full
 
 LABEL maintainer="George Stavrinos <gstavrinos@protonmail.com>"
 
-RUN mkdir -p /opt/ros/catkin_ws/src && apt-get update && apt-get full-upgrade -y && apt-get install -y \
+RUN mkdir -p /opt/ros/catkin_ws/src && apt-get update && apt-get full-upgrade -y && DEBIAN_FRONTEND=noninteractive apt-get install -y \
 gdb \
 xterm \
 valgrind \

internal/ros_melodic_Dockerfile

@@ -2,7 +2,7 @@ FROM osrf/ros:melodic-desktop-full
 
 LABEL maintainer="George Stavrinos <gstavrinos@protonmail.com>"
 
-RUN mkdir -p /opt/ros/catkin_ws/src && apt-get update && apt-get full-upgrade -y && apt-get install -y \
+RUN mkdir -p /opt/ros/catkin_ws/src && apt-get update && apt-get full-upgrade -y && DEBIAN_FRONTEND=noninteractive apt-get install -y \
 gdb \
 xterm \
 valgrind \

internal/rosez_exec.bash

@@ -31,6 +31,11 @@ elif [ "$1" == "3" ]; then
     rosez_vol="rosezm-volume"
     ros="melodic"
     ros_image="ros_ezm"
+elif [ "$1" == "4" ]; then
+    rosws_file="ros2f_ws.txt"
+    rosez_vol="ros2ezf-volume"
+    ros="foxy"
+    ros_image="ros2_ezf"
 fi
 shift
 trap 'signal_handler' $signal_list
@@ -39,6 +44,10 @@ lockation=""
 while read -r line
 do
     wsdir=$(eval echo -e "$line")
+    if [ ! -d "$wsdir" ]; then
+        echo "$wsdir not found, creating it"
+        mkdir -p $wsdir/src
+    fi
     volumes=$volumes"--volume $wsdir:/opt/ros/$(basename $wsdir) "
     if [[ -z $lockation ]]; then
         # lockdir=$(basename wsdir)
@@ -122,6 +131,8 @@ if [ ! -d  $ssh_folder ]; then
 fi
 intermediate_error_handler $?
 x=""$(rocker --mode dry-run --network host --x11 --pulse $gpu_param --volume $rosez_vol-bin:/bin --volume $rosez_vol-etc:/etc/ --volume $rosez_vol-etc:/etc/ --volume $rosez_vol-home:/home/ --volume $rosez_vol-lib:/lib/ --volume $rosez_vol-lib64:/lib64/ --volume $rosez_vol-mnt:/mnt/ --volume $rosez_vol-opt:/opt/ --volume $rosez_vol-root:/root/ --volume $rosez_vol-run:/run/ --volume $rosez_vol-sbin:/sbin/ --volume $rosez_vol-srv:/srv/ --volume $rosez_vol-sys:/sys/ --volume $rosez_vol-usr:/usr --volume $rosez_vol-var:/var --volume $rosez_vol:/opt/ros/$ros --volume $SCRIPT_DIR/../includes/$rosws_file:/opt/ros/$rosws_file $volumes $SCRIPT_DIR/../internal/entrypoint.bash:/home/rosez_user/.bashrc --volume /dev:/dev --volume $bloom_file:/home/rosez_user/.config/bloom --volume $gitconfig_file:/home/rosez_user/.gitconfig --volume $ssh_folder:/home/rosez_user/.ssh --volume $SCRIPT_DIR/helpers.bash:/home/rosez_user/helpers.bash --volume /:$HOME/.$rosez_vol -- $ros_image:latest | tail -n 1 | sed -e "s#-v $(pwd)/$rosez_vol#-v $rosez_vol#g")
+echo "------;)----"
+echo $x
 intermediate_error_handler $?
 xauthf="$((echo \"$x\") | grep -E -o '/tmp/.docker[a-zA-Z0-9_-]+.xauth' | head -1)"
 intermediate_error_handler $?

ros2f_installer.bash

@@ -0,0 +1,3 @@
+#!/bin/bash
+SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+$SCRIPT_DIR/internal/installer.bash "4"